diff --git a/apple/apple_0/1759998061_0358362_3750661.xml b/apple/apple_0/1759998061_0358362_3750661.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/apple/apple_0/collision/model_normalized_collision_0.obj b/apple/apple_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a98a7496acc2ce4f0740c3e0fdc0a7d21d6bd49
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.23484850 0.23246352 0.20541233
+v 0.25000001 0.23246352 -0.20367859
+v 0.24445750 0.44788610 0.02240523
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+v -0.23484848 0.23246352 -0.23398162
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+v -0.23484848 0.23246352 0.19026081
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+v 0.11088996 0.48683046 0.03542174
+v -0.24882449 0.36923846 -0.24401262
+v -0.24193303 0.36320750 0.19782006
+v 0.24202066 0.42641740 -0.19664676
+v 0.17028564 0.45613918 0.10774784
+v -0.06662956 0.45622469 0.13628957
+v -0.05083971 0.48788690 -0.12469839
+v 0.00757576 0.23246352 -0.23398162
+v -0.22802318 0.40231075 0.15341813
+v 0.00757576 0.23246352 0.20541233
+v 0.00804686 0.42984345 0.19584368
+v 0.18437275 0.47108008 -0.10949095
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+v 0.18408726 0.41097893 0.19383113
+v 0.05260897 0.47173336 0.10853619
+v 0.18439587 0.47221539 0.02111352
+v -0.08198024 0.48762947 0.00677565
+v -0.15385033 0.47236057 -0.10989765
+v -0.15505933 0.44207655 0.13613714
+v 0.22756186 0.45624090 -0.09519655
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+f 64 61 45
+f 64 22 61
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\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_1.obj b/apple/apple_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51a7ba159b5927690c565639931884d56ea6413f
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.00798831 -0.26239005 0.35566514
+v 0.00757576 -0.26753649 0.28116990
+v 0.00659988 0.23304274 0.33080171
+v -0.23967892 0.23836001 0.29354906
+v -0.23664281 -0.26989397 0.28457392
+v -0.31926681 0.19757198 0.27221516
+v -0.24947358 -0.01198848 0.34048016
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+v -0.11336735 -0.28229547 0.32581095
+v -0.00280696 0.23674911 0.32827801
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+v -0.35603876 -0.01030855 0.30231632
+v -0.05049160 -0.19317203 0.35510445
+v -0.22875322 -0.18661336 0.32439802
+v -0.20111151 0.22668522 0.30760857
+v -0.28765136 0.15161272 0.30596938
+v -0.33494888 0.16873520 0.27388161
+v -0.22821438 -0.22968181 0.30877098
+v -0.30535379 -0.01132069 0.32829361
+v -0.24834398 -0.06882168 0.33940713
+v -0.04997851 -0.23464491 0.35480956
+v -0.28672762 0.19520927 0.29241205
+v -0.23102709 0.21131736 0.30665556
+v -0.33105677 0.12144226 0.29313259
+v -0.19827122 -0.25861554 0.30660301
+v -0.11001217 -0.27747123 0.32903337
+v -0.33520042 -0.01083063 0.31440778
+v -0.28824855 0.07739009 0.32262168
+v -0.30057635 0.17967019 0.29134665
+v -0.23157839 0.22816682 0.30009831
+v -0.22775917 -0.25864122 0.29502704
+v -0.09363699 -0.26142911 0.33888037
+v -0.02053742 -0.26175497 0.35391034
+v -0.33103993 0.04768757 0.30907435
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+v -0.14073971 -0.27855525 0.31769689
+v -0.30322480 0.03265974 0.32356787
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+f 39 5 9
+f 39 9 25
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+f 40 19 28
+f 40 36 34
+f 40 28 36
\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_10.obj b/apple/apple_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ef34521e9f6cb1bc08db10628a6838b0536fbb0
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.05198276 -0.43770700 0.19950759
+v 0.29047484 -0.26373263 0.24575284
+v 0.00798831 -0.26239005 0.35566514
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+v 0.25631743 -0.34774346 0.19804943
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+v 0.12547900 -0.23256636 0.35241190
+v 0.24039409 -0.36181149 0.19670626
+v 0.20755321 -0.32893371 0.26438002
+v 0.26276773 -0.01028263 0.33015608
+v 0.00721535 -0.34738169 0.31228782
+v 0.01154771 -0.08559334 0.31113601
+v 0.00908158 -0.15077675 0.35520997
+v 0.12629841 -0.15032786 0.35411114
+v 0.25518129 -0.19951286 0.30855761
+v 0.12483761 -0.42098654 0.19812280
+v 0.28568994 -0.27518185 0.24178580
+v 0.22310271 -0.35631579 0.22224087
+v 0.16093380 -0.06061383 0.33861571
+v 0.09481866 -0.28812961 0.33803894
+v 0.00830517 -0.40347091 0.25401391
+v 0.10943485 -0.01951271 0.29689959
+v 0.01053203 -0.03251680 0.20242281
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+v 0.21845392 -0.05697027 0.33958770
+v 0.25607843 -0.15653925 0.32334048
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+v 0.18138237 -0.37092325 0.23595402
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+v 0.15174847 -0.28725981 0.32357292
+v 0.13649354 -0.40038947 0.22344582
+f 9 5 4
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\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_11.obj b/apple/apple_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8a64ddd68b6157704bece84c2b7e83f4e02dd24
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.20097972 -0.39609811 -0.23052110
+v -0.19675331 -0.24398340 -0.41803547
+v -0.20454545 0.21731200 -0.23398162
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+v -0.20802732 -0.24039266 -0.41312384
+v -0.25180130 -0.12535587 -0.42833270
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+f 48 9 6
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+f 49 31 48
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+f 63 13 2
+f 63 62 41
+f 63 2 39
+f 63 39 62
+f 64 13 41
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+f 64 29 45
+f 64 41 27
+f 64 43 29
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\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_12.obj b/apple/apple_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..982581e2b9c236ca3fa04d5b3cd667b5332517af
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23426928 0.20147436 0.30886387
+v -0.15909090 0.35367564 -0.23398162
+v -0.16194844 0.40674395 0.19523494
+v -0.15559083 0.47543376 0.00788019
+v -0.44944596 0.19638775 -0.11021900
+v -0.15639997 0.43288261 0.15424820
+v -0.23484848 0.20216048 -0.23398162
+v -0.23744186 0.41105132 -0.18062626
+v -0.39726935 0.25021139 0.13626542
+v -0.15495108 0.44696357 -0.19894557
+v -0.34436217 0.19451377 0.25359798
+v -0.40777461 0.19811638 -0.22922827
+v -0.28179716 0.36610403 0.14977399
+v -0.38568600 0.30879754 -0.00751312
+v -0.15532429 0.46100138 0.08032145
+v -0.19532039 0.45702631 -0.10989996
+v -0.27437753 0.19632210 0.29755983
+v -0.44794758 0.19506872 0.08109724
+v -0.41693168 0.19561223 -0.21183239
+v -0.20737485 0.41133056 -0.22506177
+v -0.23704438 0.38218815 0.17843553
+v -0.33952011 0.27837540 0.19172782
+v -0.36894164 0.30821973 0.09259275
+v -0.25394606 0.42612149 0.03673743
+v -0.15504098 0.47605938 -0.08094612
+v -0.25275318 0.42613853 -0.09450504
+v -0.22880745 0.31520088 0.25413396
+v -0.40331947 0.19611544 0.18237462
+v -0.42918351 0.25148604 -0.00725070
+v -0.39861301 0.26529977 -0.15156901
+v -0.15585372 0.43437376 -0.22941660
+v -0.19553171 0.44179657 -0.16683314
+v -0.18253001 0.42593565 0.15037349
+v -0.29594239 0.32246082 0.19243220
+v -0.36885405 0.27822998 0.14986027
+v -0.42855928 0.23536959 0.07914981
+v -0.21142426 0.45651104 -0.02273513
+v -0.22467478 0.44218915 0.04964717
+v -0.28120267 0.39672206 0.07903647
+v -0.15519457 0.46213466 -0.15429458
+v -0.34089129 0.35346081 -0.02120369
+v -0.22940611 0.27066550 0.28165690
+v -0.17120095 0.38589029 0.21774456
+v -0.32515280 0.24950197 0.23511580
+v -0.43345922 0.19559798 0.12381149
+v -0.44343443 0.22365639 0.00790301
+v -0.42693902 0.22354153 -0.15155866
+v -0.33968512 0.29162140 -0.22452806
+v -0.27990127 0.39684100 -0.12294252
+v -0.41350598 0.26549433 -0.09375580
+v -0.16914012 0.44290044 -0.19747086
+v -0.22237387 0.42686813 -0.16757103
+v -0.18145066 0.43987356 0.12089502
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+v -0.38377033 0.27791381 0.12134313
+v -0.38285282 0.25069178 0.16339515
+v -0.41440357 0.26619253 0.05069959
+v -0.21129588 0.45612570 -0.05010886
+v -0.16992064 0.47200484 0.00774815
+v -0.30990702 0.36724232 0.09291761
+v -0.26644928 0.41233045 0.06585509
+v -0.18073765 0.45825805 -0.13822719
+v -0.37079467 0.32285137 0.02159998
+v -0.23023557 0.24155395 0.29542745
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 10 6 2
+f 12 2 7
+f 15 6 10
+f 17 7 1
+f 19 18 5
+f 19 11 18
+f 19 12 7
+f 19 17 11
+f 19 7 17
+f 25 15 10
+f 25 4 15
+f 31 10 2
+f 31 2 12
+f 33 21 3
+f 33 3 6
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+f 56 9 28
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+f 58 25 16
+f 59 4 25
+f 59 25 37
+f 59 37 38
+f 59 38 15
+f 59 15 4
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+f 61 38 24
+f 61 24 41
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+f 61 13 21
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+f 62 51 32
+f 62 40 51
+f 63 41 14
+f 63 61 41
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+f 63 60 39
+f 63 23 60
+f 63 57 23
+f 63 14 57
+f 64 42 17
+f 64 17 1
+f 64 43 42
+f 64 1 43
\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_13.obj b/apple/apple_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e5553bc40e28e7f7b31418e01c0ef8fb4d13ea0
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.08104201 -0.45254987 -0.21258176
+v 0.29981245 -0.25526586 -0.31300061
+v 0.25000001 -0.25238498 -0.21883010
+v -0.20454545 -0.25238498 -0.23398162
+v -0.12521234 -0.24478940 -0.44906764
+v 0.00757576 -0.25238498 -0.21883010
+v 0.24243524 -0.37745506 -0.21340301
+v 0.09255532 -0.29871043 -0.41240116
+v -0.20097972 -0.39609811 -0.23052110
+v 0.26827791 -0.24398390 -0.35963835
+v 0.22583670 -0.38936696 -0.21167827
+v -0.00663822 -0.41622441 -0.29808795
+v -0.22653498 -0.30430010 -0.34725180
+v -0.18295743 -0.40564245 -0.22832125
+v 0.28814879 -0.24769136 -0.33426693
+v 0.08015242 -0.24622836 -0.44851171
+v 0.25155722 -0.29647182 -0.32673832
+v -0.19675331 -0.24398340 -0.41803547
+v 0.09227738 -0.38603721 -0.32642897
+v -0.02180020 -0.34337468 -0.38483730
+v 0.00748326 -0.45878581 -0.21636748
+v -0.12252377 -0.38499588 -0.31159552
+v 0.21251839 -0.24347728 -0.40340812
+v 0.28398216 -0.28851481 -0.30093843
+v 0.19333988 -0.37021447 -0.28210884
+v -0.15087727 -0.28360130 -0.41274153
+v 0.06227463 -0.43005972 -0.26994430
+v 0.03616095 -0.35819098 -0.37061675
+v 0.00737258 -0.27115740 -0.44383648
+v -0.15133275 -0.41360140 -0.24012836
+v -0.09350428 -0.37149306 -0.34124588
+v -0.18143979 -0.37023061 -0.29793039
+v 0.13779781 -0.25646361 -0.42613722
+v 0.25251756 -0.26763716 -0.35521085
+v 0.19402222 -0.29727551 -0.36882139
+v 0.13986946 -0.24425598 -0.43235733
+v 0.28081208 -0.26879351 -0.32537300
+v 0.20691115 -0.37008659 -0.26886779
+v 0.16586398 -0.41575830 -0.22552225
+v -0.16754201 -0.24526625 -0.43365662
+v -0.21099977 -0.28916763 -0.37463352
+v -0.08063834 -0.28447643 -0.42954540
+v 0.03592813 -0.41604384 -0.29834898
+v 0.04985236 -0.44717254 -0.24083024
+v -0.02096828 -0.35781040 -0.37029545
+v 0.10820185 -0.32796780 -0.38308212
+v 0.06410725 -0.28502760 -0.42850799
+v 0.03613044 -0.34330420 -0.38551689
+v -0.15303306 -0.41831799 -0.22751298
+v -0.09423092 -0.40135955 -0.29973049
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+v -0.19495614 -0.37181012 -0.28432938
+v -0.15169235 -0.39947233 -0.26916372
+v 0.10778598 -0.27021345 -0.42739803
+v 0.26363698 -0.25589314 -0.35550618
+v 0.16506565 -0.35547975 -0.32556100
+v 0.20810496 -0.25284948 -0.39872310
+v 0.28039448 -0.28357063 -0.31085374
+v 0.22292589 -0.38498909 -0.22401089
+v 0.23701490 -0.34001536 -0.28272783
+v 0.16831148 -0.42019793 -0.21252599
+v 0.13710781 -0.41409150 -0.25394523
+v -0.12509571 -0.25484814 -0.44283258
+v -0.18053555 -0.28275201 -0.39896199
+f 7 2 3
+f 10 6 3
+f 10 4 6
+f 11 6 1
+f 11 7 3
+f 11 3 6
+f 13 9 4
+f 14 6 4
+f 14 4 9
+f 15 10 3
+f 15 3 2
+f 18 4 10
+f 18 13 4
+f 21 1 6
+f 21 6 14
+f 23 18 10
+f 24 2 7
+f 29 5 16
+f 35 34 17
+f 36 16 5
+f 36 5 18
+f 36 18 23
+f 36 23 33
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+f 39 25 38
+f 40 18 5
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+f 42 31 26
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+f 49 30 21
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+f 53 30 14
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+f 53 50 30
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+f 54 33 8
+f 54 36 33
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+f 54 47 16
+f 54 8 47
+f 55 34 23
+f 55 23 10
+f 55 37 34
+f 55 10 15
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+f 56 46 35
+f 56 19 46
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+f 57 23 34
+f 57 34 35
+f 57 35 46
+f 57 46 33
+f 57 33 23
+f 58 37 24
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+f 58 17 34
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+f 59 38 7
+f 59 7 11
+f 59 39 38
+f 59 11 39
+f 60 24 7
+f 60 7 38
+f 60 17 24
+f 60 38 25
+f 60 25 17
+f 61 39 11
+f 61 11 1
+f 61 1 39
+f 62 39 1
+f 62 1 27
+f 62 27 19
+f 62 25 39
+f 62 56 25
+f 62 19 56
+f 63 40 5
+f 63 26 40
+f 63 42 26
+f 63 5 42
+f 64 40 26
+f 64 51 41
+f 64 26 51
+f 64 41 18
+f 64 18 40
\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_14.obj b/apple/apple_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e001557b97a0392c70fffe36fd848f0193ec013f
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.39342493 -0.21666429 0.15563763
+v 0.47443014 -0.11136594 -0.09474691
+v 0.47427733 -0.00758565 0.12296219
+v 0.39520104 0.22898631 0.17154655
+v 0.39473998 -0.21709007 -0.21515417
+v 0.44207408 0.22538424 -0.13874120
+v 0.44256193 -0.05159104 0.17966833
+v 0.45942287 -0.17053644 0.03584430
+v 0.39400235 0.21376866 0.18564131
+v 0.49021422 0.09281354 -0.08087283
+v 0.41485063 0.23898729 -0.20991624
+v 0.49077901 -0.05260202 0.02119013
+v 0.44171160 -0.13807793 0.13603944
+v 0.44419076 -0.19833621 -0.07988372
+v 0.39336818 -0.18721983 0.18513317
+v 0.44415430 0.07765678 0.17994720
+v 0.44278228 0.22400498 0.05100877
+v 0.45873635 0.12182718 -0.19753450
+v 0.47425492 -0.12636006 -0.06551035
+v 0.48990842 0.06356448 0.05085265
+v 0.48986178 -0.00875773 -0.10964627
+v 0.42740875 -0.19672788 0.10802121
+v 0.45877848 -0.03799722 0.15195149
+v 0.47284753 -0.09595575 0.07869464
+v 0.44317221 -0.17013274 -0.15340205
+v 0.42876260 -0.21274785 0.07903612
+v 0.42857921 -0.11129324 0.18046225
+v 0.42756724 0.18025954 0.15126086
+v 0.45905600 0.19578014 0.00680946
+v 0.44186805 0.19489104 -0.18162342
+v 0.44796256 -0.01570924 -0.23893359
+v 0.47379967 -0.12698087 0.03570549
+v 0.45776840 -0.16976576 -0.07986602
+v 0.48993323 -0.00771280 0.06561508
+v 0.47364591 0.04792648 0.12361515
+v 0.49085098 -0.05235487 -0.06515429
+v 0.47434630 0.06356989 -0.18213400
+v 0.45726797 -0.13865334 0.09340520
+v 0.39983647 -0.21081153 0.15097051
+v 0.47292201 -0.05173222 0.10856910
+v 0.42984950 -0.21159604 -0.12387862
+v 0.44339762 -0.19773925 0.04972048
+v 0.41358296 -0.15420317 0.17990238
+v 0.41310672 0.18026271 0.17919487
+v 0.42828728 0.22408503 0.10704007
+v 0.47396405 0.15130431 -0.09600356
+v 0.48950073 0.09177986 0.02132634
+v 0.44167420 0.18048258 -0.19681028
+v 0.43015012 0.22642648 -0.18279382
+v 0.42919506 -0.15422647 -0.21161292
+v 0.45765896 -0.06661924 -0.19669225
+v 0.49020059 -0.06744849 -0.02209931
+v 0.45746036 -0.13956547 -0.13845781
+v 0.49028912 0.00505464 0.06602936
+v 0.45841676 0.10572436 0.13640356
+v 0.47391664 -0.05265927 -0.15315775
+v 0.47380748 0.09335468 -0.16844326
+v 0.48884765 0.07779794 -0.10972047
+v 0.44184735 -0.15361209 0.12170071
+v 0.44413907 -0.18262297 0.07924312
+v 0.41400915 -0.21187548 0.12144870
+v 0.41374072 -0.21011903 -0.18178727
+v 0.44401905 -0.18326834 -0.12428371
+v 0.42787737 -0.13859061 0.16521359
+f 9 5 1
+f 9 4 5
+f 11 5 4
+f 15 9 1
+f 16 15 7
+f 16 9 15
+f 17 11 4
+f 17 6 11
+f 23 16 7
+f 23 3 16
+f 26 1 5
+f 27 7 15
+f 27 23 7
+f 27 13 23
+f 29 6 17
+f 31 5 11
+f 31 11 18
+f 32 8 19
+f 32 12 24
+f 33 19 8
+f 33 8 14
+f 33 2 19
+f 34 24 12
+f 35 16 3
+f 36 21 10
+f 36 10 12
+f 36 19 2
+f 37 31 18
+f 38 32 24
+f 38 8 32
+f 39 15 1
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+f 40 13 38
+f 40 3 23
+f 40 34 3
+f 40 24 34
+f 41 26 5
+f 41 14 26
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+f 42 14 8
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+f 44 28 4
+f 44 4 9
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+f 45 17 4
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+f 47 20 10
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+f 48 30 18
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+f 49 6 30
+f 49 48 11
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+f 50 5 31
+f 51 50 31
+f 52 32 19
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+f 52 36 12
+f 52 19 36
+f 53 33 25
+f 53 2 33
+f 53 25 50
+f 53 50 51
+f 54 34 12
+f 54 20 35
+f 54 35 3
+f 54 3 34
+f 54 12 10
+f 54 10 20
+f 55 16 35
+f 55 44 16
+f 55 28 44
+f 55 45 28
+f 55 35 20
+f 55 20 47
+f 55 47 17
+f 55 17 45
+f 56 36 2
+f 56 21 36
+f 56 53 51
+f 56 2 53
+f 56 37 21
+f 56 51 31
+f 56 31 37
+f 57 37 18
+f 57 18 30
+f 57 30 46
+f 58 10 21
+f 58 21 37
+f 58 37 57
+f 58 57 46
+f 58 46 10
+f 59 38 13
+f 60 8 38
+f 60 42 8
+f 60 26 42
+f 60 22 26
+f 60 59 22
+f 60 38 59
+f 61 26 22
+f 61 43 39
+f 61 59 43
+f 61 22 59
+f 61 39 1
+f 61 1 26
+f 62 41 5
+f 62 25 41
+f 62 50 25
+f 62 5 50
+f 63 33 14
+f 63 14 41
+f 63 41 25
+f 63 25 33
+f 64 13 27
+f 64 27 43
+f 64 59 13
+f 64 43 59
\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_15.obj b/apple/apple_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f97bb0305afbd4ffa67d5697a8bdf0984e1180d4
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23462789 -0.37321787 0.17489180
+v -0.25020312 -0.36200076 -0.24484559
+v -0.23484848 -0.00996073 -0.23398162
+v -0.43228685 -0.01171605 0.22609193
+v -0.38250343 -0.28795541 0.03674208
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+v -0.33827243 -0.28501064 0.17880619
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+v -0.39686808 -0.21246775 -0.18099148
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+v -0.22739422 -0.33108166 0.23926480
+v -0.34433108 -0.03787375 0.30934796
+v -0.28272799 -0.34071525 0.17934149
+v -0.30369272 -0.37816607 0.03699787
+v -0.35395587 -0.33151583 -0.06484726
+v -0.34000389 -0.32717000 0.10713856
+v -0.35214342 -0.25629350 -0.22449776
+v -0.41619237 -0.12543883 -0.22611356
+v -0.34565063 -0.01137856 0.30876505
+v -0.45748196 -0.12273975 0.10867781
+v -0.47383449 -0.10863466 -0.04973661
+v -0.29622439 -0.24064141 0.26516034
+v -0.31626647 -0.03889347 0.32385072
+v -0.25616008 -0.35738407 0.18168285
+v -0.35295542 -0.33101534 0.05103720
+v -0.31010724 -0.37325328 -0.09465296
+v -0.30977511 -0.32770277 0.16420078
+v -0.33834817 -0.33023770 -0.13704023
+v -0.47377665 -0.05036762 -0.13710429
+v -0.41200398 -0.13926746 -0.22437321
+v -0.42850652 -0.09316654 0.21029067
+v -0.36709489 -0.27204368 0.13731605
+v -0.48967051 -0.06559122 0.02336602
+v -0.47360229 -0.10864019 0.05235993
+v -0.38257655 -0.28727840 -0.06461833
+v -0.22895122 -0.27493990 0.28513373
+v -0.23873543 -0.31327227 0.25068126
+v -0.25460211 -0.28422898 0.26419365
+v -0.29881069 -0.18352929 0.29213038
+v -0.30419104 -0.08143615 0.32303631
+v -0.31641375 -0.01192154 0.32391053
+v -0.25333998 -0.34158528 0.20846117
+v -0.32599640 -0.35801407 0.04994730
+v -0.33806188 -0.31514032 0.13648386
+v -0.38218402 -0.25672537 -0.15262350
+v -0.34039402 -0.34277324 -0.09446610
+v -0.29641354 -0.33214131 -0.22656130
+v -0.47318678 -0.02275807 -0.15125202
+v -0.45758720 -0.09358659 -0.15124441
+v -0.49277178 -0.00852416 -0.08042930
+v -0.47889936 -0.05200916 0.11096223
+v -0.33741723 -0.24083696 0.22250497
+v -0.38528560 -0.09370412 0.26421260
+v -0.44258164 -0.13630822 0.13809226
+v -0.42830248 -0.18071478 0.10911262
+v -0.36781721 -0.30022161 0.07923348
+v -0.22784735 -0.31737196 0.25321487
+v -0.24140171 -0.27173668 0.28076018
+v -0.24166272 -0.21452179 0.30944981
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 9 3 2
+f 10 6 3
+f 10 3 9
+f 11 3 6
+f 15 6 10
+f 16 7 3
+f 16 3 11
+f 19 13 8
+f 19 8 1
+f 19 18 13
+f 23 9 2
+f 23 2 22
+f 24 15 4
+f 24 6 15
+f 24 4 17
+f 29 1 7
+f 29 19 1
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+f 30 20 13
+f 30 5 20
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+f 31 13 20
+f 32 18 12
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+f 43 27 12
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+f 45 28 17
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+f 47 42 43
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+f 47 12 18
+f 48 30 13
+f 48 21 30
+f 48 32 21
+f 48 13 32
+f 49 32 12
+f 49 21 32
+f 49 37 21
+f 49 12 37
+f 50 14 22
+f 50 22 33
+f 50 40 26
+f 50 26 14
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+f 51 31 20
+f 51 20 40
+f 51 50 33
+f 51 40 50
+f 52 33 22
+f 52 22 2
+f 52 2 8
+f 52 8 33
+f 53 34 10
+f 53 10 9
+f 53 9 34
+f 54 34 9
+f 54 9 23
+f 54 23 35
+f 54 35 14
+f 54 14 26
+f 54 26 34
+f 55 15 10
+f 55 10 34
+f 55 38 15
+f 55 34 26
+f 55 26 38
+f 56 36 4
+f 56 4 15
+f 56 15 38
+f 56 39 25
+f 56 38 39
+f 57 36 12
+f 57 12 27
+f 58 17 4
+f 58 4 36
+f 58 27 44
+f 58 57 27
+f 58 36 57
+f 58 45 17
+f 58 44 45
+f 59 56 25
+f 59 36 56
+f 59 37 12
+f 59 12 36
+f 60 39 5
+f 60 25 39
+f 60 59 25
+f 60 37 59
+f 61 30 21
+f 61 21 37
+f 61 5 30
+f 61 60 5
+f 61 37 60
+f 62 42 16
+f 62 41 42
+f 62 16 11
+f 62 11 41
+f 63 43 41
+f 63 27 43
+f 64 41 11
+f 64 45 44
+f 64 11 45
+f 64 63 41
+f 64 44 27
+f 64 27 63
\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_16.obj b/apple/apple_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d62f3113c7caa9c0b1b57b06422dcc2e1a43d22d
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v -0.09473807 -0.48013709 0.02221867
+v -0.09425180 -0.46340800 -0.15365086
+v -0.09848484 -0.38874862 0.02359414
+v -0.31695959 -0.33457913 0.14000717
+v -0.29868252 -0.38624894 -0.05146915
+v -0.19492135 -0.39944432 0.16516091
+v -0.09380597 -0.47960092 -0.08000546
+v -0.29013679 -0.33698993 -0.23043150
+v -0.18484764 -0.40927462 0.15527190
+v -0.24511468 -0.36180572 0.18490340
+v -0.21166248 -0.43027630 -0.11004819
+v -0.09848484 -0.38874862 -0.15822404
+v -0.32939066 -0.33474651 -0.15339416
+v -0.29200397 -0.33848681 0.17214872
+v -0.26959468 -0.39968825 0.03556739
+v -0.28229143 -0.36945364 0.12168048
+v -0.13658898 -0.46085462 -0.10859594
+v -0.16613334 -0.40690279 -0.24243441
+v -0.15180052 -0.46146130 -0.06561629
+v -0.33168182 -0.33403139 0.11025126
+v -0.30071229 -0.33562932 -0.21349287
+v -0.29641091 -0.37376898 -0.13766375
+v -0.16602928 -0.44639157 0.06517447
+v -0.20942805 -0.39918102 0.15029133
+v -0.26937665 -0.35754745 0.16617704
+v -0.31037332 -0.34320654 0.13641451
+v -0.10850696 -0.45996707 -0.15268248
+v -0.15303306 -0.41831799 -0.22751298
+v -0.25020312 -0.36200076 -0.24484559
+v -0.10866084 -0.47660781 0.02193991
+v -0.29880176 -0.38646934 -0.02184954
+v -0.10767800 -0.47544206 -0.07933247
+v -0.18115937 -0.44562811 -0.09417905
+v -0.28330789 -0.38674395 0.06436263
+v -0.26770931 -0.39992645 -0.10874804
+v -0.32480198 -0.34163592 -0.15214500
+v -0.27985510 -0.37137543 -0.18029581
+v -0.22934176 -0.37928182 0.16967996
+v -0.21009651 -0.41460501 0.10857317
+v -0.28336113 -0.35571206 0.15112772
+v -0.15148579 -0.44413826 -0.15293020
+v -0.22539964 -0.39883586 -0.19602872
+v -0.15200157 -0.46026095 0.02153030
+v -0.32455992 -0.34174354 0.10870630
+v -0.25438200 -0.39987685 0.07918108
+v -0.29635000 -0.34170388 -0.21060664
+v -0.25397446 -0.36971208 -0.22500210
+v -0.24141839 -0.37399569 0.16664828
+v -0.23915196 -0.39991832 0.10837460
+v -0.28638507 -0.34512352 0.16769505
+v -0.19658836 -0.42988944 -0.13780927
+v -0.18063244 -0.41421133 -0.21066567
+v -0.18084624 -0.44544840 0.03555428
+v -0.19577616 -0.42962022 0.07923342
+v -0.28383671 -0.34467278 -0.22622559
+v -0.16622459 -0.41386253 -0.22596970
+v -0.28025073 -0.35646207 -0.20907717
+f 7 2 3
+f 7 3 1
+f 9 1 3
+f 9 3 6
+f 10 6 3
+f 12 8 3
+f 12 3 2
+f 14 8 4
+f 14 3 8
+f 14 10 3
+f 19 5 11
+f 21 4 8
+f 21 20 4
+f 21 13 20
+f 23 1 9
+f 24 9 6
+f 25 10 14
+f 26 14 4
+f 26 4 20
+f 27 2 7
+f 27 7 17
+f 28 18 12
+f 28 12 2
+f 28 2 27
+f 29 8 12
+f 29 12 18
+f 30 7 1
+f 30 1 23
+f 31 5 19
+f 31 20 13
+f 31 13 5
+f 32 19 17
+f 32 17 7
+f 32 30 19
+f 32 7 30
+f 33 19 11
+f 33 11 17
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+f 35 5 22
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+f 36 13 21
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+f 37 22 36
+f 38 24 6
+f 38 6 10
+f 39 23 9
+f 39 9 24
+f 40 26 16
+f 40 16 25
+f 41 27 17
+f 42 11 35
+f 42 35 37
+f 42 29 18
+f 43 30 23
+f 43 19 30
+f 43 31 19
+f 44 26 20
+f 44 20 31
+f 44 31 34
+f 44 34 16
+f 44 16 26
+f 45 34 15
+f 45 16 34
+f 46 21 8
+f 46 37 36
+f 46 36 21
+f 47 42 37
+f 47 29 42
+f 48 38 10
+f 48 10 25
+f 48 25 16
+f 48 24 38
+f 49 39 24
+f 49 16 45
+f 49 48 16
+f 49 24 48
+f 50 40 25
+f 50 25 14
+f 50 14 26
+f 50 26 40
+f 51 41 17
+f 51 17 11
+f 51 11 42
+f 52 28 27
+f 52 27 41
+f 52 51 42
+f 52 41 51
+f 52 42 18
+f 53 43 23
+f 53 15 31
+f 53 31 43
+f 53 45 15
+f 54 23 39
+f 54 49 45
+f 54 39 49
+f 54 53 23
+f 54 45 53
+f 55 46 8
+f 55 37 46
+f 55 8 29
+f 55 29 47
+f 56 52 18
+f 56 18 28
+f 56 28 52
+f 57 55 47
+f 57 47 37
+f 57 37 55
\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_17.obj b/apple/apple_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d73d7a92bc74ff3640273da0a900b3d5a15dedde
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.27187703 -0.39997554 -0.08413408
+v 0.25353931 -0.37141258 -0.21049931
+v 0.26515153 -0.26753649 -0.08246647
+v -0.23484848 -0.26753649 -0.09761798
+v -0.24758734 -0.41293402 -0.10177626
+v 0.00757576 -0.26753649 -0.23398162
+v 0.00757576 -0.38874862 -0.08246647
+v 0.26515153 -0.26753649 -0.21883010
+v 0.00245463 -0.43946256 -0.25988035
+v 0.00757576 -0.26753649 -0.08246647
+v -0.23484848 -0.26753649 -0.23398162
+v -0.23047657 -0.38103177 -0.23021024
+f 6 4 3
+f 7 1 3
+f 7 5 1
+f 7 4 5
+f 8 1 2
+f 8 3 1
+f 8 6 3
+f 9 2 1
+f 9 1 5
+f 9 8 2
+f 9 6 8
+f 10 7 3
+f 10 3 4
+f 10 4 7
+f 11 5 4
+f 11 4 6
+f 11 6 9
+f 12 11 9
+f 12 9 5
+f 12 5 11
\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_18.obj b/apple/apple_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffeef6f7fdffa19279d522b5a672c9212f45abeb
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.31465349 0.22670290 0.26851399
+v 0.44855580 0.22763592 -0.09601785
+v 0.38286573 0.32550765 0.07761193
+v 0.22878576 0.44660263 0.06581904
+v 0.25000001 0.23246352 -0.20367859
+v 0.31142626 0.39689578 -0.16775157
+v 0.24056071 0.36641433 0.22023691
+v 0.41993821 0.22668344 0.12495710
+v 0.43357538 0.22776229 -0.16946796
+v 0.39883791 0.32726618 -0.06569114
+v 0.24697682 0.42255005 -0.20101440
+v 0.33855529 0.30915408 0.17887259
+v 0.29712538 0.39728886 0.10605139
+v 0.23601906 0.23329881 0.31391929
+v 0.42802369 0.26902738 0.02097256
+v 0.38985550 0.22601174 0.18295621
+v 0.36987944 0.32495311 -0.19659021
+v 0.41314156 0.28262653 -0.15376272
+v 0.24329867 0.42985691 -0.18397514
+v 0.31028899 0.26793317 0.25022782
+v 0.22824617 0.41493960 0.15239978
+v 0.32663338 0.39719283 0.03515947
+v 0.32451724 0.36848826 0.12019840
+v 0.27197126 0.22746054 0.29753377
+v 0.44868973 0.22735995 -0.00786508
+v 0.41276241 0.28316645 0.06389772
+v 0.39897579 0.32753689 -0.00772153
+v 0.38339099 0.30914422 0.10503600
+v 0.35613743 0.36787014 -0.12444275
+v 0.29892001 0.39506073 -0.19678464
+v 0.42305080 0.22933016 -0.20071679
+v 0.42857477 0.26919874 -0.10948497
+v 0.23484850 0.23246352 0.02359414
+v 0.29738313 0.36561709 0.16496563
+v 0.36824729 0.25234348 0.19331616
+v 0.22933734 0.30046484 0.28557640
+v 0.25653290 0.42587536 0.09357412
+v 0.25626117 0.44089467 -0.10977292
+v 0.32624176 0.38067075 0.09241019
+v 0.28425313 0.25346444 0.27885044
+v 0.43501161 0.22702123 0.08136360
+v 0.41450782 0.29737103 0.02151510
+v 0.38514826 0.33926722 0.03577770
+v 0.41493698 0.23899709 0.12238890
+v 0.33929441 0.35298298 0.11998244
+v 0.36928222 0.33953871 -0.16746663
+v 0.31418651 0.41172420 -0.06640978
+v 0.27002838 0.42646092 -0.15292349
+v 0.41159024 0.26848109 -0.18187654
+v 0.41387943 0.29639346 -0.10961225
+v 0.42699808 0.25334195 -0.15360218
+v 0.44371088 0.24078643 -0.09585380
+v 0.22681271 0.34230478 0.25347606
+v 0.25296035 0.31133086 0.26346760
+v 0.23943232 0.39496851 0.17907730
+v 0.36831776 0.29532559 0.14866805
+v 0.22959254 0.27294846 0.30101874
+v 0.25383814 0.40970747 0.13595390
+v 0.28388179 0.42622437 0.03532188
+v 0.24381279 0.44662351 -0.11068404
+v 0.29911638 0.41006030 0.06507377
+v 0.27081203 0.23995183 0.29360728
+v 0.31193958 0.23904002 0.26454662
+v 0.44370827 0.24068631 -0.00843097
+f 16 1 9
+f 16 9 2
+f 19 11 5
+f 24 9 1
+f 24 5 9
+f 25 16 2
+f 28 26 3
+f 30 17 11
+f 30 6 17
+f 31 9 5
+f 31 5 11
+f 31 11 17
+f 33 19 5
+f 33 4 19
+f 33 24 14
+f 33 5 24
+f 34 20 12
+f 34 23 13
+f 35 12 20
+f 35 20 1
+f 35 1 16
+f 37 4 21
+f 39 13 23
+f 41 8 16
+f 41 16 25
+f 41 15 26
+f 42 26 15
+f 43 27 22
+f 43 42 27
+f 43 3 26
+f 43 26 42
+f 43 39 3
+f 43 22 39
+f 44 16 8
+f 44 26 28
+f 44 41 26
+f 44 8 41
+f 45 34 12
+f 45 23 34
+f 45 28 3
+f 45 39 23
+f 45 3 39
+f 46 17 6
+f 46 6 29
+f 46 18 17
+f 47 27 10
+f 47 10 29
+f 47 22 27
+f 47 29 6
+f 48 6 30
+f 48 47 6
+f 48 38 47
+f 48 30 11
+f 48 11 19
+f 49 9 31
+f 49 31 17
+f 49 17 18
+f 50 32 18
+f 50 10 32
+f 50 18 46
+f 50 46 29
+f 50 29 10
+f 51 18 32
+f 51 49 18
+f 51 9 49
+f 52 32 10
+f 52 10 27
+f 52 27 42
+f 52 25 2
+f 52 51 32
+f 52 2 9
+f 52 9 51
+f 53 21 4
+f 53 4 33
+f 53 7 21
+f 54 34 7
+f 54 20 34
+f 54 7 53
+f 54 53 36
+f 54 40 20
+f 54 36 40
+f 55 21 7
+f 55 7 34
+f 56 12 35
+f 56 45 12
+f 56 28 45
+f 56 35 16
+f 56 44 28
+f 56 16 44
+f 57 33 14
+f 57 40 36
+f 57 53 33
+f 57 36 53
+f 58 37 21
+f 58 13 37
+f 58 21 55
+f 58 55 34
+f 58 34 13
+f 59 4 37
+f 59 22 47
+f 59 47 38
+f 60 19 4
+f 60 59 38
+f 60 4 59
+f 60 48 19
+f 60 38 48
+f 61 39 22
+f 61 13 39
+f 61 22 59
+f 61 59 37
+f 61 37 13
+f 62 24 1
+f 62 1 40
+f 62 40 57
+f 62 57 14
+f 62 14 24
+f 63 40 1
+f 63 1 20
+f 63 20 40
+f 64 41 25
+f 64 15 41
+f 64 42 15
+f 64 52 42
+f 64 25 52
\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_19.obj b/apple/apple_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d934cc218969cbc86874ffb12d31db317284ce4
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.42909179 -0.01314924 0.20982460
+v 0.45332297 -0.01656956 -0.22632673
+v 0.41485063 0.23898729 -0.20991624
+v 0.26515153 0.23246352 0.19026081
+v 0.26515153 -0.00996073 -0.32489071
+v 0.38985550 0.22601174 0.18295621
+v 0.26515153 -0.00996073 0.19026081
+v 0.29928931 0.25950174 -0.36494177
+v 0.37109337 0.20969264 -0.31421907
+v 0.39683745 -0.01125920 -0.33239706
+v 0.37272021 0.22556263 -0.30035888
+v 0.36031136 0.22702439 -0.31727271
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 6 3
+f 8 4 6
+f 9 3 2
+f 10 2 5
+f 10 5 8
+f 10 9 2
+f 10 8 9
+f 11 8 3
+f 11 3 9
+f 12 11 9
+f 12 9 8
+f 12 8 11
\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_2.obj b/apple/apple_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3fe43d9926cd18aff73941974fe1d38d415994d
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.00659988 0.23304274 0.33080171
+v 0.25272665 0.34876772 0.23001774
+v 0.12573677 0.35428852 0.27888669
+v -0.15617875 0.41714573 0.18253586
+v -0.23484848 0.23246352 0.19026081
+v 0.15554147 0.41698682 0.19697868
+v -0.09590259 0.34150968 0.27926345
+v 0.17057366 0.31584173 0.29951922
+v 0.00757576 0.23246352 0.19026081
+v 0.18231125 0.38075517 0.23621042
+v -0.02188306 0.39791631 0.23713477
+v -0.23157839 0.22816682 0.30009831
+v 0.23031110 0.31668009 0.27280970
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+v 0.22931114 0.38901948 0.19799553
+v -0.19762455 0.40201523 0.18157689
+v 0.11114921 0.39783358 0.23683601
+v 0.18341231 0.35320082 0.26448401
+v 0.00785191 0.43668945 0.18519054
+v -0.00617053 0.35549407 0.27898331
+v -0.13985649 0.38259910 0.23475862
+v -0.17076142 0.24222006 0.30815510
+v 0.21037716 0.38211044 0.22089110
+v -0.23218526 0.37914105 0.18673487
+v 0.15364085 0.41032219 0.20761427
+v 0.12639071 0.38263900 0.25221275
+v 0.16971088 0.32398724 0.29450032
+v 0.21185556 0.33904556 0.26415162
+v -0.06646782 0.42607599 0.19409477
+v 0.19983190 0.40254567 0.19734758
+v -0.06690752 0.43251090 0.18319366
+v 0.00804686 0.42984345 0.19584368
+v -0.05062773 0.32765188 0.29386375
+v -0.05130005 0.38302864 0.25098910
+v -0.16744279 0.39605192 0.20668310
+v -0.19701205 0.32493709 0.26333490
+v -0.17237971 0.22940216 0.31087363
+v -0.08131740 0.28671537 0.30823467
+v 0.22599942 0.38297258 0.20871129
+v 0.22690978 0.32681476 0.26654272
+v -0.11070655 0.41101157 0.20767997
+v 0.19739513 0.39597233 0.20839356
+v -0.03677500 0.36932449 0.26514076
+v -0.12494690 0.35443573 0.26461107
+v -0.15462332 0.41058280 0.19356137
+v -0.18146051 0.36808215 0.23403655
+v -0.11057874 0.31473541 0.29275798
+v -0.22436762 0.32449925 0.24954792
+v -0.13983071 0.36766353 0.24995100
+v -0.19429841 0.39612006 0.19255497
+v -0.15382802 0.32607928 0.27705325
+v -0.03608986 0.30183512 0.30822237
+v -0.19969013 0.27027075 0.29222986
+v -0.23023557 0.24155395 0.29542745
+v -0.22555882 0.36728004 0.20699522
+v -0.16877314 0.33972057 0.26368146
+v -0.18277007 0.31171393 0.27682622
+v -0.22578185 0.28191895 0.27669341
+f 12 9 1
+f 12 5 9
+f 13 8 1
+f 13 9 2
+f 13 1 9
+f 14 1 8
+f 14 8 3
+f 15 2 9
+f 16 9 5
+f 19 15 9
+f 19 17 6
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+f 24 16 5
+f 24 5 12
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+f 26 25 17
+f 26 10 25
+f 26 18 10
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+f 27 18 3
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+f 28 27 13
+f 28 18 27
+f 30 19 6
+f 30 15 19
+f 30 23 15
+f 31 16 4
+f 31 29 19
+f 31 19 9
+f 31 9 16
+f 32 11 17
+f 32 17 19
+f 32 29 11
+f 32 19 29
+f 33 20 7
+f 33 14 20
+f 37 22 12
+f 37 12 1
+f 37 1 22
+f 38 22 1
+f 38 1 14
+f 39 23 2
+f 39 2 15
+f 39 15 23
+f 40 28 13
+f 40 13 2
+f 40 2 28
+f 41 21 34
+f 41 34 11
+f 41 11 29
+f 41 31 4
+f 41 29 31
+f 42 30 6
+f 42 6 25
+f 42 25 10
+f 42 10 23
+f 42 23 30
+f 43 20 11
+f 43 11 34
+f 43 7 20
+f 44 43 34
+f 44 7 43
+f 45 4 16
+f 45 41 4
+f 45 35 21
+f 45 21 41
+f 46 21 35
+f 47 22 38
+f 47 33 7
+f 47 14 33
+f 48 36 46
+f 49 44 34
+f 49 34 21
+f 49 21 46
+f 50 45 16
+f 50 35 45
+f 50 46 35
+f 50 16 24
+f 51 47 7
+f 51 7 44
+f 52 47 38
+f 52 38 14
+f 52 14 47
+f 53 12 22
+f 53 22 47
+f 53 47 51
+f 54 48 24
+f 54 24 12
+f 54 12 53
+f 55 48 46
+f 55 24 48
+f 55 50 24
+f 55 46 50
+f 56 49 46
+f 56 46 36
+f 56 51 44
+f 56 44 49
+f 57 53 51
+f 57 56 36
+f 57 51 56
+f 58 36 48
+f 58 48 54
+f 58 57 36
+f 58 54 53
+f 58 53 57
\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_20.obj b/apple/apple_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9461d9144cdde273ae035b2a37275c8f6ecc5325
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.26753649 0.28116990
+v 0.00757576 -0.26753649 -0.23398162
+v 0.00757576 0.23246352 -0.23398162
+v -0.23967892 0.23836001 0.29354906
+v -0.23664281 -0.26989397 0.28457392
+v -0.00280696 0.23674911 0.32827801
+v -0.23484848 0.23246352 -0.23398162
+v -0.23484848 -0.26753649 -0.23398162
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 3 2
+f 7 4 3
+f 8 7 2
+f 8 2 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_21.obj b/apple/apple_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f98eaaf8ec38adf060dce781fc168de4c4d71f2
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.13906753 -0.46638762 0.05166424
+v 0.20072720 -0.44231718 -0.06651929
+v 0.20101040 -0.44230041 0.03801848
+v 0.17300036 -0.44650657 0.08353903
+v 0.08812129 -0.46452025 -0.17796423
+v 0.14105333 -0.44285651 -0.18595282
+v 0.18176115 -0.44699627 0.06498017
+v 0.10983406 -0.48043146 -0.08007590
+v 0.14196731 -0.45878599 0.08268122
+v 0.18707039 -0.44402435 0.06781016
+v 0.15246321 -0.46160505 0.05085948
+v 0.19539471 -0.44534852 -0.06492256
+v 0.13564990 -0.45956826 -0.13854366
+v 0.14635922 -0.45637354 0.08606404
+v 0.08151040 -0.48684892 -0.08150827
+v 0.19499275 -0.44544360 0.03678063
+v 0.16768909 -0.44947918 0.08071174
+v 0.09329523 -0.47664445 -0.12460154
+v 0.12394146 -0.45110406 -0.18301603
+v 0.15091310 -0.45956287 -0.10892089
+v 0.12815657 -0.44760884 -0.18780917
+v 0.08207411 -0.46886978 -0.16975509
+v 0.10845582 -0.47576446 -0.10857063
+v 0.07925286 -0.48052667 -0.12531099
+v 0.16670575 -0.44670566 -0.13917394
+v 0.13608407 -0.44681942 -0.18152045
+v 0.10790755 -0.46137626 -0.16772190
+v 0.09126665 -0.48399741 -0.08663648
+v 0.18627360 -0.44285844 -0.11161239
+v 0.17143440 -0.44385756 -0.14158684
+v 0.18050879 -0.44600823 -0.10947464
+f 6 3 2
+f 10 6 4
+f 10 3 6
+f 11 1 8
+f 11 9 1
+f 12 2 3
+f 14 4 6
+f 15 8 1
+f 15 1 9
+f 16 10 7
+f 16 3 10
+f 16 7 11
+f 16 11 8
+f 16 12 3
+f 16 8 12
+f 17 11 7
+f 17 4 14
+f 17 14 9
+f 17 9 11
+f 17 10 4
+f 17 7 10
+f 20 12 8
+f 21 14 6
+f 21 5 14
+f 21 19 5
+f 22 14 5
+f 22 9 14
+f 22 15 9
+f 23 20 8
+f 23 13 20
+f 24 22 18
+f 24 15 22
+f 24 23 8
+f 24 18 23
+f 25 20 13
+f 26 21 6
+f 26 19 21
+f 26 25 13
+f 26 13 19
+f 27 18 22
+f 27 23 18
+f 27 13 23
+f 27 19 13
+f 27 22 5
+f 27 5 19
+f 28 24 8
+f 28 8 15
+f 28 15 24
+f 29 6 2
+f 29 2 12
+f 30 26 6
+f 30 25 26
+f 30 29 25
+f 30 6 29
+f 31 29 12
+f 31 12 20
+f 31 20 25
+f 31 25 29
\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_22.obj b/apple/apple_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b888585c45abceb088449893fa2b53cca558ac94
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.04019398 -0.02623413 0.48963017
+v -0.00022199 0.00268047 0.23454355
+v -0.03496672 0.00943833 0.48127367
+v -0.07214528 0.01835187 0.48321183
+v -0.07097610 -0.02333342 0.48057472
+v -0.01034517 0.02090352 0.23527524
+v -0.04430084 0.00558518 0.49217093
+v -0.02478143 -0.00427532 0.42957544
+v -0.06131252 -0.02890762 0.49237570
+v -0.00055472 0.01589472 0.23467144
+v -0.04286756 0.02011223 0.47843344
+v -0.02794621 0.01356582 0.23748471
+v -0.04182935 -0.02430574 0.49220290
+v -0.03553792 -0.02395773 0.46446538
+v -0.02371358 0.00471285 0.23515740
+v -0.07329954 0.00728232 0.49074156
+v -0.02440555 0.00111504 0.42988675
+v -0.07099851 0.01903315 0.46791465
+v -0.01501558 0.02019262 0.29457724
+v -0.00812860 0.01425627 0.29367853
+v -0.04206625 -0.02492673 0.45381567
+v -0.06605068 -0.02660747 0.48681529
+v -0.01957553 0.01976577 0.23610114
+v -0.06695207 -0.01700907 0.49195931
+v -0.03761267 0.02005550 0.31613747
+v -0.02655239 0.01803568 0.25265008
+f 8 3 1
+f 11 7 3
+f 11 4 7
+f 13 1 3
+f 13 3 7
+f 13 9 1
+f 13 7 9
+f 14 8 1
+f 14 2 8
+f 15 2 9
+f 15 5 12
+f 15 10 2
+f 15 6 10
+f 16 7 4
+f 17 8 2
+f 17 2 10
+f 17 3 8
+f 18 4 11
+f 18 12 5
+f 18 16 4
+f 18 5 16
+f 19 11 10
+f 19 10 6
+f 19 6 11
+f 20 11 3
+f 20 10 11
+f 20 17 10
+f 20 3 17
+f 21 9 2
+f 21 2 14
+f 21 14 1
+f 21 1 9
+f 22 15 9
+f 22 5 15
+f 23 15 12
+f 23 6 15
+f 24 9 7
+f 24 7 16
+f 24 22 9
+f 24 16 5
+f 24 5 22
+f 25 18 11
+f 25 11 6
+f 25 6 23
+f 26 25 23
+f 26 23 12
+f 26 12 18
+f 26 18 25
\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_23.obj b/apple/apple_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed7fdd51d8a7cf6b8292259c859407dfe7e66524
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.41009031 0.24407071 -0.21477672
+v 0.37272021 0.22556263 -0.30035888
+v 0.25616185 0.40916688 -0.22482250
+v 0.00764222 0.47273844 -0.20301912
+v 0.00757576 0.23246352 -0.20367859
+v 0.08148823 0.28530745 -0.44165663
+v 0.32844978 0.37005825 -0.19781052
+v 0.23944942 0.29630760 -0.38364951
+v 0.10888168 0.39775944 -0.34299745
+v 0.00711191 0.23188510 -0.45645496
+v 0.15432583 0.45904358 -0.19796012
+v 0.37537398 0.31639054 -0.19934738
+v 0.32352487 0.30961393 -0.29737902
+v 0.12214749 0.33946100 -0.39781822
+v 0.23976011 0.36673099 -0.31191274
+v 0.00844020 0.40039001 -0.34450851
+v 0.15646201 0.22715691 -0.44642596
+v 0.28750656 0.40120901 -0.19898983
+v 0.09535869 0.45589015 -0.24135373
+v 0.16669848 0.42487975 -0.26897740
+v 0.34289300 0.35716458 -0.19793824
+v 0.35180597 0.29707236 -0.26982826
+v 0.30964745 0.23803949 -0.36850583
+v 0.19786535 0.28162495 -0.41160678
+v 0.16659063 0.35234855 -0.36870925
+v 0.26704679 0.33882238 -0.32543668
+v 0.00819830 0.31225932 -0.42870912
+v 0.00801145 0.42865535 -0.30060680
+v 0.32796915 0.22482258 -0.35826272
+v 0.19853724 0.44394073 -0.19791991
+v 0.13787228 0.44125422 -0.25532760
+v 0.15158194 0.39535687 -0.32651502
+v 0.24184715 0.39478417 -0.26773885
+v 0.29677023 0.36846725 -0.25413835
+v 0.36805909 0.29630583 -0.23968368
+v 0.36765307 0.23823572 -0.29830793
+v 0.33959592 0.35438431 -0.21020099
+v 0.21211023 0.29503139 -0.39749395
+v 0.12179790 0.29837691 -0.42630745
+v 0.21510279 0.22650954 -0.43347232
+v 0.12292045 0.38211467 -0.35625222
+v 0.22475222 0.35214440 -0.34025531
+v 0.29473148 0.28065190 -0.35401320
+v 0.00744012 0.27362917 -0.44733677
+v 0.08096738 0.31267952 -0.42814396
+v 0.00815278 0.45793828 -0.24170040
+v 0.08093617 0.41200296 -0.32850859
+v 0.18167927 0.43983454 -0.22564379
+v 0.15275528 0.45454414 -0.21169966
+v 0.11084738 0.42530034 -0.29959779
+v 0.21170675 0.38077404 -0.31139633
+v 0.31096665 0.33699185 -0.28188804
+v 0.28103271 0.35238986 -0.29625599
+v 0.32568254 0.36690057 -0.21009954
+v 0.26847015 0.39465640 -0.23951840
+v 0.37161275 0.31398659 -0.21102963
+v 0.35225080 0.26714347 -0.29769395
+v 0.22560272 0.32260521 -0.36919428
+v 0.10791308 0.32596520 -0.41279070
+v 0.19895885 0.25279718 -0.42695260
+v 0.10897949 0.27117102 -0.44206983
+v 0.27303409 0.22664347 -0.40425462
+v 0.26688050 0.30862551 -0.35462873
+v 0.30976174 0.28032174 -0.33943393
+f 5 2 1
+f 10 5 4
+f 11 4 5
+f 11 5 7
+f 12 5 1
+f 17 5 10
+f 17 10 6
+f 19 4 11
+f 21 7 5
+f 21 5 12
+f 29 2 5
+f 29 5 17
+f 30 11 7
+f 30 7 18
+f 30 18 3
+f 35 1 22
+f 36 22 1
+f 36 1 2
+f 36 2 29
+f 37 21 12
+f 40 29 17
+f 41 25 14
+f 41 14 9
+f 41 9 32
+f 42 15 26
+f 42 41 32
+f 42 25 41
+f 44 27 6
+f 44 6 10
+f 44 10 4
+f 44 4 28
+f 44 28 16
+f 44 16 27
+f 45 6 27
+f 45 39 6
+f 45 27 16
+f 45 16 9
+f 46 28 4
+f 46 4 19
+f 46 19 28
+f 47 28 19
+f 47 9 16
+f 47 16 28
+f 48 30 3
+f 48 20 31
+f 48 11 30
+f 48 33 20
+f 48 3 33
+f 49 31 19
+f 49 19 11
+f 49 48 31
+f 49 11 48
+f 50 31 20
+f 50 20 32
+f 50 32 9
+f 50 9 47
+f 50 47 19
+f 50 19 31
+f 51 32 20
+f 51 20 33
+f 51 33 15
+f 51 42 32
+f 51 15 42
+f 52 13 26
+f 52 34 37
+f 52 37 22
+f 52 22 13
+f 53 26 15
+f 53 15 33
+f 53 33 34
+f 53 52 26
+f 53 34 52
+f 54 34 18
+f 54 18 7
+f 54 37 34
+f 54 7 21
+f 54 21 37
+f 55 34 33
+f 55 33 3
+f 55 3 18
+f 55 18 34
+f 56 35 22
+f 56 12 1
+f 56 1 35
+f 56 37 12
+f 56 22 37
+f 57 13 22
+f 57 22 36
+f 57 36 29
+f 58 8 38
+f 58 25 42
+f 58 42 26
+f 58 38 14
+f 58 14 25
+f 59 38 24
+f 59 24 39
+f 59 14 38
+f 59 39 45
+f 59 45 9
+f 59 9 14
+f 60 39 24
+f 60 24 38
+f 60 38 8
+f 60 8 40
+f 61 40 17
+f 61 17 6
+f 61 60 40
+f 61 6 39
+f 61 39 60
+f 62 23 29
+f 62 29 40
+f 62 40 8
+f 62 43 23
+f 62 8 43
+f 63 43 8
+f 63 26 43
+f 63 58 26
+f 63 8 58
+f 64 29 23
+f 64 23 43
+f 64 57 29
+f 64 13 57
+f 64 43 26
+f 64 26 13
\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_24.obj b/apple/apple_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..585682bf8989408f0c527802b00eae5916d7fded
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.25740444 -0.21679235 0.29981577
+v 0.43426926 -0.08288639 0.18359697
+v 0.31523437 0.06297273 0.30783711
+v 0.32875218 0.31063767 0.19218497
+v 0.26515153 -0.22208195 0.19026081
+v 0.42894720 0.10556790 0.19508490
+v 0.26116571 0.22961770 0.30314372
+v 0.35734841 -0.06801199 0.27923420
+v 0.37672957 -0.21563315 0.18396790
+v 0.40398837 0.19627519 0.18265636
+v 0.25997836 -0.12871991 0.32779336
+v 0.26515153 0.23246352 0.19026081
+v 0.34079469 0.18052020 0.26512497
+v 0.37141743 0.09175680 0.26459362
+v 0.42924668 -0.02306305 0.20799052
+v 0.35431971 -0.16781765 0.24985266
+v 0.43502802 0.10748552 0.18341787
+v 0.38840772 -0.19959545 0.18201111
+v 0.25850513 0.19856311 0.31357153
+v 0.31593740 -0.06943185 0.30837383
+v 0.31828735 0.30205803 0.21477201
+v 0.34446356 0.29880149 0.18271625
+v 0.38490262 0.17906797 0.22077431
+v 0.34404467 0.03453157 0.29364108
+v 0.32855873 0.10812310 0.29339764
+v 0.39812326 -0.12438460 0.22116613
+v 0.42923531 0.06266157 0.20808817
+v 0.33962777 -0.21096093 0.23645287
+v 0.29863269 -0.12614353 0.30878703
+v 0.41765442 -0.14056699 0.18236260
+v 0.25753349 -0.18625046 0.31266695
+v 0.26187618 0.08014550 0.32672049
+v 0.32481964 0.26746952 0.23628663
+v 0.33934480 0.29612780 0.19392270
+v 0.39833124 0.19351277 0.19413819
+v 0.40126195 0.09267515 0.23575022
+v 0.34427672 -0.00954169 0.29378073
+v 0.34186829 0.13667417 0.27778768
+v 0.35733889 0.07770932 0.27889112
+v 0.28495472 0.16729362 0.30776984
+v 0.39978620 -0.06732708 0.23663135
+v 0.37065709 -0.08280942 0.26458704
+v 0.38282867 -0.19647338 0.19365121
+v 0.31136145 -0.21072342 0.26376372
+v 0.27072688 -0.12788315 0.32380885
+v 0.32776123 -0.11129699 0.29293252
+v 0.41266234 -0.13880056 0.19258023
+v 0.31190906 -0.18299671 0.27872865
+v 0.27411132 0.07938495 0.32289108
+v 0.29923900 0.22557611 0.28056316
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+f 64 13 51
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+f 64 63 56
+f 64 50 63
\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_25.obj b/apple/apple_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbf4c26d30e04fd608c233ac72b8bd71c243ad05
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.24835305 -0.37121582 -0.21750061
+v 0.44827783 -0.08272889 -0.21301939
+v 0.26986842 -0.35947681 -0.21163833
+v 0.25000001 -0.00996073 -0.21883010
+v 0.24814038 -0.00801413 -0.45069569
+v 0.34232400 -0.28847275 -0.21124028
+v 0.24022058 -0.21613767 -0.40503990
+v 0.45800576 -0.00946483 -0.21720608
+v 0.24209123 -0.36189321 -0.24207707
+v 0.24314048 -0.12971176 -0.43206597
+v 0.38444197 -0.16687819 -0.28252600
+v 0.44726923 -0.00812259 -0.24270485
+v 0.26670990 -0.35520265 -0.22461292
+v 0.43299575 -0.14247268 -0.21333986
+v 0.30945404 -0.29926213 -0.25394435
+v 0.34017024 -0.06475206 -0.38396286
+v 0.30012607 -0.00716034 -0.42958079
+v 0.44404970 -0.03747549 -0.24133886
+v 0.38866372 -0.22776468 -0.21185745
+v 0.32427620 -0.22475960 -0.31003452
+v 0.28169525 -0.32665670 -0.25350849
+v 0.35329541 -0.13756681 -0.33973476
+v 0.31209696 -0.09499239 -0.39783768
+v 0.26068633 -0.00761310 -0.44741920
+v 0.40021971 -0.00792174 -0.32825503
+v 0.42816115 -0.05210876 -0.26973257
+v 0.38379830 -0.22507831 -0.22487986
+v 0.25344154 -0.35626795 -0.23868570
+v 0.24228679 -0.33307285 -0.28747652
+v 0.30836478 -0.21045801 -0.34004163
+v 0.25411608 -0.12672458 -0.42666845
+v 0.29890624 -0.02052273 -0.42784740
+v 0.32518142 -0.13903107 -0.36770280
+v 0.39809596 -0.10926801 -0.29702361
+v 0.44303751 -0.08168048 -0.22605728
+v 0.41375463 -0.13955824 -0.25395228
+v 0.36845238 -0.19570970 -0.28137073
+v 0.25410649 -0.32818534 -0.28245300
+v 0.29849183 -0.08009287 -0.41258276
+v 0.24949948 -0.21256810 -0.39857851
+v 0.33887122 -0.10766353 -0.36912348
+v 0.35444984 -0.06529733 -0.36932069
+v 0.39873127 -0.02169268 -0.32783369
+v 0.38289593 -0.12323469 -0.31115299
+v 0.42823367 -0.14065587 -0.22482584
+v 0.35466370 -0.18290049 -0.30965587
+v 0.36813811 -0.22339478 -0.25308292
+v 0.32242146 -0.26953974 -0.26718425
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+f 8 4 2
+f 9 1 4
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+f 10 7 4
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+f 18 8 2
+f 19 14 2
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+f 24 4 17
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+f 35 18 2
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+f 36 26 35
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+f 38 21 28
+f 38 28 9
+f 38 9 29
+f 39 23 7
+f 39 7 31
+f 39 31 32
+f 39 32 16
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+f 40 33 30
+f 40 30 7
+f 40 7 33
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+f 41 23 16
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+f 43 26 34
+f 43 42 25
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+f 44 34 11
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+f 45 27 36
+f 45 36 35
+f 45 35 14
+f 46 37 20
+f 46 20 30
+f 46 30 22
+f 46 22 11
+f 46 11 37
+f 47 37 27
+f 47 27 15
+f 47 15 37
+f 48 37 15
+f 48 15 20
+f 48 20 37
\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_26.obj b/apple/apple_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83b8667e7f54564aa8ad0f1b113f5ae37af6ba7d
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.25742089 -0.40798516 0.05214103
+v 0.43499817 -0.21491768 -0.08075946
+v 0.39827632 -0.22520435 0.13643158
+v 0.28517693 -0.21417636 0.28225843
+v 0.26515153 -0.22208195 -0.21883010
+v 0.40451772 -0.21427353 0.13788775
+v 0.26692623 -0.34194519 0.19387985
+v 0.35444250 -0.32835093 0.02167819
+v 0.25962178 -0.36516005 -0.21442981
+v 0.40464374 -0.21396620 -0.19833487
+v 0.35883012 -0.21360319 0.21119131
+v 0.25700779 -0.24665147 0.28566109
+v 0.31127017 -0.35640172 0.09281954
+v 0.43488279 -0.21415981 0.05127637
+v 0.31259739 -0.37226004 -0.06485863
+v 0.39473998 -0.21709007 -0.21515417
+v 0.38861306 -0.21353170 0.16726246
+v 0.25631743 -0.34774346 0.19804943
+v 0.25635007 -0.37566331 -0.19752890
+v 0.26351610 -0.22096530 0.29386057
+v 0.29467180 -0.27043917 0.23604804
+v 0.31104269 -0.37276290 0.02108381
+v 0.32264035 -0.31439014 0.15044331
+v 0.38291000 -0.28400996 0.06467459
+v 0.39964296 -0.27028053 0.03560104
+v 0.35418582 -0.32943186 -0.06586704
+v 0.33844675 -0.32758659 -0.15146592
+v 0.26869823 -0.38613041 0.10819412
+v 0.25778336 -0.40687173 -0.09595511
+v 0.28181239 -0.22673987 0.27765469
+v 0.25787020 -0.30624233 0.24305594
+v 0.26760033 -0.40096058 0.05128835
+v 0.32584874 -0.35703616 0.03654590
+v 0.27919935 -0.34216134 0.17899681
+v 0.35332209 -0.25312652 0.17850985
+v 0.36842902 -0.28386404 0.10650074
+v 0.42842035 -0.22613276 -0.07982154
+v 0.42816416 -0.22486915 0.04987307
+v 0.33862289 -0.31321257 -0.18143701
+v 0.29692883 -0.34046946 -0.20931421
+v 0.34089485 -0.34287499 -0.08016285
+v 0.25770892 -0.39250374 0.11045696
+v 0.26877519 -0.40045604 -0.09394055
+v 0.26743805 -0.24332752 0.27948086
+v 0.32376589 -0.34335875 0.09258483
+v 0.28045192 -0.37115584 0.12179214
+v 0.30838861 -0.29960047 0.19267290
+v 0.38306270 -0.22500499 0.16388683
+v 0.39895040 -0.27038634 -0.08040533
+v 0.42008276 -0.21467246 -0.15459639
+v 0.38347419 -0.25429932 -0.18072934
+v 0.26986842 -0.35947681 -0.21163833
+v 0.32409695 -0.34273060 -0.15212568
+v 0.32371010 -0.31420595 -0.21031421
+v 0.25728481 -0.39246647 -0.15443160
+v 0.33781258 -0.31318276 0.12120880
+v 0.26723338 -0.30093662 0.23839079
+v 0.35364720 -0.22502651 0.20749652
+v 0.38369536 -0.28400516 -0.10848776
+v 0.41294608 -0.23908390 -0.12357300
+v 0.38866372 -0.22776468 -0.21185745
+v 0.41367468 -0.22576728 -0.15264912
+v 0.38361138 -0.26869381 -0.15179761
+v 0.26655145 -0.36979460 -0.19492775
+f 10 5 4
+f 11 10 4
+f 14 6 3
+f 14 2 10
+f 16 9 5
+f 16 5 10
+f 17 3 6
+f 17 6 14
+f 17 14 10
+f 17 10 11
+f 19 12 5
+f 19 5 9
+f 19 18 12
+f 19 1 18
+f 20 12 4
+f 20 4 5
+f 20 5 12
+f 22 15 8
+f 22 1 15
+f 25 24 8
+f 26 8 15
+f 26 25 8
+f 29 1 19
+f 30 21 11
+f 30 11 4
+f 31 18 7
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+f 32 1 22
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+f 33 22 8
+f 33 13 22
+f 33 8 24
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+f 34 7 18
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+f 48 35 23
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+f 50 10 2
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+f 53 39 27
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+f 54 9 16
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+f 55 29 19
+f 55 53 43
+f 56 45 36
+f 56 36 23
+f 56 23 45
+f 57 31 7
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+f 57 47 21
+f 57 21 31
+f 58 47 35
+f 58 11 21
+f 58 21 47
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+f 58 48 17
+f 58 17 11
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+f 59 49 26
+f 59 26 41
+f 60 50 2
+f 60 2 37
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+f 61 16 10
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+f 61 54 16
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+f 62 51 10
+f 62 10 50
+f 62 50 60
+f 63 27 39
+f 63 39 51
+f 63 51 62
+f 63 62 60
+f 63 60 59
+f 63 59 27
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+f 64 55 19
+f 64 40 53
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\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_27.obj b/apple/apple_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c61a95b7c882aa720da9330ed72d939b7cc6ffc4
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 0.21731200 -0.23398162
+v 0.00704312 0.21765932 -0.45690652
+v 0.00798169 0.46352272 -0.22896436
+v -0.12405329 0.44541531 -0.22779853
+v -0.39839968 0.21512556 -0.23225034
+v -0.07981483 0.33848287 -0.39998258
+v -0.37486170 0.25258075 -0.22763970
+v 0.00819830 0.31225932 -0.42870912
+v -0.22698930 0.20782218 -0.43397650
+v -0.05089724 0.39690040 -0.34184891
+v -0.02147129 0.46162759 -0.22807418
+v -0.39249662 0.22613430 -0.22896999
+v 0.00844020 0.40039001 -0.34450851
+v -0.12696614 0.21122849 -0.46405773
+v -0.38756872 0.21099359 -0.25619964
+v -0.22061448 0.36729859 -0.28268346
+v -0.16741931 0.43096924 -0.22725211
+v -0.09500809 0.42575070 -0.28439023
+v 0.00815278 0.45793828 -0.24170040
+v -0.06515979 0.32491313 -0.41396156
+v -0.07927215 0.36772625 -0.37051498
+v 0.00748015 0.28479986 -0.44305169
+v -0.35974199 0.20946681 -0.30126610
+v -0.36955712 0.25069715 -0.24028552
+v -0.17926347 0.35217074 -0.34021393
+v -0.23967120 0.38768982 -0.22716655
+v -0.09486910 0.44029345 -0.25497076
+v -0.15218242 0.42414478 -0.25470983
+v -0.03573703 0.42642896 -0.29891567
+v -0.02119767 0.45596088 -0.24119346
+v -0.18537164 0.21085634 -0.45117740
+v -0.10841205 0.39565697 -0.32618080
+v -0.02436808 0.22992191 -0.45946992
+v -0.02190948 0.28435276 -0.44287962
+v -0.38328819 0.21995572 -0.25348073
+v -0.30951243 0.26240649 -0.31160059
+v -0.15011410 0.31071403 -0.39799561
+v -0.19555070 0.41092376 -0.23969740
+v -0.12241716 0.44037696 -0.24063920
+v -0.08005269 0.41120341 -0.31349564
+v 0.00801145 0.42865535 -0.30060680
+v -0.03576240 0.44170053 -0.27019585
+v -0.09437310 0.29715969 -0.42714008
+v -0.12219108 0.36716899 -0.35620799
+v -0.12264014 0.41003630 -0.29855232
+v -0.02434410 0.21744108 -0.46119339
+v -0.00703528 0.31200891 -0.42834547
+v -0.35490798 0.24736923 -0.26910078
+v -0.25067432 0.29229496 -0.34119495
+v -0.29427133 0.22065743 -0.36919522
+v -0.25048824 0.35199419 -0.26826166
+v -0.17762384 0.30846873 -0.38357027
+v -0.19768944 0.41574720 -0.22788047
+v -0.20681184 0.39571371 -0.25357897
+v -0.16490977 0.42596147 -0.23992851
+v -0.09494477 0.26909063 -0.44249519
+v -0.12125451 0.32485816 -0.39830768
+v -0.15068476 0.36818370 -0.34159982
+v -0.35423781 0.22098876 -0.29804906
+v -0.19254331 0.36616187 -0.31182542
+v -0.29861982 0.20864883 -0.37353488
+v -0.25193261 0.24760685 -0.38398843
+v -0.31067905 0.23353069 -0.34091055
+v -0.23591755 0.38361764 -0.23967348
+f 8 1 2
+f 11 7 1
+f 11 1 3
+f 12 5 1
+f 12 1 7
+f 13 1 8
+f 14 2 1
+f 14 1 9
+f 15 1 5
+f 17 11 4
+f 19 3 1
+f 19 1 13
+f 20 13 8
+f 20 6 13
+f 21 13 6
+f 21 10 13
+f 22 8 2
+f 23 9 1
+f 23 1 15
+f 24 12 7
+f 24 5 12
+f 26 7 11
+f 26 11 17
+f 26 24 7
+f 27 4 11
+f 29 13 10
+f 30 11 3
+f 30 3 19
+f 31 14 9
+f 32 10 21
+f 33 22 2
+f 34 8 22
+f 34 33 14
+f 34 22 33
+f 35 15 5
+f 35 5 24
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+f 39 4 27
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+f 39 28 17
+f 39 17 4
+f 40 29 10
+f 40 18 29
+f 40 10 32
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+f 41 13 29
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+f 42 30 19
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+f 44 32 21
+f 44 21 6
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+f 46 2 14
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+f 48 35 24
+f 51 49 36
+f 51 16 49
+f 51 36 48
+f 51 48 24
+f 51 24 26
+f 52 37 9
+f 52 25 37
+f 53 26 17
+f 55 17 28
+f 55 28 38
+f 55 53 17
+f 55 38 53
+f 56 14 31
+f 56 31 43
+f 56 43 34
+f 56 34 14
+f 57 43 37
+f 57 6 43
+f 57 44 6
+f 58 37 25
+f 58 28 45
+f 58 45 32
+f 58 32 44
+f 58 57 37
+f 58 44 57
+f 59 23 15
+f 59 15 35
+f 59 35 48
+f 60 49 16
+f 60 25 49
+f 60 16 54
+f 60 58 25
+f 60 54 38
+f 60 38 28
+f 60 28 58
+f 61 50 9
+f 61 9 23
+f 62 9 50
+f 62 52 9
+f 62 49 25
+f 62 25 52
+f 63 36 49
+f 63 62 50
+f 63 49 62
+f 63 23 59
+f 63 61 23
+f 63 50 61
+f 63 59 48
+f 63 48 36
+f 64 51 26
+f 64 16 51
+f 64 54 16
+f 64 38 54
+f 64 53 38
+f 64 26 53
\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_28.obj b/apple/apple_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..515a0c13e82cf9661a53d1d47666035200cccb11
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.46531795 -0.00851976 -0.19896208
+v 0.46020992 -0.00790470 -0.21209687
+v 0.45773513 0.10644072 -0.21095116
+v 0.38154870 0.30516201 -0.20178094
+v 0.38636365 -0.00996073 -0.20367859
+v 0.39683745 -0.01125920 -0.33239706
+v 0.46193088 0.10746424 -0.19859336
+v 0.44328430 0.07920425 -0.25579747
+v 0.38698130 0.29898729 -0.19795056
+v 0.37837505 0.18392903 -0.31962708
+v 0.42834468 0.00694149 -0.28464368
+v 0.41821146 0.24096943 -0.19883382
+v 0.37733599 0.30247678 -0.21405616
+v 0.41387626 0.06528998 -0.31418576
+v 0.42705026 0.15023642 -0.25497786
+v 0.44353801 0.00697299 -0.25500006
+v 0.41757635 -0.00770621 -0.30148080
+v 0.37715383 0.21265365 -0.30340714
+v 0.38349296 0.29675354 -0.20929972
+v 0.44189873 0.12138863 -0.23995541
+v 0.41267799 0.12214167 -0.29931924
+v 0.41328275 0.02230643 -0.31384111
+v 0.41176446 0.19456804 -0.25470734
+v 0.41442737 0.23910736 -0.21069556
+v 0.39939107 0.13584714 -0.31360425
+v 0.42838173 0.09166074 -0.28386011
+v 0.40732159 -0.00880219 -0.31819329
+v 0.41237482 0.15019122 -0.28374780
+v 0.38273496 0.20797782 -0.29842444
+v 0.39664867 0.19451574 -0.28318242
+v 0.38395385 0.18023836 -0.31331969
+f 6 2 1
+f 6 1 5
+f 8 7 1
+f 8 3 7
+f 9 5 1
+f 9 4 5
+f 9 1 7
+f 10 6 5
+f 12 9 7
+f 12 7 3
+f 13 5 4
+f 14 6 10
+f 16 8 1
+f 16 1 2
+f 16 14 8
+f 16 11 14
+f 17 2 6
+f 17 16 2
+f 17 11 16
+f 18 10 5
+f 18 5 13
+f 19 13 4
+f 19 4 9
+f 19 18 13
+f 20 15 3
+f 22 14 11
+f 22 11 17
+f 22 6 14
+f 24 19 9
+f 24 9 12
+f 24 15 23
+f 24 12 3
+f 24 3 15
+f 25 21 14
+f 25 14 10
+f 26 8 14
+f 26 14 21
+f 26 20 3
+f 26 3 8
+f 26 21 15
+f 26 15 20
+f 27 22 17
+f 27 17 6
+f 27 6 22
+f 28 23 15
+f 28 15 21
+f 28 21 25
+f 29 18 19
+f 29 19 24
+f 29 24 23
+f 29 10 18
+f 30 29 23
+f 30 23 28
+f 30 28 29
+f 31 29 28
+f 31 28 25
+f 31 25 10
+f 31 10 29
\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_29.obj b/apple/apple_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..782bf37a3c67df545c6a31a81cea07442d13017b
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.43556632 -0.13921618 -0.16435804
+v -0.41193897 -0.12948906 -0.23168904
+v -0.43009385 0.20814117 -0.16269206
+v -0.40777461 0.19811638 -0.22922827
+v -0.45835524 0.06339586 -0.19504999
+v -0.45851981 -0.05030127 -0.18100865
+v -0.44310442 0.07875586 -0.22488457
+v -0.44154889 -0.10831712 -0.18036877
+v -0.46399215 -0.06697249 -0.15347678
+v -0.44313290 -0.02272523 -0.22462612
+v -0.45799861 0.12169319 -0.16693313
+v -0.42780843 -0.09579219 -0.22440098
+v -0.42914181 -0.12478850 -0.19709756
+v -0.44200908 -0.12924640 -0.15660559
+v -0.45850359 -0.00747418 -0.19617765
+v -0.45948237 -0.06575371 -0.16701268
+v -0.44499117 0.16640958 -0.16801065
+v -0.42700292 0.15107598 -0.22470911
+v -0.46184035 0.12276061 -0.15411011
+v -0.44245965 -0.06516593 -0.21021002
+v -0.43356492 -0.12637246 -0.18357880
+v -0.41619237 -0.12543883 -0.22611356
+v -0.44978950 -0.11123231 -0.15420068
+v -0.42967816 0.19433949 -0.18170928
+v -0.44894810 0.16766800 -0.15409839
+v -0.41195474 0.19327501 -0.22489888
+v -0.43724932 0.19783087 -0.15498950
+f 1 2 3
+f 3 2 4
+f 7 4 2
+f 10 7 2
+f 11 7 5
+f 12 10 2
+f 13 2 1
+f 13 8 12
+f 14 1 3
+f 15 9 5
+f 15 6 9
+f 15 10 6
+f 15 5 7
+f 15 7 10
+f 16 9 6
+f 16 8 9
+f 16 12 8
+f 16 6 12
+f 18 4 7
+f 18 7 11
+f 18 11 17
+f 19 17 11
+f 19 11 5
+f 19 5 9
+f 20 12 6
+f 20 6 10
+f 20 10 12
+f 21 13 1
+f 21 1 8
+f 21 8 13
+f 22 13 12
+f 22 12 2
+f 22 2 13
+f 23 9 8
+f 23 8 1
+f 23 1 14
+f 24 3 4
+f 24 18 17
+f 25 17 19
+f 25 19 9
+f 25 9 23
+f 26 24 4
+f 26 4 18
+f 26 18 24
+f 27 24 17
+f 27 17 25
+f 27 3 24
+f 27 14 3
+f 27 25 23
+f 27 23 14
\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_3.obj b/apple/apple_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e15cc8b51eb0303d64dbe3e91e8ac6e5f677cf35
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.00996073 -0.23398162
+v -0.00212550 -0.02072926 -0.40613203
+v 0.01344086 0.21330881 -0.45550206
+v -0.29103064 0.22763722 -0.36664098
+v -0.31988011 -0.01749147 -0.39887637
+v 0.00757576 0.21731200 -0.23398162
+v -0.20454545 -0.00996073 -0.23398162
+v -0.20039072 -0.00925002 -0.47937378
+v 0.00704312 0.21765932 -0.45690652
+v -0.20454545 0.21731200 -0.23398162
+v -0.08913224 -0.01149482 -0.47866089
+v -0.19737803 0.15346741 -0.47366318
+v -0.06348359 -0.01525598 -0.46238586
+v -0.10145838 0.08283017 -0.48846941
+v -0.28847821 -0.01154036 -0.42672682
+v -0.26854463 0.20859338 -0.40238331
+v -0.10440412 0.13780080 -0.48888856
+v -0.14400663 0.05148909 -0.49088669
+v -0.16987788 0.20645245 -0.45916031
+v -0.13192706 0.05191316 -0.49085797
+v -0.15603134 0.12485967 -0.48942660
+v -0.19898529 0.20838812 -0.44732463
+v -0.02434410 0.21744108 -0.46119339
+v -0.15649499 0.06588408 -0.49104606
+v -0.16987265 0.17836102 -0.47428955
+v -0.19762851 0.19114085 -0.45876631
+v -0.14205958 0.13816230 -0.48984477
+f 1 2 3
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 7 1 6
+f 9 6 3
+f 9 4 6
+f 10 4 5
+f 10 5 7
+f 10 7 6
+f 10 6 4
+f 13 11 3
+f 13 3 2
+f 13 2 5
+f 13 5 8
+f 13 8 11
+f 14 3 11
+f 15 12 8
+f 15 8 5
+f 16 5 4
+f 16 15 5
+f 16 12 15
+f 17 9 3
+f 17 3 14
+f 18 11 8
+f 20 14 11
+f 20 11 18
+f 20 17 14
+f 21 8 12
+f 22 16 4
+f 23 9 17
+f 23 19 22
+f 23 22 4
+f 23 4 9
+f 24 18 8
+f 24 8 21
+f 24 20 18
+f 25 19 23
+f 26 12 16
+f 26 16 22
+f 26 25 12
+f 26 22 19
+f 26 19 25
+f 27 24 21
+f 27 17 20
+f 27 20 24
+f 27 21 12
+f 27 12 25
+f 27 25 23
+f 27 23 17
\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_30.obj b/apple/apple_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05ee46773091e7e5d0c0652c8d7302ebb87c649f
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.28924862 -0.28640604 0.22869436
+v 0.26515153 -0.26753649 -0.21883010
+v 0.26515153 0.23246352 -0.21883010
+v 0.00757576 0.23246352 0.20541233
+v 0.00757576 -0.26753649 0.20541233
+v 0.00757576 0.23246352 -0.21883010
+v 0.26515153 0.23246352 0.20541233
+v 0.00757576 -0.26753649 -0.21883010
+f 1 2 3
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 8 5 6
\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_31.obj b/apple/apple_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0a12dde849abb044817de130485a1f75e24668d
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.38366073 -0.21009046 0.17903668
+v 0.44796256 -0.01570924 -0.23893359
+v 0.42909179 -0.01314924 0.20982460
+v 0.26515153 -0.00996073 0.19026081
+v 0.26515153 -0.22208195 -0.21883010
+v 0.26515153 -0.00996073 -0.21883010
+v 0.26515153 -0.22208195 0.19026081
+v 0.39473998 -0.21709007 -0.21515417
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 8 5 2
+f 8 2 1
+f 8 7 5
+f 8 1 7
\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_4.obj b/apple/apple_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b92a45dc484dff44a7ef3ce67d30e15383f24220
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.09443450 -0.47627259 0.06544494
+v 0.27091195 -0.39804077 -0.09945558
+v 0.28924862 -0.28640604 0.22869436
+v -0.21454094 -0.26088864 0.29950665
+v -0.24758734 -0.41293402 -0.10177626
+v 0.00757576 -0.26753649 -0.09761798
+v 0.00721535 -0.34738169 0.31228782
+v 0.25289900 -0.40081865 0.09427732
+v 0.00773188 -0.49152314 -0.09698338
+v 0.26515153 -0.26753649 -0.08246647
+v -0.23484848 -0.26753649 -0.09761798
+v 0.00764178 -0.26671298 0.35430100
+v -0.10628966 -0.43020131 0.18109389
+v 0.22356716 -0.43040564 0.03648299
+v 0.12354524 -0.43093412 0.18059983
+v -0.23217891 -0.26409452 0.29012579
+v 0.00754454 -0.30500159 0.33925689
+v -0.07963037 -0.26244666 0.34215449
+v -0.02093666 -0.49248440 0.02141744
+v 0.12115368 -0.47598487 -0.07992010
+v 0.19413600 -0.43023795 0.10799197
+v 0.02109151 -0.46151230 0.15264229
+v 0.20800210 -0.38551160 0.19337421
+v -0.22721471 -0.38885875 0.15285946
+v -0.13610723 -0.35821596 0.26416155
+v -0.02050945 -0.30421526 0.33785064
+v 0.06492901 -0.49205624 -0.02317534
+v -0.09328823 -0.47738364 -0.09520998
+v 0.21099130 -0.43315831 -0.09515699
+v 0.12331971 -0.47673722 0.00731583
+v 0.20940427 -0.43089418 0.07911824
+v 0.13764995 -0.44405343 0.13752991
+v 0.05119586 -0.47661043 0.09509046
+v -0.06561398 -0.46069163 0.13766640
+v 0.00830517 -0.40347091 0.25401391
+v 0.25189986 -0.37247031 0.16597854
+v 0.17990715 -0.40008108 0.19426167
+v -0.15068135 -0.31426893 0.29365671
+v -0.22536025 -0.35693352 0.20931790
+v -0.04954793 -0.35862704 0.29561297
+v -0.03641795 -0.49365363 -0.00782902
+v 0.06491904 -0.49265348 -0.05215457
+v 0.22494525 -0.43084840 -0.05073030
+v 0.05089904 -0.49225716 0.00628354
+v 0.22405879 -0.41402680 0.10824690
+v 0.13744451 -0.46108710 0.07988760
+v 0.06477370 -0.46179020 0.13859090
+v -0.05065916 -0.47578781 0.09424125
+v -0.15168344 -0.44542514 0.09408702
+v 0.06454738 -0.44494677 0.18050544
+v -0.03470236 -0.43162205 0.21053513
+v 0.25312525 -0.38521973 0.13684126
+v 0.25631743 -0.34774346 0.19804943
+v 0.16571218 -0.41421031 0.18143479
+v 0.09338451 -0.43143411 0.19601358
+v -0.21283185 -0.27240926 0.29380415
+v -0.21082473 -0.31449343 0.26494454
+v -0.09280355 -0.30391958 0.32202258
+v -0.18003135 -0.39943182 0.17903825
+v -0.03430332 -0.34510902 0.30988490
+v -0.04996452 -0.38717359 0.26635155
+v -0.09264378 -0.34444958 0.29432895
+v -0.03661029 -0.49305750 -0.06635284
+v 0.03666381 -0.49287869 -0.08074336
+f 6 2 5
+f 8 2 3
+f 9 5 2
+f 10 3 2
+f 10 2 6
+f 10 6 4
+f 11 6 5
+f 11 4 6
+f 12 3 10
+f 14 2 8
+f 16 11 5
+f 16 4 11
+f 17 7 3
+f 17 3 12
+f 18 12 10
+f 18 10 4
+f 23 3 7
+f 24 16 5
+f 26 17 12
+f 26 12 18
+f 26 7 17
+f 28 5 9
+f 29 20 9
+f 29 9 2
+f 31 14 8
+f 31 30 14
+f 37 23 7
+f 39 16 24
+f 42 30 27
+f 42 20 30
+f 43 29 2
+f 43 2 14
+f 43 20 29
+f 43 30 20
+f 43 14 30
+f 44 30 1
+f 44 27 30
+f 44 1 33
+f 44 33 19
+f 44 19 41
+f 44 42 27
+f 44 41 42
+f 45 31 8
+f 45 21 31
+f 46 31 21
+f 46 1 30
+f 46 30 31
+f 46 32 1
+f 46 21 32
+f 47 32 15
+f 47 22 33
+f 47 33 1
+f 47 1 32
+f 48 33 22
+f 48 19 33
+f 48 22 34
+f 48 41 19
+f 49 34 13
+f 49 48 34
+f 49 24 5
+f 49 41 48
+f 49 5 28
+f 49 28 41
+f 50 47 15
+f 50 22 47
+f 51 34 22
+f 51 50 35
+f 51 22 50
+f 51 13 34
+f 52 8 3
+f 52 3 36
+f 52 45 8
+f 52 36 23
+f 52 23 45
+f 53 36 3
+f 53 3 23
+f 53 23 36
+f 54 37 15
+f 54 15 32
+f 54 32 21
+f 54 23 37
+f 54 45 23
+f 54 21 45
+f 55 15 37
+f 55 50 15
+f 55 35 50
+f 55 37 7
+f 55 7 35
+f 56 4 16
+f 57 25 38
+f 57 39 25
+f 57 16 39
+f 57 56 16
+f 57 38 56
+f 58 26 18
+f 58 18 4
+f 58 56 38
+f 58 4 56
+f 59 39 24
+f 59 13 25
+f 59 25 39
+f 59 49 13
+f 59 24 49
+f 60 40 7
+f 60 7 26
+f 60 26 58
+f 61 35 7
+f 61 7 40
+f 61 51 35
+f 61 25 13
+f 61 13 51
+f 62 38 25
+f 62 61 40
+f 62 25 61
+f 62 58 38
+f 62 60 58
+f 62 40 60
+f 63 41 28
+f 63 28 9
+f 64 9 20
+f 64 20 42
+f 64 63 9
+f 64 42 41
+f 64 41 63
\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_5.obj b/apple/apple_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e84874114f2413b52a522f0a9e8dff5b6d83769
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v 0.08151040 -0.48684892 -0.08150827
+v 0.25915529 -0.37961821 -0.18473537
+v 0.27091195 -0.39804077 -0.09945558
+v -0.09848484 -0.38874862 -0.09761798
+v -0.08363325 -0.37463620 -0.34088215
+v 0.00757576 -0.38874862 -0.08246647
+v 0.15102922 -0.44533459 -0.16777650
+v -0.17404997 -0.43371990 -0.15807846
+v 0.00757576 -0.37359710 -0.23398162
+v 0.18811480 -0.44667669 -0.08213204
+v 0.00763789 -0.49387058 -0.08233647
+v 0.19423648 -0.42918412 -0.15279225
+v 0.00713680 -0.38096400 -0.34634354
+v -0.16613334 -0.40690279 -0.24243441
+v 0.25778336 -0.40687173 -0.09595511
+v 0.07838497 -0.47794794 -0.13913588
+v -0.09328823 -0.47738364 -0.09520998
+v 0.20912387 -0.40012407 -0.21075110
+v 0.25303382 -0.40033629 -0.13820628
+v 0.20988167 -0.43155700 -0.10902175
+v -0.17531058 -0.42947780 -0.17049371
+v 0.10668982 -0.44584284 -0.21017449
+v -0.02056740 -0.44628016 -0.24119105
+v 0.19379002 -0.41458752 -0.19602773
+v 0.23133117 -0.38349755 -0.21630672
+v 0.23831331 -0.40001143 -0.16677175
+v 0.24078323 -0.41712614 -0.09513504
+v -0.09345901 -0.45970466 -0.16752368
+v 0.09266483 -0.46186868 -0.18198104
+v 0.15048319 -0.42902857 -0.20968081
+v -0.05035727 -0.40130800 -0.31325703
+v 0.00897164 -0.43431217 -0.27006288
+v -0.03506473 -0.47558851 -0.15308154
+v 0.16548592 -0.42896966 -0.19504990
+v 0.22583670 -0.38936696 -0.21167827
+v 0.25295081 -0.38532222 -0.18081197
+v 0.21322710 -0.43290713 -0.08888697
+v 0.23953499 -0.41525320 -0.10876395
+v -0.13682829 -0.44533755 -0.16791679
+v -0.07955884 -0.42994227 -0.25465528
+v 0.00697688 -0.44859880 -0.24176112
+v 0.00750377 -0.39260293 -0.33203365
+v -0.03474331 -0.43102846 -0.26875799
+v 0.06610317 -0.47584037 -0.15313042
+v -0.05083725 -0.46053228 -0.19661741
+v -0.07800266 -0.47590370 -0.12273536
+v 0.21099130 -0.43315831 -0.09515699
+v -0.16908213 -0.43658290 -0.15493334
+v -0.16638516 -0.42967722 -0.18201686
+v -0.09382675 -0.44500672 -0.21141021
+v -0.10792973 -0.41469167 -0.26983666
+v 0.07985071 -0.45989988 -0.19586859
+v 0.00773432 -0.40534120 -0.31437326
+v -0.07847991 -0.41488800 -0.28300915
+v -0.09281303 -0.47494618 -0.10827981
+v -0.17115630 -0.42646241 -0.18593148
+v -0.12251757 -0.42989551 -0.22616076
+v -0.08017284 -0.38634893 -0.32620571
+v -0.15303306 -0.41831799 -0.22751298
+v -0.09785770 -0.42325731 -0.25841407
+f 6 3 2
+f 9 5 4
+f 9 2 5
+f 9 6 2
+f 9 4 6
+f 10 6 1
+f 11 1 6
+f 13 5 2
+f 14 4 5
+f 15 3 6
+f 15 6 10
+f 16 10 1
+f 16 7 10
+f 16 1 11
+f 17 11 6
+f 17 6 4
+f 17 4 8
+f 19 2 3
+f 20 10 7
+f 20 7 12
+f 21 8 4
+f 21 4 14
+f 25 18 13
+f 25 13 2
+f 26 24 18
+f 26 19 12
+f 26 12 24
+f 29 22 7
+f 29 7 16
+f 30 13 18
+f 31 5 13
+f 34 24 12
+f 34 12 7
+f 34 7 22
+f 34 22 30
+f 34 30 18
+f 34 18 24
+f 35 25 2
+f 35 18 25
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+f 36 19 26
+f 36 35 2
+f 36 26 18
+f 36 18 35
+f 37 27 15
+f 37 15 10
+f 38 27 20
+f 38 15 27
+f 38 19 3
+f 38 3 15
+f 38 20 12
+f 38 12 19
+f 42 30 22
+f 42 13 30
+f 42 31 13
+f 43 31 32
+f 43 23 40
+f 43 41 23
+f 43 32 41
+f 44 16 11
+f 44 11 33
+f 44 33 41
+f 45 41 33
+f 45 23 41
+f 45 40 23
+f 46 33 11
+f 46 11 17
+f 46 45 33
+f 46 28 45
+f 47 37 10
+f 47 10 20
+f 47 20 27
+f 47 27 37
+f 48 17 8
+f 49 8 21
+f 49 48 8
+f 49 39 48
+f 50 28 39
+f 50 45 28
+f 50 40 45
+f 51 14 5
+f 52 41 32
+f 52 32 22
+f 52 22 29
+f 52 44 41
+f 52 29 16
+f 52 16 44
+f 53 42 22
+f 53 22 32
+f 53 32 31
+f 53 31 42
+f 54 43 40
+f 54 31 43
+f 54 40 51
+f 55 39 28
+f 55 28 46
+f 55 46 17
+f 55 48 39
+f 55 17 48
+f 56 49 21
+f 56 21 14
+f 57 50 39
+f 57 39 49
+f 57 14 51
+f 58 54 51
+f 58 51 5
+f 58 5 31
+f 58 31 54
+f 59 57 49
+f 59 49 56
+f 59 56 14
+f 59 14 57
+f 60 57 51
+f 60 51 40
+f 60 40 50
+f 60 50 57
\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_6.obj b/apple/apple_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a7a1b7835a33127bce351df376f80f92c99330e
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.44266336 -0.08461815 0.18836598
+v -0.23484848 -0.00996073 -0.23398162
+v -0.23167829 -0.00248723 0.33919215
+v -0.24257918 0.20988870 0.30398949
+v -0.44391706 0.19375515 -0.13792340
+v -0.23484848 0.20216048 -0.23398162
+v -0.36120916 -0.00978162 0.29860176
+v -0.43494305 -0.01225117 -0.24331168
+v -0.40777461 0.19811638 -0.22922827
+v -0.34088455 -0.00996407 0.31143083
+v -0.42885413 0.19336113 0.13697131
+v -0.44802159 -0.08598169 0.17558401
+v -0.47331864 0.06289610 -0.15217413
+v -0.33374337 0.09328609 0.29869795
+v -0.42860588 0.03034644 0.22392385
+v -0.44531814 0.19377724 0.09366589
+v -0.45866666 0.13716308 -0.15326408
+v -0.49321929 -0.05180599 0.02247726
+v -0.35821785 0.04687716 0.29309540
+v -0.34436217 0.19451377 0.25359798
+v -0.43228685 -0.01171605 0.22609193
+v -0.47242165 0.07708094 0.12232393
+v -0.44492998 0.18154164 -0.15283997
+v -0.49032946 0.09349092 -0.02047383
+v -0.49067699 -0.00801462 -0.09438560
+v -0.37168573 0.06156745 0.27976156
+v -0.32929236 0.19445502 0.26632135
+v -0.39769611 0.19354314 0.19270540
+v -0.44418367 -0.06558166 0.19493690
+v -0.45701160 0.13553020 0.12177924
+v -0.45943873 0.04572315 0.16546325
+v -0.45763545 0.16561970 -0.12383901
+v -0.49009946 0.06309948 -0.08080515
+v -0.48978675 0.04988740 0.08057902
+v -0.47480426 -0.00780449 -0.15183823
+v -0.39902259 0.06057730 0.25173609
+v -0.34312912 0.09134653 0.29348012
+v -0.45915491 -0.05392315 0.16851333
+v -0.44160097 0.17966321 0.12140631
+v -0.42739277 0.16497252 0.16411976
+v -0.45797751 0.09035950 0.14923591
+v -0.47451351 0.14983588 -0.03610886
+v -0.47334726 0.09371784 -0.13771266
+v -0.48996886 0.04948704 -0.09407241
+v -0.48984837 0.09299582 0.02268871
+v -0.47295326 0.13575027 0.06503403
+v -0.47411484 0.03464971 0.13757997
+v -0.38447847 0.15022206 0.23606860
+v -0.35695715 0.14977586 0.26395488
+v -0.48964652 -0.02306559 0.08107890
+v -0.45732482 0.14942723 0.10802945
+v -0.44332210 0.04551372 0.19397117
+v -0.45801061 0.18074876 -0.09536404
+v -0.47417348 0.13648453 -0.07921855
+v -0.47343274 0.12149079 -0.10893700
+v -0.47429267 0.14957279 0.02215054
+v -0.48810866 0.07704241 0.06502805
+v -0.38327158 0.17820278 0.22233018
+v -0.42851834 0.13624161 0.17788395
+v -0.39704100 0.13604571 0.22519686
+v -0.35685440 0.10627249 0.27974170
+v -0.34176429 0.17951985 0.26368803
+v -0.47531867 -0.05150489 0.12378957
+v -0.45878734 0.18001603 0.05219255
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 8 6 2
+f 9 4 6
+f 9 6 8
+f 10 7 1
+f 10 1 3
+f 12 8 2
+f 12 2 1
+f 13 9 8
+f 14 10 3
+f 14 3 4
+f 16 9 5
+f 16 11 4
+f 16 4 9
+f 17 9 13
+f 18 8 12
+f 19 7 10
+f 19 10 14
+f 23 5 9
+f 23 9 17
+f 26 7 19
+f 26 21 7
+f 27 14 4
+f 27 4 20
+f 28 20 4
+f 28 4 11
+f 29 1 7
+f 29 7 21
+f 31 21 15
+f 32 23 17
+f 32 5 23
+f 33 25 18
+f 33 18 24
+f 35 13 8
+f 35 8 18
+f 35 18 25
+f 36 15 21
+f 36 21 26
+f 37 26 19
+f 37 19 14
+f 38 12 1
+f 38 1 29
+f 38 29 21
+f 39 11 16
+f 40 28 11
+f 40 39 30
+f 40 11 39
+f 41 30 22
+f 41 40 30
+f 43 17 13
+f 44 25 33
+f 44 35 25
+f 44 13 35
+f 44 43 13
+f 44 33 43
+f 45 24 18
+f 45 18 34
+f 47 22 34
+f 47 41 22
+f 47 31 41
+f 47 38 21
+f 47 21 31
+f 48 36 26
+f 49 20 48
+f 50 34 18
+f 50 47 34
+f 51 39 16
+f 51 30 39
+f 51 16 46
+f 51 46 22
+f 51 22 30
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+f 52 31 15
+f 53 16 5
+f 53 5 32
+f 54 33 24
+f 54 24 42
+f 54 42 53
+f 54 53 32
+f 55 32 17
+f 55 17 43
+f 55 54 32
+f 55 43 33
+f 55 33 54
+f 56 42 24
+f 56 24 45
+f 56 45 46
+f 57 34 22
+f 57 22 46
+f 57 46 45
+f 57 45 34
+f 58 48 20
+f 58 20 28
+f 58 28 48
+f 59 52 15
+f 59 40 41
+f 59 41 52
+f 60 15 36
+f 60 36 48
+f 60 59 15
+f 60 40 59
+f 60 48 28
+f 60 28 40
+f 61 37 14
+f 61 14 27
+f 61 26 37
+f 61 49 48
+f 61 48 26
+f 62 27 20
+f 62 20 49
+f 62 61 27
+f 62 49 61
+f 63 50 18
+f 63 18 12
+f 63 12 38
+f 63 38 47
+f 63 47 50
+f 64 56 46
+f 64 46 16
+f 64 16 53
+f 64 53 42
+f 64 42 56
\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_7.obj b/apple/apple_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5a4b401ead7b73f4ef9f57d5ff4adeaf7fdd1fb
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.40732159 -0.00880219 -0.31819329
+v 0.40021971 -0.00792174 -0.32825503
+v 0.36031136 0.22702439 -0.31727271
+v 0.00757576 0.23246352 -0.21883010
+v 0.00757576 -0.00996073 -0.21883010
+v 0.26515153 0.23246352 -0.21883010
+v 0.39846921 0.10752728 -0.32778498
+v 0.00412621 -0.01249384 -0.39522791
+v 0.00711191 0.23188510 -0.45645496
+v 0.26515153 -0.00996073 -0.21883010
+v 0.38415596 0.05184266 -0.35808979
+v 0.40461766 0.10878464 -0.31746178
+v 0.27444483 -0.00688071 -0.44310302
+v 0.00310394 0.16356190 -0.44567113
+v 0.29618040 0.16518144 -0.41249049
+v 0.38369269 0.07781960 -0.35592826
+v 0.37468782 0.19766247 -0.31719160
+v 0.30012607 -0.00716034 -0.42958079
+v 0.19142901 0.02448786 -0.45796734
+v 0.22786709 0.22585079 -0.42894294
+v 0.34035084 0.17921846 -0.36900195
+v 0.35494395 -0.00576388 -0.38528029
+v 0.28430834 0.07719898 -0.44270225
+v 0.16579287 -0.00786917 -0.44415967
+v 0.18092434 0.03820214 -0.45884072
+v 0.33899260 0.20883169 -0.35520843
+v 0.34147156 0.09095181 -0.39957309
+v 0.36885997 0.13541714 -0.35566335
+v 0.36992218 0.00680043 -0.37146085
+v 0.28646258 0.03638860 -0.44303407
+v 0.24298043 0.16739371 -0.44220810
+v 0.23184817 0.02255228 -0.45879550
+v 0.02294512 0.03070148 -0.42413050
+v 0.36872658 0.19551219 -0.32699062
+v 0.28280761 0.22476425 -0.39834455
+v 0.32580594 0.13557862 -0.39905246
+v 0.32712380 0.07833469 -0.41524111
+v 0.36989988 0.09347591 -0.36981068
+v 0.29857142 0.10693446 -0.42790155
+v 0.18580881 0.22622070 -0.44197713
+v 0.23266528 0.09377312 -0.45838049
+v 0.35458024 0.22406760 -0.32688833
+v 0.25594566 0.19582411 -0.42711155
+v 0.31142422 0.20872441 -0.38305037
+v 0.32703594 0.00789862 -0.41328566
+v 0.19035387 0.09482052 -0.46015199
+v 0.28258863 0.19389403 -0.41209072
+v 0.32559285 0.17967128 -0.38297114
+f 6 4 5
+f 9 6 3
+f 9 4 6
+f 10 6 5
+f 10 1 6
+f 10 8 1
+f 10 5 8
+f 11 1 2
+f 12 6 1
+f 12 1 11
+f 14 4 9
+f 14 8 5
+f 14 5 4
+f 16 12 11
+f 16 7 12
+f 17 12 7
+f 17 3 6
+f 17 6 12
+f 18 1 8
+f 18 8 13
+f 20 9 3
+f 22 2 1
+f 22 1 18
+f 24 13 8
+f 25 14 9
+f 29 11 2
+f 29 2 22
+f 30 18 13
+f 32 24 19
+f 32 13 24
+f 32 30 13
+f 32 19 25
+f 33 24 8
+f 33 8 14
+f 33 14 25
+f 33 25 19
+f 33 19 24
+f 34 3 17
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+f 34 28 21
+f 34 17 7
+f 34 7 28
+f 35 20 3
+f 36 21 27
+f 37 36 27
+f 37 15 36
+f 37 30 23
+f 37 27 11
+f 37 11 29
+f 38 16 11
+f 38 11 27
+f 38 27 21
+f 38 21 28
+f 38 28 7
+f 38 7 16
+f 39 23 31
+f 39 37 23
+f 39 15 37
+f 40 9 20
+f 40 20 31
+f 41 23 30
+f 41 30 32
+f 41 31 23
+f 41 40 31
+f 41 9 40
+f 42 34 26
+f 42 3 34
+f 42 35 3
+f 43 31 20
+f 43 20 35
+f 43 39 31
+f 43 15 39
+f 44 26 21
+f 44 42 26
+f 44 35 42
+f 45 22 18
+f 45 18 30
+f 45 30 37
+f 45 37 29
+f 45 29 22
+f 46 41 32
+f 46 32 25
+f 46 25 9
+f 46 9 41
+f 47 43 35
+f 47 15 43
+f 47 44 15
+f 47 35 44
+f 48 36 15
+f 48 15 44
+f 48 44 21
+f 48 21 36
\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_8.obj b/apple/apple_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d716dc0e7ade3004a01dc52b973a5039d196af1
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.25000001 -0.25238498 -0.21883010
+v 0.23971774 -0.22699922 -0.39949650
+v 0.25000001 -0.00996073 -0.21883010
+v -0.20454545 -0.00996073 -0.23398162
+v -0.19675331 -0.24398340 -0.41803547
+v -0.20039072 -0.00925002 -0.47937378
+v 0.00757576 -0.00996073 -0.21883010
+v 0.24814038 -0.00801413 -0.45069569
+v 0.10822711 -0.24381388 -0.44194762
+v -0.20454545 -0.25238498 -0.23398162
+v 0.24656219 -0.05261151 -0.44339172
+v 0.23645813 -0.24303843 -0.38977183
+v -0.10959792 -0.17039774 -0.48937047
+v 0.00757576 -0.25238498 -0.21883010
+v -0.03718409 -0.24331250 -0.45943709
+v 0.15564088 -0.17311094 -0.45732716
+v 0.19723137 -0.24045435 -0.41425656
+v -0.19328904 -0.16880518 -0.45701963
+v -0.10134054 -0.05919894 -0.48902794
+v -0.13895241 -0.22621808 -0.45641598
+v 0.21206202 -0.15852954 -0.44315200
+v -0.04000038 -0.15794015 -0.48969450
+v 0.18386987 -0.19851157 -0.44244236
+v -0.19540930 -0.22679791 -0.42951406
+v -0.13653568 -0.15752575 -0.48753154
+v -0.08080375 -0.01337361 -0.47511342
+v -0.15261127 -0.24038465 -0.44294232
+v -0.08245663 -0.21265943 -0.47375768
+v 0.23955542 -0.15779150 -0.42854641
+v 0.06440128 -0.18779925 -0.47289623
+v -0.04395458 -0.09344043 -0.48757318
+v -0.12910956 -0.05564954 -0.48987934
+v 0.18300023 -0.22673593 -0.42844176
+v 0.19610414 -0.18553293 -0.44384597
+v -0.13748844 -0.19898430 -0.47211256
+v -0.17849864 -0.14243191 -0.47264585
+v -0.08110244 -0.24139167 -0.45800902
+v -0.17997780 -0.24238098 -0.42861208
+v -0.02252799 -0.21407846 -0.47361325
+v 0.06441552 -0.14951140 -0.47436187
+v 0.07793068 -0.22868833 -0.45716037
+v -0.14087267 -0.07100984 -0.48968703
+v 0.13893432 -0.22784369 -0.44118367
+v 0.04916612 -0.20299528 -0.47280981
+v 0.22613798 -0.18434605 -0.42952238
+v 0.23791590 -0.20090833 -0.41550004
+v -0.16438515 -0.17044483 -0.47199444
+v -0.19622871 -0.08267050 -0.47246752
+v -0.05526681 -0.17297227 -0.48852170
+v 0.03494035 -0.24296223 -0.45816389
+f 7 1 3
+f 8 3 1
+f 8 7 3
+f 8 6 4
+f 8 4 7
+f 10 6 5
+f 10 4 6
+f 10 7 4
+f 10 9 1
+f 11 8 1
+f 11 1 2
+f 12 2 1
+f 12 1 9
+f 14 10 1
+f 14 1 7
+f 14 7 10
+f 15 10 5
+f 15 9 10
+f 17 12 9
+f 17 2 12
+f 21 16 8
+f 24 5 6
+f 24 6 18
+f 26 6 8
+f 26 8 19
+f 29 21 8
+f 29 8 11
+f 29 11 2
+f 30 8 16
+f 31 22 19
+f 31 19 8
+f 31 8 22
+f 32 22 13
+f 32 19 22
+f 32 26 19
+f 32 6 26
+f 33 17 9
+f 34 16 21
+f 34 33 23
+f 35 27 24
+f 35 20 27
+f 35 25 13
+f 35 13 28
+f 36 6 25
+f 37 27 20
+f 37 15 5
+f 37 28 15
+f 37 35 28
+f 37 20 35
+f 38 5 24
+f 38 24 27
+f 38 37 5
+f 38 27 37
+f 39 28 13
+f 39 15 28
+f 40 30 22
+f 40 22 8
+f 40 8 30
+f 42 32 13
+f 42 13 25
+f 42 25 6
+f 42 6 32
+f 43 33 9
+f 43 23 33
+f 43 41 23
+f 43 9 41
+f 44 34 23
+f 44 16 34
+f 44 23 41
+f 44 30 16
+f 44 22 30
+f 45 34 21
+f 45 21 29
+f 46 17 33
+f 46 33 34
+f 46 34 45
+f 46 2 17
+f 46 45 29
+f 46 29 2
+f 47 35 24
+f 47 24 18
+f 47 25 35
+f 47 36 25
+f 47 18 36
+f 48 36 18
+f 48 18 6
+f 48 6 36
+f 49 39 13
+f 49 13 22
+f 49 44 39
+f 49 22 44
+f 50 41 9
+f 50 9 15
+f 50 15 39
+f 50 44 41
+f 50 39 44
\ No newline at end of file
diff --git a/apple/apple_0/collision/model_normalized_collision_9.obj b/apple/apple_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdca6eae279df4e273a60e3aa5c578b1c4dfec12
--- /dev/null
+++ b/apple/apple_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.26276773 -0.01028263 0.33015608
+v 0.26515153 -0.00996073 0.20541233
+v 0.25272665 0.34876772 0.23001774
+v 0.00974885 0.31386754 0.30785863
+v -0.06259375 0.05479140 0.21264016
+v 0.19927504 0.25574412 0.32133574
+v 0.26515153 0.23246352 0.20541233
+v 0.04532651 -0.02069660 0.21572389
+v -0.01773068 0.20584825 0.32294370
+v 0.00757576 0.32337261 0.20541233
+v 0.25577769 0.22577450 0.30703408
+v 0.14102210 0.31270622 0.30807445
+v 0.04331101 -0.01585422 0.20207869
+v 0.06381121 -0.02060310 0.24411688
+v -0.02223018 0.24736529 0.32326566
+v 0.25924621 0.13963159 0.32285554
+v 0.22624590 0.31072301 0.27962003
+v 0.06954484 0.24325288 0.33985885
+v -0.05524179 0.05243358 0.20307684
+v 0.13631535 -0.01503996 0.31296937
+v -0.05407773 0.10236616 0.26095296
+v 0.22776673 0.21271533 0.32279884
+v 0.18361413 0.29635687 0.30779242
+v 0.19763250 0.30971078 0.29480660
+v 0.03942912 0.28581872 0.32355556
+v 0.14101624 0.24223831 0.33912559
+v 0.05512554 0.20310554 0.33993876
+v 0.16501735 -0.01379960 0.32627828
+v -0.00120263 0.17874279 0.32170484
+v -0.00434270 0.27280777 0.32220984
+v 0.14200949 0.28466526 0.32360440
+v 0.17042121 0.21591812 0.33918665
+v 0.05522997 0.23043700 0.33966284
+v 0.10071922 0.16076016 0.33944556
+v 0.17253944 0.15683774 0.34050046
+f 7 1 2
+f 10 4 3
+f 10 3 7
+f 11 7 3
+f 12 3 4
+f 13 8 5
+f 13 2 8
+f 13 10 7
+f 13 7 2
+f 14 8 2
+f 14 2 1
+f 14 5 8
+f 15 10 5
+f 15 4 10
+f 16 1 7
+f 16 7 11
+f 17 11 3
+f 17 6 11
+f 19 13 5
+f 19 5 10
+f 19 10 13
+f 20 5 14
+f 21 15 5
+f 21 9 15
+f 21 5 20
+f 22 16 11
+f 22 11 6
+f 24 17 3
+f 24 3 12
+f 24 12 23
+f 24 23 6
+f 24 6 17
+f 25 12 4
+f 27 15 9
+f 28 20 14
+f 28 14 1
+f 28 27 9
+f 29 21 20
+f 29 9 21
+f 29 28 9
+f 29 20 28
+f 30 25 4
+f 30 4 15
+f 30 18 25
+f 31 25 18
+f 31 18 26
+f 31 12 25
+f 31 23 12
+f 31 26 6
+f 31 6 23
+f 32 22 6
+f 32 6 26
+f 32 16 22
+f 32 1 16
+f 33 27 18
+f 33 15 27
+f 33 30 15
+f 33 18 30
+f 34 28 1
+f 34 27 28
+f 35 32 26
+f 35 26 18
+f 35 18 27
+f 35 27 34
+f 35 34 1
+f 35 1 32
\ No newline at end of file
diff --git a/apple/apple_0/model.xml b/apple/apple_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ff8ba99d4778bf9b807fa84dae961fbc200aafea
--- /dev/null
+++ b/apple/apple_0/model.xml
@@ -0,0 +1,81 @@
+<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" contype="1" conaffinity="1" 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>
diff --git a/apple/apple_0/visual/material.mtl b/apple/apple_0/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/apple/apple_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 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/apple/apple_0/visual/model_normalized_0.obj b/apple/apple_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5787c14bb4e6daee9df00e707963f12ae06a28d1
--- /dev/null
+++ b/apple/apple_0/visual/model_normalized_0.obj
@@ -0,0 +1,24951 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.37248945 -0.25309997 -0.20587632
+v 0.37810376 -0.23682826 -0.22027271
+v 0.38972798 -0.23424560 -0.20109485
+v 0.37777805 -0.25647692 -0.19021138
+v 0.36174179 -0.27492430 -0.19209485
+v 0.35992159 -0.26325606 -0.21323118
+v 0.28148091 -0.17774892 -0.38874706
+v 0.23971773 -0.22699921 -0.39949650
+v 0.23736652 -0.20163112 -0.41564799
+v 0.26823390 -0.16101998 -0.40733538
+v 0.27000272 -0.22589820 -0.37189198
+v 0.23338157 -0.25817700 -0.38059322
+v 0.29143170 -0.11637325 -0.40612802
+v 0.30866649 -0.11626428 -0.39348619
+v 0.31434259 -0.15474072 -0.37084403
+v 0.29982790 -0.19752960 -0.35832010
+v 0.33046422 -0.10579531 -0.37890316
+v -0.06210934 -0.02922738 0.49180902
+v -0.06677508 -0.01952186 0.49089994
+v -0.07097610 -0.02333345 0.48057472
+v -0.06000054 -0.03031679 0.48180271
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+v -0.03282720 -0.00991854 0.48756789
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+v -0.03282720 -0.00991854 0.48756789
+v -0.03579144 -0.00343043 0.49048514
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+v -0.05651373 0.02574012 0.47257268
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+v -0.06102585 0.01459179 0.48887844
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+v -0.07334616 0.00660762 0.49121297
+v -0.07764133 0.01081322 0.48124964
+v -0.07834408 0.00076629 0.47922686
+v -0.07608837 -0.01085921 0.47944731
+v -0.07303155 -0.00803853 0.49025927
+v -0.06793857 -0.00300340 0.49786408
+v 0.00938279 0.04895974 0.18366138
+v 0.00500530 0.04828759 0.18056237
+v 0.00843521 0.04339582 0.17207847
+v 0.01290203 0.04605270 0.17980276
+v -0.04635349 0.01301662 0.18039349
+v -0.04543839 0.01483519 0.17642038
+v -0.05322131 0.02213448 0.18962687
+v -0.05332519 0.01760114 0.19121650
+v -0.05234297 0.01223476 0.19124345
+v -0.04511104 0.00897906 0.17744746
+v -0.04193272 0.00993685 0.16959007
+v -0.00836257 -0.01658244 0.17937450
+v -0.01722336 -0.02190598 0.18398305
+v -0.00938205 -0.00353244 0.19964103
+v -0.01307678 -0.00368769 0.19906975
+v -0.00836257 -0.01658244 0.17937450
+v -0.01307678 -0.00368769 0.19906975
+v -0.01770536 -0.00176213 0.19855211
+v -0.01701653 -0.00328287 0.18422862
+v -0.00836257 -0.01658244 0.17937450
+v -0.02444023 -0.03614711 0.20741922
+v -0.01864283 -0.03820927 0.21063599
+v -0.01722336 -0.02190598 0.18398305
+v -0.01602562 -0.01101674 0.17552304
+v -0.02035124 -0.02435096 0.18613384
+v -0.00459540 -0.00395942 0.18134852
+v -0.00841888 -0.02875825 0.19056700
+v 0.00018543 -0.01351200 0.17787592
+v 0.00579358 0.00180033 0.18345327
+v 0.00394372 0.00084910 0.19982378
+v -0.00310319 -0.00182767 0.19986356
+v 0.00617452 0.00041102 0.16918288
+v 0.00900477 0.00524051 0.17096473
+v 0.00324235 -0.00348269 0.16597060
+v -0.02445844 0.02485389 0.15798312
+v -0.01709973 0.02491696 0.16214288
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+v -0.02123970 0.02058349 0.15626005
+v -0.01773478 0.02014150 0.16114896
+v -0.03497948 0.03000500 0.15851611
+v -0.02809281 0.02575522 0.15171072
+v -0.02391406 0.02057233 0.15254968
+v -0.01512438 0.02403141 0.14934555
+v -0.01863695 0.02676089 0.14610879
+v -0.02477764 0.03071347 0.14930182
+v -0.02696737 0.03632270 0.15848961
+v -0.00411625 0.02176573 0.16361969
+v -0.00195964 0.02199338 0.17389348
+v 0.00434188 0.01999370 0.17363977
+v 0.00513381 0.02080838 0.16412736
+v -0.01074141 0.02149233 0.16643371
+v -0.00762512 0.02084830 0.17402767
+v 0.00875698 0.02030589 0.15599286
+v -0.00050414 0.02146617 0.15538279
+v -0.00867353 0.02169881 0.15271406
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+f 50/50/50 49/49/49 20/20/20
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\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_0.obj b/apple/apple_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4a93f0c2e4fc0c3f8b8fb52723f8dd5cd2053b2
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_0.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.14645082 -0.01570535 0.45065294
+v 0.26515150 0.09052500 0.26234305
+v 0.25847696 0.22211416 0.41815876
+v -0.09782270 0.22590784 0.45206117
+v -0.09848488 0.09052500 0.26234305
+v -0.01026551 0.07655254 0.48667248
+v 0.26143840 0.08973963 0.45099764
+v 0.06876290 -0.01385038 0.39076245
+v 0.26515150 0.22688864 0.26234305
+v 0.14126045 0.22210366 0.45716386
+v -0.10030510 0.04666406 0.42419766
+v 0.23115362 0.08923850 0.45979439
+v -0.09848488 0.22688864 0.26234305
+v 0.05578858 0.22637983 0.45837999
+v 0.21450282 0.16275593 0.45511106
+v -0.10219336 0.10999876 0.44675660
+v -0.08166613 0.03389883 0.40318577
+v -0.00510303 0.05023442 0.48579811
+v 0.21249390 0.22129853 0.43972406
+v 0.25699034 0.16038549 0.43999375
+v 0.23020750 0.13430620 0.45608040
+v -0.10336494 0.06449447 0.43125995
+v 0.09447887 -0.01651992 0.41784061
+v 0.13595457 -0.01619768 0.44725532
+v 0.17058734 0.20687651 0.45542155
+v 0.25630030 0.20503461 0.42606607
+v -0.00101363 0.04723822 0.48414355
+v 0.10875404 -0.01576056 0.43070339
+v 0.24178814 0.22067027 0.42737314
+f 7 1 2
+f 8 5 2
+f 8 2 1
+f 9 2 5
+f 9 7 2
+f 9 3 7
+f 12 1 7
+f 13 9 5
+f 14 3 9
+f 14 4 6
+f 14 6 10
+f 14 13 4
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+f 15 10 6
+f 16 6 4
+f 16 4 13
+f 17 11 5
+f 17 5 8
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+f 21 20 15
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+f 22 16 13
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+f 22 11 18
+f 23 17 8
+f 23 8 1
+f 23 11 17
+f 24 23 1
+f 25 19 10
+f 25 10 15
+f 25 15 19
+f 26 20 3
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+f 27 11 24
+f 27 24 1
+f 27 1 18
+f 28 24 11
+f 28 11 23
+f 28 23 24
+f 29 26 3
+f 29 3 19
+f 29 19 20
+f 29 20 26
\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_1.obj b/apple/apple_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12210c3e87b941bcc206de9df5903f201c5eea07
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.11096814 -0.45158583 0.18149408
+v 0.13300949 -0.45268986 0.14392096
+v 0.20124413 -0.25264938 0.40363059
+v -0.22887784 -0.25045133 0.38840618
+v -0.24949321 -0.40259073 0.12961934
+v -0.05163673 -0.39161023 0.32610527
+v 0.13929008 -0.37561019 0.32443438
+v -0.05116449 -0.46970452 0.12422685
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+v -0.19589563 -0.26223360 0.39893563
+v -0.22544945 -0.26129142 0.38249158
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+f 64 46 4
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\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_10.obj b/apple/apple_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6c9a89c5a4aeef98cf650585e5a504d446a23c7
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23074321 -0.38681511 0.22838734
+v -0.22811877 -0.38201514 0.24120378
+v -0.46120795 -0.01553180 0.23170548
+v -0.23249091 0.38932094 0.24533147
+v -0.23199444 0.00002128 0.44452748
+v -0.25626599 0.37830017 0.24017759
+v -0.40268086 -0.21838377 0.22510605
+v -0.22683973 0.36555760 0.29920230
+v -0.23484853 -0.01553562 0.23204002
+v -0.29421983 -0.31726783 0.26617757
+v -0.44684339 -0.11783640 0.22657086
+v -0.22668416 -0.29403973 0.35674059
+v -0.22765145 0.38040021 0.27165419
+v -0.36985693 0.21611957 0.31101510
+v -0.24116265 -0.38153649 0.22551921
+v -0.37156497 -0.02931333 0.36769120
+v -0.22759915 0.26487232 0.40216910
+v -0.22694226 -0.36725343 0.26884693
+v -0.34089516 -0.20181171 0.33582778
+v -0.25414504 0.36046573 0.28137027
+v -0.42217816 0.17769191 0.24326013
+v -0.37244011 -0.26307492 0.22478064
+v -0.41372573 -0.07166939 0.31047528
+v -0.22909498 -0.19315865 0.41676070
+v -0.31189155 0.11707445 0.41108667
+v -0.26873915 -0.33143654 0.27999781
+v -0.38271086 -0.18582653 0.29565700
+v -0.31612589 0.33502353 0.24130677
+v -0.23762891 0.33112635 0.33913852
+v -0.39869148 0.10145392 0.32700760
+v -0.28400992 -0.34994814 0.22642096
+v -0.35380949 -0.24385689 0.28135874
+v -0.44384444 -0.03037647 0.26854785
+v -0.34261902 -0.14478362 0.36543369
+v -0.22976117 0.14856126 0.44385963
+v -0.24130315 -0.24702294 0.38370298
+v -0.31398050 -0.04360662 0.41170438
+v -0.28461539 0.21738924 0.39740092
+v -0.22696123 -0.32243993 0.32764412
+v -0.25156156 -0.36061579 0.25165687
+v -0.23835989 -0.29004869 0.35177532
+v -0.42685380 -0.14399877 0.25301980
+v -0.36887134 0.23105514 0.29731412
+v -0.43257759 0.14705819 0.24167784
+v -0.22850544 0.33633018 0.34016115
+v -0.28142140 0.33119453 0.29802530
+v -0.39776715 0.14669133 0.31128565
+v -0.35633604 0.07231688 0.38322243
+v -0.28082623 -0.34682556 0.23722946
+v -0.33931769 -0.27232231 0.26570958
+v -0.35336365 -0.23062418 0.29459884
+v -0.38242461 -0.21608128 0.26729144
+v -0.44213216 -0.11745858 0.23928889
+v -0.44281463 0.04201783 0.26842736
+v -0.40016784 0.01331485 0.33937138
+v -0.38500616 -0.10106762 0.33787972
+v -0.36939713 -0.17273338 0.32257351
+v -0.23045695 -0.14851203 0.43118590
+v -0.28580073 0.11739596 0.42620496
+v -0.22887784 -0.25045133 0.38840618
+v -0.29730952 -0.19000990 0.38050347
+v -0.34276081 -0.10147635 0.38023803
+v -0.28178194 0.24711688 0.38189258
+v -0.22932154 0.20686760 0.43017587
+f 2 1 4
+f 9 6 4
+f 9 4 1
+f 11 3 6
+f 11 9 7
+f 11 6 9
+f 13 2 4
+f 13 4 6
+f 15 9 1
+f 15 1 2
+f 17 12 8
+f 18 8 12
+f 18 13 8
+f 18 2 13
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+f 53 3 11
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+f 54 47 44
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+f 55 23 16
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+f 56 23 42
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+f 58 5 37
+f 59 5 35
+f 59 37 5
+f 59 25 37
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+f 62 58 37
+f 62 56 34
+f 62 16 56
+f 63 38 17
+f 63 17 29
+f 63 29 46
+f 63 14 38
+f 63 46 43
+f 63 43 14
+f 64 35 17
+f 64 17 38
+f 64 59 35
+f 64 38 59
\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_11.obj b/apple/apple_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfd01679082c67c0a4c405b32d138e3435f2e360
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.09504231 -0.46751889 0.10850164
+v 0.28997059 -0.37111207 -0.03919961
+v 0.28954520 -0.37055075 0.13942616
+v 0.00757573 -0.37917200 0.14113093
+v -0.06754148 -0.41961676 -0.20552303
+v 0.16084233 -0.42335352 0.21682510
+v 0.19485127 -0.43634908 0.07960453
+v 0.00786005 -0.47101330 0.13820825
+v 0.14989052 -0.39232799 -0.22822134
+v 0.08333331 -0.37917200 0.20173699
+v 0.26827196 -0.39200459 0.00556758
+v 0.15143522 -0.45075728 0.12352873
+v 0.00782685 -0.46828163 -0.03807382
+v -0.06815702 -0.42443227 -0.19213142
+v 0.08446694 -0.44841791 0.20486129
+v 0.00674381 -0.41088707 -0.23624109
+v 0.27447336 -0.37198331 -0.08409738
+v 0.26747245 -0.39158899 0.09370885
+v 0.15185568 -0.45115186 -0.02275473
+v 0.23847702 -0.40530783 0.13693105
+v 0.09513697 -0.46835644 -0.00975918
+v -0.06647276 -0.42640748 -0.18731591
+v 0.05132046 -0.46769607 0.13818425
+v 0.12432660 -0.44330277 0.19845151
+v 0.23779517 -0.40726563 -0.03760201
+v 0.22464562 -0.42147572 0.06373631
+v 0.17995114 -0.43729767 0.13855864
+v 0.28266254 -0.37566102 0.13744060
+v 0.12388890 -0.43523550 -0.14009073
+v 0.00780061 -0.45400180 -0.11187378
+v 0.00755835 -0.41772722 -0.21983074
+v 0.08158510 -0.46730230 0.12296657
+v 0.13816824 -0.45243020 0.13731686
+v 0.26757916 -0.37839154 -0.08119277
+v 0.22478379 -0.42124371 0.03625168
+v 0.13766019 -0.43856493 0.19711270
+v 0.13718231 -0.45208561 -0.05291222
+v 0.08082513 -0.42176426 -0.19984308
+v 0.09686206 -0.45281788 -0.09601786
+v -0.06585722 -0.42159196 -0.20070751
+v 0.25253878 -0.39153389 -0.06780193
+v 0.19461418 -0.43669158 0.02105517
+v 0.16574254 -0.43646267 -0.08135080
+v 0.12366048 -0.40706911 -0.21429024
+v 0.09409692 -0.43728996 -0.15593671
+v 0.05193526 -0.46787772 -0.03861376
+v 0.13721767 -0.43557350 -0.12579830
+v 0.18186966 -0.43524410 -0.05294666
+v 0.22510488 -0.40647101 -0.08104644
+v 0.13771909 -0.42101258 -0.17108073
+v 0.06607771 -0.45194742 -0.11245036
+v 0.12453470 -0.41975921 -0.18423472
+v 0.08223199 -0.46777780 -0.02345030
+v 0.20934310 -0.42099771 -0.05329565
+v 0.13940866 -0.40911225 -0.20009472
+v 0.14121388 -0.40014225 -0.21813860
+f 3 2 4
+f 10 6 3
+f 10 3 4
+f 11 2 3
+f 14 8 4
+f 14 4 5
+f 15 6 10
+f 15 10 4
+f 15 4 8
+f 16 5 4
+f 16 4 9
+f 17 9 4
+f 17 4 2
+f 18 11 3
+f 20 3 6
+f 21 1 8
+f 21 8 13
+f 21 19 12
+f 21 12 1
+f 22 13 8
+f 22 8 14
+f 22 14 5
+f 23 15 8
+f 24 6 15
+f 25 2 11
+f 26 11 18
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+f 27 20 6
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+f 28 18 3
+f 28 3 20
+f 30 13 22
+f 31 5 16
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+f 32 23 8
+f 32 8 1
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+f 32 1 24
+f 33 24 1
+f 33 1 12
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+f 34 17 2
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+f 40 22 5
+f 40 5 31
+f 41 34 2
+f 41 2 25
+f 42 25 35
+f 42 7 12
+f 42 12 19
+f 42 35 26
+f 42 26 7
+f 44 38 16
+f 44 16 9
+f 45 30 31
+f 45 31 38
+f 45 29 39
+f 46 21 13
+f 46 13 30
+f 47 39 29
+f 47 37 39
+f 47 43 37
+f 48 19 37
+f 48 37 43
+f 48 42 19
+f 49 9 34
+f 49 34 41
+f 49 48 43
+f 49 41 25
+f 50 29 45
+f 50 47 29
+f 50 49 43
+f 50 43 47
+f 51 45 39
+f 51 30 45
+f 51 46 30
+f 51 39 46
+f 52 45 38
+f 52 38 44
+f 52 50 45
+f 53 46 39
+f 53 39 21
+f 53 21 46
+f 54 25 42
+f 54 42 48
+f 54 49 25
+f 54 48 49
+f 55 9 49
+f 55 49 50
+f 55 50 52
+f 55 52 44
+f 56 55 44
+f 56 44 9
+f 56 9 55
\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_12.obj b/apple/apple_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fddcbb2638f267fbc020722c3562707c0e106000
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.26515150 -0.22765684 -0.22250546
+v 0.28830029 -0.02024669 -0.42627236
+v 0.26515150 0.19658561 -0.22250546
+v 0.14393937 0.19658561 -0.22250546
+v 0.15041754 -0.23829336 -0.40415992
+v 0.29173069 0.21713114 -0.37132310
+v 0.25615827 -0.21763257 -0.36328006
+v 0.14393937 -0.22765684 -0.22250546
+v 0.10510996 -0.02127989 -0.41932596
+v 0.25684871 -0.20217167 -0.37554830
+v 0.14393937 0.19658561 -0.34371758
+v 0.24118593 -0.21518841 -0.37395499
+f 1 3 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 9 8 4
+f 9 5 8
+f 9 6 2
+f 9 2 5
+f 10 5 2
+f 10 2 7
+f 11 9 4
+f 11 4 6
+f 11 6 9
+f 12 10 7
+f 12 7 5
+f 12 5 10
\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_13.obj b/apple/apple_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24e4cd7318cc217df10c0c14b93b434d0e2dcd57
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.14118971 -0.44511098 -0.08426842
+v 0.26068190 -0.22293635 -0.35399508
+v 0.26515150 -0.25795987 -0.08614181
+v 0.14393937 -0.22765684 -0.22250546
+v 0.13819738 -0.26405256 -0.39139932
+v 0.26515150 -0.22765684 -0.22250546
+v 0.14393937 -0.25795987 -0.08614181
+v 0.25834543 -0.38410044 -0.08323619
+v 0.16510981 -0.36026724 -0.27116009
+v 0.14266946 -0.22557177 -0.41653712
+v 0.22862312 -0.21873162 -0.37830663
+v 0.12373873 -0.36487226 -0.28897501
+v 0.24098160 -0.39592895 -0.08229172
+v 0.16456692 -0.30245590 -0.34237290
+v 0.25239083 -0.33193299 -0.22622311
+v 0.16962354 -0.22007312 -0.40878904
+v 0.13851989 -0.43932340 -0.11177006
+v 0.12538161 -0.33980137 -0.32136136
+v 0.15379218 -0.44081800 -0.08384688
+v 0.20686131 -0.30217447 -0.31427030
+v 0.16438584 -0.27185137 -0.37236720
+v 0.25169400 -0.36118481 -0.16861840
+v 0.13940866 -0.40911225 -0.20009472
+v 0.13992014 -0.23620916 -0.41017632
+v 0.12859283 -0.33319828 -0.32815356
+v 0.15261231 -0.34677421 -0.29971143
+v 0.15216175 -0.43497613 -0.11046784
+v 0.25213671 -0.30154784 -0.27169039
+v 0.25099712 -0.24301096 -0.34343399
+v 0.17944875 -0.24412010 -0.38663246
+v 0.25270176 -0.37562336 -0.12628137
+v 0.22321653 -0.36089268 -0.21158588
+v 0.12834908 -0.37748953 -0.26698667
+v 0.17813075 -0.33131594 -0.29987625
+v 0.22506307 -0.22877912 -0.37209305
+v 0.15157787 -0.26125852 -0.38741304
+v 0.17877333 -0.40485748 -0.16944864
+v 0.13861010 -0.36153523 -0.28602834
+v 0.16687422 -0.23071051 -0.40242824
+v 0.22282609 -0.39019017 -0.14103416
+v 0.15019760 -0.40496646 -0.19881222
+v 0.23778024 -0.38987357 -0.11063733
+f 6 4 3
+f 7 3 4
+f 8 6 3
+f 8 2 6
+f 11 6 2
+f 11 4 6
+f 13 8 3
+f 13 3 7
+f 15 2 8
+f 16 10 4
+f 16 4 11
+f 16 5 10
+f 17 1 7
+f 17 7 12
+f 18 12 7
+f 18 7 4
+f 19 13 7
+f 19 7 1
+f 22 15 8
+f 24 18 4
+f 24 4 10
+f 24 10 5
+f 24 5 18
+f 25 18 5
+f 25 21 14
+f 25 5 21
+f 26 12 18
+f 26 18 25
+f 26 25 14
+f 26 14 20
+f 27 19 1
+f 27 1 17
+f 27 17 23
+f 27 13 19
+f 28 15 9
+f 28 9 20
+f 28 2 15
+f 29 11 2
+f 29 20 14
+f 29 14 21
+f 29 28 20
+f 29 2 28
+f 30 16 11
+f 31 22 8
+f 31 8 13
+f 32 9 15
+f 32 15 22
+f 33 23 17
+f 33 17 12
+f 33 9 23
+f 34 26 20
+f 34 20 9
+f 34 9 26
+f 35 29 21
+f 35 11 29
+f 35 30 11
+f 35 21 30
+f 36 30 21
+f 36 21 5
+f 37 27 23
+f 38 26 9
+f 38 9 33
+f 38 33 12
+f 38 12 26
+f 39 16 30
+f 39 30 36
+f 39 36 5
+f 39 5 16
+f 40 22 31
+f 40 13 27
+f 40 27 37
+f 40 37 32
+f 40 32 22
+f 41 37 23
+f 41 23 9
+f 41 9 32
+f 41 32 37
+f 42 40 31
+f 42 31 13
+f 42 13 40
\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_14.obj b/apple/apple_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..605ff1f0d69179f1e95a6c61dedc4afe5d10ad54
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.00830174 -0.47359063 0.12451694
+v 0.00789208 -0.41256616 -0.23243368
+v 0.00757573 -0.25795987 0.23204002
+v -0.23484853 -0.25795987 0.23204002
+v -0.22566795 -0.40732105 -0.09709208
+v 0.00757573 -0.25795987 -0.23765697
+v -0.23620197 -0.38113033 0.23303868
+v -0.05142009 -0.46762441 -0.02354586
+v -0.23484853 -0.25795987 -0.23765697
+v 0.00807600 -0.44047176 -0.15740257
+v 0.00757573 -0.37917200 0.23204002
+v -0.15269711 -0.45052410 0.12289020
+v -0.22444215 -0.35947598 -0.22828893
+v 0.00777031 -0.47014793 -0.02397326
+v -0.10844548 -0.43573787 -0.14092880
+v -0.22417362 -0.42139231 0.09402889
+v -0.15285192 -0.45061563 -0.02251834
+v -0.09622300 -0.46834488 0.04983477
+v -0.06610303 -0.46793209 0.12402680
+v -0.09642986 -0.40672696 -0.23068846
+v -0.22504572 -0.38983524 -0.15556080
+v 0.00780061 -0.45400180 -0.11187378
+v -0.19658488 -0.42389996 0.16827709
+v -0.22602285 -0.42108544 -0.00823610
+v -0.08121619 -0.45148678 -0.09652919
+v -0.16688867 -0.43497149 -0.08147953
+v -0.09604787 -0.46827034 0.03653437
+v -0.08124161 -0.46782448 0.10886314
+v -0.15205193 -0.39051303 -0.22961491
+v -0.08053517 -0.43544013 -0.15620781
+v -0.20960974 -0.42060493 0.15206475
+v -0.18250331 -0.43622840 -0.05147012
+v -0.19685397 -0.43649951 0.07902734
+v -0.08083505 -0.46784365 0.00626817
+v -0.05086759 -0.45108655 -0.11157816
+v -0.16600259 -0.41978626 -0.13991156
+v -0.10912317 -0.42107187 -0.18516810
+v -0.21010150 -0.42012587 -0.06759041
+v -0.19650450 -0.43588780 0.00639910
+v -0.19732994 -0.42019513 -0.09671869
+v -0.12326344 -0.40609720 -0.21459173
+f 6 4 3
+f 6 3 1
+f 7 3 4
+f 9 4 6
+f 9 7 4
+f 9 5 7
+f 9 6 2
+f 10 6 1
+f 10 2 6
+f 11 7 1
+f 11 1 3
+f 11 3 7
+f 14 10 1
+f 18 12 17
+f 19 1 7
+f 20 9 2
+f 21 5 9
+f 21 9 13
+f 22 14 8
+f 22 10 14
+f 23 19 7
+f 23 12 19
+f 24 16 7
+f 24 7 5
+f 26 25 17
+f 26 15 25
+f 27 14 1
+f 27 1 18
+f 27 18 17
+f 28 18 1
+f 28 1 19
+f 28 19 12
+f 28 12 18
+f 29 13 9
+f 29 9 20
+f 29 21 13
+f 30 25 15
+f 30 20 2
+f 30 2 10
+f 31 12 23
+f 31 23 7
+f 31 7 16
+f 32 26 17
+f 33 17 12
+f 33 16 24
+f 33 31 16
+f 33 12 31
+f 34 25 8
+f 34 17 25
+f 34 27 17
+f 34 8 14
+f 34 14 27
+f 35 22 8
+f 35 8 25
+f 35 25 30
+f 35 30 10
+f 35 10 22
+f 36 15 26
+f 36 21 29
+f 37 30 15
+f 37 20 30
+f 37 15 36
+f 38 32 24
+f 38 24 5
+f 38 5 32
+f 39 32 17
+f 39 24 32
+f 39 33 24
+f 39 17 33
+f 40 32 5
+f 40 26 32
+f 40 36 26
+f 40 5 21
+f 40 21 36
+f 41 37 36
+f 41 36 29
+f 41 29 20
+f 41 20 37
\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_15.obj b/apple/apple_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94c95d5f4615fa4ab1e70a7adacec1f7cff9d5a3
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.04042884 -0.28257964 0.41815603
+v 0.00693365 -0.14783398 0.43013382
+v -0.12814886 -0.19441858 0.44231198
+v -0.23127851 0.09120242 0.44715694
+v -0.23484853 0.09052500 0.36840367
+v -0.10490971 0.09614996 0.44232759
+v -0.06975414 -0.19584456 0.44213847
+v 0.00720396 -0.06383923 0.36582194
+v -0.23865728 -0.26233325 0.37384460
+v -0.03782376 -0.25457840 0.42939707
+v -0.06578843 0.06647117 0.40852084
+v -0.18332842 -0.24871544 0.41062707
+v -0.12561306 -0.24844481 0.42612501
+v 0.00879995 -0.11559334 0.41458572
+v -0.23007420 -0.08839483 0.44052183
+v -0.18375353 -0.21951210 0.42367566
+v 0.00747894 -0.13756586 0.42726376
+v 0.00728127 -0.09347679 0.39936762
+v -0.19984777 -0.13409644 0.44127861
+v -0.15645553 -0.17937193 0.44196816
+v -0.22559746 -0.17545695 0.42446618
+v -0.22424832 -0.21716597 0.41011647
+v -0.21150078 -0.24899228 0.39861977
+v -0.20945039 -0.23159742 0.40995921
+v -0.22887784 -0.25045133 0.38840618
+f 6 5 4
+f 7 2 6
+f 7 6 4
+f 7 4 3
+f 8 2 1
+f 9 4 5
+f 9 8 1
+f 9 5 8
+f 10 1 2
+f 10 2 7
+f 10 7 3
+f 11 8 5
+f 11 5 6
+f 12 9 1
+f 13 10 3
+f 13 1 10
+f 13 12 1
+f 14 11 6
+f 14 2 8
+f 15 4 9
+f 16 12 13
+f 17 14 6
+f 17 6 2
+f 17 2 14
+f 18 14 8
+f 18 8 11
+f 18 11 14
+f 19 4 15
+f 20 16 13
+f 20 13 3
+f 20 3 4
+f 20 4 19
+f 21 15 9
+f 21 19 15
+f 21 20 19
+f 21 16 20
+f 22 21 9
+f 22 16 21
+f 23 9 12
+f 24 12 16
+f 24 16 22
+f 24 23 12
+f 25 22 9
+f 25 9 23
+f 25 24 22
+f 25 23 24
\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_16.obj b/apple/apple_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed5836ed9710391511fd09df97db8ff037b9c43c
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.21595474 -0.22229167 -0.38264061
+v 0.28830029 -0.02024669 -0.42627236
+v 0.26664593 0.19782260 -0.40678080
+v 0.08501231 0.21657823 -0.45135486
+v 0.07940083 -0.19201214 -0.45348307
+v 0.21446560 0.10394708 -0.46165546
+v 0.08111987 -0.01590874 -0.39116930
+v 0.25897463 -0.19197402 -0.38019860
+v 0.25611665 0.10056461 -0.44586372
+v 0.19767797 0.18760666 -0.44655244
+v 0.08544528 0.16433938 -0.46425236
+v 0.20514029 0.03149257 -0.46420755
+v 0.09404047 -0.24827287 -0.41987796
+v 0.08328344 0.19504213 -0.45787054
+v 0.24476904 -0.20510560 -0.38014111
+v 0.22477356 -0.12982384 -0.43033341
+v 0.18503075 0.16163548 -0.46026187
+v 0.25485022 0.16014538 -0.43025936
+v 0.15700338 0.17491993 -0.46185003
+v 0.25889882 0.00221813 -0.44614938
+v 0.08037193 -0.22331480 -0.43945260
+v 0.16833700 -0.18800685 -0.43026163
+v 0.25487258 -0.12968363 -0.41478815
+v 0.19759015 -0.11772383 -0.44478598
+v 0.25529268 0.18842511 -0.41841673
+v 0.21211400 0.17559193 -0.44549743
+v 0.09835441 0.17739800 -0.46162193
+v 0.25738517 -0.07140211 -0.43043371
+v 0.21443644 0.04544345 -0.46237368
+v 0.19461840 -0.21342455 -0.40214889
+v 0.10869531 -0.22041218 -0.43255004
+v 0.25328554 -0.18701907 -0.38708522
+v 0.16943614 -0.14557223 -0.44465134
+v 0.24061978 0.13067224 -0.44513493
+v 0.24039601 -0.19891948 -0.38774275
+f 7 3 4
+f 8 2 3
+f 8 3 7
+f 9 3 2
+f 10 4 3
+f 12 5 11
+f 13 1 7
+f 14 7 4
+f 14 5 7
+f 14 11 5
+f 15 8 7
+f 15 7 1
+f 17 9 6
+f 18 3 9
+f 19 12 11
+f 19 6 12
+f 19 17 6
+f 19 14 4
+f 19 4 10
+f 19 10 17
+f 20 9 2
+f 20 6 9
+f 21 13 7
+f 21 7 5
+f 22 21 5
+f 23 2 8
+f 24 5 12
+f 24 12 20
+f 24 16 22
+f 25 10 3
+f 25 3 18
+f 26 17 10
+f 26 25 18
+f 26 10 25
+f 27 19 11
+f 27 11 14
+f 27 14 19
+f 28 20 2
+f 28 24 20
+f 28 16 24
+f 28 23 16
+f 28 2 23
+f 29 20 12
+f 29 12 6
+f 29 6 20
+f 30 1 13
+f 30 13 22
+f 31 22 13
+f 31 13 21
+f 31 21 22
+f 32 22 16
+f 32 16 23
+f 32 23 8
+f 33 24 22
+f 33 22 5
+f 33 5 24
+f 34 26 18
+f 34 18 9
+f 34 9 17
+f 34 17 26
+f 35 30 22
+f 35 22 32
+f 35 15 1
+f 35 1 30
+f 35 32 8
+f 35 8 15
\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_17.obj b/apple/apple_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0580066b64eef8038a3ecabaa3ac9635f785b044
--- /dev/null
+++ b/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/apple/apple_1/collision/model_normalized_collision_18.obj b/apple/apple_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47cce0655f2b33e4c09c65231bf32a7208656d9f
--- /dev/null
+++ b/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/apple/apple_1/collision/model_normalized_collision_19.obj b/apple/apple_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a79b5cb983133c502aeb5eabc75f64d7b5b240a
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_19.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.00757573 -0.33371745 -0.23765697
+v 0.00837428 -0.34117212 -0.34941547
+v 0.00729903 0.41431659 -0.23347457
+v -0.11169042 0.41139048 -0.23238443
+v -0.24051607 -0.34360075 -0.24327223
+v -0.25426498 0.21403772 -0.38481077
+v -0.22838756 0.36623931 -0.23080651
+v 0.00757573 0.19658561 -0.35886910
+v 0.00746638 0.36123521 -0.33283341
+v -0.24647843 -0.24453048 -0.37467141
+v -0.16798469 0.39643012 -0.23143791
+v 0.00757573 -0.22765684 -0.35886910
+v -0.09525676 0.37578861 -0.30296673
+v -0.19488961 -0.31567431 -0.33104090
+v 0.00713759 0.40874955 -0.24618591
+v -0.10908631 0.40619706 -0.24344148
+v -0.12328236 0.34761594 -0.33168029
+v -0.22791733 -0.29262104 -0.33601033
+v -0.16726773 0.39116411 -0.24168557
+v -0.06662258 0.35997030 -0.33111982
+v -0.22458756 0.30280221 -0.32875589
+v -0.22553483 -0.31730782 -0.30248190
+v -0.15140346 0.35973650 -0.30109305
+v -0.16642636 0.33189208 -0.33103685
+v -0.22471564 0.34480945 -0.27055370
+v -0.12313052 0.36012985 -0.31516942
+v -0.19490187 0.35979190 -0.27209145
+v -0.22555375 0.36090390 -0.24295337
+v -0.19511941 0.32975652 -0.31564939
+v -0.22216581 0.31540904 -0.31546384
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 5 1
+f 7 6 5
+f 9 8 6
+f 9 3 2
+f 9 2 8
+f 10 5 6
+f 11 7 3
+f 11 3 4
+f 12 8 2
+f 12 6 8
+f 12 10 6
+f 12 2 10
+f 14 10 2
+f 14 2 5
+f 15 4 3
+f 15 3 9
+f 15 9 13
+f 16 15 13
+f 16 4 15
+f 18 5 10
+f 18 10 14
+f 19 16 13
+f 19 11 4
+f 19 4 16
+f 19 7 11
+f 20 17 13
+f 20 13 9
+f 20 9 6
+f 20 6 17
+f 22 18 14
+f 22 14 5
+f 22 5 18
+f 24 17 6
+f 24 6 21
+f 25 21 6
+f 25 6 7
+f 26 23 19
+f 26 19 13
+f 26 13 17
+f 26 24 23
+f 26 17 24
+f 27 19 23
+f 28 27 25
+f 28 25 7
+f 28 7 19
+f 28 19 27
+f 29 27 23
+f 29 23 24
+f 29 24 21
+f 30 29 21
+f 30 21 25
+f 30 25 27
+f 30 27 29
\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_2.obj b/apple/apple_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56a88645938e31ffff312443ea1001f196f93a30
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.30480438 -0.29391420 0.28618805
+v 0.27770650 -0.16522872 0.40959143
+v -0.04042884 -0.28257964 0.41815603
+v 0.14661709 0.09161034 0.46304109
+v 0.26515150 0.09052500 0.26234305
+v 0.15903692 -0.17968273 0.44225358
+v 0.26143840 0.08973963 0.45099764
+v 0.00757573 -0.25795987 0.26234305
+v -0.03782376 -0.25457840 0.42939707
+v 0.18416789 -0.24926222 0.40981447
+v 0.23213801 -0.04463404 0.45700884
+v 0.00767296 -0.01595361 0.26221393
+v 0.09698904 -0.25179553 0.42525793
+v 0.25236726 -0.24687072 0.38048791
+v 0.21493448 -0.14690048 0.44054985
+v 0.25940932 -0.10301019 0.44050789
+v 0.24507795 0.08904236 0.45619796
+v 0.17751356 -0.04503619 0.45861979
+v 0.14393937 0.09052500 0.26234305
+v -0.03957956 -0.13850597 0.43468802
+v -0.03787882 -0.15189926 0.36840367
+v 0.15385720 -0.23409798 0.42493789
+v 0.22546743 -0.24570518 0.39647473
+v 0.27447346 -0.17793504 0.40610624
+v 0.24572795 -0.01452659 0.45622649
+v 0.12873419 -0.17969659 0.44234739
+v 0.19919851 -0.20440364 0.42484390
+v 0.27176816 -0.16106162 0.41498464
+v 0.22700678 -0.21949834 0.40919889
+v 0.26923230 -0.17443366 0.41081754
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 8 5 1
+f 8 1 3
+f 10 3 1
+f 12 5 8
+f 13 9 3
+f 13 6 9
+f 13 3 10
+f 15 11 6
+f 16 2 7
+f 16 11 15
+f 17 7 4
+f 18 6 11
+f 18 11 4
+f 18 4 9
+f 19 12 4
+f 19 4 5
+f 19 5 12
+f 20 9 4
+f 20 4 12
+f 20 3 9
+f 21 12 8
+f 21 8 3
+f 21 20 12
+f 21 3 20
+f 22 13 10
+f 22 6 13
+f 23 10 1
+f 23 1 14
+f 24 14 1
+f 24 1 2
+f 24 23 14
+f 25 16 7
+f 25 11 16
+f 25 7 17
+f 25 17 4
+f 25 4 11
+f 26 18 9
+f 26 9 6
+f 26 6 18
+f 27 15 6
+f 27 6 22
+f 27 22 10
+f 28 2 16
+f 28 16 15
+f 28 15 27
+f 29 27 10
+f 29 10 23
+f 29 28 27
+f 30 29 23
+f 30 23 24
+f 30 28 29
+f 30 24 2
+f 30 2 28
\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_20.obj b/apple/apple_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..266e26a6b9b4ff977949eb9b240e1bf9b6b12bae
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.10490971 0.09614996 0.44232759
+v -0.09848488 0.09052500 0.26234305
+v -0.09388131 0.33466118 0.39945176
+v -0.09823243 0.43732628 0.24651167
+v -0.23484853 0.22688864 0.24719154
+v -0.09607921 0.42179159 0.28554145
+v -0.09678677 0.25273363 0.44465994
+v -0.23484853 0.09052500 0.26234305
+v -0.09848488 0.22688864 0.24719154
+v -0.22339799 0.36003702 0.31066004
+v -0.09515939 0.29356936 0.42669768
+v -0.23127851 0.09120242 0.44715694
+v -0.22687798 0.39439140 0.24090310
+v -0.13899015 0.37671648 0.34027804
+v -0.22724456 0.27495065 0.39579424
+v -0.15545502 0.42531904 0.24176078
+v -0.09492327 0.36356725 0.37151027
+v -0.16659069 0.28895749 0.41066907
+v -0.22697055 0.17685174 0.43983579
+v -0.21212281 0.34604533 0.33768841
+v -0.19803368 0.40956965 0.24093353
+v -0.10877482 0.42004318 0.28483055
+v -0.15141215 0.34695917 0.36662406
+v -0.10927504 0.29059931 0.42541013
+v -0.22768943 0.22058115 0.42604601
+v -0.16872739 0.23367571 0.44043246
+v -0.19611525 0.37565108 0.30929081
+v -0.12458379 0.39053702 0.32668105
+v -0.10901257 0.36254223 0.36860672
+v -0.10816452 0.33239090 0.39694260
+v -0.21113940 0.31706929 0.36589382
+v -0.19893636 0.24868456 0.42495891
+v -0.13988531 0.24880670 0.44009088
+v -0.16717412 0.40575775 0.28156071
+v -0.22452533 0.38993336 0.25403365
+v -0.13876169 0.41880975 0.26917078
+v -0.13877685 0.40506527 0.29701690
+v -0.19587278 0.40482806 0.25400838
+v -0.15415509 0.42042428 0.25497069
+f 6 3 2
+f 7 1 2
+f 8 5 2
+f 9 2 5
+f 9 6 2
+f 9 4 6
+f 11 7 2
+f 11 2 3
+f 12 8 2
+f 12 2 1
+f 12 1 7
+f 12 5 8
+f 13 9 5
+f 15 10 13
+f 15 13 5
+f 15 5 12
+f 16 4 9
+f 17 3 6
+f 20 10 15
+f 21 16 9
+f 21 9 13
+f 22 6 4
+f 22 4 16
+f 23 14 20
+f 23 15 18
+f 24 11 3
+f 24 3 18
+f 25 15 12
+f 25 12 19
+f 26 19 12
+f 26 12 7
+f 26 25 19
+f 27 20 14
+f 27 10 20
+f 28 17 6
+f 28 6 22
+f 29 14 23
+f 29 28 14
+f 29 17 28
+f 29 3 17
+f 30 23 18
+f 30 18 3
+f 30 29 23
+f 30 3 29
+f 31 23 20
+f 31 20 15
+f 31 15 23
+f 32 18 15
+f 32 15 25
+f 32 25 26
+f 32 24 18
+f 33 26 7
+f 33 7 11
+f 33 11 24
+f 33 32 26
+f 33 24 32
+f 34 16 21
+f 34 27 14
+f 34 14 28
+f 35 13 10
+f 35 10 27
+f 35 27 34
+f 35 21 13
+f 36 34 22
+f 36 22 16
+f 37 34 28
+f 37 28 22
+f 37 22 34
+f 38 35 34
+f 38 34 21
+f 38 21 35
+f 39 36 16
+f 39 16 34
+f 39 34 36
\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_21.obj b/apple/apple_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..693a251d8576b7f2c3ef149d80b3e7875a7513e4
--- /dev/null
+++ b/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
+v -0.37379170 0.24741263 -0.21558586
+v -0.25625844 0.02508403 -0.45995443
+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
+v -0.30980996 -0.30323110 -0.22740527
+v -0.29396398 -0.18691569 -0.37501236
+v -0.32315030 -0.25927815 -0.27027223
+v -0.23837117 -0.30045725 -0.31563515
+v -0.37365870 -0.23399367 -0.21632659
+v -0.39744256 -0.10041774 -0.28683776
+v -0.41136627 0.14369323 -0.24271273
+v -0.41306763 0.02775506 -0.28813501
+v -0.38288181 0.15739489 -0.28607552
+v -0.28125961 0.08477316 -0.43117113
+v -0.32417973 0.18618374 -0.34356342
+v -0.32553243 0.05787290 -0.40464694
+v -0.36942092 0.24401284 -0.22833171
+v -0.29582063 0.24125928 -0.32941931
+v -0.22789360 0.24806323 -0.37838128
+v -0.28150448 0.15563738 -0.40119127
+v -0.33951208 -0.08571616 -0.37402643
+v -0.26648714 -0.11501434 -0.43186469
+v -0.23928987 -0.15969978 -0.43367916
+v -0.22805248 -0.21917361 -0.40954869
+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
+f 7 1 3
+f 7 4 1
+f 7 3 6
+f 13 11 9
+f 18 2 3
+f 19 13 8
+f 20 1 4
+f 21 13 20
+f 21 20 4
+f 21 4 7
+f 22 13 9
+f 22 8 13
+f 23 6 2
+f 23 14 10
+f 26 23 2
+f 29 18 12
+f 29 12 27
+f 30 12 18
+f 30 19 12
+f 30 13 19
+f 30 20 13
+f 30 1 20
+f 30 18 3
+f 30 3 1
+f 31 21 6
+f 31 11 13
+f 31 13 21
+f 32 21 7
+f 32 7 6
+f 32 6 21
+f 33 22 5
+f 33 8 22
+f 40 14 23
+f 40 23 26
+f 41 27 12
+f 41 12 19
+f 42 16 39
+f 43 17 27
+f 44 2 18
+f 44 18 29
+f 44 17 2
+f 44 29 27
+f 44 27 17
+f 45 33 28
+f 45 8 33
+f 45 28 43
+f 46 28 33
+f 47 34 5
+f 47 5 22
+f 48 34 15
+f 48 25 46
+f 48 46 33
+f 48 33 5
+f 48 5 34
+f 49 24 15
+f 49 15 34
+f 49 34 47
+f 49 36 24
+f 49 47 22
+f 50 23 10
+f 51 35 15
+f 51 15 24
+f 52 15 35
+f 52 48 15
+f 52 25 48
+f 52 38 25
+f 52 10 38
+f 52 50 10
+f 52 35 50
+f 53 9 11
+f 53 11 36
+f 53 36 49
+f 53 49 22
+f 53 22 9
+f 54 36 11
+f 54 24 36
+f 54 11 31
+f 54 31 6
+f 54 6 37
+f 54 51 24
+f 55 37 6
+f 55 6 23
+f 56 35 51
+f 56 54 37
+f 56 51 54
+f 56 50 35
+f 56 23 50
+f 56 55 23
+f 56 37 55
+f 57 38 16
+f 57 25 38
+f 57 16 42
+f 57 46 25
+f 58 16 38
+f 58 40 26
+f 58 38 40
+f 59 39 16
+f 59 26 39
+f 59 58 26
+f 59 16 58
+f 60 39 26
+f 60 26 2
+f 60 2 17
+f 61 10 14
+f 61 14 40
+f 61 40 38
+f 61 38 10
+f 62 41 19
+f 62 19 8
+f 62 45 43
+f 62 8 45
+f 62 43 27
+f 62 27 41
+f 63 57 42
+f 63 28 46
+f 63 46 57
+f 63 43 28
+f 63 17 43
+f 64 42 39
+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/apple/apple_1/collision/model_normalized_collision_22.obj b/apple/apple_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65e8b06901d92ff05853c532916f81a910e22259
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.16637456 -0.37510872 -0.24566760
+v 0.16203966 -0.25737574 -0.38559413
+v 0.14065437 0.39864245 -0.21804762
+v 0.00730948 0.41911912 -0.22074164
+v 0.00915172 -0.34842973 -0.33981121
+v 0.00751002 0.36808672 -0.32202546
+v 0.00757573 -0.33371745 -0.22250546
+v 0.14253805 -0.32998706 -0.32560207
+v 0.14006230 0.34704998 -0.31840187
+v 0.06505146 0.38918667 -0.27419732
+v 0.00757573 0.19658561 -0.34371758
+v 0.09630789 0.40991380 -0.21662823
+v 0.00713759 0.40874955 -0.24618591
+v 0.05070441 0.37567361 -0.30341633
+v 0.13763475 0.37422916 -0.27345685
+v 0.00757573 -0.22765684 -0.34371758
+v 0.14393937 0.19658561 -0.34371758
+v 0.05004503 0.40524287 -0.24430743
+v 0.09412562 0.35920003 -0.31628749
+v 0.00748482 0.37928224 -0.30436601
+v 0.10924929 0.38882929 -0.25811971
+v 0.09547851 0.40460109 -0.22954059
+v 0.10878102 0.37387203 -0.28715601
+v 0.13744617 0.38835236 -0.24342696
+f 1 2 3
+f 7 1 3
+f 7 5 1
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 3 2
+f 12 7 3
+f 12 4 7
+f 13 6 11
+f 13 7 4
+f 15 3 9
+f 16 11 2
+f 16 2 5
+f 16 5 7
+f 16 13 11
+f 16 7 13
+f 17 9 2
+f 17 2 11
+f 17 11 6
+f 17 6 9
+f 18 10 13
+f 18 13 4
+f 18 4 12
+f 19 9 6
+f 19 6 14
+f 20 13 10
+f 20 10 14
+f 20 14 6
+f 20 6 13
+f 22 18 12
+f 22 10 18
+f 22 21 10
+f 22 12 3
+f 22 3 21
+f 23 15 9
+f 23 9 19
+f 23 21 15
+f 23 10 21
+f 23 19 14
+f 23 14 10
+f 24 21 3
+f 24 3 15
+f 24 15 21
\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_23.obj b/apple/apple_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e10f55dd830355b0963bd454c02af15a3a4ef3e8
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.11027892 -0.40996329 -0.21645669
+v 0.18818667 -0.37694472 -0.22125909
+v -0.22975995 -0.35438939 -0.23307612
+v -0.23154959 -0.32796463 -0.27984302
+v 0.00837428 -0.34117212 -0.34941547
+v 0.00757573 -0.33371745 -0.22250546
+v 0.12859283 -0.33319828 -0.32815356
+v -0.10831708 -0.39056423 -0.25908172
+v -0.24051607 -0.34360075 -0.24327223
+v 0.18318796 -0.38250098 -0.21617177
+v -0.21233425 -0.36465692 -0.23084607
+v 0.10756544 -0.36301096 -0.30057371
+v 0.18532679 -0.37166844 -0.23345805
+v -0.16946594 -0.32450797 -0.33707686
+v -0.00775217 -0.39138905 -0.27342596
+v 0.00755835 -0.41772722 -0.21983074
+v -0.19385830 -0.34472702 -0.28684480
+v -0.20957098 -0.36000658 -0.24369281
+v 0.15108745 -0.37631874 -0.25648494
+v -0.10770079 -0.36072674 -0.31765255
+v 0.03712701 -0.40662163 -0.24301537
+v -0.13939128 -0.39422033 -0.23114182
+v -0.03731515 -0.40604170 -0.24476037
+v -0.22401727 -0.34513249 -0.25722867
+v 0.15084226 -0.39124007 -0.22973443
+v 0.10827681 -0.40528591 -0.22770271
+v 0.16637456 -0.37510872 -0.24566760
+v 0.15254019 -0.35807600 -0.28378149
+v -0.12260157 -0.34679174 -0.33212940
+v 0.00613483 -0.35186398 -0.33543368
+v -0.19623937 -0.35918615 -0.25838583
+v -0.13755155 -0.35955726 -0.30334403
+v -0.03761981 -0.39143670 -0.27299477
+v -0.03716611 -0.41156934 -0.23200629
+v -0.22628902 -0.33394254 -0.27463098
+v 0.15297934 -0.39596445 -0.21663551
+v 0.12390236 -0.37559034 -0.27227413
+v 0.08092016 -0.37670585 -0.28683376
+v 0.12217038 -0.34640445 -0.31456915
+v 0.03639864 -0.36180164 -0.31623731
+v -0.13787367 -0.38913019 -0.24411938
+v -0.16581482 -0.33092225 -0.33074640
+f 9 6 4
+f 9 3 6
+f 10 6 1
+f 10 2 6
+f 11 6 3
+f 12 5 7
+f 13 7 6
+f 13 6 2
+f 13 2 10
+f 14 7 5
+f 14 4 6
+f 14 6 7
+f 16 1 6
+f 16 6 11
+f 18 11 3
+f 18 3 9
+f 21 1 16
+f 22 16 11
+f 23 21 16
+f 23 15 21
+f 23 8 20
+f 24 18 9
+f 26 1 21
+f 26 25 1
+f 26 19 25
+f 27 13 10
+f 27 25 19
+f 27 10 25
+f 28 19 12
+f 28 27 19
+f 28 7 13
+f 28 13 27
+f 29 14 5
+f 29 5 20
+f 30 20 5
+f 31 22 11
+f 31 11 18
+f 31 24 17
+f 31 18 24
+f 32 20 8
+f 32 31 17
+f 32 29 20
+f 33 23 20
+f 33 15 23
+f 33 30 15
+f 33 20 30
+f 34 22 8
+f 34 8 23
+f 34 23 16
+f 34 16 22
+f 35 4 17
+f 35 17 24
+f 35 24 9
+f 35 9 4
+f 36 25 10
+f 36 10 1
+f 36 1 25
+f 37 26 12
+f 37 12 19
+f 37 19 26
+f 38 26 21
+f 38 12 26
+f 38 21 15
+f 39 28 12
+f 39 12 7
+f 39 7 28
+f 40 30 5
+f 40 5 12
+f 40 12 38
+f 40 38 15
+f 40 15 30
+f 41 32 8
+f 41 8 22
+f 41 22 31
+f 41 31 32
+f 42 32 17
+f 42 14 29
+f 42 29 32
+f 42 17 4
+f 42 4 14
\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_24.obj b/apple/apple_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75e8de0724356efabba84427a7b41b25d6dc744a
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22734532 -0.41104256 0.15328308
+v -0.22950077 -0.36905037 -0.20253977
+v -0.23484853 -0.22765684 0.23204002
+v -0.40668636 -0.22133234 0.21308368
+v -0.37072561 -0.31906987 -0.02501557
+v -0.23484853 -0.22765684 -0.22250546
+v -0.23074321 -0.38681511 0.22838734
+v -0.26946484 -0.39141740 -0.06645622
+v -0.37109263 -0.30281612 0.15048543
+v -0.38878315 -0.22050649 -0.20113603
+v -0.22883042 -0.38226632 -0.17315954
+v -0.22799267 -0.39560911 0.21165585
+v -0.39651914 -0.22434429 0.22956305
+v -0.29764401 -0.37714133 0.09287485
+v -0.43384784 -0.22062111 0.12265906
+v -0.41807745 -0.22018858 0.18246553
+v -0.26441878 -0.33268477 -0.23703012
+v -0.22836631 -0.41103050 -0.06870851
+v -0.31137326 -0.34638301 0.17955871
+v -0.38354348 -0.26015692 0.20751853
+v -0.25465048 -0.40641543 0.06376746
+v -0.29865865 -0.37593595 -0.03862228
+v -0.35697627 -0.33237723 0.06306363
+v -0.43446906 -0.22132458 -0.05396680
+v -0.41880883 -0.22029520 -0.12658831
+v -0.41228360 -0.24640523 0.15207990
+v -0.37862039 -0.22330818 -0.21872389
+v -0.23228926 -0.35917658 -0.22020154
+v -0.25952522 -0.33905752 -0.23208254
+v -0.24101510 -0.39147384 -0.12578661
+v -0.25214942 -0.37551041 0.22244617
+v -0.32669179 -0.34627178 0.13666677
+v -0.28221184 -0.37613929 0.15234186
+v -0.38459810 -0.24674329 0.22365279
+v -0.35314897 -0.30365904 0.19462575
+v -0.23908236 -0.40486090 0.15191816
+v -0.25473543 -0.40607010 0.00576076
+v -0.32541055 -0.33185293 -0.13995277
+v -0.35735394 -0.33247073 -0.02391833
+v -0.41400177 -0.26253517 0.09319413
+v -0.39917689 -0.27601648 -0.06655325
+v -0.38285642 -0.27432012 0.18030716
+v -0.41302541 -0.23094984 0.17961783
+v -0.24087211 -0.36388115 -0.20077619
+v -0.24077455 -0.40527666 -0.06774286
+v -0.22865287 -0.39706211 -0.12759019
+v -0.23744194 -0.39050385 0.21124582
+v -0.35583087 -0.31655034 0.15225262
+v -0.31242403 -0.36062304 0.12225880
+v -0.32432348 -0.31750882 0.22200479
+v -0.31198877 -0.36277300 -0.06741296
+v -0.31234127 -0.31633105 -0.19985659
+v -0.28396219 -0.37517599 -0.09648559
+v -0.36921049 -0.30494614 -0.09645240
+v -0.38415976 -0.30489093 0.06393447
+v -0.42767127 -0.23139340 0.12182767
+v -0.40024895 -0.27615683 0.12107414
+v -0.42846834 -0.23343641 -0.05306818
+v -0.40068309 -0.23253122 0.21021562
+v -0.28235520 -0.34541047 -0.18369649
+v -0.37120624 -0.31726753 0.07742597
+v -0.34035936 -0.31589189 0.19431197
+v -0.33932660 -0.30221229 0.22191501
+v -0.26915310 -0.33380918 -0.22911171
+f 6 3 1
+f 10 3 6
+f 11 6 1
+f 11 2 6
+f 12 1 3
+f 12 3 7
+f 13 7 3
+f 13 3 4
+f 16 4 3
+f 16 3 10
+f 18 11 1
+f 21 18 1
+f 22 21 14
+f 25 16 10
+f 25 15 16
+f 25 24 15
+f 26 16 15
+f 27 10 6
+f 27 6 17
+f 28 17 6
+f 28 6 2
+f 29 17 28
+f 33 19 32
+f 34 13 4
+f 36 21 1
+f 36 14 21
+f 36 33 14
+f 37 18 21
+f 37 22 8
+f 37 21 22
+f 39 22 14
+f 39 14 23
+f 39 23 5
+f 40 15 24
+f 42 20 26
+f 42 35 20
+f 42 9 35
+f 43 26 20
+f 43 4 16
+f 43 16 26
+f 44 2 11
+f 44 29 28
+f 44 28 2
+f 45 8 30
+f 45 37 8
+f 45 18 37
+f 46 30 11
+f 46 11 18
+f 46 45 30
+f 46 18 45
+f 47 12 7
+f 47 7 31
+f 47 31 19
+f 47 19 33
+f 47 33 36
+f 47 36 1
+f 47 1 12
+f 48 32 19
+f 49 32 23
+f 49 23 14
+f 49 33 32
+f 49 14 33
+f 50 31 7
+f 50 7 13
+f 50 19 31
+f 51 8 22
+f 51 22 39
+f 52 27 17
+f 53 30 8
+f 53 51 38
+f 53 8 51
+f 54 39 5
+f 54 51 39
+f 54 38 51
+f 54 5 41
+f 54 52 38
+f 54 10 27
+f 54 27 52
+f 54 41 25
+f 54 25 10
+f 55 5 23
+f 55 41 5
+f 55 40 41
+f 56 26 15
+f 56 15 40
+f 57 56 40
+f 57 26 56
+f 57 42 26
+f 57 9 42
+f 57 40 55
+f 58 24 25
+f 58 25 41
+f 58 41 40
+f 58 40 24
+f 59 43 20
+f 59 4 43
+f 59 34 4
+f 59 20 34
+f 60 29 44
+f 60 38 52
+f 60 44 11
+f 60 53 38
+f 60 11 30
+f 60 30 53
+f 61 48 9
+f 61 23 32
+f 61 32 48
+f 61 55 23
+f 61 57 55
+f 61 9 57
+f 62 48 19
+f 62 35 9
+f 62 9 48
+f 62 50 35
+f 62 19 50
+f 63 50 13
+f 63 13 34
+f 63 34 20
+f 63 20 35
+f 63 35 50
+f 64 52 17
+f 64 17 29
+f 64 60 52
+f 64 29 60
\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_25.obj b/apple/apple_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba2a728fbd083e6cfd9103e088232264ff581f2f
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.25847696 0.22211416 0.41815876
+v 0.26515150 0.22688864 0.24719154
+v 0.25462994 0.37771938 0.24120995
+v -0.09582592 0.43921582 0.24260312
+v -0.09848488 0.22688864 0.24719154
+v 0.06671672 0.36190913 0.38457534
+v 0.22313481 0.34443142 0.34131172
+v 0.08141792 0.44081941 0.24253184
+v -0.09782270 0.22590784 0.45206117
+v 0.19631167 0.28785091 0.41160010
+v 0.25305972 0.34390192 0.31198197
+v 0.15491799 0.42419367 0.24120241
+v -0.05116368 0.40528261 0.32707460
+v 0.20013113 0.22178870 0.44332565
+v 0.16771021 0.35943013 0.35594785
+v 0.25423469 0.26219075 0.39738516
+v 0.19510911 0.40393335 0.25540726
+v -0.03628800 0.43531890 0.26969766
+v 0.06536754 0.42041586 0.29970266
+v -0.09388131 0.33466118 0.39945176
+v 0.22429032 0.24523264 0.42466059
+v 0.05155020 0.28036298 0.44067235
+v 0.16720384 0.31866435 0.39734851
+v 0.22577238 0.28796635 0.39628661
+v 0.25222957 0.37410660 0.25499684
+v 0.19696558 0.40785333 0.24162027
+v 0.18291770 0.37403783 0.32550161
+v -0.06489520 0.42128792 0.29730607
+v 0.03645317 0.37693046 0.36968318
+v 0.05025774 0.43584302 0.26951963
+v 0.09440782 0.39076999 0.34303374
+v 0.10942861 0.41940542 0.28328590
+v -0.09452461 0.37705808 0.35501055
+v 0.19899821 0.23563134 0.43922262
+v 0.25498921 0.23372540 0.41438960
+v 0.14000463 0.26177714 0.44131625
+v -0.03619712 0.27899243 0.44099087
+v 0.12522420 0.33356909 0.39658132
+v 0.06618089 0.40539673 0.32609639
+v -0.03600683 0.34810775 0.39734850
+v 0.12406296 0.36118860 0.36792788
+v 0.13808107 0.40519153 0.29994190
+v 0.08075304 0.43618808 0.25606586
+v -0.09626744 0.26413336 0.44067523
+v -0.09450161 0.40664301 0.31212941
+v 0.08167198 0.30455236 0.42676344
+v 0.03592198 0.35036302 0.39691624
+v -0.05175725 0.30675646 0.42587754
+v -0.03621452 0.36193059 0.38422627
+v 0.15301631 0.37416411 0.34055607
+v 0.18240842 0.40358600 0.26864159
+v 0.10933932 0.40495353 0.31217926
+v -0.09515939 0.29356936 0.42669768
+v -0.09554213 0.43453685 0.25441830
+v -0.07898748 0.39197529 0.34071359
+v 0.11015728 0.31876255 0.41214298
+v -0.08056877 0.32094661 0.41220166
+v -0.02104589 0.37691264 0.36892580
+v 0.15352993 0.41926524 0.25436172
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 5 4 3
+f 9 4 5
+f 11 1 3
+f 12 3 4
+f 12 4 8
+f 14 9 5
+f 14 5 1
+f 16 11 7
+f 16 1 11
+f 18 8 4
+f 23 7 15
+f 24 16 7
+f 24 21 16
+f 24 10 21
+f 24 23 10
+f 24 7 23
+f 25 11 3
+f 26 3 12
+f 26 12 17
+f 26 25 3
+f 26 17 25
+f 27 15 7
+f 27 25 17
+f 27 7 11
+f 27 11 25
+f 28 18 4
+f 28 13 19
+f 30 8 18
+f 30 28 19
+f 30 18 28
+f 31 29 6
+f 33 4 9
+f 34 14 1
+f 34 1 21
+f 34 21 10
+f 35 21 1
+f 35 1 16
+f 35 16 21
+f 36 22 9
+f 36 9 14
+f 36 14 34
+f 36 34 10
+f 37 9 22
+f 38 23 15
+f 39 19 13
+f 39 13 29
+f 39 31 19
+f 39 29 31
+f 41 31 6
+f 41 15 31
+f 41 38 15
+f 41 6 38
+f 42 12 32
+f 42 32 19
+f 43 32 12
+f 43 12 8
+f 43 8 30
+f 43 30 19
+f 43 19 32
+f 44 33 9
+f 44 9 37
+f 46 22 36
+f 47 6 29
+f 47 46 6
+f 48 37 22
+f 48 22 46
+f 48 47 40
+f 48 46 47
+f 48 44 37
+f 49 33 20
+f 49 20 40
+f 49 47 29
+f 49 40 47
+f 50 42 31
+f 50 31 15
+f 50 15 27
+f 50 27 42
+f 51 42 27
+f 51 27 17
+f 51 17 12
+f 52 42 19
+f 52 19 31
+f 52 31 42
+f 53 20 33
+f 53 33 44
+f 53 44 48
+f 54 45 28
+f 54 28 4
+f 54 4 33
+f 54 33 45
+f 55 45 33
+f 55 13 28
+f 55 28 45
+f 55 33 49
+f 56 38 6
+f 56 6 46
+f 56 23 38
+f 56 10 23
+f 56 46 36
+f 56 36 10
+f 57 48 40
+f 57 40 20
+f 57 53 48
+f 57 20 53
+f 58 49 29
+f 58 29 13
+f 58 55 49
+f 58 13 55
+f 59 51 12
+f 59 12 42
+f 59 42 51
\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_26.obj b/apple/apple_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f8f6292ab917564fdb5b17942d7c57db33aaf76
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.44761712 0.11615185 0.24077612
+v 0.48211134 0.11766941 -0.08423185
+v 0.45886880 0.18822008 0.12257983
+v 0.41097147 0.20140447 0.25139199
+v 0.40151514 0.12082803 -0.08614181
+v 0.44219195 0.17215167 0.20931999
+v 0.47631171 0.11731587 0.13764653
+v 0.43361283 0.13127188 0.26135862
+v 0.43393834 0.21815819 -0.09405974
+v 0.44490252 0.18797574 0.18042685
+v 0.47424489 0.16097025 0.07876414
+v 0.45997877 0.17368274 0.15131796
+v 0.42872286 0.17542195 0.23976475
+v 0.42866703 0.18761248 0.22517887
+v 0.45779576 0.18748520 -0.06661954
+v 0.45804660 0.13150755 0.19623105
+v 0.47321074 0.14538855 0.12333540
+v 0.44383297 0.13002898 0.23911959
+v 0.42047616 0.19080582 0.24215347
+v 0.47455881 0.15774879 -0.05346795
+v 0.46069588 0.17368873 -0.08242186
+v 0.46114861 0.11707756 0.19711940
+v 0.47329358 0.13180950 0.13699384
+v 0.47336224 0.14450018 -0.08171579
+v 0.45214735 0.19121174 -0.08344653
+f 5 2 1
+f 7 1 2
+f 8 5 1
+f 8 4 5
+f 9 2 5
+f 9 5 4
+f 9 4 3
+f 10 3 4
+f 11 7 2
+f 12 10 6
+f 12 3 10
+f 12 11 3
+f 13 4 8
+f 14 10 4
+f 14 6 10
+f 14 13 6
+f 15 9 3
+f 15 3 11
+f 16 12 6
+f 16 6 1
+f 17 7 11
+f 17 11 12
+f 18 1 6
+f 18 6 13
+f 18 13 8
+f 18 8 1
+f 19 14 4
+f 19 4 13
+f 19 13 14
+f 20 15 11
+f 20 11 2
+f 21 15 20
+f 22 16 1
+f 22 1 7
+f 22 12 16
+f 23 17 12
+f 23 7 17
+f 23 22 7
+f 23 12 22
+f 24 2 9
+f 24 9 21
+f 24 21 20
+f 24 20 2
+f 25 21 9
+f 25 9 15
+f 25 15 21
\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_27.obj b/apple/apple_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e36208e89b948d2f797d3d433d8accad4e4b438
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.26515150 0.19658561 -0.22250546
+v 0.26096931 0.19312385 -0.41259877
+v 0.25724966 0.35000284 -0.21627318
+v 0.14065437 0.39864245 -0.21804762
+v 0.14393937 0.19658561 -0.22250546
+v 0.22604424 0.28394203 -0.36036417
+v 0.17125002 0.19049526 -0.45378180
+v 0.15456680 0.39484622 -0.21636615
+v 0.25330182 0.29934141 -0.31759737
+v 0.24359366 0.19128286 -0.42409336
+v 0.14197115 0.20585981 -0.45159609
+v 0.15257543 0.34464440 -0.31584431
+v 0.25590018 0.21681362 -0.40253635
+v 0.14300339 0.19366484 -0.45675534
+v 0.13897290 0.39349087 -0.23091735
+v 0.14110783 0.25925616 -0.41975551
+v 0.24069454 0.29921185 -0.33000532
+v 0.19729948 0.21659717 -0.43252940
+v 0.18160406 0.35982997 -0.27229466
+v 0.15456983 0.30066708 -0.37513457
+v 0.14006230 0.34704998 -0.31840187
+v 0.16761410 0.32917060 -0.33077549
+v 0.22384163 0.24305166 -0.40386578
+v 0.21540221 0.19097040 -0.43828551
+v 0.16962879 0.20234712 -0.44774205
+v 0.18282495 0.37342973 -0.24389423
+v 0.25455428 0.34548334 -0.22929882
+v 0.14036821 0.30365144 -0.37594986
+v 0.24145468 0.20243098 -0.41898055
+v 0.19707266 0.27245000 -0.38867870
+v 0.16899837 0.22985311 -0.43179863
+v 0.19843672 0.37958753 -0.21623130
+v 0.19630003 0.37470190 -0.22918825
+v 0.21221067 0.20240202 -0.43383967
+v 0.19741190 0.28409037 -0.37451311
+f 1 2 3
+f 5 1 3
+f 7 1 5
+f 8 5 3
+f 8 4 5
+f 9 3 2
+f 10 2 1
+f 10 1 7
+f 13 9 2
+f 13 2 10
+f 14 11 7
+f 14 7 5
+f 14 5 11
+f 15 11 5
+f 15 5 4
+f 17 13 6
+f 17 9 13
+f 21 19 12
+f 21 15 19
+f 22 17 6
+f 22 19 17
+f 22 12 19
+f 22 6 20
+f 22 21 12
+f 22 20 21
+f 23 6 13
+f 23 18 16
+f 24 10 7
+f 24 7 18
+f 25 18 7
+f 25 7 11
+f 26 19 15
+f 26 15 4
+f 26 4 8
+f 27 3 9
+f 27 9 17
+f 27 17 19
+f 28 15 21
+f 28 16 11
+f 28 11 15
+f 28 21 20
+f 28 20 16
+f 29 23 13
+f 29 13 10
+f 30 6 23
+f 30 23 16
+f 30 16 20
+f 31 25 11
+f 31 11 16
+f 31 16 18
+f 31 18 25
+f 32 26 8
+f 32 8 3
+f 32 3 27
+f 33 27 19
+f 33 19 26
+f 33 32 27
+f 33 26 32
+f 34 18 23
+f 34 23 29
+f 34 24 18
+f 34 29 10
+f 34 10 24
+f 35 30 20
+f 35 20 6
+f 35 6 30
\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_28.obj b/apple/apple_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a891b3ed9463be66ed0080f20d1877956962a922
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00955393 -0.28167901 0.41939234
+v 0.00757573 -0.25795987 -0.23765697
+v 0.01035481 -0.01141162 0.25009776
+v -0.23484853 -0.01553562 0.36840367
+v -0.23484853 -0.25795987 -0.23765697
+v 0.00743332 -0.06014522 0.36083696
+v 0.01146532 -0.03365027 0.31559044
+v -0.23865728 -0.26233325 0.37384460
+v 0.00757573 -0.01553562 -0.23765697
+v -0.03789794 -0.03085572 0.35883443
+v -0.23484853 -0.01553562 -0.23765697
+f 5 2 1
+f 7 1 2
+f 7 6 1
+f 8 5 1
+f 8 1 4
+f 9 2 5
+f 9 7 2
+f 9 3 7
+f 10 4 1
+f 10 1 6
+f 10 6 7
+f 10 7 3
+f 10 3 4
+f 11 8 4
+f 11 5 8
+f 11 9 5
+f 11 4 3
+f 11 3 9
\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_29.obj b/apple/apple_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d653b67f1c5f421f95cb744ec3e1a327135d7cb1
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.30480438 -0.29391420 0.28618805
+v 0.29529039 -0.28722414 -0.24195297
+v 0.26515150 0.22688864 -0.22250546
+v 0.00757573 0.22688864 0.26234305
+v 0.00757573 -0.25795987 0.26234305
+v 0.26515150 0.22688864 0.26234305
+v 0.00757573 -0.25795987 -0.22250546
+v 0.00757573 0.22688864 -0.22250546
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 8 3 2
+f 8 2 7
+f 8 7 4
+f 8 4 3
\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_3.obj b/apple/apple_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..932f49a48bda920ccef3f14012478a3ce382eb79
--- /dev/null
+++ b/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
+v -0.38956422 0.21874453 0.27316379
+v -0.32817353 0.31794063 0.25346906
+v -0.32199404 0.32841514 0.24457069
+v -0.36837587 0.26104701 0.26671414
+v -0.41775410 0.17526834 0.25599371
+v -0.39761361 0.27438675 0.18104873
+v -0.41218629 0.23170877 0.20905912
+v -0.41894138 0.19136566 -0.18764359
+v -0.43035577 0.20410727 -0.14068542
+v -0.36861044 0.31812886 0.16448632
+v -0.41372997 0.25994992 -0.09528576
+v -0.34163270 0.28823296 -0.21222500
+v -0.40093871 0.20297523 -0.21488917
+v -0.39829958 0.18822069 0.28284164
+v -0.32703969 0.30145291 0.28298205
+v -0.36862361 0.24605107 0.28201413
+v -0.41299592 0.18833386 0.25384560
+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
+f 22 14 21
+f 24 8 13
+f 24 13 23
+f 25 1 3
+f 25 3 17
+f 27 12 20
+f 28 12 27
+f 28 19 12
+f 28 7 19
+f 29 14 7
+f 29 21 14
+f 30 20 16
+f 31 20 5
+f 31 5 16
+f 31 16 20
+f 32 11 4
+f 32 4 21
+f 32 26 11
+f 33 16 5
+f 33 5 22
+f 34 23 13
+f 34 2 15
+f 35 24 23
+f 35 34 15
+f 35 23 34
+f 36 25 17
+f 37 10 6
+f 38 6 11
+f 38 11 26
+f 38 37 6
+f 38 26 37
+f 39 26 18
+f 39 18 36
+f 40 27 20
+f 40 9 1
+f 41 28 18
+f 41 7 28
+f 41 29 7
+f 42 28 27
+f 42 18 28
+f 42 36 18
+f 43 20 30
+f 43 40 20
+f 43 9 40
+f 44 30 16
+f 44 16 24
+f 44 43 30
+f 45 29 41
+f 45 41 18
+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
+f 48 35 15
+f 48 15 9
+f 49 1 25
+f 49 25 36
+f 50 37 26
+f 50 10 37
+f 50 17 10
+f 51 39 36
+f 51 36 17
+f 51 17 39
+f 52 42 27
+f 52 27 40
+f 53 9 43
+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
+f 55 49 36
+f 55 52 40
+f 55 36 42
+f 55 42 52
+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/apple/apple_1/collision/model_normalized_collision_30.obj b/apple/apple_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fba4cfd7301f0cc7bae15e4643fa94279c3ba74e
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00767296 -0.01595361 0.26221393
+v 0.00757573 -0.01553562 -0.23765697
+v 0.00757573 0.22688864 0.26234305
+v -0.23484853 0.22688864 0.26234305
+v -0.23484853 -0.01553562 -0.23765697
+v -0.23484853 0.22688864 -0.23765697
+v -0.23484853 -0.01553562 0.26234305
+v 0.00757573 0.22688864 -0.23765697
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 1 2
+f 8 3 1
+f 8 6 3
+f 8 2 6
\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_31.obj b/apple/apple_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88b1a45f8b338543366cac49e823d91792b75ef5
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15759162 -0.41268329 0.24961146
+v 0.14989052 -0.39232799 -0.22822134
+v 0.14393937 -0.25795987 0.23204002
+v 0.00757573 -0.25795987 0.23204002
+v 0.00674381 -0.41088707 -0.23624109
+v 0.00757573 -0.25795987 -0.22250546
+v 0.14393937 -0.25795987 -0.22250546
+v 0.00757573 -0.37917200 0.23204002
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 5
+f 7 5 6
+f 8 5 1
+f 8 1 4
+f 8 4 5
\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_4.obj b/apple/apple_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..411e652298bc3f715a594e20c137d63017c6529c
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.26515150 -0.01553562 -0.34371758
+v 0.27780225 -0.02328573 -0.43147668
+v 0.29173069 0.21713114 -0.37132310
+v -0.09537226 0.35319822 -0.33634693
+v -0.23150201 -0.01465300 -0.47071951
+v 0.11109769 0.35206868 -0.32141545
+v -0.23484853 -0.01553562 -0.35886910
+v 0.14300339 0.19366484 -0.45675534
+v 0.14192880 0.34235865 -0.32464032
+v -0.16221997 -0.01681620 -0.47893529
+v -0.25989916 0.21910190 -0.37718688
+v -0.22879572 0.29380056 -0.33489188
+v 0.26664593 0.19782260 -0.40678080
+v 0.08055391 0.27309166 -0.41790360
+v -0.20192034 -0.01595602 -0.47897855
+v 0.00751002 0.36808672 -0.32202546
+v -0.09477375 0.27417102 -0.41707550
+v 0.00757573 0.19658561 -0.32856607
+v 0.14110783 0.25925616 -0.41975551
+v -0.20179705 0.01432727 -0.47821521
+v -0.18351124 0.32095360 -0.33429630
+v 0.09506486 0.31682487 -0.37370376
+v -0.18045778 0.28686930 -0.37385955
+v 0.00746638 0.36123521 -0.33283341
+v 0.14116047 0.21859055 -0.44610418
+v 0.14393937 0.19658561 -0.32856607
+v 0.13728898 0.32961463 -0.34512465
+v -0.16256496 0.01396187 -0.47721911
+v -0.09435339 0.21837387 -0.44504242
+v -0.22616903 0.12774292 -0.44695912
+v 0.09587109 0.28745013 -0.40269926
+v -0.22364634 0.25762929 -0.37271841
+v -0.18036924 0.31454665 -0.34441586
+v -0.10754796 0.33080898 -0.36070891
+v 0.03639918 0.36702851 -0.32220579
+v 0.12635079 0.24476800 -0.43207688
+v 0.10959183 0.34543486 -0.33232541
+v -0.18551214 0.11676587 -0.46192943
+v -0.22892106 0.07108949 -0.46234989
+v -0.13910898 0.23241798 -0.43005479
+v -0.22459705 0.28766457 -0.34392126
+v -0.10797318 0.28887980 -0.40177486
+v -0.09326682 0.34639743 -0.34651279
+v -0.15288312 0.31548274 -0.35988238
+v 0.03496663 0.36156790 -0.33058193
+v -0.18242025 0.17292551 -0.44457168
+v -0.20928355 0.23060435 -0.40127290
+v -0.15124463 0.28691622 -0.38721068
+v 0.06506788 0.34524987 -0.34482331
+v -0.18085516 0.23001599 -0.41510672
+v -0.22471780 0.21576331 -0.40176709
+f 1 2 3
+f 7 2 1
+f 9 6 1
+f 9 1 3
+f 10 2 7
+f 10 8 2
+f 11 5 7
+f 12 11 7
+f 13 3 2
+f 13 2 8
+f 15 10 7
+f 15 7 5
+f 18 12 7
+f 18 7 1
+f 18 16 12
+f 18 6 16
+f 19 3 13
+f 20 10 15
+f 20 15 5
+f 21 16 4
+f 21 12 16
+f 24 4 16
+f 24 22 14
+f 24 14 17
+f 25 17 14
+f 25 19 13
+f 25 13 8
+f 26 18 1
+f 26 1 6
+f 26 6 18
+f 27 9 3
+f 27 3 19
+f 27 19 22
+f 28 20 8
+f 28 8 10
+f 28 10 20
+f 29 25 8
+f 29 17 25
+f 31 22 19
+f 31 19 14
+f 31 14 22
+f 32 11 12
+f 33 23 12
+f 33 12 21
+f 35 24 16
+f 35 16 6
+f 36 25 14
+f 36 14 19
+f 36 19 25
+f 37 6 9
+f 37 9 27
+f 37 35 6
+f 37 27 22
+f 38 29 8
+f 38 8 20
+f 39 20 5
+f 39 5 11
+f 39 11 30
+f 39 38 20
+f 39 30 38
+f 40 17 29
+f 41 32 12
+f 41 12 23
+f 41 23 32
+f 43 24 17
+f 43 42 34
+f 43 17 42
+f 43 4 24
+f 44 23 33
+f 44 33 21
+f 44 21 4
+f 44 43 34
+f 44 4 43
+f 44 34 42
+f 45 22 24
+f 45 24 35
+f 45 35 37
+f 46 38 30
+f 46 40 29
+f 46 29 38
+f 47 32 23
+f 47 11 32
+f 48 44 42
+f 48 23 44
+f 48 42 17
+f 48 17 40
+f 49 45 37
+f 49 37 22
+f 49 22 45
+f 50 40 46
+f 50 46 47
+f 50 48 40
+f 50 47 23
+f 50 23 48
+f 51 47 46
+f 51 46 30
+f 51 30 11
+f 51 11 47
\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_5.obj b/apple/apple_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9f86fa5e948299c5c3c2b405df688b82d718ea5
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.26515150 0.22688864 0.24719154
+v 0.26515150 0.22688864 -0.22250546
+v 0.23988046 0.42148211 0.10776351
+v -0.09627360 0.46661673 0.13854408
+v -0.40681793 0.29477064 -0.00937919
+v 0.00729903 0.41431659 -0.23347457
+v 0.10900000 0.43597082 0.24100096
+v 0.25414370 0.40426743 -0.06573754
+v -0.23484853 0.22688864 -0.23765697
+v -0.21237345 0.43525639 -0.06635996
+v 0.25462994 0.37771938 0.24120995
+v 0.09536399 0.46644407 0.10862189
+v -0.34361771 0.30514858 0.24873032
+v 0.25724966 0.35000284 -0.21627318
+v 0.00757573 0.22688864 -0.23765697
+v -0.33252807 0.29427369 -0.21653363
+v 0.19513774 0.41902418 0.21045179
+v 0.25336670 0.40582750 0.15262090
+v 0.02212494 0.46694127 0.16761904
+v 0.16995894 0.45041606 -0.00801121
+v -0.09783177 0.46779980 -0.03828696
+v -0.23484853 0.22688864 0.24719154
+v -0.12396087 0.43427739 0.24026255
+v -0.29770975 0.39125372 0.12112624
+v -0.39278370 0.29539865 -0.08330587
+v -0.18054020 0.39133718 -0.22885795
+v 0.16910239 0.42075981 0.23981435
+v 0.16903619 0.45080116 0.10924983
+v 0.25305891 0.38942587 0.21107176
+v 0.22553056 0.42029229 0.15251234
+v 0.08096093 0.45077581 0.21259694
+v 0.21103038 0.43611707 0.00690470
+v 0.15257894 0.41915464 -0.15529040
+v -0.18299114 0.45065022 0.09329160
+v 0.05035804 0.46814021 0.15337771
+v 0.09701391 0.46777715 0.00652997
+v -0.39397655 0.29745986 0.13894023
+v -0.05194717 0.45084342 0.22665237
+v -0.32763509 0.37517272 -0.03674282
+v -0.23890432 0.38877847 0.23843746
+v -0.37715303 0.29626410 -0.12842367
+v -0.22838756 0.36623931 -0.23080651
+v -0.08066597 0.43525411 -0.18450693
+v 0.16666042 0.43421047 0.19649325
+v 0.21160969 0.43460397 0.10740378
+v 0.24077730 0.41996780 -0.00801534
+v 0.19640097 0.43451937 -0.05121373
+v 0.12308271 0.40546809 -0.21487026
+v 0.21078087 0.40330986 -0.13982816
+v -0.18276579 0.45084921 -0.03756024
+v -0.12576286 0.46672738 -0.00861713
+v -0.16758927 0.45027497 0.13724742
+v 0.05074068 0.45027290 0.22579803
+v 0.15457836 0.45047426 0.13777355
+v -0.06693020 0.46707515 0.15302797
+v 0.09482044 0.45056372 -0.09598192
+v -0.40562385 0.29540729 0.07893856
+v -0.32704715 0.36122761 0.15015673
+v -0.10923640 0.45079143 0.19664951
+v -0.37118963 0.33316743 -0.05206461
+v -0.20937025 0.40498270 0.23881145
+v -0.32724991 0.36023858 -0.09601493
+v -0.13908722 0.40602859 -0.22918598
+v -0.22414848 0.40371515 -0.15502642
+f 8 1 2
+f 9 2 1
+f 11 7 1
+f 13 1 7
+f 14 8 2
+f 14 2 6
+f 15 9 6
+f 15 6 2
+f 15 2 9
+f 18 8 3
+f 18 11 1
+f 18 1 8
+f 22 9 1
+f 22 1 13
+f 22 5 9
+f 23 13 7
+f 25 9 5
+f 27 7 11
+f 27 11 17
+f 29 17 11
+f 29 11 18
+f 30 18 3
+f 30 29 18
+f 30 17 29
+f 32 20 28
+f 36 28 20
+f 36 12 28
+f 36 35 12
+f 36 21 35
+f 37 22 13
+f 38 23 7
+f 41 16 9
+f 41 9 25
+f 42 6 9
+f 42 9 16
+f 44 27 17
+f 44 30 28
+f 44 17 30
+f 44 31 7
+f 44 7 27
+f 45 30 3
+f 45 28 30
+f 45 32 28
+f 45 3 32
+f 46 32 3
+f 46 3 8
+f 47 20 32
+f 47 46 8
+f 47 32 46
+f 48 14 6
+f 49 8 14
+f 49 48 33
+f 49 14 48
+f 49 47 8
+f 49 33 47
+f 50 24 34
+f 50 39 24
+f 50 10 39
+f 50 43 10
+f 50 21 43
+f 51 34 4
+f 51 4 21
+f 51 50 34
+f 51 21 50
+f 52 4 34
+f 52 34 24
+f 53 35 19
+f 53 31 35
+f 53 19 38
+f 53 38 7
+f 53 7 31
+f 54 35 31
+f 54 28 12
+f 54 12 35
+f 54 44 28
+f 54 31 44
+f 55 35 21
+f 55 21 4
+f 55 19 35
+f 55 38 19
+f 56 36 20
+f 56 6 43
+f 56 43 21
+f 56 21 36
+f 56 48 6
+f 56 33 48
+f 56 47 33
+f 56 20 47
+f 57 5 22
+f 57 22 37
+f 57 24 39
+f 58 37 13
+f 58 57 37
+f 58 24 57
+f 58 40 24
+f 58 13 40
+f 59 23 38
+f 59 52 23
+f 59 4 52
+f 59 55 4
+f 59 38 55
+f 60 25 5
+f 60 57 39
+f 60 5 57
+f 60 41 25
+f 61 40 13
+f 61 13 23
+f 61 23 52
+f 61 52 24
+f 61 24 40
+f 62 16 41
+f 62 42 16
+f 62 39 10
+f 62 60 39
+f 62 41 60
+f 63 42 26
+f 63 6 42
+f 63 43 6
+f 63 10 43
+f 64 26 42
+f 64 63 26
+f 64 10 63
+f 64 62 10
+f 64 42 62
\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_6.obj b/apple/apple_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3253bc62a5ccef325d3ca35506641e4f1f7c4156
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.25802966 -0.38276303 0.18400714
+v 0.47465682 -0.02772798 -0.14326630
+v 0.39906837 0.07199631 0.34265678
+v 0.25692158 0.39558468 0.18262674
+v 0.25866658 -0.04294517 -0.43582876
+v 0.45907409 0.20189917 0.06483666
+v 0.25897938 0.13321796 0.44726020
+v 0.45768021 -0.13047498 0.15134235
+v 0.28134848 -0.31625508 -0.21309132
+v 0.25574132 -0.24716526 -0.33431459
+v 0.36703872 0.25970213 0.26740108
+v 0.25657659 0.30444199 -0.30547716
+v 0.25795589 -0.20525731 0.40129537
+v 0.47445074 0.05840966 0.18135933
+v 0.41316080 -0.24529419 0.00783712
+v 0.25630759 -0.36809823 -0.14330797
+v 0.35457908 -0.09959146 -0.34328962
+v 0.40107501 0.28660789 0.10918546
+v 0.33961301 0.21553196 0.35395994
+v 0.25582467 0.27842077 0.38632882
+v 0.25624758 0.26027994 -0.36438934
+v 0.31442835 -0.01337129 0.42630726
+v 0.33963146 -0.24437278 0.29763797
+v 0.44446261 -0.04201048 0.25475097
+v 0.42760827 0.15998282 0.25379743
+v 0.48967407 -0.04386671 0.09270278
+v 0.25595757 -0.30654399 -0.25989187
+v 0.25661229 -0.36811587 0.22768067
+v 0.32597495 -0.34719655 -0.00760619
+v 0.25676127 -0.14706407 -0.40751510
+v 0.35335441 -0.20040454 -0.27087521
+v 0.33916945 0.31695077 0.22545552
+v 0.28267230 0.39133347 -0.05270632
+v 0.32529724 0.15984138 0.39887100
+v 0.29491760 0.28872810 0.33952854
+v 0.35431500 0.07254457 -0.37514951
+v 0.25965085 -0.07408326 0.44513546
+v 0.35378719 -0.11637617 0.36991550
+v 0.39716907 -0.24605268 0.16637851
+v 0.44414943 0.10214387 0.25367557
+v 0.41273974 -0.14341754 0.26629190
+v 0.38388593 0.14392102 0.33910511
+v 0.35209375 0.23154608 0.32602215
+v 0.47331743 0.11666318 0.15215052
+v 0.42817471 0.23069778 0.16503205
+v 0.48954910 0.11586695 -0.03798164
+v 0.47317045 -0.11368365 -0.02269410
+v 0.47426521 -0.04337235 0.16582780
+v 0.25740001 -0.25071517 0.37405095
+v 0.26179478 -0.38942633 0.14016256
+v 0.35460674 -0.30505277 -0.06736446
+v 0.29821702 -0.02625785 -0.41851066
+v 0.25815044 0.17563906 -0.42311548
+v 0.31062585 -0.15823516 -0.35783099
+v 0.29582255 -0.24173065 -0.29980357
+v 0.41369841 -0.10028683 -0.25654457
+v 0.31134867 0.36126707 0.16637729
+v 0.25841031 0.41109781 -0.00861506
+v 0.39967323 0.27353695 -0.08270153
+v 0.31225663 0.08787717 0.42689427
+v 0.27081247 0.18939895 0.42475899
+v 0.29528085 0.21615994 0.39627544
+v 0.29409437 0.27413927 0.35386529
+v 0.30882312 0.31702879 0.28335116
+f 20 13 7
+f 21 10 20
+f 21 20 4
+f 21 4 12
+f 27 9 16
+f 28 16 1
+f 28 27 16
+f 28 20 10
+f 28 10 27
+f 30 10 21
+f 37 22 7
+f 37 7 13
+f 38 37 13
+f 38 22 37
+f 38 24 3
+f 38 3 22
+f 39 15 8
+f 39 29 15
+f 39 28 1
+f 39 23 28
+f 40 24 14
+f 40 3 24
+f 41 8 24
+f 41 39 8
+f 41 23 39
+f 41 38 23
+f 41 24 38
+f 42 40 25
+f 42 3 40
+f 42 34 3
+f 42 19 34
+f 43 25 11
+f 43 42 25
+f 43 19 42
+f 44 14 26
+f 44 40 14
+f 44 25 40
+f 45 11 25
+f 45 32 11
+f 45 18 32
+f 45 6 18
+f 45 44 6
+f 45 25 44
+f 46 26 2
+f 46 44 26
+f 46 6 44
+f 46 2 36
+f 47 2 26
+f 47 26 8
+f 47 8 15
+f 48 24 8
+f 48 8 26
+f 48 26 14
+f 48 14 24
+f 49 13 20
+f 49 20 28
+f 49 28 23
+f 49 38 13
+f 49 23 38
+f 50 1 16
+f 50 16 29
+f 50 39 1
+f 50 29 39
+f 51 29 16
+f 51 16 9
+f 51 15 29
+f 51 31 15
+f 51 9 31
+f 52 30 5
+f 52 17 30
+f 52 36 17
+f 53 30 21
+f 53 5 30
+f 53 52 5
+f 53 21 36
+f 53 36 52
+f 54 30 17
+f 54 17 31
+f 54 10 30
+f 55 27 10
+f 55 54 31
+f 55 10 54
+f 55 31 9
+f 55 9 27
+f 56 31 17
+f 56 2 47
+f 56 47 15
+f 56 15 31
+f 56 36 2
+f 56 17 36
+f 57 32 18
+f 58 33 12
+f 58 12 4
+f 58 4 57
+f 58 57 18
+f 58 18 33
+f 59 33 18
+f 59 18 6
+f 59 6 46
+f 59 12 33
+f 59 21 12
+f 59 46 36
+f 59 36 21
+f 60 22 3
+f 60 3 34
+f 60 7 22
+f 61 20 7
+f 61 60 34
+f 61 7 60
+f 62 34 19
+f 62 61 34
+f 62 20 61
+f 63 35 20
+f 63 43 35
+f 63 19 43
+f 63 62 19
+f 63 20 62
+f 64 11 32
+f 64 4 20
+f 64 20 35
+f 64 57 4
+f 64 32 57
+f 64 43 11
+f 64 35 43
\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_7.obj b/apple/apple_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98fbee6be1c389ac8f7edd411c557f2b9a7f153a
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.37734258 -0.24299738 0.24313585
+v -0.36675609 -0.23550857 -0.22824191
+v -0.35606065 -0.01553562 0.24719154
+v -0.39456302 0.21412069 0.26774424
+v -0.49040926 -0.02939447 -0.05286316
+v -0.38410654 0.21323329 -0.23701295
+v -0.44377512 -0.20321202 -0.05309143
+v -0.45588741 -0.01548566 0.24422129
+v -0.45872565 0.19046004 0.00531554
+v -0.44290436 -0.05751379 -0.21525557
+v -0.42799941 -0.21804919 -0.09769193
+v -0.45948074 -0.15916242 0.13754410
+v -0.45820982 0.08668255 -0.17099045
+v -0.45793526 0.15987825 0.15268381
+v -0.45748736 -0.13147640 -0.11164626
+v -0.42817434 -0.21757909 0.15152648
+v -0.44396865 -0.12953866 0.22528744
+v -0.49109622 -0.01566072 0.12295022
+v -0.47409065 -0.13190532 -0.00903539
+v -0.44326809 0.18921356 -0.11298825
+v -0.49093742 0.05820449 -0.02369587
+v -0.45930516 -0.01364129 -0.18679586
+v -0.44214921 0.08673419 -0.21310716
+v -0.44233608 0.11620674 0.23831975
+v -0.45879104 0.19012911 0.09244359
+v -0.44190518 -0.17456927 -0.11165421
+v -0.44275561 -0.20391929 0.12207535
+v -0.41475316 -0.20144982 0.22340259
+v -0.47451325 -0.05970035 0.18178925
+v -0.47300566 -0.11627152 -0.05258418
+v -0.48959210 -0.07319338 0.07842964
+v -0.47484881 0.05913465 -0.12746629
+v -0.47301212 0.11597873 -0.08228345
+v -0.45909358 -0.05907353 -0.17158067
+v -0.45908274 0.04450092 -0.18603313
+v -0.41499961 0.19000717 -0.20033300
+v -0.44213385 0.17576292 0.19522938
+v -0.47386614 0.05807737 0.18200472
+v -0.49032744 0.07303928 0.00558145
+v -0.41255002 -0.18781124 -0.18475036
+v -0.44261465 -0.17435515 0.17965412
+v -0.45859801 -0.17459684 0.09361271
+v -0.41559321 -0.21741864 0.19572139
+v -0.42657950 -0.17410456 0.22445506
+v -0.45749005 -0.07204675 0.22421896
+v -0.45790621 -0.14479531 0.16581755
+v -0.45794372 -0.17483484 -0.02363865
+v -0.48992516 -0.05782418 -0.02432334
+v -0.47321000 -0.04367721 -0.12648125
+v -0.49097367 -0.04311685 0.10889364
+v -0.49037333 0.02895733 -0.05358391
+v -0.45863668 0.17556218 -0.05387284
+v -0.47441595 0.08602638 -0.11286551
+v -0.42650382 0.18828925 -0.16980530
+v -0.41413571 0.17478286 -0.21394274
+v -0.44248002 0.13094044 -0.18433741
+v -0.42908266 0.16122067 0.24033892
+v -0.44437729 0.19038311 0.16683789
+v -0.45898811 0.05719845 0.22537369
+v -0.45775198 0.11620370 0.19555410
+v -0.49000680 0.07300844 0.06414179
+v -0.47419537 0.13102705 -0.03915940
+v -0.39732869 -0.21763383 -0.18457958
+v -0.42666359 -0.20477466 -0.12593003
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 8 1 4
+f 9 4 6
+f 10 6 2
+f 11 2 1
+f 16 11 1
+f 16 7 11
+f 17 1 8
+f 20 9 6
+f 23 6 10
+f 24 8 4
+f 25 4 9
+f 26 11 7
+f 26 7 15
+f 27 7 16
+f 30 15 7
+f 34 22 10
+f 35 13 23
+f 35 32 13
+f 35 22 32
+f 35 23 10
+f 35 10 22
+f 38 29 8
+f 38 18 29
+f 39 25 9
+f 40 10 2
+f 40 34 10
+f 40 15 34
+f 41 27 16
+f 41 12 27
+f 42 7 27
+f 42 27 12
+f 42 31 19
+f 42 12 31
+f 43 16 1
+f 43 1 28
+f 43 41 16
+f 43 28 41
+f 44 28 1
+f 44 1 17
+f 44 41 28
+f 44 17 41
+f 45 29 17
+f 45 17 8
+f 45 8 29
+f 46 17 29
+f 46 41 17
+f 46 12 41
+f 46 31 12
+f 46 29 31
+f 47 30 7
+f 47 19 30
+f 47 42 19
+f 47 7 42
+f 48 30 19
+f 48 5 30
+f 48 19 31
+f 49 30 5
+f 49 15 30
+f 49 34 15
+f 49 22 34
+f 49 32 22
+f 49 5 32
+f 50 31 29
+f 50 29 18
+f 50 48 31
+f 50 5 48
+f 50 21 5
+f 50 18 21
+f 51 32 5
+f 51 5 21
+f 52 9 20
+f 52 20 33
+f 53 21 33
+f 53 51 21
+f 53 32 51
+f 53 13 32
+f 53 33 20
+f 54 20 6
+f 54 6 36
+f 55 36 6
+f 55 6 23
+f 56 23 13
+f 56 54 36
+f 56 20 54
+f 56 53 20
+f 56 13 53
+f 56 55 23
+f 56 36 55
+f 57 37 24
+f 57 24 4
+f 57 4 37
+f 58 25 14
+f 58 14 37
+f 58 37 4
+f 58 4 25
+f 59 38 8
+f 59 8 24
+f 60 37 14
+f 60 14 38
+f 60 24 37
+f 60 59 24
+f 60 38 59
+f 61 39 21
+f 61 21 18
+f 61 18 38
+f 61 38 14
+f 61 14 25
+f 61 25 39
+f 62 33 21
+f 62 21 39
+f 62 39 9
+f 62 52 33
+f 62 9 52
+f 63 40 2
+f 63 2 11
+f 64 11 26
+f 64 26 15
+f 64 15 40
+f 64 63 11
+f 64 40 63
\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_8.obj b/apple/apple_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..246a6cdd8f0ce57863f8a3e35620819cc51e7229
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.14246259 -0.45041286 0.14015494
+v 0.26496427 -0.37889078 -0.08606188
+v 0.25313867 -0.33152181 0.29649908
+v 0.14710499 -0.26445740 0.41265234
+v 0.14393937 -0.25795987 -0.08614181
+v 0.14064230 -0.39354121 0.29839419
+v 0.25491213 -0.39453660 0.13817699
+v 0.16771779 -0.43083331 -0.09954472
+v 0.26515150 -0.25795987 -0.08614181
+v 0.18133447 -0.33209473 0.35180405
+v 0.13899900 -0.44205410 0.18294714
+v 0.14013154 -0.30973877 0.38730071
+v 0.25740001 -0.25071517 0.37405095
+v 0.16902764 -0.44176691 0.13946161
+v 0.19502141 -0.36108150 0.30816673
+v 0.13800146 -0.41005114 0.26985205
+v 0.25381606 -0.37632496 0.21058089
+v 0.22322316 -0.28962469 0.36665438
+v 0.23003994 -0.25167837 0.38979629
+v 0.16536604 -0.37562311 0.30883524
+v 0.22185450 -0.33349717 0.32349290
+v 0.25122191 -0.36165175 0.25218446
+v 0.19429186 -0.41993003 0.18154766
+v 0.25477424 -0.26080207 0.36846879
+v 0.19594213 -0.29033276 0.37987527
+v 0.15140777 -0.40576730 0.26760584
+v 0.23854050 -0.39127952 0.19536035
+v 0.16700498 -0.43606760 0.16610397
+v 0.16744835 -0.30447404 0.38121968
+v 0.15045530 -0.39031457 0.29746264
+v 0.19497251 -0.40565791 0.22411554
+v 0.25441203 -0.39204226 0.15239441
+v 0.22362672 -0.38950170 0.22447915
+v 0.15233258 -0.43731626 0.18160833
+f 8 1 5
+f 9 8 5
+f 9 2 8
+f 11 5 1
+f 12 4 5
+f 12 6 10
+f 13 2 9
+f 13 9 5
+f 14 1 8
+f 14 11 1
+f 14 8 2
+f 14 2 7
+f 16 6 12
+f 16 12 5
+f 16 5 11
+f 17 7 2
+f 17 2 13
+f 17 13 3
+f 19 13 5
+f 19 5 4
+f 20 15 10
+f 20 10 6
+f 21 15 3
+f 21 10 15
+f 21 18 10
+f 22 17 3
+f 22 3 15
+f 23 14 7
+f 24 3 13
+f 24 19 18
+f 24 13 19
+f 24 21 3
+f 24 18 21
+f 25 10 18
+f 25 18 19
+f 25 19 4
+f 28 11 14
+f 28 14 23
+f 29 12 10
+f 29 10 25
+f 29 25 4
+f 29 4 12
+f 30 15 20
+f 30 20 6
+f 30 6 16
+f 30 16 26
+f 30 26 22
+f 30 22 15
+f 31 22 26
+f 31 23 27
+f 31 26 16
+f 31 16 11
+f 32 27 23
+f 32 23 7
+f 32 7 17
+f 32 17 27
+f 33 27 17
+f 33 17 22
+f 33 31 27
+f 33 22 31
+f 34 28 23
+f 34 11 28
+f 34 31 11
+f 34 23 31
\ No newline at end of file
diff --git a/apple/apple_1/collision/model_normalized_collision_9.obj b/apple/apple_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cd0af1cd010029bed1d8a38bf16c2844210895f
--- /dev/null
+++ b/apple/apple_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.08116785 -0.35351884 -0.32004242
+v 0.14253805 -0.32998706 -0.32560207
+v 0.14393937 -0.01553562 -0.34371758
+v -0.23484853 -0.01553562 -0.35886910
+v -0.09652869 -0.19154686 -0.47723734
+v 0.00757573 -0.22765684 -0.32856607
+v 0.14393937 -0.22765684 -0.32856607
+v 0.00362921 -0.24441225 -0.44727679
+v -0.22791733 -0.29262104 -0.33601033
+v -0.16221997 -0.01681620 -0.47893529
+v 0.12538161 -0.33980137 -0.32136136
+v 0.13879542 -0.21921097 -0.42272572
+v -0.07960458 -0.31837249 -0.38939654
+v 0.00501216 -0.00973740 -0.36667184
+v -0.23150201 -0.01465300 -0.47071951
+v 0.09298282 -0.27203276 -0.40271695
+v 0.10510996 -0.02127989 -0.41932596
+v 0.00434258 -0.16454281 -0.47813927
+v -0.09499823 -0.35318550 -0.33730684
+v -0.15010588 -0.24508589 -0.43185777
+v -0.07988246 -0.23341516 -0.46126646
+v -0.25063640 -0.25056320 -0.36516959
+v -0.20192034 -0.01595602 -0.47897855
+v 0.09479605 -0.33097989 -0.34434944
+v 0.13609398 -0.28729047 -0.37167617
+v 0.04768605 -0.23329285 -0.44477048
+v 0.08315771 -0.10975350 -0.44918846
+v 0.00696261 -0.35884772 -0.32504115
+v -0.12406300 -0.31650562 -0.37598277
+v -0.20985200 -0.17587335 -0.44586884
+v -0.02682739 -0.28761359 -0.41828211
+v -0.01240407 -0.19214464 -0.47617864
+v -0.13759476 -0.20395400 -0.46105300
+v -0.12217334 -0.25975255 -0.43257969
+v -0.16869501 -0.11793941 -0.47845273
+v 0.13721943 -0.31830275 -0.34251597
+v 0.12083059 -0.26055765 -0.40156462
+v 0.03438868 -0.27255986 -0.41838207
+v 0.06280912 -0.16493136 -0.46168746
+v -0.01280208 -0.11178166 -0.47606369
+v -0.00948001 -0.34624409 -0.34528195
+v -0.13995816 -0.33778127 -0.33625991
+v -0.09396417 -0.34755251 -0.34624976
+v -0.18023319 -0.30154194 -0.36118193
+v -0.22337502 -0.10152491 -0.46063522
+v -0.22402121 -0.22929305 -0.40366051
+v -0.02478889 -0.23389025 -0.46004320
+v -0.06691243 -0.28830360 -0.41841194
+v 0.03480336 -0.31710079 -0.37515600
+v 0.04822300 -0.19484415 -0.46250125
+v -0.16467185 -0.21433306 -0.44663310
+v -0.20359818 -0.03063717 -0.47848313
+v -0.14086576 -0.16477389 -0.47660499
+v 0.12341024 -0.33299546 -0.33056345
+v 0.13604610 -0.22984837 -0.41636492
+v 0.06131119 -0.14169086 -0.46138402
+v 0.00237014 -0.12691203 -0.47613962
+v -0.13764409 -0.33133669 -0.34707675
+v -0.22433520 -0.28811246 -0.34446363
+v -0.22262460 -0.18896383 -0.43140374
+v -0.20982992 -0.13040461 -0.46097760
+v -0.20806794 -0.24344376 -0.40248945
+v -0.04020308 -0.30243181 -0.40493563
+v -0.10858793 -0.24552902 -0.44795931
+f 6 3 4
+f 7 6 1
+f 7 3 6
+f 9 6 4
+f 9 1 6
+f 11 7 1
+f 11 2 7
+f 12 7 2
+f 12 3 7
+f 14 4 3
+f 15 4 14
+f 17 3 12
+f 17 14 3
+f 17 10 14
+f 22 9 4
+f 22 4 15
+f 23 15 14
+f 23 14 10
+f 23 10 18
+f 24 11 1
+f 25 12 2
+f 27 17 12
+f 28 1 9
+f 32 21 5
+f 32 5 18
+f 33 5 21
+f 34 13 29
+f 35 23 18
+f 35 18 5
+f 36 2 11
+f 36 25 2
+f 36 24 16
+f 36 16 25
+f 37 25 16
+f 37 26 12
+f 37 16 26
+f 38 26 16
+f 38 8 26
+f 38 31 8
+f 39 27 12
+f 40 10 17
+f 41 1 28
+f 42 28 9
+f 42 19 28
+f 43 29 13
+f 43 19 42
+f 43 13 41
+f 43 41 28
+f 43 28 19
+f 44 34 29
+f 44 20 34
+f 44 42 9
+f 45 22 15
+f 45 15 35
+f 47 8 31
+f 47 21 32
+f 47 26 8
+f 48 47 31
+f 48 21 47
+f 49 24 1
+f 49 1 41
+f 49 31 38
+f 49 38 16
+f 49 16 24
+f 50 12 26
+f 50 47 32
+f 50 26 47
+f 50 39 12
+f 50 32 18
+f 50 18 39
+f 52 35 15
+f 52 15 23
+f 52 23 35
+f 53 51 30
+f 53 33 51
+f 53 35 5
+f 53 5 33
+f 54 36 11
+f 54 11 24
+f 54 24 36
+f 55 37 12
+f 55 12 25
+f 55 25 37
+f 56 39 18
+f 56 27 39
+f 57 40 17
+f 57 17 27
+f 57 27 56
+f 57 56 18
+f 57 18 10
+f 57 10 40
+f 58 43 42
+f 58 29 43
+f 58 44 29
+f 58 42 44
+f 59 44 9
+f 59 9 22
+f 60 45 30
+f 60 22 45
+f 60 46 22
+f 60 51 46
+f 60 30 51
+f 61 45 35
+f 61 30 45
+f 61 53 30
+f 61 35 53
+f 62 22 46
+f 62 59 22
+f 62 44 59
+f 62 20 44
+f 62 51 20
+f 62 46 51
+f 63 48 31
+f 63 13 48
+f 63 31 49
+f 63 49 41
+f 63 41 13
+f 64 21 48
+f 64 34 20
+f 64 20 51
+f 64 51 33
+f 64 33 21
+f 64 48 13
+f 64 13 34
\ No newline at end of file
diff --git a/apple/apple_1/model.xml b/apple/apple_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..dada2ce58d83a33556c8db567d60061759fd92b2
--- /dev/null
+++ b/apple/apple_1/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="apple_3">
+  <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"/>
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+    <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="Solid.001" texture="image0" specular="0.5" shininess="0.489999983"/>
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+  <worldbody>
+    <body>
+      <body name="object">
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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"/>
+        <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"/>
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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="-4.977525000000039e-05 -0.0001907647000000004 -0.033528498500000004" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-4.977525000000039e-05 -0.0001907647000000004 0.03406707360000001" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03427718490000001 0.0327698147 0.00026928755000000057" name="horizontal_radius_site"/>
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+  </worldbody>
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diff --git a/apple/apple_1/visual/material.mtl b/apple/apple_1/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..69ca6639a96d66a360472375088031d18a3e0596
--- /dev/null
+++ b/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/apple/apple_1/visual/model_normalized_0.obj b/apple/apple_1/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9a34a982ed1680ba604b8cfd08939da3ac68cf4
--- /dev/null
+++ b/apple/apple_1/visual/model_normalized_0.obj
@@ -0,0 +1,6325 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_0.obj b/apple/apple_11/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..278aba183f53a715b677ddd9c42665a4f02422b2
--- /dev/null
+++ b/apple/apple_11/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/apple/apple_11/collision/model_normalized_collision_1.obj b/apple/apple_11/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1c3176b138b97b45b4561d6c4b736db751c2545
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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+f 64 24 51
\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_10.obj b/apple/apple_11/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b33fb0efc6836f548492a071715c898d6a837337
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_10.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.02640809 -0.48353539 -0.09729625
+v 0.23087627 -0.37261965 -0.22507849
+v 0.23960013 -0.26783526 -0.11363638
+v -0.23009684 -0.26783526 -0.09848487
+v -0.22291891 -0.40432508 -0.22842864
+v -0.23009684 -0.26783526 -0.23484850
+v 0.02747892 -0.26783526 -0.09848487
+v 0.23063936 -0.41759431 -0.10922063
+v 0.05337563 -0.44565564 -0.21058674
+v -0.22541143 -0.44015511 -0.09540827
+v 0.23960013 -0.26783526 -0.23484850
+v 0.20797980 -0.37142704 -0.24868926
+v -0.10569821 -0.44569682 -0.21221284
+v 0.15786269 -0.43163529 -0.16727693
+v -0.09181792 -0.48155579 -0.09539795
+v 0.22051921 -0.36659324 -0.24626968
+v -0.06094615 -0.46166236 -0.18295781
+v 0.08267128 -0.43124435 -0.22573784
+v -0.16469051 -0.44598165 -0.16945645
+v 0.05517142 -0.46093271 -0.16868317
+v 0.22867861 -0.40063800 -0.16651673
+v 0.17342217 -0.39944623 -0.22648050
+v 0.21715020 -0.37222544 -0.23948987
+v -0.07594859 -0.47678201 -0.12497290
+v 0.09651710 -0.44654333 -0.18186771
+v -0.15010251 -0.43100786 -0.22624856
+v -0.21990418 -0.43051532 -0.15192208
+v 0.01095794 -0.46099718 -0.18347482
+v 0.22985781 -0.41432196 -0.12394405
+v 0.20127967 -0.41454158 -0.16606356
+v 0.20400548 -0.37662502 -0.24307664
+v -0.09005790 -0.47878424 -0.10937976
+v 0.02673560 -0.47711116 -0.12395562
+v 0.08138078 -0.44477531 -0.19628057
+v 0.17192780 -0.41446197 -0.19570345
+v -0.19051477 -0.41757487 -0.22877003
+v -0.22203660 -0.41561718 -0.19991728
+f 6 4 3
+f 7 3 4
+f 8 7 1
+f 8 3 7
+f 10 6 5
+f 10 4 6
+f 10 7 4
+f 11 6 3
+f 11 8 2
+f 11 3 8
+f 12 5 6
+f 12 6 11
+f 14 8 1
+f 15 1 7
+f 15 7 10
+f 16 12 11
+f 16 11 2
+f 18 9 13
+f 19 15 10
+f 22 18 12
+f 23 16 2
+f 23 12 16
+f 23 2 22
+f 24 13 17
+f 24 1 15
+f 25 14 1
+f 25 1 20
+f 26 18 13
+f 26 12 18
+f 26 13 19
+f 27 19 10
+f 28 9 20
+f 28 17 13
+f 28 13 9
+f 29 21 2
+f 29 2 8
+f 29 8 14
+f 30 29 14
+f 30 21 29
+f 30 22 2
+f 30 2 21
+f 31 23 22
+f 31 22 12
+f 31 12 23
+f 32 19 13
+f 32 13 24
+f 32 24 15
+f 32 15 19
+f 33 24 17
+f 33 1 24
+f 33 17 28
+f 33 28 20
+f 33 20 1
+f 34 9 18
+f 34 18 25
+f 34 25 20
+f 34 20 9
+f 35 14 25
+f 35 30 14
+f 35 22 30
+f 35 25 18
+f 35 18 22
+f 36 5 12
+f 36 12 26
+f 36 26 19
+f 37 27 10
+f 37 10 5
+f 37 5 36
+f 37 36 19
+f 37 19 27
\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_11.obj b/apple/apple_11/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e2f90a08042958f44606e0d85aee57395a999a6
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22466554 -0.38096495 0.26097171
+v -0.22321293 -0.37580561 0.27154738
+v -0.42816535 -0.11358158 0.25964227
+v -0.22773949 0.36486353 0.26320482
+v -0.22527960 0.35960370 0.27392864
+v -0.26558133 0.34113118 0.25815013
+v -0.33909326 -0.28643984 0.25776271
+v -0.22900229 0.17058332 0.44483678
+v -0.23736828 -0.37463356 0.25727546
+v -0.23395054 0.33748081 0.30021457
+v -0.38272134 -0.22782889 0.25746386
+v -0.22103168 0.31071349 0.34595017
+v -0.22411649 -0.22980350 0.41991564
+v -0.40774139 0.13540375 0.26984338
+v -0.23862186 0.35995665 0.25984973
+v -0.29139528 -0.32606922 0.26809581
+v -0.22339159 0.34241961 0.30368912
+v -0.41273806 0.13640017 0.25910796
+v -0.29482618 -0.33084072 0.25644318
+v -0.30586868 0.26338436 0.31174882
+v -0.22399048 0.19569557 0.43520175
+v -0.22155787 -0.27235739 0.38965443
+v -0.33632958 -0.21181920 0.34056182
+v -0.32227980 0.04790140 0.41560043
+v -0.26225713 0.33728941 0.26901496
+v -0.23274546 -0.37074647 0.26923293
+v -0.23309266 0.30688483 0.34116113
+v -0.42869964 0.06362195 0.25956408
+v -0.36842240 0.22367763 0.25852136
+v -0.33532168 -0.28320036 0.26797056
+v -0.31989168 0.17661990 0.37215485
+v -0.22197159 -0.33176343 0.33153664
+v -0.22271271 0.22312399 0.41845752
+v -0.29091492 -0.21077515 0.38469650
+v -0.39250573 -0.18257447 0.28394270
+v -0.34930382 -0.09733970 0.38641743
+v -0.32202980 -0.09889581 0.41382561
+v -0.28962616 0.29184531 0.29832778
+v -0.40882250 0.10531511 0.28546811
+v -0.33748432 0.26640209 0.25834741
+v -0.36377835 0.22077803 0.27153940
+v -0.23332959 -0.32674017 0.32806649
+v -0.37631689 -0.22682497 0.27262717
+v -0.26243626 0.19120406 0.41394485
+v -0.22212226 0.28131039 0.37503644
+v -0.23415461 -0.26789818 0.38525538
+v -0.39741729 -0.20115292 0.25836057
+v -0.34990679 -0.16798533 0.35504171
+v -0.42442485 -0.03974917 0.28573263
+v -0.36566459 -0.06700991 0.37336661
+v -0.25024006 -0.21198710 0.41431362
+v -0.26172847 0.30603502 0.31318310
+v -0.36346044 0.13428275 0.34238098
+v -0.33326970 0.26388143 0.26938644
+v -0.34860710 0.20530852 0.31266990
+v -0.34859732 -0.22702929 0.31131940
+v -0.36392387 -0.18352408 0.32638052
+v -0.25231154 0.16525923 0.43445364
+v -0.23535074 0.19285453 0.43039723
+v -0.29083750 0.21921066 0.37019609
+v -0.23396482 0.22095612 0.41305810
+v -0.40731405 -0.14222411 0.28577679
+v -0.39311314 -0.19811638 0.26968037
+v -0.34971632 -0.13910462 0.37026600
+f 5 2 1
+f 5 1 4
+f 9 1 2
+f 15 9 6
+f 15 4 1
+f 15 1 9
+f 17 5 4
+f 17 15 10
+f 17 4 15
+f 17 12 2
+f 17 2 5
+f 19 7 11
+f 19 6 9
+f 21 8 13
+f 22 21 13
+f 25 15 6
+f 25 10 15
+f 26 9 2
+f 26 19 9
+f 26 16 19
+f 27 17 10
+f 27 12 17
+f 28 18 11
+f 28 11 3
+f 29 11 18
+f 30 19 16
+f 30 7 19
+f 32 2 12
+f 32 12 22
+f 33 22 12
+f 33 21 22
+f 37 13 8
+f 37 8 24
+f 38 25 6
+f 39 14 18
+f 39 18 28
+f 40 6 19
+f 40 19 11
+f 40 11 29
+f 40 38 6
+f 41 29 18
+f 41 18 14
+f 41 40 29
+f 42 30 16
+f 42 23 30
+f 42 16 26
+f 42 26 2
+f 42 2 32
+f 43 11 7
+f 43 7 30
+f 45 33 12
+f 45 12 27
+f 46 22 13
+f 46 34 23
+f 46 23 42
+f 46 42 32
+f 46 32 22
+f 47 3 11
+f 47 11 43
+f 48 23 34
+f 49 28 3
+f 49 39 28
+f 50 37 24
+f 50 36 37
+f 50 24 39
+f 50 39 49
+f 51 37 34
+f 51 13 37
+f 51 46 13
+f 51 34 46
+f 52 38 20
+f 52 20 27
+f 52 27 10
+f 52 10 25
+f 52 25 38
+f 53 14 39
+f 53 39 24
+f 53 24 31
+f 54 20 38
+f 54 38 40
+f 54 40 41
+f 55 54 41
+f 55 20 54
+f 55 53 31
+f 55 41 14
+f 55 14 53
+f 56 43 30
+f 56 30 23
+f 57 35 43
+f 57 23 48
+f 57 56 23
+f 57 43 56
+f 58 24 8
+f 58 44 31
+f 58 31 24
+f 59 21 33
+f 59 44 58
+f 59 58 8
+f 59 8 21
+f 60 31 44
+f 60 55 31
+f 60 20 55
+f 60 45 27
+f 60 27 20
+f 61 33 45
+f 61 59 33
+f 61 44 59
+f 61 60 44
+f 61 45 60
+f 62 47 35
+f 62 3 47
+f 62 57 48
+f 62 35 57
+f 62 36 50
+f 62 50 49
+f 62 49 3
+f 63 47 43
+f 63 43 35
+f 63 35 47
+f 64 37 36
+f 64 62 48
+f 64 36 62
+f 64 48 34
+f 64 34 37
\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_12.obj b/apple/apple_11/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c38da3d3d31f90f923a8e7cff893a2340b1375d
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_12.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.30535789 -0.30683876 0.26337843
+v 0.26078983 -0.26053320 0.33958409
+v 0.02747892 -0.26783526 0.23484846
+v 0.02747892 0.23216473 0.34090907
+v 0.28116595 0.23936716 0.32881021
+v 0.02315275 -0.26243017 0.42953304
+v 0.26790796 -0.05919261 0.35432026
+v 0.26990316 0.23216473 0.21969695
+v 0.02085648 -0.10356903 0.43736969
+v 0.20330091 -0.26165923 0.36737251
+v 0.25984767 -0.22993152 0.35292145
+v 0.26990316 -0.01025951 0.21969695
+v 0.02747892 0.23216473 0.21969695
+v 0.17656035 0.23413116 0.37809543
+v 0.12699536 -0.26099755 0.39772220
+v 0.02747892 -0.01025951 0.21969695
+v 0.05071799 0.08657817 0.40611883
+v 0.25000288 -0.11846509 0.36889988
+v 0.24686182 -0.20335325 0.36674226
+v 0.21571098 -0.24517301 0.36785808
+v 0.05353594 -0.24701572 0.42666029
+v 0.03766809 -0.26092652 0.42661591
+v 0.09644838 -0.24767089 0.41224937
+f 6 3 1
+f 7 1 5
+f 8 5 1
+f 9 3 6
+f 10 1 2
+f 11 2 1
+f 11 1 7
+f 11 10 2
+f 12 8 1
+f 12 1 3
+f 13 4 5
+f 13 5 8
+f 13 9 4
+f 13 8 12
+f 14 5 4
+f 15 6 1
+f 15 1 10
+f 16 3 9
+f 16 9 13
+f 16 13 12
+f 16 12 3
+f 17 14 4
+f 17 4 9
+f 17 9 14
+f 18 14 9
+f 18 7 5
+f 18 5 14
+f 18 11 7
+f 19 11 18
+f 20 19 15
+f 20 15 10
+f 20 10 11
+f 20 11 19
+f 21 9 6
+f 21 19 18
+f 21 18 9
+f 22 21 6
+f 22 6 15
+f 22 15 21
+f 23 21 15
+f 23 15 19
+f 23 19 21
\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_13.obj b/apple/apple_11/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6126c4419e6956aea688074faf9cb36dfa52e2c5
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_13.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.37128744 -0.23454832 -0.23145576
+v 0.40942264 -0.14384639 -0.22671394
+v 0.23960013 -0.01025951 -0.23484850
+v 0.23960013 0.23216473 -0.25000002
+v 0.23935131 -0.13139335 -0.41636079
+v 0.35112716 0.21206218 -0.24235665
+v 0.23960013 -0.23753223 -0.23484850
+v 0.35652703 -0.15512429 -0.29879047
+v 0.22991884 -0.17257849 -0.40777276
+v 0.23155026 0.16791851 -0.39157676
+v 0.39494222 -0.18806332 -0.22782758
+v 0.35865846 0.03318209 -0.31284435
+v 0.23159797 0.22539490 -0.36027313
+v 0.23252351 -0.23074664 -0.37631990
+v 0.28635684 -0.19808406 -0.35372490
+v 0.38176610 -0.21796388 -0.22999923
+v 0.40255006 -0.14159477 -0.23931276
+v 0.41817892 -0.01031226 -0.23292805
+v 0.32872778 0.14818225 -0.31039798
+v 0.30572748 -0.01059720 -0.37550057
+v 0.33939886 0.22883193 -0.24574641
+v 0.27083250 -0.15531381 -0.38468608
+v 0.25676198 -0.21199310 -0.37044944
+v 0.38889489 -0.18482183 -0.23940466
+v 0.32746864 -0.19836894 -0.31234558
+v 0.40362649 -0.08389249 -0.25338329
+v 0.37184263 0.11960779 -0.26840798
+v 0.25464418 0.20626149 -0.35464721
+v 0.30044482 0.06226288 -0.37079195
+v 0.32844957 0.17798704 -0.29579953
+v 0.24180855 -0.17241361 -0.39989807
+v 0.34324577 -0.11391436 -0.32892558
+v 0.24246370 -0.22901211 -0.37110330
+v 0.35896580 -0.21109907 -0.26620064
+v 0.37365308 0.00391581 -0.29790555
+v 0.34308801 0.10637657 -0.31053517
+v 0.37878225 0.15200184 -0.24130284
+v 0.28570469 0.15110991 -0.35376297
+v 0.24226033 0.22215009 -0.35502381
+v 0.32866302 0.06142046 -0.34092591
+v 0.32796646 0.22153442 -0.26751204
+v 0.35725453 0.16337137 -0.26614905
+v 0.25933395 -0.12844402 -0.40288204
+v 0.25570490 -0.18385355 -0.38508406
+v 0.38641793 -0.12642506 -0.26772202
+v 0.29830958 -0.22570720 -0.32580086
+v 0.37668780 -0.21521949 -0.23921837
+v 0.40498860 -0.01089912 -0.25437488
+v 0.37380167 -0.08355469 -0.29654503
+v 0.37445649 0.07700656 -0.28172474
+v 0.28592085 0.10587288 -0.37032247
+v 0.25485300 0.17828495 -0.36878051
+v 0.34432440 0.20840949 -0.25432428
+v 0.31395621 0.20698363 -0.29420687
+v 0.37240132 0.15042816 -0.25234602
+v 0.31578925 -0.11288986 -0.35547337
+v 0.35957516 -0.22805635 -0.25356083
+v 0.24130104 0.16494460 -0.38561018
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 10 5 9
+f 11 2 7
+f 13 9 7
+f 13 7 3
+f 13 10 9
+f 13 3 4
+f 14 1 7
+f 14 7 9
+f 16 11 7
+f 16 7 1
+f 17 2 11
+f 18 6 2
+f 20 5 10
+f 21 13 4
+f 21 4 6
+f 24 11 16
+f 24 17 11
+f 24 8 17
+f 26 18 2
+f 26 2 17
+f 29 20 10
+f 31 9 5
+f 32 15 22
+f 32 25 15
+f 32 8 25
+f 33 14 9
+f 33 9 23
+f 34 8 24
+f 34 25 8
+f 35 20 12
+f 36 19 27
+f 37 6 18
+f 38 30 19
+f 38 28 30
+f 39 28 10
+f 39 10 13
+f 39 13 21
+f 40 12 20
+f 40 20 29
+f 40 29 36
+f 41 21 6
+f 41 39 21
+f 42 27 19
+f 42 19 30
+f 43 31 5
+f 43 22 31
+f 43 5 20
+f 44 23 9
+f 44 9 31
+f 44 15 23
+f 44 31 22
+f 44 22 15
+f 45 26 17
+f 45 17 8
+f 45 8 32
+f 46 33 23
+f 46 23 15
+f 46 15 25
+f 46 1 14
+f 46 14 33
+f 47 34 24
+f 47 24 16
+f 48 18 26
+f 49 32 20
+f 49 20 35
+f 49 45 32
+f 49 26 45
+f 49 48 26
+f 49 35 48
+f 50 36 27
+f 50 40 36
+f 50 12 40
+f 50 18 48
+f 50 37 18
+f 50 27 37
+f 50 48 35
+f 50 35 12
+f 51 36 29
+f 51 19 36
+f 51 38 19
+f 51 29 10
+f 52 10 28
+f 52 28 38
+f 53 41 6
+f 53 30 41
+f 53 42 30
+f 53 6 42
+f 54 41 30
+f 54 30 28
+f 54 28 39
+f 54 39 41
+f 55 37 27
+f 55 27 42
+f 55 42 6
+f 55 6 37
+f 56 32 22
+f 56 22 43
+f 56 43 20
+f 56 20 32
+f 57 1 46
+f 57 34 47
+f 57 47 16
+f 57 16 1
+f 57 46 25
+f 57 25 34
+f 58 51 10
+f 58 38 51
+f 58 52 38
+f 58 10 52
\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_14.obj b/apple/apple_11/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e850006265bf6bba0661d22d2113da14b456835
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_14.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.04072424 -0.43732791 0.25936189
+v 0.04256497 -0.43396275 0.26480144
+v -0.18979738 -0.35619404 0.32681506
+v -0.18041556 -0.17150444 0.46583775
+v 0.02747892 -0.23753223 0.26515149
+v -0.06095554 -0.34311965 0.38729025
+v -0.22466554 -0.38096495 0.26097171
+v -0.16398770 -0.29674253 0.39997668
+v 0.03856101 -0.19397584 0.43880363
+v -0.06039388 -0.41740793 0.29813094
+v -0.13610199 -0.42195268 0.25877508
+v -0.24272710 -0.20393663 0.42378516
+v -0.13544083 -0.27208756 0.42768658
+v -0.13353798 -0.35712934 0.35540983
+v -0.04988944 -0.17542908 0.46911735
+v 0.02428252 -0.31870341 0.40088774
+v 0.02346523 -0.41683315 0.30036555
+v -0.23009684 -0.23753223 0.26515149
+v -0.07778817 -0.43683322 0.25912436
+v -0.13149094 -0.40178514 0.29777635
+v -0.21970688 -0.29678642 0.36994993
+v -0.10586832 -0.30116781 0.41503308
+v -0.19223454 -0.24056509 0.42777307
+v -0.13166059 -0.32859772 0.38525624
+v -0.07755896 -0.37234750 0.35649097
+v -0.13576767 -0.21458218 0.45784742
+v 0.04185809 -0.42775352 0.27676929
+v 0.02315275 -0.26243017 0.42953304
+v 0.00774021 -0.35931375 0.37135382
+v -0.22656288 -0.18838564 0.44016953
+v -0.22321293 -0.37580561 0.27154738
+v -0.14536381 -0.38495884 0.31437944
+v -0.07713251 -0.43177843 0.26873617
+v 0.00896888 -0.30251005 0.41281843
+v -0.18918609 -0.28375184 0.39926518
+v -0.07621359 -0.35802598 0.37037777
+v -0.03179906 -0.38756565 0.34169975
+v -0.09010420 -0.40128767 0.31379064
+v -0.19228726 -0.21311401 0.44317370
+v -0.02185233 -0.20339132 0.45734121
+v -0.01950017 -0.34556428 0.38467544
+v 0.01005389 -0.37547971 0.35403152
+v -0.21841133 -0.32694047 0.34008894
+v -0.13383047 -0.41632550 0.27043797
+v 0.00990227 -0.27410287 0.42838623
+v -0.22032370 -0.24013270 0.41450184
+v -0.00488130 -0.38851547 0.34089880
+v -0.16414424 -0.19914850 0.45823103
+v -0.20949169 -0.18633700 0.44841043
+v -0.22223738 -0.21346169 0.43013807
+v 0.02611801 -0.19188618 0.44374640
+v -0.04999889 -0.21580790 0.45968845
+v -0.21926485 -0.35849883 0.29866853
+v -0.18459653 -0.17686176 0.46198329
+v -0.20681006 -0.19780813 0.44422306
+v -0.02247617 -0.18888274 0.45986511
+v -0.04715078 -0.17786505 0.46815804
+f 5 2 1
+f 9 2 5
+f 11 5 1
+f 15 9 5
+f 15 5 4
+f 18 11 7
+f 18 5 11
+f 18 7 12
+f 18 4 5
+f 19 11 1
+f 19 17 10
+f 19 1 17
+f 21 3 8
+f 22 13 8
+f 23 8 13
+f 24 8 3
+f 24 3 14
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+f 25 14 20
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+f 47 37 10
+f 47 10 17
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+f 48 39 13
+f 48 13 26
+f 49 4 30
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+f 50 12 46
+f 50 46 23
+f 50 23 39
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+f 51 28 9
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+f 52 26 22
+f 52 22 45
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+f 53 31 3
+f 53 3 43
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+f 54 39 4
+f 54 4 49
+f 55 49 30
+f 55 39 49
+f 55 50 39
+f 55 30 50
+f 56 51 15
+f 56 40 51
+f 57 52 40
+f 57 15 52
+f 57 56 15
+f 57 40 56
\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_15.obj b/apple/apple_11/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9f85916a455bb1b9a9595afc5ecf646b6346257
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_15.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23009684 0.20186170 0.26515149
+v -0.23009684 0.20186170 -0.21969699
+v -0.22174206 0.38573464 0.22993375
+v -0.22278818 0.41603169 0.14062600
+v -0.42902307 0.19430742 0.14007470
+v -0.22214340 0.38548672 -0.21411394
+v -0.38583670 0.19524289 0.25957204
+v -0.34906776 0.30843140 0.15343967
+v -0.40484548 0.19713232 -0.21679037
+v -0.41382730 0.19460319 -0.19865960
+v -0.22312084 0.37083561 0.25754945
+v -0.29087748 0.36584785 0.15356439
+v -0.37849933 0.23344986 0.22574460
+v -0.39398972 0.28069714 -0.06699418
+v -0.23429839 0.40992555 0.13981035
+v -0.29021778 0.33693002 0.22680220
+v -0.39461320 0.26570096 0.11004477
+v -0.39973811 0.19544421 0.22958322
+v -0.42391990 0.22176555 -0.11032317
+v -0.34858752 0.29262414 -0.19622920
+v -0.30641107 0.36760157 0.09510263
+v -0.23313759 0.37958221 0.22715955
+v -0.24972269 0.41140619 -0.05072738
+v -0.30485591 0.33676540 0.19695938
+v -0.30405147 0.30666505 0.25563128
+v -0.37796684 0.26531674 0.16781538
+v -0.42482153 0.22157323 0.09400000
+v -0.39393873 0.20675128 0.22788842
+v -0.42860476 0.19520779 -0.15581508
+v -0.29247179 0.33616009 -0.21361319
+v -0.36417802 0.26492053 -0.21186891
+v -0.33564401 0.33729282 0.11073543
+v -0.26274689 0.39529577 0.12497283
+v -0.24718821 0.36458477 0.24030287
+v -0.24872129 0.41031280 0.09664596
+v -0.22369688 0.41695698 -0.11118046
+v -0.29481524 0.38037745 -0.06532936
+v -0.36268641 0.23503476 0.25526546
+v -0.33368562 0.30725725 0.19717076
+v -0.42271467 0.20568759 0.13900263
+v -0.39448750 0.28009188 0.05055925
+v -0.38011245 0.20735923 0.25660896
+v -0.39325473 0.22062093 -0.21133818
+v -0.39346843 0.26574132 -0.12411349
+v -0.34924951 0.32276799 0.11009256
+v -0.23425174 0.36537581 0.25507522
+v -0.29023015 0.32062388 0.25535020
+v -0.29191559 0.38190853 0.08134023
+v -0.24890525 0.39604254 -0.13850931
+v -0.36505138 0.30864999 -0.10917717
+v -0.23713886 0.41043753 -0.10917812
+v -0.34848095 0.26382729 0.24139113
+v -0.36254222 0.27905460 0.18228280
+v -0.37964759 0.29444864 0.07984074
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+v -0.40837311 0.20598471 -0.19614633
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+v -0.36562957 0.29254591 -0.15286340
+v -0.22328674 0.40150911 -0.17055946
+v -0.29164921 0.35058156 -0.18167342
+v -0.37944882 0.29473814 -0.09483702
+v -0.26416217 0.39575731 -0.09491342
+v -0.27901885 0.39592945 -0.02135744
+v -0.23404996 0.39645398 -0.16785597
+f 1 2 3
+f 6 3 2
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+f 7 2 1
+f 9 6 2
+f 10 7 5
+f 10 2 7
+f 10 9 2
+f 11 7 1
+f 11 1 3
+f 15 3 4
+f 18 5 7
+f 22 15 12
+f 22 3 15
+f 24 16 12
+f 25 7 11
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+f 27 14 19
+f 28 5 18
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+f 53 26 13
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+f 54 32 21
+f 54 21 41
+f 54 45 32
+f 54 41 17
+f 54 17 45
+f 55 41 21
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+f 55 21 48
+f 55 48 35
+f 55 35 23
+f 56 43 9
+f 56 9 10
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+f 57 19 44
+f 57 31 56
+f 57 56 10
+f 57 10 29
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+f 58 57 44
+f 58 31 57
+f 59 36 6
+f 59 51 36
+f 60 6 30
+f 60 30 20
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+f 60 20 58
+f 60 50 37
+f 60 37 49
+f 61 14 37
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+f 61 44 14
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+f 62 37 23
+f 62 23 51
+f 62 51 49
+f 62 49 37
+f 63 55 23
+f 63 23 37
+f 63 37 55
+f 64 49 51
+f 64 51 59
+f 64 60 49
+f 64 59 6
+f 64 6 60
\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_16.obj b/apple/apple_11/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5ff1aaa59fc2b72de5f870cf59098c81803d2cc
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_16.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.03201456 -0.05886719 0.40925912
+v 0.16384951 0.09983266 0.33524583
+v 0.17656035 0.23413116 0.37809543
+v 0.02799732 0.36052776 0.36628879
+v 0.03897619 -0.05630921 0.39870330
+v 0.09303698 0.35417524 0.36048781
+v 0.02268621 0.25609009 0.43023388
+v 0.15943316 0.14905838 0.36854712
+v 0.02650900 -0.05587218 0.41588905
+v 0.07044138 0.07890993 0.37254763
+v 0.02596515 0.31501890 0.40181960
+v 0.14533568 0.29015204 0.37873065
+v 0.16330114 0.10632243 0.33984355
+v 0.03352636 -0.05452001 0.40567477
+v 0.01944178 0.06742266 0.43983011
+v 0.15784983 0.18968336 0.38316025
+v 0.02697315 0.33025685 0.39116242
+v 0.12706676 0.24521246 0.39750987
+v 0.08201687 0.29883453 0.39695267
+v 0.05342221 0.31372728 0.39736375
+v 0.11131320 0.27171958 0.39764341
+v 0.16151159 0.26112884 0.38048435
+v 0.05071881 0.22806924 0.42866643
+v 0.13063276 0.30420009 0.37826478
+v 0.03681218 0.25629640 0.42604848
+v 0.15654312 0.25827491 0.38310415
+v 0.14101805 0.28681602 0.38165604
+v 0.08308740 0.32607844 0.38200747
+v 0.12618773 0.29842137 0.38285590
+f 5 2 1
+f 6 3 2
+f 6 2 4
+f 9 5 1
+f 9 1 8
+f 10 5 4
+f 10 4 2
+f 10 2 5
+f 11 4 7
+f 12 3 6
+f 13 8 1
+f 13 1 2
+f 13 2 3
+f 13 3 8
+f 14 9 4
+f 14 4 5
+f 14 5 9
+f 15 7 4
+f 15 4 9
+f 16 9 8
+f 16 8 3
+f 16 15 9
+f 16 3 15
+f 17 6 4
+f 17 4 11
+f 20 17 11
+f 20 6 17
+f 20 11 7
+f 20 7 19
+f 22 3 12
+f 23 15 3
+f 23 3 18
+f 23 7 15
+f 23 18 21
+f 24 12 6
+f 25 21 19
+f 25 19 7
+f 25 23 21
+f 25 7 23
+f 26 18 3
+f 26 3 22
+f 26 22 21
+f 26 21 18
+f 27 22 12
+f 27 21 22
+f 28 20 19
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+f 28 6 20
+f 29 27 12
+f 29 12 24
+f 29 19 21
+f 29 21 27
+f 29 28 19
+f 29 24 28
\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_17.obj b/apple/apple_11/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83b29033266ed0d1fa7f4405e00d03ff6e19ec74
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_17.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22308574 -0.43681550 0.11121607
+v -0.22203564 -0.33001134 -0.34489274
+v -0.23009684 -0.23753223 0.26515149
+v -0.38649491 -0.23161601 0.24522539
+v -0.42400790 -0.27027986 -0.13920640
+v -0.22466554 -0.38096495 0.26097171
+v -0.24896596 -0.41828213 -0.15079269
+v -0.37973953 -0.32946414 0.04883043
+v -0.23099957 -0.22148034 -0.39775177
+v -0.37638092 -0.23373922 0.26205900
+v -0.22266166 -0.39119372 0.24300774
+v -0.33620849 -0.31221576 -0.27144508
+v -0.22410186 -0.43754607 -0.11151314
+v -0.44433812 -0.23231791 0.05158208
+v -0.32475427 -0.38669951 -0.06674337
+v -0.22632840 -0.26589930 -0.38724145
+v -0.23009684 -0.22238072 -0.20454547
+v -0.32126861 -0.34122223 0.19609706
+v -0.22116284 -0.37485652 -0.28757427
+v -0.38194209 -0.21550926 -0.31672982
+v -0.40815582 -0.25474113 0.15399156
+v -0.43970696 -0.25717869 -0.02443894
+v -0.40923224 -0.30157180 -0.09560398
+v -0.25164370 -0.42986560 -0.07880372
+v -0.29442446 -0.39998013 0.08026133
+v -0.30784758 -0.36999323 -0.19698200
+v -0.33402667 -0.31273674 0.22603443
+v -0.27642571 -0.37291075 0.21017008
+v -0.22492616 -0.42188239 -0.17173264
+v -0.27960902 -0.32640704 -0.31167811
+v -0.39386045 -0.26999231 -0.24024788
+v -0.34125230 -0.21574573 -0.35863574
+v -0.41526208 -0.21704864 -0.25922228
+v -0.42242902 -0.25772427 0.09421770
+v -0.41360417 -0.22995906 0.18448195
+v -0.37854604 -0.31483063 0.10842944
+v -0.40855502 -0.30166497 0.00661051
+v -0.44004723 -0.25589713 -0.08098692
+v -0.29355306 -0.40107579 -0.11192072
+v -0.23680912 -0.43243546 -0.11018172
+v -0.24843020 -0.43018696 0.06726091
+v -0.32405598 -0.38607955 0.02082895
+v -0.35164588 -0.35644917 -0.12501743
+v -0.36502457 -0.25559013 0.25632542
+v -0.23423299 -0.38606554 0.23989228
+v -0.30613375 -0.34092950 0.22405671
+v -0.30648102 -0.37159873 0.15262346
+v -0.22268437 -0.39034828 -0.25953945
+v -0.38144402 -0.25245159 -0.28375556
+v -0.36574386 -0.32787312 -0.18385661
+v -0.28615174 -0.21760454 -0.38807282
+v -0.28058970 -0.28349621 -0.35323413
+v -0.42393884 -0.23865916 -0.21379936
+v -0.43026870 -0.23104323 0.12621471
+v -0.37687622 -0.28535118 0.18375992
+v -0.39361935 -0.30041373 0.09341616
+v -0.42363032 -0.27257802 0.03491448
+v -0.44386475 -0.23183412 -0.15611359
+v -0.28249816 -0.41507691 -0.05246249
+v -0.30920725 -0.38505276 -0.13950620
+v -0.23446413 -0.43106485 0.10962213
+v -0.33701094 -0.37222542 0.05065728
+v -0.27903592 -0.41685937 0.03779953
+v -0.39515739 -0.31473353 0.03468433
+f 10 6 3
+f 10 3 4
+f 11 2 3
+f 11 3 6
+f 16 3 2
+f 17 4 3
+f 17 16 9
+f 17 3 16
+f 19 11 1
+f 19 2 11
+f 19 1 13
+f 20 4 17
+f 29 13 7
+f 30 2 19
+f 32 20 17
+f 33 4 20
+f 35 4 33
+f 37 23 15
+f 37 22 23
+f 38 23 22
+f 38 5 23
+f 38 22 14
+f 40 7 13
+f 40 13 24
+f 40 39 7
+f 40 24 39
+f 41 24 13
+f 41 13 1
+f 43 15 23
+f 44 6 10
+f 44 10 4
+f 45 11 6
+f 45 6 28
+f 45 1 11
+f 46 27 18
+f 46 18 28
+f 46 28 6
+f 46 44 27
+f 46 6 44
+f 47 28 18
+f 47 18 36
+f 48 19 13
+f 48 13 29
+f 48 30 19
+f 48 26 12
+f 48 12 30
+f 48 29 7
+f 48 7 26
+f 49 12 31
+f 49 32 12
+f 49 20 32
+f 49 33 20
+f 49 31 33
+f 50 31 12
+f 50 12 26
+f 50 26 43
+f 50 5 31
+f 50 43 23
+f 50 23 5
+f 51 9 16
+f 51 32 17
+f 51 17 9
+f 52 2 30
+f 52 30 12
+f 52 12 32
+f 52 32 51
+f 52 51 16
+f 52 16 2
+f 53 33 31
+f 53 31 5
+f 54 34 21
+f 54 21 35
+f 54 14 34
+f 54 35 33
+f 54 33 14
+f 55 27 44
+f 55 35 21
+f 55 44 4
+f 55 4 35
+f 55 36 18
+f 55 18 27
+f 56 21 34
+f 56 55 21
+f 56 36 55
+f 57 34 14
+f 57 14 22
+f 57 22 37
+f 58 38 14
+f 58 14 33
+f 58 33 53
+f 58 53 5
+f 58 5 38
+f 59 39 24
+f 59 15 39
+f 60 26 7
+f 60 7 39
+f 60 43 26
+f 60 39 15
+f 60 15 43
+f 61 41 1
+f 61 25 41
+f 61 47 25
+f 61 28 47
+f 61 45 28
+f 61 1 45
+f 62 42 25
+f 62 25 47
+f 62 47 36
+f 62 36 8
+f 63 41 25
+f 63 25 42
+f 63 42 15
+f 63 15 59
+f 63 59 24
+f 63 24 41
+f 64 37 15
+f 64 15 42
+f 64 8 36
+f 64 36 56
+f 64 57 37
+f 64 56 34
+f 64 34 57
+f 64 62 8
+f 64 42 62
\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_18.obj b/apple/apple_11/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b88eb69135630f1485b3520adaf558f69f7b9f8
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_18.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23009684 -0.01025951 -0.21969699
+v -0.22326953 0.01900471 -0.44833787
+v -0.22249239 0.37167756 -0.24374927
+v -0.22804487 0.38024351 -0.21823615
+v -0.46147922 -0.01208903 -0.23476979
+v -0.23010322 -0.00908924 -0.43970671
+v -0.44217731 0.12061108 -0.21460669
+v -0.33028705 -0.01073553 -0.40429854
+v -0.45723295 0.06547467 -0.21965874
+v -0.24960711 0.36856256 -0.21259482
+v -0.28285788 -0.00210372 -0.42863713
+v -0.30501356 0.17613108 -0.38493554
+v -0.31120648 -0.01111019 -0.41447206
+v -0.41066045 0.06188304 -0.31557169
+v -0.24798118 0.36391369 -0.22693806
+v -0.27867008 0.10780318 -0.42870971
+v -0.27228724 -0.00811574 -0.42871824
+v -0.43115341 -0.00970146 -0.29767807
+v -0.43912992 0.07584931 -0.25721660
+v -0.34735635 0.19095556 -0.32929459
+v -0.32247275 0.10460854 -0.39877374
+v -0.25189736 0.06850638 -0.44560911
+v -0.22265260 0.23804182 -0.40332175
+v -0.43815529 0.11961543 -0.22705128
+v -0.44197552 0.06144369 -0.25845173
+v -0.33732287 0.29476151 -0.21453456
+v -0.39307574 0.11850640 -0.31271391
+v -0.29268533 0.13517081 -0.41317371
+v -0.30864646 0.07770770 -0.41460795
+v -0.22425773 0.13910312 -0.44880935
+v -0.22245195 0.32627934 -0.31701355
+v -0.38215416 0.23704936 -0.21365130
+v -0.32348671 0.30966218 -0.21366328
+v -0.40777717 0.07599536 -0.31275609
+v -0.36362872 0.16280078 -0.32737878
+v -0.42188296 0.10447905 -0.27064313
+v -0.37937999 0.10337221 -0.34076250
+v -0.30677309 0.14719754 -0.39849770
+v -0.23501874 0.18009181 -0.43051959
+v -0.25264026 0.09437161 -0.44347735
+v -0.25044135 0.16344422 -0.42894897
+v -0.23316049 0.35107676 -0.26952628
+v -0.29132045 0.23441373 -0.35517571
+v -0.33502998 0.26352991 -0.27033374
+v -0.33369278 0.17599257 -0.35731769
+v -0.37816669 0.23532418 -0.22611215
+v -0.33464521 0.15005764 -0.37033519
+v -0.27876923 0.19022033 -0.39839475
+v -0.22483433 0.18215191 -0.43458468
+v -0.23736465 0.13556988 -0.44404400
+v -0.23467878 0.36543234 -0.24093527
+v -0.22271492 0.35507405 -0.27316806
+v -0.29187671 0.30622478 -0.26903998
+v -0.26132324 0.26302882 -0.35556014
+v -0.30415430 0.23370377 -0.34253868
+v -0.33458994 0.29223949 -0.22542280
+v -0.34662201 0.23499210 -0.28613071
+v -0.36283275 0.24902152 -0.24058280
+v -0.23217929 0.23443899 -0.40050922
+v -0.27675411 0.16256423 -0.41345435
+v -0.24792169 0.34964982 -0.25391258
+v -0.27733492 0.33549621 -0.23945221
+v -0.26263031 0.32078840 -0.28355871
+v -0.30481415 0.26293894 -0.31148711
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 9 5 1
+f 9 1 7
+f 10 7 1
+f 10 1 4
+f 11 2 6
+f 13 6 1
+f 13 1 5
+f 13 5 8
+f 15 10 4
+f 15 4 3
+f 17 13 11
+f 17 11 6
+f 17 6 13
+f 18 14 8
+f 18 8 5
+f 21 8 14
+f 22 13 8
+f 22 11 13
+f 22 2 11
+f 24 19 9
+f 24 9 7
+f 25 19 14
+f 25 14 18
+f 25 18 5
+f 25 5 9
+f 25 9 19
+f 29 8 21
+f 29 22 8
+f 29 16 22
+f 29 28 16
+f 29 21 28
+f 30 23 2
+f 30 2 22
+f 31 3 2
+f 31 2 23
+f 32 7 10
+f 32 24 7
+f 33 10 15
+f 33 32 10
+f 33 26 32
+f 34 14 19
+f 35 27 24
+f 36 19 24
+f 36 24 27
+f 36 34 19
+f 36 27 34
+f 37 21 14
+f 37 34 27
+f 37 14 34
+f 37 27 35
+f 38 28 21
+f 40 30 22
+f 40 22 16
+f 41 16 28
+f 45 35 20
+f 45 37 35
+f 45 43 12
+f 46 35 24
+f 46 24 32
+f 47 38 21
+f 47 21 37
+f 47 37 45
+f 47 45 12
+f 47 12 38
+f 48 12 43
+f 48 38 12
+f 49 23 30
+f 49 41 39
+f 50 40 16
+f 50 30 40
+f 50 16 41
+f 50 49 30
+f 50 41 49
+f 51 15 3
+f 51 3 42
+f 52 42 3
+f 52 3 31
+f 52 31 42
+f 54 31 23
+f 55 45 20
+f 55 43 45
+f 56 26 33
+f 56 53 44
+f 56 33 53
+f 57 20 35
+f 57 35 46
+f 57 55 20
+f 58 46 32
+f 58 32 26
+f 58 26 56
+f 58 56 44
+f 58 57 46
+f 58 44 57
+f 59 39 48
+f 59 49 39
+f 59 23 49
+f 59 54 23
+f 59 48 43
+f 59 43 54
+f 60 48 39
+f 60 39 41
+f 60 41 28
+f 60 28 38
+f 60 38 48
+f 61 51 42
+f 61 15 51
+f 62 53 33
+f 62 33 15
+f 62 15 61
+f 63 42 31
+f 63 31 54
+f 63 61 42
+f 63 62 61
+f 63 53 62
+f 64 54 43
+f 64 43 55
+f 64 63 54
+f 64 53 63
+f 64 44 53
+f 64 57 44
+f 64 55 57
\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_19.obj b/apple/apple_11/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ece3955544cf0539e6a02da9943b287dbc18865d
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_19.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.31657409 0.03523314 0.33593081
+v 0.34478490 0.09560907 0.32387838
+v 0.16279612 0.23225228 0.38410240
+v 0.23138580 0.31552018 0.32077063
+v 0.16176977 0.08509401 0.32374111
+v 0.30590747 0.21200732 0.32354576
+v 0.33931136 0.09408842 0.32641168
+v 0.26620285 0.30405097 0.30543087
+v 0.15952664 0.16126577 0.37295250
+v 0.16384255 0.23216473 0.31060604
+v 0.29188593 0.18413267 0.33740327
+v 0.21820950 0.28778929 0.34538556
+v 0.34140796 0.14009471 0.31860664
+v 0.27004733 0.03487502 0.33642757
+v 0.22139047 0.30524766 0.33520097
+v 0.20247136 0.23125123 0.36881754
+v 0.32639084 0.18503120 0.31897493
+v 0.33464238 0.13771645 0.32320749
+v 0.16330114 0.10632243 0.33984355
+v 0.31474287 0.03533555 0.33617150
+v 0.26079611 0.29877721 0.31360662
+v 0.27531460 0.22704379 0.33587682
+v 0.32036499 0.18247646 0.32310193
+v 0.25815946 0.28415728 0.32370572
+v 0.25910018 0.25530505 0.33649767
+v 0.24400383 0.29749708 0.32534244
+v 0.23201502 0.28437766 0.33974758
+f 5 2 1
+f 7 1 2
+f 7 3 1
+f 10 4 8
+f 10 9 3
+f 10 5 9
+f 11 7 2
+f 13 10 8
+f 13 2 5
+f 13 5 10
+f 14 5 1
+f 15 10 3
+f 15 4 10
+f 15 3 12
+f 16 3 7
+f 16 7 11
+f 16 12 3
+f 17 13 8
+f 17 8 6
+f 18 11 2
+f 18 2 13
+f 18 13 17
+f 19 14 9
+f 19 9 5
+f 19 5 14
+f 20 14 1
+f 20 9 14
+f 20 1 3
+f 20 3 9
+f 21 8 4
+f 21 4 15
+f 21 6 8
+f 22 16 11
+f 23 17 6
+f 23 18 17
+f 23 11 18
+f 23 22 11
+f 23 6 22
+f 24 6 21
+f 25 12 16
+f 25 16 22
+f 25 22 6
+f 25 6 24
+f 26 24 21
+f 26 21 15
+f 26 15 24
+f 27 24 15
+f 27 15 12
+f 27 25 24
+f 27 12 25
\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_2.obj b/apple/apple_11/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaa693632a6059cebc57f6b26ed5bd11441a3bbb
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_2.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.26990316 -0.01025951 0.21969695
+v 0.26718425 -0.00691619 -0.40915078
+v 0.25410267 0.37651319 0.23705065
+v 0.02747892 0.35337685 0.21969695
+v 0.02747892 -0.01025951 0.21969695
+v 0.03073212 0.34643306 -0.36290144
+v 0.30021593 0.25487574 -0.27367470
+v 0.02747892 -0.01025951 -0.37121214
+v 0.02747892 0.35337685 -0.23484850
+v 0.26990316 -0.01025951 -0.25000002
+v 0.26990316 0.23216473 0.21969695
+v 0.23838933 0.35187937 -0.23364523
+v 0.23159797 0.22539490 -0.36027313
+v 0.02747892 0.23216473 -0.37121214
+v 0.18562328 0.30875145 -0.32590539
+f 5 1 3
+f 5 3 4
+f 8 1 5
+f 8 5 4
+f 9 4 3
+f 9 8 4
+f 10 7 1
+f 10 2 7
+f 10 8 2
+f 10 1 8
+f 11 7 3
+f 11 3 1
+f 11 1 7
+f 12 3 7
+f 12 9 3
+f 12 6 9
+f 13 7 2
+f 13 2 6
+f 14 6 2
+f 14 2 8
+f 14 9 6
+f 14 8 9
+f 15 12 7
+f 15 7 13
+f 15 13 6
+f 15 6 12
\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_20.obj b/apple/apple_11/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..908bd886ff12c8e416b4d2f53df4cdc33de5a968
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_20.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.40847803 0.22437325 0.20019119
+v 0.42501683 0.22614242 -0.06502222
+v 0.37431477 0.32503032 0.09596184
+v 0.23360472 0.43079872 0.14135127
+v 0.23960013 0.23216473 -0.23484850
+v 0.25672636 0.39521835 -0.13586954
+v 0.30398763 0.36532867 0.19501626
+v 0.41881715 0.25250239 0.12447655
+v 0.36370246 0.22542291 -0.21072318
+v 0.23960013 0.23216473 0.21969695
+v 0.34549765 0.35320132 -0.03469438
+v 0.23235637 0.37161161 -0.21091019
+v 0.30324144 0.39655915 0.09648221
+v 0.42416648 0.22557602 0.15539921
+v 0.40440072 0.28122140 -0.01855241
+v 0.35904007 0.32346587 0.16775066
+v 0.40825092 0.22532722 -0.12337219
+v 0.23284936 0.40243401 0.21450229
+v 0.34384235 0.30764243 -0.14929493
+v 0.23248219 0.43094724 -0.06528470
+v 0.35238864 0.22606133 -0.22926011
+v 0.28828701 0.39457592 0.15327223
+v 0.38897544 0.31043408 0.06630084
+v 0.41914510 0.25268986 -0.03454728
+v 0.37216632 0.28075996 0.20938174
+v 0.40246259 0.28020265 0.12467021
+v 0.34445819 0.35359540 0.12602618
+v 0.23159771 0.41706945 0.18371200
+v 0.32923399 0.35204691 -0.09288074
+v 0.29996243 0.33697837 -0.17882111
+v 0.35897832 0.26415284 -0.17949204
+v 0.23178743 0.41504499 -0.12323104
+v 0.25977666 0.42601716 -0.00652506
+v 0.23323439 0.35911657 -0.22882371
+v 0.27430925 0.41112122 0.12457716
+v 0.27380820 0.38024266 0.20864096
+v 0.30137968 0.39803348 -0.00496192
+v 0.38923245 0.30979975 0.02500873
+v 0.41907804 0.23951553 -0.06326273
+v 0.38649153 0.28138437 -0.09304514
+v 0.35777920 0.30864324 0.19689660
+v 0.40216976 0.25148222 0.18002940
+v 0.39881970 0.22813043 0.21610261
+v 0.31526185 0.38171736 0.12373166
+v 0.30034646 0.38127601 0.16743062
+v 0.24343204 0.42602832 0.13989071
+v 0.25673341 0.36519969 -0.19352787
+v 0.34402140 0.32393716 -0.12020612
+v 0.28630982 0.38052977 -0.12090065
+v 0.32920474 0.29449845 -0.19389887
+v 0.25926362 0.42606035 0.06717576
+v 0.24444043 0.41015375 0.18235170
+v 0.31469810 0.38200570 -0.03320960
+v 0.27326341 0.41106489 -0.05064325
+v 0.37409396 0.32468811 -0.00527701
+v 0.38792954 0.29749348 -0.04828496
+v 0.40344096 0.23541458 -0.12231167
+v 0.38762580 0.26389861 -0.12068920
+v 0.40358541 0.23804837 0.19592329
+v 0.41852270 0.23792275 0.15339368
+v 0.24369310 0.35512410 -0.22363427
+v 0.31434139 0.32283689 -0.17753147
+v 0.37215257 0.29421118 -0.10689719
+v 0.28591682 0.36600171 -0.15033136
+f 10 9 1
+f 10 5 9
+f 12 5 10
+f 14 1 2
+f 14 2 8
+f 17 2 1
+f 17 1 9
+f 21 9 5
+f 23 13 3
+f 23 8 15
+f 24 15 8
+f 24 8 2
+f 26 3 16
+f 26 23 3
+f 26 8 23
+f 27 16 3
+f 27 3 13
+f 28 12 10
+f 28 10 18
+f 28 4 20
+f 31 9 21
+f 32 6 12
+f 32 28 20
+f 32 12 28
+f 33 20 4
+f 34 21 5
+f 34 5 12
+f 35 22 13
+f 36 25 7
+f 36 18 25
+f 37 13 23
+f 37 33 13
+f 38 23 15
+f 38 37 23
+f 38 11 37
+f 39 24 2
+f 39 2 17
+f 40 24 39
+f 41 25 16
+f 41 16 7
+f 41 7 25
+f 42 26 16
+f 42 16 25
+f 43 25 18
+f 43 18 10
+f 43 10 1
+f 44 27 13
+f 44 13 22
+f 45 7 16
+f 45 16 27
+f 45 27 44
+f 45 44 22
+f 45 36 7
+f 46 4 28
+f 46 22 35
+f 47 12 6
+f 49 29 48
+f 50 19 31
+f 50 31 21
+f 51 35 13
+f 51 13 33
+f 51 46 35
+f 51 33 4
+f 51 4 46
+f 52 28 18
+f 52 18 36
+f 52 36 45
+f 52 45 22
+f 52 46 28
+f 52 22 46
+f 53 37 11
+f 53 11 29
+f 53 29 49
+f 54 20 33
+f 54 33 37
+f 54 53 49
+f 54 37 53
+f 54 32 20
+f 54 49 6
+f 54 6 32
+f 55 38 15
+f 55 11 38
+f 56 15 24
+f 56 24 40
+f 56 55 15
+f 56 11 55
+f 56 48 29
+f 56 29 11
+f 57 40 39
+f 57 39 17
+f 57 17 9
+f 57 9 31
+f 58 31 19
+f 58 57 31
+f 58 40 57
+f 59 42 25
+f 59 1 14
+f 59 43 1
+f 59 25 43
+f 60 14 8
+f 60 8 26
+f 60 26 42
+f 60 59 14
+f 60 42 59
+f 61 34 12
+f 61 12 47
+f 61 47 30
+f 61 30 50
+f 61 50 21
+f 61 21 34
+f 62 48 19
+f 62 30 48
+f 62 50 30
+f 62 19 50
+f 63 19 48
+f 63 58 19
+f 63 40 58
+f 63 56 40
+f 63 48 56
+f 64 49 48
+f 64 48 30
+f 64 30 47
+f 64 47 6
+f 64 6 49
\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_21.obj b/apple/apple_11/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f00b7679c286778ae4f7dc6e43c493f230d22cf0
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_21.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.23009684 -0.23753223 0.26515149
+v -0.23009684 -0.23753223 -0.20454547
+v -0.23009684 0.20186170 -0.21969699
+v -0.36698901 0.21290020 0.27433058
+v -0.36213652 -0.24563467 0.27224719
+v -0.23009684 0.20186170 0.26515149
+v -0.38427627 0.22151133 -0.23239018
+v -0.23009684 -0.01025951 -0.21969699
+v -0.35130896 -0.23753223 -0.20454547
+v -0.35130896 -0.01025951 -0.21969699
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 5 4
+f 7 6 3
+f 7 4 6
+f 8 7 3
+f 8 3 2
+f 9 2 5
+f 9 5 7
+f 9 8 2
+f 10 9 7
+f 10 7 8
+f 10 8 9
\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_22.obj b/apple/apple_11/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3285f21f0f3986690c245899930802515f6ce4c4
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_22.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.02747892 -0.01025951 -0.23484850
+v 0.02747892 -0.01025951 -0.35606062
+v 0.03415683 0.33823703 -0.37048447
+v -0.25621203 0.34266414 -0.25556917
+v -0.23009684 -0.01025951 -0.35606062
+v 0.02747892 0.30792231 -0.23484850
+v -0.23009684 -0.01025951 -0.23484850
+v -0.25512886 0.22953716 -0.38768734
+v -0.22824027 0.30517263 -0.33799125
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 8 7 4
+f 8 5 7
+f 9 8 4
+f 9 4 3
+f 9 3 8
\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_23.obj b/apple/apple_11/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86a9e99dd5cd27b70bc4168eee1a79e16a97f2d3
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_23.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v -0.24675924 -0.22304773 0.40932665
+v -0.22378087 -0.20166601 0.43503569
+v -0.30709922 -0.08096599 0.43026455
+v -0.25149254 0.19295688 0.41988121
+v -0.22455308 0.04883368 0.47855585
+v -0.34228749 0.10844527 0.37837543
+v -0.27678986 -0.15558433 0.42788324
+v -0.22363435 0.16568228 0.45004958
+v -0.34197142 -0.14266906 0.37592010
+v -0.31591843 0.16855597 0.38133058
+v -0.30556646 0.03286361 0.43242556
+v -0.26495539 -0.19755897 0.41377375
+v -0.22484812 -0.06866988 0.47902418
+v -0.22413811 -0.14108844 0.46216260
+v -0.32113909 -0.13975323 0.39887077
+v -0.32690264 0.15218726 0.37786858
+v -0.30125296 -0.20374000 0.38088595
+v -0.29080789 0.10463062 0.43021445
+v -0.23634012 -0.19657606 0.43156158
+v -0.26470396 -0.08375599 0.45836319
+v -0.29253285 -0.12355110 0.42914159
+v -0.33419486 -0.14000110 0.38595587
+v -0.32719405 -0.17288331 0.37720288
+v -0.27765998 -0.18025402 0.41514573
+v -0.26306218 0.16342710 0.42839253
+v -0.29178578 0.14899095 0.41355076
+v -0.33525820 0.10563756 0.38714829
+v -0.26509104 0.04851635 0.45837539
+v -0.23505377 -0.14093716 0.45766019
+v -0.27870480 -0.11036246 0.44300042
+v -0.31983994 -0.16812721 0.38622377
+v -0.23702033 0.12102577 0.46015523
+v -0.23634056 0.16372780 0.44403807
+v -0.32021188 0.15004911 0.38605322
+v -0.26320132 0.12297785 0.44361073
+v -0.30934114 0.16523120 0.38980302
+v -0.27813635 0.07718743 0.44577993
+v -0.23708407 -0.06951471 0.47424354
+v -0.26326141 -0.13829824 0.44296690
+v -0.25112118 0.09155704 0.45943808
+v -0.22547163 0.12199574 0.46552061
+v -0.24922998 0.14779696 0.44410688
+v -0.23657953 0.04754729 0.47381082
+f 2 1 4
+f 8 2 4
+f 9 3 6
+f 10 4 1
+f 11 6 3
+f 14 8 5
+f 14 2 8
+f 14 5 13
+f 16 9 6
+f 17 10 1
+f 17 16 10
+f 17 1 12
+f 19 12 1
+f 19 1 2
+f 20 11 3
+f 21 15 7
+f 21 3 15
+f 22 15 3
+f 22 3 9
+f 23 9 16
+f 23 16 17
+f 23 22 9
+f 23 15 22
+f 24 17 12
+f 24 23 17
+f 24 19 7
+f 24 12 19
+f 27 6 11
+f 27 11 18
+f 28 11 20
+f 29 7 19
+f 29 19 2
+f 29 2 14
+f 30 20 3
+f 30 3 21
+f 30 29 20
+f 30 21 7
+f 31 24 7
+f 31 7 15
+f 31 15 23
+f 31 23 24
+f 33 8 4
+f 33 4 25
+f 34 10 16
+f 34 16 6
+f 34 6 27
+f 34 27 18
+f 34 18 26
+f 35 26 18
+f 36 26 25
+f 36 25 4
+f 36 4 10
+f 36 34 26
+f 36 10 34
+f 37 18 11
+f 37 11 28
+f 37 35 18
+f 38 28 20
+f 38 13 5
+f 38 20 29
+f 38 29 14
+f 38 14 13
+f 39 30 7
+f 39 7 29
+f 39 29 30
+f 40 37 28
+f 40 32 35
+f 40 35 37
+f 41 5 8
+f 41 32 40
+f 42 8 33
+f 42 41 8
+f 42 32 41
+f 42 33 25
+f 42 35 32
+f 42 25 26
+f 42 26 35
+f 43 38 5
+f 43 28 38
+f 43 40 28
+f 43 41 40
+f 43 5 41
\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_24.obj b/apple/apple_11/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6639396f6213953310c02d6e29dc39f0fca06e79
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_24.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.08696322 -0.44520284 0.21748596
+v 0.37277649 -0.26574757 0.21803513
+v 0.18566989 -0.34296972 0.32627456
+v 0.02640003 -0.26648731 0.42746971
+v 0.02747892 -0.26783526 0.21969695
+v 0.27600118 -0.26101393 0.32971032
+v 0.02560234 -0.40565032 0.31697125
+v 0.26050450 -0.37471544 0.21405310
+v 0.14194021 -0.31688771 0.36774269
+v 0.06918682 -0.26287532 0.41696156
+v 0.36468357 -0.25849814 0.24078387
+v 0.15317263 -0.38694842 0.29745049
+v 0.03152022 -0.45322064 0.22845784
+v 0.02445153 -0.29121289 0.41685873
+v 0.30042497 -0.29788766 0.28095350
+v 0.31865781 -0.33090011 0.21162023
+v 0.23093854 -0.31369413 0.32279670
+v 0.15709154 -0.26155764 0.38559188
+v 0.08307262 -0.36035253 0.35425915
+v 0.17134962 -0.41522749 0.22713843
+v 0.02616976 -0.42266996 0.29002262
+v 0.02428252 -0.31870341 0.40088774
+v 0.06793542 -0.27584010 0.41255941
+v 0.24323832 -0.35680461 0.26806888
+v 0.36611620 -0.27544440 0.21504567
+v 0.32954621 -0.31269122 0.22301544
+v 0.12930425 -0.43426278 0.21483063
+v 0.27237032 -0.27366156 0.32373195
+v 0.15421726 -0.27434017 0.38170552
+v 0.06865172 -0.40122569 0.31304347
+v 0.12741786 -0.36239250 0.33738914
+v 0.11135714 -0.32913371 0.36931269
+v 0.03910333 -0.31716537 0.39806289
+v 0.09707060 -0.28914135 0.39716081
+v 0.31291722 -0.32810996 0.22521005
+v 0.25728655 -0.37158616 0.22596317
+v 0.18455279 -0.37132915 0.29540271
+v 0.22870300 -0.34264679 0.29653910
+v 0.35718258 -0.26926847 0.23896838
+v 0.33212971 -0.31625275 0.21286226
+v 0.17346532 -0.41865453 0.21475491
+v 0.15537261 -0.41618061 0.23996011
+v 0.08421512 -0.38579413 0.32707721
+v 0.08258805 -0.41511342 0.28427668
+v 0.15731628 -0.34547945 0.33924800
+v 0.06453651 -0.32889778 0.38295951
+v 0.13999762 -0.28987884 0.38066739
+v 0.03762035 -0.28934049 0.41424881
+v 0.25612584 -0.35622922 0.25543325
+v 0.12816453 -0.43011915 0.22706218
+v 0.12613423 -0.38645114 0.31145251
+v 0.09922951 -0.43189998 0.24213669
+v 0.11368677 -0.41458905 0.26984321
+f 10 5 4
+f 11 2 5
+f 11 5 10
+f 13 5 1
+f 14 4 5
+f 15 11 6
+f 17 9 3
+f 17 6 9
+f 18 11 10
+f 18 6 11
+f 21 7 5
+f 21 5 13
+f 22 14 5
+f 22 5 7
+f 22 7 19
+f 23 10 4
+f 23 4 14
+f 24 12 20
+f 25 16 5
+f 25 5 2
+f 26 25 2
+f 27 1 5
+f 27 5 16
+f 28 17 15
+f 28 15 6
+f 28 6 17
+f 29 9 6
+f 29 6 18
+f 30 7 21
+f 32 31 9
+f 32 19 31
+f 33 14 22
+f 33 32 9
+f 34 18 10
+f 34 10 23
+f 34 29 18
+f 34 33 9
+f 35 26 15
+f 35 16 26
+f 36 24 20
+f 36 20 8
+f 36 8 16
+f 36 16 35
+f 37 3 12
+f 37 12 24
+f 38 17 3
+f 38 37 24
+f 38 3 37
+f 38 24 15
+f 38 15 17
+f 39 11 15
+f 39 15 26
+f 39 26 2
+f 39 2 11
+f 40 26 16
+f 40 16 25
+f 40 25 26
+f 41 27 16
+f 41 16 8
+f 41 8 20
+f 41 20 27
+f 42 27 20
+f 42 20 12
+f 43 19 7
+f 43 7 30
+f 43 31 19
+f 44 30 21
+f 44 21 13
+f 45 31 12
+f 45 12 3
+f 45 3 9
+f 45 9 31
+f 46 33 22
+f 46 22 19
+f 46 19 32
+f 46 32 33
+f 47 34 9
+f 47 9 29
+f 47 29 34
+f 48 34 23
+f 48 23 14
+f 48 14 33
+f 48 33 34
+f 49 35 15
+f 49 15 24
+f 49 36 35
+f 49 24 36
+f 50 1 27
+f 50 27 42
+f 51 43 30
+f 51 12 31
+f 51 31 43
+f 51 44 12
+f 51 30 44
+f 52 44 13
+f 52 13 1
+f 52 1 50
+f 52 50 42
+f 53 42 12
+f 53 12 44
+f 53 52 42
+f 53 44 52
\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_25.obj b/apple/apple_11/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4ac711cf0bbc0d222b0985da10027aa3212148a
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_25.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.18906033 0.31487763 -0.31769200
+v 0.21794362 0.34943313 -0.25538040
+v -0.25621203 0.34266414 -0.25556917
+v -0.08973476 0.43185061 -0.22917235
+v 0.05260717 0.39611822 -0.29843470
+v 0.02747892 0.30792231 -0.23484850
+v 0.14073204 0.36654027 -0.29734686
+v 0.08438745 0.43101191 -0.22761914
+v -0.22824027 0.30517263 -0.33799125
+v -0.22536650 0.37616764 -0.23092871
+v 0.18201600 0.36687564 -0.26624000
+v 0.03415683 0.33823703 -0.37048447
+v -0.05915969 0.42623706 -0.25742656
+v 0.09704089 0.39571097 -0.28170305
+v 0.18902758 0.38878093 -0.22683246
+v 0.17199033 0.31273674 -0.33203582
+v -0.20373929 0.35064857 -0.29838233
+v 0.18389929 0.32472466 -0.31182076
+v 0.04031864 0.42630972 -0.25512391
+v -0.06179485 0.38070031 -0.32820873
+v 0.08314269 0.36589222 -0.32622835
+v 0.18640802 0.38211088 -0.24005628
+v 0.12473299 0.41135658 -0.24052329
+v -0.20859068 0.38665097 -0.22930467
+v -0.21874716 0.35061917 -0.28456567
+v -0.14686814 0.39415157 -0.27052768
+v 0.16850212 0.33677033 -0.31066842
+v 0.16685557 0.32330319 -0.32593291
+v 0.08301547 0.42478376 -0.23973738
+v -0.01948341 0.38333162 -0.32546869
+v -0.11758922 0.36809304 -0.32886108
+v 0.10968595 0.38050979 -0.29643203
+v 0.15772518 0.38122619 -0.26586464
+v 0.12738338 0.41649421 -0.22828926
+v -0.21939965 0.32098510 -0.32619455
+v -0.22114174 0.36616040 -0.25552412
+v -0.10265566 0.40887247 -0.27056918
+v -0.17947011 0.40126863 -0.22933837
+v 0.02419234 0.41136495 -0.28375002
+v -0.16232705 0.35240561 -0.32612179
+v -0.20654442 0.38234586 -0.24124608
+v -0.08909946 0.42623797 -0.24262391
+v -0.09028188 0.39657967 -0.29903418
+v -0.06103148 0.41085584 -0.28542604
+v -0.17388239 0.36480363 -0.29963305
+v -0.17688682 0.39677581 -0.24164316
+f 6 1 2
+f 9 6 3
+f 10 3 6
+f 15 6 2
+f 16 1 6
+f 16 6 9
+f 16 9 12
+f 18 11 2
+f 18 2 1
+f 19 14 5
+f 19 13 4
+f 19 4 8
+f 21 12 5
+f 21 5 14
+f 22 15 2
+f 22 2 11
+f 24 10 6
+f 24 6 15
+f 24 15 8
+f 27 7 11
+f 27 11 18
+f 28 18 1
+f 28 1 16
+f 28 27 18
+f 28 7 27
+f 28 21 7
+f 28 16 12
+f 28 12 21
+f 29 19 8
+f 29 14 19
+f 29 23 14
+f 29 8 23
+f 30 5 12
+f 30 12 20
+f 31 20 12
+f 31 12 9
+f 32 21 14
+f 32 7 21
+f 33 22 11
+f 33 11 7
+f 33 7 32
+f 33 32 14
+f 33 14 23
+f 33 23 15
+f 33 15 22
+f 34 23 8
+f 34 8 15
+f 34 15 23
+f 35 25 17
+f 35 9 3
+f 35 3 25
+f 36 25 3
+f 36 3 10
+f 38 24 8
+f 38 8 4
+f 39 19 5
+f 39 5 30
+f 39 13 19
+f 40 26 31
+f 40 35 17
+f 40 31 9
+f 40 9 35
+f 41 36 10
+f 41 10 24
+f 41 24 38
+f 41 17 25
+f 41 25 36
+f 42 37 26
+f 42 4 13
+f 42 13 37
+f 42 38 4
+f 43 31 26
+f 43 26 37
+f 43 20 31
+f 44 39 30
+f 44 30 20
+f 44 13 39
+f 44 20 43
+f 44 43 37
+f 44 37 13
+f 45 40 17
+f 45 26 40
+f 45 17 41
+f 46 41 38
+f 46 45 41
+f 46 26 45
+f 46 42 26
+f 46 38 42
\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_26.obj b/apple/apple_11/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..165e64bfbcdfeee6e06b57ef19247e1d9e009c44
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_26.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.05435604 -0.43720105 -0.22818350
+v 0.37128744 -0.23454832 -0.23145576
+v 0.34949023 -0.27501246 -0.22469270
+v -0.09373320 -0.23753223 -0.23484850
+v 0.08521065 -0.22943827 -0.43749026
+v 0.36572307 -0.24666363 -0.22844073
+v -0.09265497 -0.43941504 -0.23080599
+v 0.34748300 -0.23025994 -0.26952915
+v 0.18259919 -0.32639130 -0.32569072
+v 0.00702024 -0.37167501 -0.34349960
+v -0.10163660 -0.24428035 -0.40632899
+v 0.21732432 -0.22800681 -0.38763744
+v 0.36526886 -0.23195522 -0.24234231
+v 0.34338739 -0.27062330 -0.23789355
+v 0.24694362 -0.36203674 -0.22709842
+v -0.01863287 -0.41607882 -0.28578659
+v 0.06418104 -0.37284745 -0.32537154
+v 0.01144215 -0.23136247 -0.43290687
+v -0.09247772 -0.34562247 -0.37210021
+v 0.11423568 -0.29959650 -0.38331658
+v 0.34272610 -0.24065914 -0.26675754
+v 0.11274674 -0.42046369 -0.22764457
+v 0.28717924 -0.32640320 -0.23900114
+v -0.00452510 -0.43074309 -0.25673055
+v 0.03788787 -0.40106897 -0.29706204
+v -0.09219482 -0.38780048 -0.32710578
+v -0.09056570 -0.29266950 -0.40182027
+v -0.00269506 -0.33183327 -0.38278588
+v 0.20082929 -0.27071825 -0.36736764
+v 0.14525006 -0.23102630 -0.42169394
+v 0.15439300 -0.31265915 -0.35526512
+v 0.06742159 -0.32744116 -0.37180685
+v 0.27220074 -0.23892857 -0.34135532
+v 0.18561499 -0.37078079 -0.26749488
+v 0.29134378 -0.33139363 -0.22646959
+v -0.06008389 -0.43185559 -0.25544800
+v -0.00528047 -0.38689913 -0.32799076
+v 0.05375025 -0.41548928 -0.26739264
+v -0.09123973 -0.27879452 -0.40627674
+v -0.07397841 -0.30491524 -0.40014364
+v 0.06933881 -0.27094554 -0.41489747
+v 0.15520358 -0.29744713 -0.36871395
+v 0.18139560 -0.24311365 -0.39840435
+v 0.14344755 -0.35606622 -0.31074691
+v 0.18480064 -0.31239669 -0.33898712
+v 0.00772203 -0.34485387 -0.36974403
+v 0.27473994 -0.23097379 -0.34416245
+v 0.24153983 -0.25558120 -0.35353225
+v 0.18845123 -0.39238179 -0.22770738
+v 0.22906124 -0.32565591 -0.29585679
+v 0.24184092 -0.35723569 -0.24194209
+v -0.06026916 -0.41614866 -0.28717082
+v 0.11061958 -0.41499183 -0.23979920
+v -0.01723879 -0.23665175 -0.42653437
+v 0.01071666 -0.24670081 -0.42806780
+v -0.06041376 -0.33036348 -0.38574960
+v 0.09859408 -0.28493246 -0.39952764
+v 0.14384581 -0.24144126 -0.41519419
+v 0.18733831 -0.23006133 -0.40280148
+v 0.21554154 -0.24222275 -0.38104906
+v 0.17168136 -0.35565616 -0.29721534
+v 0.22968827 -0.28149874 -0.34028337
+v 0.21372541 -0.35672261 -0.26782341
+v -0.09166538 -0.43398855 -0.24444016
+f 6 2 4
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 6
+f 11 7 4
+f 12 5 4
+f 12 4 8
+f 13 8 4
+f 13 4 2
+f 13 2 8
+f 14 6 3
+f 18 11 4
+f 18 4 5
+f 21 8 6
+f 21 6 14
+f 22 15 3
+f 22 3 1
+f 23 14 3
+f 24 1 7
+f 25 24 16
+f 26 7 11
+f 26 11 19
+f 27 19 11
+f 30 5 12
+f 32 17 10
+f 32 31 17
+f 32 20 31
+f 33 8 21
+f 33 21 14
+f 33 14 23
+f 35 23 3
+f 35 3 15
+f 36 24 7
+f 37 25 16
+f 37 10 17
+f 37 17 25
+f 37 26 19
+f 37 19 10
+f 38 1 24
+f 38 24 25
+f 39 27 11
+f 40 19 27
+f 40 27 39
+f 42 31 20
+f 43 29 42
+f 44 31 9
+f 44 17 31
+f 44 25 17
+f 45 9 31
+f 45 42 29
+f 45 31 42
+f 46 32 10
+f 46 28 32
+f 46 10 19
+f 46 19 28
+f 47 12 8
+f 47 8 33
+f 49 15 22
+f 50 9 45
+f 51 35 15
+f 51 23 35
+f 51 50 23
+f 51 15 49
+f 52 16 24
+f 52 24 36
+f 52 37 16
+f 52 26 37
+f 53 22 1
+f 53 1 38
+f 53 49 22
+f 53 34 49
+f 53 38 25
+f 54 39 11
+f 54 11 18
+f 54 18 39
+f 55 18 5
+f 55 5 40
+f 55 40 39
+f 55 39 18
+f 56 28 19
+f 56 19 40
+f 56 41 28
+f 56 40 5
+f 56 5 41
+f 57 32 28
+f 57 28 41
+f 57 20 32
+f 57 41 5
+f 57 5 30
+f 58 42 20
+f 58 43 42
+f 58 30 43
+f 58 57 30
+f 58 20 57
+f 59 43 30
+f 59 30 12
+f 60 29 43
+f 60 33 48
+f 60 47 33
+f 60 12 47
+f 60 59 12
+f 60 43 59
+f 61 44 9
+f 61 34 53
+f 61 53 25
+f 61 25 44
+f 61 9 50
+f 62 50 45
+f 62 45 29
+f 62 48 33
+f 62 33 23
+f 62 23 50
+f 62 60 48
+f 62 29 60
+f 63 50 51
+f 63 61 50
+f 63 34 61
+f 63 51 49
+f 63 49 34
+f 64 52 36
+f 64 36 7
+f 64 7 26
+f 64 26 52
\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_27.obj b/apple/apple_11/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2348cb3f1c157499be3010a8ac552fb430b6818
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_27.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.34507741 0.23176843 -0.23449329
+v 0.33351695 0.22611245 -0.25622844
+v 0.28922807 0.31230473 -0.22660981
+v 0.19306579 0.38185780 -0.23382669
+v 0.19414559 0.23216473 -0.23484850
+v 0.19251172 0.23074226 -0.38420831
+v 0.32954996 0.25207750 -0.23898014
+v 0.33467873 0.25562467 -0.22771746
+v 0.21748258 0.37135593 -0.22659333
+v 0.18610168 0.37139355 -0.25518648
+v 0.21541513 0.22403603 -0.37357463
+v 0.33024561 0.23520630 -0.25362646
+v 0.27490366 0.32730517 -0.22532314
+v 0.30391645 0.29728622 -0.22668576
+v 0.18690720 0.25273828 -0.37258565
+v 0.21133716 0.36679896 -0.23956393
+v 0.28403480 0.25053350 -0.29524813
+v 0.19584754 0.25138719 -0.36835442
+v 0.19895395 0.36701793 -0.25036937
+v 0.28475730 0.30807549 -0.23679127
+v 0.29932782 0.26466460 -0.26556484
+v 0.23993174 0.26481444 -0.32523305
+v 0.21105433 0.30676508 -0.31050932
+v 0.26995542 0.32269736 -0.23699187
+v 0.29969306 0.29261749 -0.23659048
+v 0.27016075 0.25039048 -0.30880362
+v 0.21149492 0.23628632 -0.36791666
+v 0.22623729 0.27901640 -0.32463843
+v 0.22783393 0.32369311 -0.27828274
+f 5 2 1
+f 8 5 1
+f 8 1 7
+f 9 4 5
+f 10 5 4
+f 11 2 5
+f 11 5 6
+f 12 7 1
+f 12 1 2
+f 13 5 8
+f 13 9 5
+f 14 8 7
+f 14 13 8
+f 14 3 13
+f 15 6 5
+f 15 5 10
+f 16 4 9
+f 16 9 13
+f 17 12 2
+f 17 2 11
+f 18 11 6
+f 18 6 15
+f 19 10 4
+f 19 4 16
+f 20 3 14
+f 21 14 7
+f 21 7 12
+f 21 12 17
+f 21 17 20
+f 22 20 17
+f 23 18 15
+f 23 15 10
+f 24 13 3
+f 24 3 20
+f 24 20 22
+f 24 16 13
+f 25 21 20
+f 25 20 14
+f 25 14 21
+f 26 22 17
+f 26 17 11
+f 26 11 22
+f 27 22 11
+f 27 11 18
+f 27 18 22
+f 28 22 18
+f 28 18 23
+f 29 23 10
+f 29 10 19
+f 29 19 16
+f 29 16 24
+f 29 28 23
+f 29 24 22
+f 29 22 28
\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_28.obj b/apple/apple_11/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5c24f5914d235ae9e6cda15ad08fe0301546060
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02747892 -0.26783526 0.00757574
+v 0.02747892 -0.26783526 -0.23484850
+v 0.02747892 0.35337685 0.00757574
+v -0.23009684 0.35337685 0.00757574
+v -0.23009684 -0.26783526 0.00757574
+v -0.23683997 0.36468986 -0.23964934
+v 0.02747892 0.35337685 -0.23484850
+v -0.23009684 -0.26783526 -0.23484850
+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 7 2 6
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_29.obj b/apple/apple_11/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f6218a09b601a700195aa2129a1bb30f426f49f
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.30535789 -0.30683876 0.26337843
+v 0.29885943 -0.29522103 -0.26634083
+v 0.26990316 -0.01025951 0.23484846
+v 0.02747892 -0.01025951 0.23484846
+v 0.02747892 -0.26783526 -0.23484850
+v 0.26990316 -0.01025951 -0.23484850
+v 0.02747892 -0.26783526 0.23484846
+v 0.02747892 -0.01025951 -0.23484850
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 2
+f 8 2 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_3.obj b/apple/apple_11/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b61aab485d42ee95a7c8136df488b7790ab151dd
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.36416474 0.22573231 0.26864945
+v 0.39881970 0.22813043 0.21610261
+v 0.14337501 0.44630543 0.21257675
+v -0.04631743 0.44539326 0.24388815
+v -0.23009684 0.23216473 0.24999998
+v -0.03591806 0.25446287 0.44323428
+v 0.30132253 0.35134990 0.22379429
+v 0.39429014 0.22512557 0.22724263
+v 0.02747892 0.23216473 0.21969695
+v -0.20822085 0.38630741 0.24357092
+v 0.06990972 0.36761574 0.35483540
+v -0.14975026 0.22448400 0.44805848
+v 0.33354198 0.32664146 0.21110205
+v 0.02734300 0.46470048 0.21599980
+v 0.19667875 0.38123534 0.28258314
+v 0.18680973 0.27129441 0.36772568
+v -0.00672128 0.22770102 0.44824813
+v -0.22271271 0.22312399 0.41845752
+v -0.13181580 0.35153667 0.35677928
+v 0.26164386 0.38529278 0.21295567
+v 0.37752182 0.26936445 0.21238796
+v 0.34328248 0.26542933 0.26615779
+v -0.14800147 0.41594012 0.24440347
+v 0.06999691 0.42618342 0.28454764
+v 0.14120912 0.34217682 0.35233401
+v 0.33472794 0.22634684 0.29758380
+v -0.10586189 0.25282824 0.44388590
+v -0.22564107 0.37551705 0.24612796
+v -0.16124906 0.29372303 0.39895299
+v 0.30571807 0.35420729 0.21181294
+v 0.26034285 0.38002256 0.22555988
+v 0.39305911 0.24073825 0.21451901
+v 0.34421105 0.29376696 0.23829479
+v 0.37555978 0.25195508 0.23681992
+v 0.24178304 0.34120780 0.29289277
+v -0.10466119 0.43158977 0.24445226
+v -0.17464597 0.36471785 0.31291695
+v 0.08300953 0.45499711 0.22791532
+v 0.14101585 0.42606505 0.25396802
+v -0.03157885 0.42476659 0.28566151
+v 0.11150887 0.39798714 0.31074337
+v 0.12712022 0.32665614 0.36816648
+v 0.20247136 0.23125123 0.36881754
+v 0.33148197 0.23921485 0.29454383
+v -0.07610309 0.33940048 0.38471776
+v -0.18970575 0.23517194 0.42857940
+v 0.32895592 0.32274523 0.22531894
+v 0.35966040 0.23835962 0.26623158
+v 0.37330420 0.26557741 0.22465697
+v 0.38874137 0.23911365 0.22503975
+v 0.19984397 0.33868347 0.32513334
+v 0.24287844 0.35164524 0.28142801
+v 0.31558846 0.26605111 0.29320272
+v -0.13315668 0.41028990 0.27026077
+v -0.20497199 0.38172239 0.25666739
+v -0.18876653 0.33515264 0.34227510
+v 0.08590990 0.46007522 0.21414537
+v 0.02755386 0.45973604 0.22917325
+v 0.08767022 0.44213867 0.25304625
+v 0.14246312 0.44020348 0.22580125
+v -0.02999704 0.39695407 0.32745142
+v 0.11156387 0.35389526 0.35519229
+v 0.17018853 0.39534099 0.28117096
+v 0.04116930 0.39720340 0.32729750
+f 9 8 5
+f 9 2 8
+f 10 9 5
+f 12 8 1
+f 13 9 3
+f 14 9 10
+f 18 5 8
+f 18 8 12
+f 21 9 13
+f 23 14 10
+f 26 17 12
+f 26 12 1
+f 27 17 6
+f 27 12 17
+f 28 10 5
+f 28 5 18
+f 30 13 3
+f 30 3 20
+f 31 30 20
+f 31 7 30
+f 31 20 3
+f 32 2 9
+f 32 9 21
+f 34 1 8
+f 34 33 22
+f 34 32 21
+f 36 4 14
+f 36 14 23
+f 39 15 31
+f 42 17 16
+f 42 6 17
+f 43 26 16
+f 43 16 17
+f 43 17 26
+f 44 26 1
+f 44 16 26
+f 45 27 6
+f 45 6 11
+f 45 29 27
+f 45 19 29
+f 46 29 18
+f 46 18 12
+f 46 12 27
+f 46 27 29
+f 47 30 7
+f 47 13 30
+f 47 33 21
+f 47 21 13
+f 48 34 22
+f 48 1 34
+f 48 44 1
+f 48 22 44
+f 49 34 21
+f 49 21 33
+f 49 33 34
+f 50 34 8
+f 50 8 2
+f 50 2 32
+f 50 32 34
+f 51 42 16
+f 51 25 42
+f 51 41 25
+f 51 15 41
+f 52 31 15
+f 52 51 35
+f 52 15 51
+f 52 7 31
+f 52 47 7
+f 52 35 47
+f 53 22 33
+f 53 47 35
+f 53 33 47
+f 53 44 22
+f 53 35 51
+f 53 51 16
+f 53 16 44
+f 54 36 23
+f 54 37 19
+f 54 40 4
+f 54 4 36
+f 55 10 28
+f 55 28 37
+f 55 37 54
+f 55 54 23
+f 55 23 10
+f 56 29 19
+f 56 19 37
+f 56 18 29
+f 56 37 28
+f 56 28 18
+f 57 38 3
+f 57 3 9
+f 57 9 14
+f 58 40 24
+f 58 14 4
+f 58 4 40
+f 58 57 14
+f 58 38 57
+f 59 41 39
+f 59 24 41
+f 59 58 24
+f 59 38 58
+f 59 3 38
+f 60 39 31
+f 60 31 3
+f 60 59 39
+f 60 3 59
+f 61 24 40
+f 61 19 45
+f 61 54 19
+f 61 40 54
+f 62 41 11
+f 62 25 41
+f 62 42 25
+f 62 11 6
+f 62 6 42
+f 63 41 15
+f 63 15 39
+f 63 39 41
+f 64 41 24
+f 64 11 41
+f 64 24 61
+f 64 61 45
+f 64 45 11
\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_30.obj b/apple/apple_11/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5469b65db165c7be9bac0a5c804afd0a36b8a5e
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.23960013 -0.23753223 -0.23484850
+v 0.24393642 -0.24129590 -0.36101476
+v 0.27772676 -0.00248505 -0.40006769
+v -0.09373320 -0.01025951 -0.23484850
+v -0.09373320 -0.23753223 -0.23484850
+v 0.23960013 -0.01025951 -0.23484850
+v -0.11013180 -0.22112403 -0.40109822
+v -0.10046783 -0.02892088 -0.38109065
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 3 2
+f 7 2 5
+f 7 5 4
+f 8 7 4
+f 8 4 3
+f 8 3 7
\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_31.obj b/apple/apple_11/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b745e6ca8f835fb1838d47c982491d55813c1db
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02747892 0.23216473 0.24999998
+v 0.02747892 0.23216473 0.00757574
+v 0.02747892 0.35337685 0.00757574
+v -0.23633900 0.36376705 0.25571972
+v -0.23009684 0.23216473 0.24999998
+v -0.23009684 0.23216473 0.00757574
+v 0.02747892 0.35337685 0.24999998
+v -0.23009684 0.35337685 0.00757574
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 4
+f 8 4 3
+f 8 3 6
\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_4.obj b/apple/apple_11/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6a777e36ddeca6611a45ca8833e444d5bf7e746
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.01519502 -0.31254063 -0.39618032
+v 0.30764015 -0.11463520 -0.36303553
+v -0.23009684 -0.01025951 -0.35606062
+v -0.07685549 0.37383126 -0.33314633
+v 0.01046415 0.15113926 -0.48889290
+v 0.24393642 -0.24129590 -0.36101476
+v 0.18823793 0.30031081 -0.33277343
+v -0.22998806 0.00289819 -0.44189777
+v -0.09702024 -0.30732135 -0.39344719
+v 0.14338555 -0.08312655 -0.47334010
+v 0.02400931 0.30813493 -0.40099684
+v -0.22420827 0.31269855 -0.33290255
+v -0.23010322 -0.00908924 -0.43970671
+v 0.22549493 -0.16962632 -0.41345180
+v 0.24208320 0.07616192 -0.41391892
+v 0.04414290 -0.16918760 -0.46034414
+v 0.13895521 0.20595833 -0.42803618
+v 0.08478854 0.35962825 -0.33254699
+v 0.17199033 0.31273674 -0.33203582
+v -0.25789270 0.23376380 -0.38242463
+v 0.25550426 -0.06796137 -0.41648703
+v 0.12789725 -0.22584369 -0.43079601
+v 0.29530345 0.09398457 -0.36575428
+v 0.13998860 0.06168574 -0.47339021
+v -0.04797695 -0.27703580 -0.41453549
+v -0.10781385 0.10872536 -0.48974593
+v 0.02567910 0.22114571 -0.46026856
+v 0.02737441 0.37412623 -0.33235387
+v 0.08184163 0.30808555 -0.38525042
+v -0.12051377 0.26214905 -0.43261157
+v 0.19829088 -0.12674947 -0.44188368
+v 0.27078289 -0.09903902 -0.40063672
+v 0.17042689 -0.22695358 -0.41418421
+v 0.11553820 -0.17100348 -0.45876081
+v 0.30572748 -0.01059720 -0.37550057
+v 0.22568365 0.21975085 -0.36883253
+v 0.08530904 -0.00848473 -0.49057354
+v 0.17192738 0.13575275 -0.44128027
+v 0.18484180 0.01717927 -0.45898461
+v -0.01655966 -0.30981431 -0.39874612
+v -0.09123973 -0.27879452 -0.40627674
+v -0.20704368 0.12334831 -0.45882071
+v 0.03905158 0.33713046 -0.37051350
+v -0.07529093 0.36805626 -0.34162817
+v 0.16897987 0.30870459 -0.33977261
+v 0.03760392 0.26673953 -0.42989093
+v -0.17676698 0.27840993 -0.39788678
+v -0.08828115 0.19434652 -0.47399276
+v 0.18419684 -0.06778626 -0.45912218
+v 0.22704136 -0.11012352 -0.42947364
+v 0.22760906 -0.22661435 -0.38263341
+v 0.15578165 -0.18512698 -0.44215721
+v 0.04615474 -0.22172055 -0.44324972
+v 0.25803482 0.01748113 -0.41366248
+v 0.31284875 -0.01038223 -0.36865760
+v 0.27608649 0.15256271 -0.36159104
+v 0.08353642 0.07804827 -0.48978397
+v 0.02925130 -0.00857060 -0.48958388
+v 0.10262099 -0.12550738 -0.47453514
+v 0.16863320 0.17735230 -0.42707499
+v 0.06900454 0.16446998 -0.47270046
+v 0.20036156 0.06189088 -0.44340393
+v -0.21184123 0.06455800 -0.45678183
+v -0.21892175 0.16508967 -0.44374581
+f 7 6 2
+f 9 6 3
+f 9 1 6
+f 12 3 6
+f 13 9 3
+f 14 2 6
+f 19 12 6
+f 19 6 7
+f 20 3 12
+f 20 13 3
+f 20 8 13
+f 26 16 13
+f 26 13 8
+f 28 4 12
+f 28 19 18
+f 28 12 19
+f 32 2 14
+f 33 6 1
+f 33 1 22
+f 35 32 21
+f 37 24 10
+f 39 10 24
+f 40 1 9
+f 40 9 25
+f 40 22 1
+f 41 25 9
+f 41 9 13
+f 41 13 16
+f 41 16 25
+f 43 28 18
+f 43 29 11
+f 43 18 29
+f 44 4 28
+f 44 11 30
+f 44 12 4
+f 44 43 11
+f 44 28 43
+f 45 29 18
+f 45 18 19
+f 45 19 7
+f 45 17 29
+f 45 36 17
+f 45 7 36
+f 46 11 29
+f 46 30 11
+f 46 27 30
+f 46 29 17
+f 46 17 27
+f 47 20 12
+f 47 44 30
+f 47 12 44
+f 48 30 27
+f 48 27 5
+f 48 5 26
+f 48 26 42
+f 49 31 10
+f 49 39 21
+f 49 10 39
+f 50 21 32
+f 50 49 21
+f 50 31 49
+f 50 32 14
+f 50 14 31
+f 51 33 14
+f 51 14 6
+f 51 6 33
+f 52 31 14
+f 52 14 33
+f 52 33 22
+f 52 22 34
+f 52 34 10
+f 52 10 31
+f 53 25 16
+f 53 40 25
+f 53 34 22
+f 53 22 40
+f 54 35 21
+f 54 15 23
+f 54 23 35
+f 54 21 39
+f 55 35 23
+f 55 2 32
+f 55 32 35
+f 55 23 7
+f 55 7 2
+f 56 36 7
+f 56 7 23
+f 56 23 15
+f 56 15 38
+f 57 24 37
+f 57 37 26
+f 57 26 5
+f 58 16 26
+f 58 26 37
+f 59 58 37
+f 59 16 58
+f 59 53 16
+f 59 34 53
+f 59 37 10
+f 59 10 34
+f 60 17 36
+f 60 56 38
+f 60 36 56
+f 61 27 17
+f 61 60 38
+f 61 17 60
+f 61 38 24
+f 61 24 57
+f 61 57 5
+f 61 5 27
+f 62 38 15
+f 62 54 39
+f 62 15 54
+f 62 39 24
+f 62 24 38
+f 63 42 26
+f 63 26 8
+f 63 8 42
+f 64 42 8
+f 64 8 20
+f 64 48 42
+f 64 30 48
+f 64 47 30
+f 64 20 47
\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_5.obj b/apple/apple_11/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..920ccec38c22f93679a34fd308cbaceaee5f8f18
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_5.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.03954321 -0.24770374 0.43073359
+v 0.02747892 -0.26783526 0.00757574
+v 0.02747892 0.23216473 0.00757574
+v -0.22271271 0.22312399 0.41845752
+v -0.23009684 -0.26783526 0.26515149
+v 0.02451440 0.23007303 0.43810134
+v 0.02747892 -0.26783526 0.26515149
+v -0.22332458 -0.09629829 0.47490404
+v -0.23009684 -0.26783526 0.00757574
+v -0.23009684 0.23216473 0.00757574
+v -0.23317411 -0.24100633 0.40631476
+v -0.15286849 0.10777416 0.48947378
+v -0.13731986 -0.17131412 0.47359080
+v -0.22274073 0.09204041 0.47338659
+v -0.09172129 0.22423777 0.45894261
+v -0.06769715 0.07957494 0.48975273
+v -0.02101921 -0.23383100 0.44795641
+v -0.20658558 -0.16894562 0.45821446
+v -0.16661054 -0.09756834 0.48974559
+v -0.19308773 0.17665999 0.45786034
+v -0.16638208 0.22334045 0.44431857
+v -0.02555097 0.11029206 0.47346768
+v -0.07918010 0.18084257 0.47459413
+v -0.08259100 -0.08386648 0.48970791
+v -0.22371217 -0.18253791 0.44473944
+v -0.19526161 -0.14146258 0.47210763
+v -0.19571274 0.04896486 0.48947505
+v -0.17968648 0.14834264 0.47368378
+v -0.22106619 0.14852375 0.45852814
+v -0.19234310 0.20664732 0.44378936
+v 0.02042058 0.21319808 0.44349126
+v -0.08134934 0.10808598 0.49021018
+v -0.03725786 0.21111222 0.46010941
+v -0.06623934 -0.15726378 0.47542894
+v -0.02878231 0.03607999 0.47450163
+v -0.22212951 -0.15320645 0.45829465
+v -0.20839037 -0.12575050 0.47305013
+v -0.19626564 -0.05452092 0.49021824
+v -0.18018466 0.07697732 0.48916075
+v -0.14845576 0.20667823 0.45729993
+v -0.12213118 0.17938296 0.47357052
+v -0.20835561 0.12119182 0.47242976
+v -0.20522898 0.22131477 0.42926281
+v -0.03831391 0.15336303 0.47369396
+v -0.09765440 -0.10038253 0.49044462
+v -0.06470667 0.22459393 0.45875549
+v 0.00718303 0.22669573 0.44450072
+v 0.00767875 -0.23287196 0.44349850
+v -0.09457266 -0.17488816 0.47411559
+v -0.06927303 -0.01019650 0.48940238
+v 0.02023817 -0.21882891 0.44266380
+v -0.18122639 -0.08343242 0.48942538
+v -0.22109211 0.20625410 0.43061242
+v -0.05186431 0.16678458 0.47396966
+v -0.04139379 -0.11512857 0.47376803
+v -0.05428434 -0.14412917 0.47478181
+f 1 2 3
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 9 3 2
+f 9 2 5
+f 10 6 3
+f 10 4 6
+f 10 3 9
+f 11 5 1
+f 11 4 10
+f 11 10 9
+f 11 9 5
+f 14 11 8
+f 14 4 11
+f 17 13 11
+f 17 11 1
+f 18 11 13
+f 21 15 6
+f 21 6 4
+f 25 11 18
+f 26 18 13
+f 26 13 19
+f 29 4 14
+f 29 28 20
+f 30 20 21
+f 30 29 20
+f 31 22 1
+f 31 1 6
+f 32 23 12
+f 32 12 27
+f 35 22 16
+f 36 25 18
+f 36 8 11
+f 36 11 25
+f 37 26 19
+f 37 8 36
+f 37 36 18
+f 37 18 26
+f 38 32 27
+f 38 27 14
+f 38 14 8
+f 39 27 12
+f 39 14 27
+f 40 21 20
+f 40 20 28
+f 40 15 21
+f 41 23 15
+f 41 40 28
+f 41 15 40
+f 41 28 12
+f 41 12 23
+f 42 29 14
+f 42 28 29
+f 42 14 39
+f 42 39 12
+f 42 12 28
+f 43 30 21
+f 43 21 4
+f 44 32 16
+f 44 16 22
+f 44 22 31
+f 45 16 32
+f 45 32 38
+f 45 38 19
+f 45 34 24
+f 46 6 15
+f 46 15 23
+f 46 23 33
+f 47 31 6
+f 47 46 33
+f 47 6 46
+f 47 44 31
+f 47 33 44
+f 48 34 17
+f 48 17 1
+f 49 13 17
+f 49 17 34
+f 49 34 45
+f 49 45 19
+f 49 19 13
+f 50 35 16
+f 50 45 24
+f 50 16 45
+f 51 1 22
+f 51 22 35
+f 51 48 1
+f 52 37 19
+f 52 8 37
+f 52 38 8
+f 52 19 38
+f 53 43 4
+f 53 4 29
+f 53 29 30
+f 53 30 43
+f 54 44 33
+f 54 33 23
+f 54 23 32
+f 54 32 44
+f 55 51 35
+f 55 35 50
+f 55 50 24
+f 56 24 34
+f 56 34 48
+f 56 48 51
+f 56 55 24
+f 56 51 55
\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_6.obj b/apple/apple_11/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ce6c4078d55bc3ba46d2f446640b982cc807d6d
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_6.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.25410267 0.37651319 0.23705065
+v 0.23838933 0.35187937 -0.23364523
+v 0.15703198 0.47157519 0.00926614
+v -0.07491398 0.47017527 0.15512410
+v -0.23633900 0.36376705 0.25571972
+v -0.16221241 0.41007802 -0.22515354
+v 0.08570764 0.47113721 0.18221197
+v 0.23063177 0.44080242 -0.00569286
+v 0.02747892 0.35337685 0.24999998
+v 0.04041741 0.44124506 -0.22612140
+v -0.22051443 0.42610935 -0.06565642
+v -0.23683997 0.36468986 -0.23964934
+v -0.06088210 0.48744880 -0.02200987
+v 0.02753743 0.45154862 0.24581257
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diff --git a/apple/apple_11/collision/model_normalized_collision_7.obj b/apple/apple_11/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bd05a23cc414e8bc922983f6882d797b4566181
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_8.obj b/apple/apple_11/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e583549808b279475cc891b940cd7248879c236
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_8.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.36213652 -0.24563467 0.27224719
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\ No newline at end of file
diff --git a/apple/apple_11/collision/model_normalized_collision_9.obj b/apple/apple_11/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c8a31d3aa8348da741575c8272efa175821195c
--- /dev/null
+++ b/apple/apple_11/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.23322722 -0.42129459 0.11252496
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+f 48 47 26
+f 48 26 14
+f 48 29 16
+f 48 14 29
+f 49 27 15
+f 49 15 33
+f 49 33 20
+f 49 20 2
+f 50 9 15
+f 50 15 27
+f 50 30 17
+f 50 17 47
+f 50 48 9
+f 50 47 48
+f 51 15 5
+f 51 5 28
+f 52 28 5
+f 52 5 19
+f 53 8 30
+f 54 53 30
+f 54 49 2
+f 54 27 49
+f 54 50 27
+f 54 30 50
+f 55 31 18
+f 55 42 31
+f 55 10 42
+f 55 18 34
+f 55 34 20
+f 55 37 10
+f 55 20 37
+f 56 18 31
+f 56 53 18
+f 56 8 53
+f 56 38 8
+f 56 31 38
+f 57 12 52
+f 57 52 19
+f 57 19 32
+f 58 52 12
+f 58 28 52
+f 58 51 28
+f 58 33 15
+f 58 15 51
+f 59 34 18
+f 59 2 34
+f 59 18 53
+f 59 54 2
+f 59 53 54
+f 60 34 2
+f 60 2 20
+f 60 20 34
+f 61 32 6
+f 61 6 35
+f 61 35 21
+f 61 57 32
+f 61 21 57
+f 62 21 20
+f 62 20 36
+f 62 57 21
+f 62 12 57
+f 63 36 33
+f 63 62 36
+f 63 12 62
+f 63 58 12
+f 63 33 58
+f 64 38 3
+f 64 22 41
+f 64 41 7
+f 64 7 38
+f 64 44 22
+f 64 3 44
\ No newline at end of file
diff --git a/apple/apple_11/model.xml b/apple/apple_11/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..56c90e79a3fc2280f6b31737f3dde65654957452
--- /dev/null
+++ b/apple/apple_11/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="apple_4">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="apple.002" texture="image0" specular="0.5" shininess="0.15999998099999999"/>
+  </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.002"/>
+        <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="-0.000207115650000001 -0.00024983525000000037 -0.0343401478" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.000207115650000001 -0.00024983525000000037 0.0343311234" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.033604848900000005 0.034121416 -4.512199999999189e-06" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/apple/apple_11/visual/material.mtl b/apple/apple_11/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac7612074176632fe5be688b8bc892b458617616
--- /dev/null
+++ b/apple/apple_11/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 159.99998100
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_0.obj b/apple/apple_12/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d6e26986efb5044ef8f6d1dd29eb00f2731c725
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_0.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.21471683 -0.26515152 -0.24912871
+v -0.21143583 -0.14157070 -0.46421215
+v -0.21471683 -0.00757576 -0.24912871
+v -0.42555514 -0.00757737 -0.24864647
+v -0.36314256 -0.25307584 -0.25660389
+v -0.21353415 -0.00753060 -0.47093891
+v -0.38150321 -0.22761559 -0.24257980
+v -0.23554821 -0.28494393 -0.38278058
+v -0.36423459 -0.00709605 -0.37500359
+v -0.41334174 -0.14128420 -0.24380176
+v -0.36735516 -0.25485160 -0.24330829
+v -0.30733477 -0.00639948 -0.43243865
+v -0.34896913 -0.18050015 -0.34428660
+v -0.39303504 -0.08071657 -0.31425098
+v -0.34955601 -0.25394653 -0.28277146
+v -0.25257256 -0.00717510 -0.46201890
+v -0.41057111 -0.00742029 -0.28869799
+v -0.37831365 -0.18000633 -0.29822668
+v -0.30604974 -0.12285089 -0.41542931
+v -0.34928027 -0.12359924 -0.36969749
+v -0.30594397 -0.25259848 -0.34442142
+v -0.23486210 -0.12504181 -0.45870001
+v -0.36594371 -0.03637037 -0.37035227
+v -0.40751040 -0.06608527 -0.28755086
+v -0.39121988 -0.18041936 -0.27138426
+v -0.34822770 -0.23928552 -0.29712178
+v -0.37829242 -0.15352249 -0.31306011
+v -0.28072326 -0.14035465 -0.42913051
+v -0.31708975 -0.23878865 -0.34199142
+v -0.25490444 -0.05288946 -0.45822033
+v -0.37807983 -0.06504346 -0.34423409
+v -0.33513295 -0.05001662 -0.40040143
+v -0.40831963 -0.10999315 -0.27212258
+v -0.37685894 -0.22538090 -0.25570796
+v -0.39337837 -0.12451851 -0.29898991
+v -0.29491120 -0.10969738 -0.42745380
+v -0.22499454 -0.14199402 -0.46038284
+v -0.31924416 -0.25103177 -0.32792600
+v -0.30766553 -0.03641668 -0.42952828
+v -0.40847184 -0.13990406 -0.25664729
+v -0.27966559 -0.06580488 -0.44301890
+v -0.32018583 -0.05149225 -0.41550938
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 8 2 1
+f 10 7 3
+f 10 3 4
+f 11 7 5
+f 11 1 7
+f 11 8 1
+f 12 3 6
+f 12 4 3
+f 15 11 5
+f 15 8 11
+f 16 12 6
+f 16 6 2
+f 17 12 9
+f 17 4 12
+f 18 15 5
+f 20 19 13
+f 21 8 15
+f 23 17 9
+f 23 14 17
+f 24 17 14
+f 24 4 17
+f 25 7 10
+f 25 18 5
+f 26 18 13
+f 26 15 18
+f 27 20 13
+f 27 13 18
+f 28 8 21
+f 29 13 19
+f 29 28 21
+f 29 19 28
+f 29 26 13
+f 29 15 26
+f 30 16 2
+f 30 12 16
+f 31 23 20
+f 31 14 23
+f 31 20 27
+f 32 19 20
+f 32 20 23
+f 33 24 14
+f 33 10 4
+f 33 4 24
+f 34 25 5
+f 34 5 7
+f 34 7 25
+f 35 27 18
+f 35 18 25
+f 35 33 14
+f 35 31 27
+f 35 14 31
+f 36 28 19
+f 36 22 28
+f 37 28 22
+f 37 2 8
+f 37 8 28
+f 37 30 2
+f 37 22 30
+f 38 29 21
+f 38 21 15
+f 38 15 29
+f 39 36 19
+f 39 9 12
+f 40 35 25
+f 40 25 10
+f 40 10 33
+f 40 33 35
+f 41 30 22
+f 41 22 36
+f 41 36 39
+f 41 39 12
+f 41 12 30
+f 42 39 19
+f 42 19 32
+f 42 9 39
+f 42 32 23
+f 42 23 9
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_1.obj b/apple/apple_12/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22c26f4f0d44ebb08b146ef2a0bf50df6031412a
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.38351556 -0.00384984 0.23412872
+v -0.33592895 -0.00757576 -0.23397719
+v -0.37013188 0.10548243 0.22623631
+v -0.33946506 0.31281648 0.11605794
+v -0.45593257 0.03694606 -0.12487346
+v -0.45559669 -0.00851692 -0.13983297
+v -0.33005391 0.30652336 -0.23162030
+v -0.43935213 0.03654479 0.09515099
+v -0.41204246 -0.00866459 0.18485068
+v -0.40762226 0.22667239 -0.09572374
+v -0.42425948 0.08040230 -0.22868831
+v -0.40787673 0.19913774 0.08118116
+v -0.45664024 -0.00902667 0.03534359
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\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_10.obj b/apple/apple_12/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36a2cb9c5962b857584454618342dc04017713df
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_10.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.22952530 0.36200960 0.20961205
+v 0.24938220 0.38831041 0.12802487
+v 0.07147049 0.45910214 0.15136715
+v -0.10513339 0.46288499 0.11067114
+v -0.30194299 0.35281754 0.11795015
+v 0.11403756 0.46049262 0.11030254
+v -0.18441380 0.34090909 0.11450766
+v -0.19645116 0.37662998 0.21932552
+v 0.21238304 0.38632638 0.19494052
+v 0.22951691 0.40825871 0.11615671
+v -0.28020118 0.37248435 0.11090185
+v -0.01662047 0.44351379 0.19720166
+v -0.28277038 0.33326223 0.18580601
+v 0.12828687 0.44367581 0.15167092
+v -0.26324586 0.38519889 0.11026873
+v -0.07353890 0.45832856 0.15163203
+v 0.11370584 0.42779676 0.19618319
+v 0.01074385 0.44347790 0.19666510
+v -0.23185583 0.39934633 0.13587653
+v 0.09805598 0.45745072 0.13984327
+v -0.16139776 0.44479346 0.11026488
+v -0.11779321 0.42681826 0.19585184
+v 0.08338439 0.44287637 0.18099705
+v -0.27858860 0.37060091 0.12274588
+v -0.23165822 0.38393482 0.16604545
+v 0.11312650 0.45715391 0.12461737
+v 0.11260377 0.44188692 0.16601832
+v -0.13409438 0.44297803 0.15154452
+v -0.07390791 0.44462910 0.18257356
+v -0.27819653 0.34004912 0.18188716
+v -0.26149333 0.38291022 0.12407127
+v -0.17626267 0.40098803 0.19795005
+v -0.10425877 0.45931294 0.12487016
+v -0.15952850 0.44205614 0.12429205
+v -0.20470943 0.37559015 0.21371617
+v -0.26158985 0.35330297 0.18089420
+f 6 4 3
+f 7 2 1
+f 9 1 2
+f 10 7 6
+f 10 2 7
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+f 13 7 1
+f 13 1 8
+f 13 5 7
+f 14 10 6
+f 14 9 10
+f 15 6 11
+f 16 12 3
+f 16 3 4
+f 17 9 14
+f 17 1 9
+f 18 12 8
+f 18 8 1
+f 18 1 17
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+f 22 8 12
+f 23 18 17
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+f 26 6 20
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+f 29 28 22
+f 29 16 28
+f 30 24 5
+f 30 5 13
+f 31 24 19
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+f 31 15 24
+f 32 19 25
+f 32 8 22
+f 32 22 28
+f 33 28 16
+f 33 16 4
+f 33 4 28
+f 34 28 4
+f 34 4 21
+f 34 21 19
+f 34 32 28
+f 34 19 32
+f 35 30 13
+f 35 13 8
+f 35 32 25
+f 35 8 32
+f 36 35 25
+f 36 30 35
+f 36 25 24
+f 36 24 30
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_11.obj b/apple/apple_12/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..875c6afe121b025827798139b934b7ab236dddff
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_11.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01255590 0.35606061 0.00844705
+v 0.15382794 0.46329990 -0.10226868
+v 0.15463277 0.46527293 0.01093959
+v -0.07419391 0.49031374 0.00706026
+v -0.07835319 0.35606061 -0.09761355
+v 0.07064776 0.48988817 -0.06626561
+v -0.07835319 0.35606061 0.00844705
+v 0.01255590 0.35606061 -0.09761355
+v 0.12903623 0.47444367 -0.08127936
+v 0.05614507 0.48998138 0.00735008
+v -0.07441024 0.48928121 -0.09629728
+v 0.07132613 0.49026012 -0.02293558
+v 0.05587270 0.49021622 -0.09518920
+v 0.12817654 0.47409245 0.00731505
+v 0.13250595 0.47247693 -0.09729811
+v 0.11461781 0.47722939 -0.09661411
+f 1 2 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 3 2
+f 10 4 3
+f 11 7 4
+f 11 5 7
+f 11 2 5
+f 12 9 6
+f 12 4 10
+f 13 2 11
+f 13 11 4
+f 13 12 6
+f 13 4 12
+f 14 3 9
+f 14 9 12
+f 14 12 10
+f 14 10 3
+f 15 9 2
+f 16 15 2
+f 16 2 13
+f 16 13 6
+f 16 6 9
+f 16 9 15
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_12.obj b/apple/apple_12/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26e4fac4a7ba66d8a6e0f4bc42477c1f93068be9
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_12.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.25052956 -0.26196274 0.27597784
+v 0.43337687 -0.06291485 -0.19903495
+v 0.43505086 -0.06420307 0.13869390
+v 0.25405035 -0.00732910 0.32148907
+v 0.24732822 -0.15345574 -0.44837965
+v 0.45216970 -0.00663244 0.08079514
+v 0.34342119 -0.10954776 0.26661813
+v 0.37262090 -0.25566417 -0.12552622
+v 0.24768336 -0.15550366 0.31282458
+v 0.29256246 -0.00755754 -0.44718061
+v 0.44911454 -0.09279073 0.00815960
+v 0.40562449 -0.00893869 0.20960857
+v 0.35636798 -0.22401195 0.18136467
+v 0.34197802 -0.17925332 -0.32852080
+v 0.24993880 -0.25948014 -0.37899193
+v 0.28948703 -0.06444233 0.30828545
+v 0.32116317 -0.13923235 0.27821238
+v 0.24988079 -0.14018403 -0.45267298
+v 0.43518931 -0.00643200 -0.21458914
+v 0.44904019 -0.07864490 0.06511286
+v 0.43301135 -0.12315924 -0.10993078
+v 0.41881443 -0.00643632 0.18182899
+v 0.40253983 -0.09393321 0.19709764
+v 0.37337232 -0.25211889 0.07944051
+v 0.38697409 -0.18169095 -0.22712569
+v 0.31467208 -0.25321194 -0.29914313
+v 0.29853557 -0.16406585 -0.39969002
+v 0.24517671 -0.21118344 -0.41956665
+v 0.33942082 -0.00767541 0.28289530
+v 0.24815351 -0.24510882 0.28835508
+v 0.37446560 -0.16611918 0.20627170
+v 0.37540941 -0.04806011 -0.35786134
+v 0.45088865 -0.00635427 -0.14046708
+v 0.40615312 -0.00648411 -0.30225692
+v 0.44945145 -0.05192805 0.08018877
+v 0.43404946 -0.13664700 -0.03599925
+v 0.40302015 -0.03585667 0.21152470
+v 0.43813631 -0.00692308 0.13866773
+v 0.32897558 -0.25359965 0.19714012
+v 0.43314102 -0.13538392 0.06456277
+v 0.40224203 -0.19647246 -0.12549019
+v 0.41846818 -0.13726251 -0.16879196
+v 0.35834651 -0.25251827 -0.19879115
+v 0.35617338 -0.20881290 -0.27181242
+v 0.30018312 -0.20794872 -0.36984595
+v 0.28375765 -0.16428882 -0.41519442
+v 0.27856392 -0.00850641 0.31306778
+v 0.33540831 -0.08103745 0.27801164
+v 0.29781169 -0.21016176 0.26568025
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+v 0.41851766 -0.10928157 0.15200287
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+v 0.38731726 -0.10755255 -0.29962749
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+v 0.44822700 -0.07778308 -0.09610939
+v 0.37666611 -0.00715496 -0.35905720
+v 0.38855423 -0.07887346 0.22079474
+v 0.35764771 -0.25170330 0.13989465
+v 0.35902581 -0.19494630 0.20549826
+v 0.41820447 -0.13633190 0.12611657
+v 0.40223496 -0.19660328 0.08050617
+v 0.41844056 -0.16660502 -0.09531808
+v 0.41689252 -0.10799143 -0.21385355
+f 9 4 5
+f 15 8 1
+f 16 4 9
+f 17 16 9
+f 18 5 4
+f 18 4 10
+f 20 11 6
+f 24 1 8
+f 26 8 15
+f 28 9 5
+f 29 22 4
+f 29 12 22
+f 30 17 9
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+f 33 6 11
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+f 56 42 2
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+f 56 33 11
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+f 58 37 7
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+f 58 51 23
+f 58 7 51
+f 59 39 24
+f 59 13 39
+f 60 39 13
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+f 60 31 49
+f 61 40 20
+f 61 20 3
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+f 61 31 13
+f 61 13 59
+f 62 24 36
+f 62 36 40
+f 62 40 61
+f 62 61 59
+f 62 59 24
+f 63 36 8
+f 63 8 41
+f 63 41 21
+f 63 21 36
+f 64 42 25
+f 64 2 42
+f 64 54 2
+f 64 25 54
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_13.obj b/apple/apple_12/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4c73021ee5067ae186ca279b1d466e577ede564
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_13.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.18368903 0.23411085 0.35532727
+v -0.18441380 0.23484849 -0.23397719
+v -0.17703963 0.28807335 0.33065928
+v -0.17807404 0.44815295 0.06563292
+v -0.38680839 0.23081925 0.11054972
+v -0.17842281 0.44753529 -0.15562529
+v -0.17901206 0.25926415 0.34504852
+v -0.23538618 0.22884687 0.32887673
+v -0.26129962 0.33777297 0.21099919
+v -0.17660316 0.37301686 0.24184636
+v -0.34854992 0.32905521 -0.09550842
+v -0.38219764 0.22890926 0.12382504
+v -0.20962405 0.22966533 0.34565661
+v -0.26256287 0.25674476 0.29454522
+v -0.17757586 0.43287407 0.12588879
+v -0.20389953 0.33987215 0.26533568
+v -0.23265398 0.42925483 -0.08105175
+v -0.30489300 0.36986998 0.04913361
+v -0.36448300 0.24790927 -0.24414549
+v -0.33264800 0.29831952 0.15122063
+v -0.20735289 0.24197404 0.34073185
+v -0.33734365 0.22918252 0.22526656
+v -0.23135159 0.36853896 0.19608992
+v -0.21900521 0.29973257 0.29509447
+v -0.20689012 0.44382585 -0.09639566
+v -0.27437887 0.36975087 -0.22619608
+v -0.29255057 0.38344327 -0.11065651
+v -0.23232436 0.42931716 -0.00764770
+v -0.21988063 0.42883408 0.06426871
+v -0.34830038 0.32855057 0.03479474
+v -0.35530331 0.30341893 -0.15522480
+v -0.34937970 0.23946564 0.19802849
+v -0.29015673 0.35509588 0.13560361
+v -0.19200754 0.25691430 0.34030544
+v -0.23228308 0.24160855 0.32487909
+v -0.30513677 0.29552961 0.21183012
+v -0.22046952 0.41244359 0.12447674
+v -0.18887146 0.36809004 0.23851490
+v -0.20487161 0.32463587 0.27951762
+v -0.18271480 0.42752763 -0.23268859
+v -0.33647774 0.32617946 -0.16882837
+v -0.21732836 0.42932628 -0.15434870
+v -0.29304784 0.38402588 0.02266405
+v -0.20661915 0.44387920 0.00740849
+v -0.19076009 0.44272082 0.06430284
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+v -0.35241876 0.22956805 0.20013614
+v -0.33569399 0.32628428 0.09562072
+v -0.30366469 0.26982672 0.23702732
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+v -0.33183466 0.26747434 0.19628945
+v -0.29201755 0.36797851 0.09457973
+v -0.17934846 0.43417798 -0.21498389
+v -0.28888495 0.37050795 -0.18407721
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+v -0.32364876 0.31722379 -0.22905074
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+v -0.24765545 0.41429965 -0.12459343
+v -0.20308632 0.42985231 -0.19808877
+v -0.24649467 0.41315759 0.04916906
+v -0.36397478 0.26942084 0.12202696
+v -0.31937939 0.32495653 0.13556476
+v -0.31920925 0.35532008 0.04984250
+f 7 1 2
+f 7 2 3
+f 10 3 6
+f 12 2 8
+f 13 8 2
+f 13 2 1
+f 15 10 6
+f 15 6 4
+f 16 3 10
+f 19 12 5
+f 19 2 12
+f 21 13 1
+f 21 1 7
+f 22 12 8
+f 22 8 14
+f 23 9 16
+f 24 16 9
+f 25 4 6
+f 31 19 5
+f 31 5 11
+f 33 9 23
+f 34 21 7
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+f 64 48 18
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\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_14.obj b/apple/apple_12/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..372a783474feef42ab1bd2bca571c49a0afd785d
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_14.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.43049768 -0.00713615 -0.23209053
+v 0.41791033 -0.00642223 -0.27354097
+v 0.26038853 0.37052875 -0.22781436
+v -0.06123562 0.46243686 -0.22920921
+v -0.43131083 -0.00771851 -0.23081986
+v 0.10070418 0.22838220 -0.47367295
+v 0.39122623 0.19502331 -0.22916157
+v 0.16891551 -0.01038170 -0.47651225
+v -0.33598837 0.30011821 -0.22792268
+v 0.11398449 0.36891387 -0.37086210
+v 0.42207283 0.10852973 -0.22933381
+v 0.32772557 0.09416841 -0.40126973
+v 0.33916736 -0.00775451 -0.40847644
+v -0.25257256 -0.00717510 -0.46201890
+v 0.18518502 0.41689643 -0.22758222
+v -0.15991026 0.31099066 -0.41323986
+v 0.41715861 0.04997922 -0.27289405
+v -0.42658335 0.06555433 -0.22924191
+v 0.22911288 0.25335963 -0.41140911
+v 0.23600079 0.00680236 -0.47478478
+v 0.38790124 0.10627839 -0.31434564
+v 0.37666611 -0.00715496 -0.35905720
+v -0.16795039 0.11366767 -0.47596603
+v -0.24958833 0.38654555 -0.22804051
+v 0.06968751 0.42993630 -0.29927288
+v 0.19874427 0.35196606 -0.34445254
+v -0.31749120 0.16651657 -0.38689591
+v -0.03096360 0.32754904 -0.42942317
+v 0.12794184 0.28204230 -0.44317427
+v 0.23347425 -0.00773771 -0.47596584
+v 0.26216494 0.12487169 -0.44297467
+v 0.40413513 0.10771579 -0.28470512
+v 0.31510017 0.20934242 -0.35593155
+v 0.37467983 0.04940240 -0.35648242
+v 0.02656036 0.46330023 -0.22868238
+v -0.28703164 0.29760841 -0.32986166
+v -0.17581764 0.38465419 -0.32730977
+v 0.22816626 0.36723714 -0.28719450
+v 0.12763868 0.41200212 -0.29936739
+v -0.37766047 0.19638606 -0.27005900
+v -0.36423459 -0.00709605 -0.37500359
+v -0.26551485 0.12608187 -0.44198209
+v -0.08974626 0.27205406 -0.45794201
+v 0.02644839 0.40044793 -0.35618349
+v 0.21242498 0.21106278 -0.44258992
+v 0.18103261 0.31089757 -0.39982567
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+v 0.29848921 0.16704529 -0.40065164
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+v 0.41808209 0.10714918 -0.24301437
+v 0.34100025 0.18129712 -0.34366464
+v 0.28488671 0.25485628 -0.35601408
+v 0.37267987 0.09505516 -0.34524332
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+v -0.03027849 0.44380719 -0.28660145
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+v -0.24678634 0.23957854 -0.41318600
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+v -0.23077996 0.31012609 -0.37005942
+v -0.07641477 0.38499778 -0.37047063
+v 0.15745082 0.42741042 -0.24126936
+v 0.13944520 0.38216563 -0.34291545
+f 8 1 5
+f 11 5 1
+f 11 7 3
+f 11 3 9
+f 13 1 8
+f 15 9 3
+f 17 11 1
+f 17 1 2
+f 18 11 9
+f 18 5 11
+f 22 2 1
+f 22 1 13
+f 22 17 2
+f 23 6 8
+f 23 8 14
+f 24 9 15
+f 30 8 6
+f 30 6 20
+f 30 20 13
+f 30 13 8
+f 34 22 13
+f 34 13 12
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+f 35 24 15
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+f 41 8 5
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+f 51 32 7
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+f 52 32 21
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+f 52 12 49
+f 52 7 32
+f 53 19 26
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+f 53 38 3
+f 53 3 7
+f 53 52 33
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+f 53 49 19
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+f 54 34 12
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+f 54 52 21
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+f 55 22 34
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+f 56 25 44
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+f 59 27 36
+f 59 42 27
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+f 62 44 28
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+f 62 37 56
+f 63 15 38
+f 63 38 39
+f 63 57 15
+f 63 39 57
+f 64 39 26
+f 64 10 25
+f 64 25 39
+f 64 46 10
+f 64 26 46
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_15.obj b/apple/apple_12/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2148df92719798e6b661ef1b14893e38a445744
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_15.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.21429658 0.22907066 0.32575876
+v 0.22467711 0.23484849 0.20541675
+v 0.20189133 0.39214750 0.19881058
+v -0.08999652 0.43316504 0.19934653
+v -0.18441380 0.23484849 0.20541675
+v 0.05384253 0.32941582 0.33881480
+v 0.21809992 0.37829307 0.19972530
+v -0.13535841 0.41975370 0.19969032
+v 0.18190475 0.34194243 0.27930557
+v 0.08312213 0.41312251 0.23806234
+v -0.17885370 0.22918971 0.35977348
+v -0.07402998 0.35805240 0.30951503
+v 0.15333569 0.28542682 0.33688775
+v 0.18275547 0.35805717 0.26531527
+v 0.08493485 0.43377839 0.19906390
+v -0.18152429 0.39595721 0.20276987
+v -0.05786078 0.39913150 0.26828000
+v -0.07325289 0.30002776 0.35366951
+v 0.08286409 0.34026136 0.32525799
+v 0.21226631 0.29663098 0.29455852
+v 0.11458333 0.23047317 0.37079572
+v 0.21194970 0.35511775 0.23925754
+v 0.14097252 0.41254791 0.21168642
+v 0.14305566 0.41759921 0.19886310
+v -0.16384661 0.40624966 0.20045582
+v -0.17414834 0.29553821 0.32575126
+v -0.11794974 0.41368037 0.22253948
+v -0.03115311 0.42861652 0.22719525
+v 0.04104691 0.39864937 0.26931478
+v -0.03095265 0.32787307 0.34005311
+v 0.14254753 0.31447018 0.32332709
+v 0.07010869 0.27488421 0.36836549
+v 0.12609536 0.37130188 0.27996705
+v 0.21201234 0.24295076 0.32223319
+v 0.15661943 0.24516823 0.35351657
+v 0.21407127 0.37334970 0.21139069
+v 0.19563019 0.36879228 0.23819175
+v 0.17026518 0.38252845 0.23857055
+v 0.08349450 0.42815474 0.21150711
+v -0.13353992 0.29678526 0.33906138
+v -0.08791090 0.42822786 0.21167243
+v -0.16122543 0.40191661 0.21241583
+v -0.11740175 0.36940916 0.28362883
+v 0.06791078 0.38613241 0.28187190
+v 0.02585220 0.42788228 0.22675966
+v -0.06066524 0.34300060 0.32444384
+v 0.06840945 0.29991978 0.35401039
+v 0.12884848 0.27019547 0.35479395
+v -0.13673425 0.23136204 0.37307704
+v -0.06030279 0.27204680 0.36827359
+v 0.15597985 0.34030903 0.29443228
+v 0.12582286 0.35561544 0.29453758
+v 0.15825920 0.23135837 0.35590696
+v 0.19810467 0.38707288 0.21014667
+v 0.15641219 0.36803666 0.26822211
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+v -0.16127349 0.25644452 0.35450874
+v -0.08740469 0.41293103 0.23714647
+v -0.13372533 0.41428214 0.21224476
+v -0.17524455 0.35410453 0.26847891
+v -0.07289951 0.38360968 0.28315922
+v 0.09838333 0.31433119 0.33760718
+v 0.11370859 0.24467575 0.36723030
+v -0.13726156 0.24368519 0.36880587
+f 5 2 1
+f 5 3 2
+f 7 1 2
+f 7 2 3
+f 8 4 3
+f 8 3 5
+f 11 5 1
+f 16 5 11
+f 20 14 9
+f 20 1 7
+f 21 11 1
+f 22 20 7
+f 22 14 20
+f 24 3 4
+f 24 4 15
+f 24 23 3
+f 24 15 23
+f 25 8 5
+f 25 5 16
+f 26 16 11
+f 28 15 4
+f 29 17 12
+f 29 28 17
+f 30 29 12
+f 30 6 29
+f 31 9 14
+f 31 20 9
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+f 41 4 8
+f 41 28 4
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+f 47 19 6
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+f 53 21 1
+f 53 1 35
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+f 54 22 3
+f 54 14 37
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+f 55 23 33
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+f 56 43 26
+f 56 12 43
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+f 57 26 11
+f 58 41 27
+f 58 17 28
+f 58 28 41
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+f 59 41 8
+f 59 27 41
+f 59 8 42
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+f 59 42 43
+f 60 42 16
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+f 61 43 12
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+f 62 47 32
+f 62 32 48
+f 62 19 47
+f 62 48 31
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+f 63 48 32
+f 63 32 21
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+f 63 35 48
+f 64 50 18
+f 64 49 50
+f 64 18 40
+f 64 40 57
+f 64 57 11
+f 64 11 49
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_16.obj b/apple/apple_12/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a1535250eb65d6a983eeeb3bdec799909ef652e
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_16.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.33942082 -0.00767541 0.28289530
+v 0.45088865 -0.00635427 -0.14046708
+v 0.40192765 0.16733636 0.12443428
+v 0.24898425 0.23170369 0.30227632
+v 0.25498014 -0.00757576 -0.23397719
+v 0.37325341 0.07694376 0.23665786
+v 0.40562449 -0.00893869 0.20960857
+v 0.25405035 -0.00732910 0.32148907
+v 0.37355777 0.22375672 -0.22836777
+v 0.32716730 0.22361495 0.22422763
+v 0.30071508 0.18075355 0.28243563
+v 0.43049768 -0.00713615 -0.23209053
+v 0.44946133 0.01889630 0.09521497
+v 0.41684308 0.09189541 0.15086986
+v 0.24827800 0.18638613 0.31693231
+v 0.27856392 -0.00850641 0.31306778
+v 0.25498014 0.23484849 -0.23397719
+v 0.34244170 0.24804313 0.17316435
+v 0.34495106 0.07926350 0.26478809
+v 0.25929251 0.22998406 0.29579543
+v 0.35821131 0.15224738 0.22136313
+v 0.43300816 0.10889323 -0.18401832
+v 0.44889388 -0.00642549 0.09519865
+v 0.41671119 0.03352961 0.18145477
+v 0.43287720 0.12239387 0.06390040
+v 0.27269134 0.15454430 0.30818722
+v 0.38633050 0.16499634 0.16457708
+v 0.40351131 0.21062801 0.02125396
+v 0.28402925 0.20997754 0.28172982
+v 0.33722384 0.24508140 0.18536549
+v 0.31191902 0.18264475 0.26731677
+v 0.41751748 0.12208773 -0.22875726
+v 0.45040783 0.03495955 -0.15600562
+v 0.41881443 -0.00643632 0.18182899
+v 0.38819015 0.09285937 0.20818284
+v 0.40372127 0.02063079 0.20747893
+v 0.43282224 0.04900187 0.13656564
+v 0.41673491 0.12220715 0.12441504
+v 0.33198980 0.06405836 0.27897896
+v 0.34836521 0.24280519 0.16794649
+v 0.38622551 0.12209457 0.19618109
+v 0.38669381 0.22327676 -0.18336341
+v 0.41765238 0.16782384 0.06388060
+v 0.44921502 0.09531183 -0.03640288
+v 0.40182657 0.16735483 -0.22861122
+v 0.44963868 0.00889142 -0.15541806
+v 0.43294918 0.06533350 -0.21400078
+v 0.44980972 0.06491941 0.05247272
+v 0.37262939 0.21108015 0.15020609
+v 0.38689316 0.22517021 0.07909871
+v 0.41814004 0.18316153 -0.12535600
+v 0.44857577 0.08009372 -0.11030810
+v 0.43295589 0.13728099 0.02169599
+v 0.40365971 0.19403403 -0.18383615
+v 0.43518931 -0.00643200 -0.21458914
+v 0.38697294 0.18040510 0.14978489
+v 0.38632119 0.21027822 0.10878234
+v 0.41806488 0.18150591 0.02132674
+v 0.40300836 0.20887242 -0.14028724
+v 0.43295656 0.13779520 -0.12558952
+v 0.44905210 0.09505726 -0.00817137
+v 0.38737422 0.20852286 -0.21384372
+v 0.41721640 0.16776723 -0.16955575
+v 0.40189995 0.19479572 0.07906101
+f 7 6 1
+f 12 7 5
+f 12 2 7
+f 15 5 8
+f 16 7 1
+f 16 15 8
+f 16 8 5
+f 16 5 7
+f 17 15 4
+f 17 5 15
+f 17 12 5
+f 18 17 4
+f 18 9 17
+f 19 1 6
+f 19 6 11
+f 20 15 11
+f 20 4 15
+f 23 7 2
+f 23 2 13
+f 26 11 15
+f 26 16 1
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+f 27 14 3
+f 29 20 11
+f 29 11 10
+f 29 10 20
+f 30 18 4
+f 30 4 20
+f 30 20 10
+f 31 11 6
+f 31 6 21
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+f 34 23 13
+f 34 7 23
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+f 38 25 3
+f 38 3 14
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+f 39 19 11
+f 39 11 26
+f 39 26 1
+f 39 1 19
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+f 41 21 35
+f 41 35 14
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+f 48 25 37
+f 48 13 2
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+f 48 33 44
+f 49 40 10
+f 49 10 27
+f 50 18 40
+f 50 42 18
+f 50 28 42
+f 52 44 33
+f 52 33 22
+f 53 43 25
+f 55 46 2
+f 55 2 12
+f 55 12 33
+f 55 33 46
+f 56 49 27
+f 56 27 3
+f 56 3 49
+f 57 50 40
+f 57 40 49
+f 57 49 3
+f 58 28 50
+f 58 43 53
+f 58 51 28
+f 58 44 51
+f 59 42 28
+f 59 28 51
+f 59 54 42
+f 59 51 54
+f 60 51 44
+f 60 44 52
+f 60 52 22
+f 61 48 44
+f 61 58 53
+f 61 44 58
+f 61 53 25
+f 61 25 48
+f 62 54 45
+f 62 45 9
+f 62 9 42
+f 62 42 54
+f 63 54 51
+f 63 22 32
+f 63 32 45
+f 63 45 54
+f 63 60 22
+f 63 51 60
+f 64 57 3
+f 64 3 43
+f 64 50 57
+f 64 58 50
+f 64 43 58
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_17.obj b/apple/apple_12/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7de5bd29406fdd2e830114a09bf5e1e63a6d5318
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_17.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.17169135 -0.29683482 -0.40395860
+v 0.25491228 -0.26507517 -0.37025332
+v 0.01255590 -0.14393940 -0.37034083
+v 0.02547626 -0.00812210 -0.40766265
+v 0.23347425 -0.00773771 -0.47596584
+v 0.25498014 -0.00757576 -0.37034083
+v 0.01325233 -0.14660803 -0.47181760
+v 0.22981295 -0.15171498 -0.45955541
+v 0.01208470 -0.00736107 -0.43066547
+v 0.25176279 -0.00765776 -0.46850935
+v 0.21195625 -0.23542897 -0.42939626
+v 0.14595536 -0.17045909 -0.47749266
+v 0.15514456 -0.01118134 -0.47222595
+v 0.23245186 -0.06560090 -0.47328241
+v 0.24663164 -0.12557610 -0.45717336
+v 0.24477565 -0.16672745 -0.44408632
+v 0.21258518 -0.25130090 -0.41507051
+v 0.07563331 -0.14502133 -0.47686987
+v 0.14376353 -0.22805355 -0.46313080
+v 0.21652007 -0.11049824 -0.47276585
+v 0.24093456 -0.22265097 -0.41464218
+v 0.16050393 -0.16968952 -0.47463263
+v 0.15625010 -0.22644530 -0.45875193
+v 0.15719632 -0.25609152 -0.44355557
+v 0.24496532 -0.25388510 -0.38773053
+v 0.14366332 -0.25822452 -0.44772136
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 9 4 6
+f 9 7 3
+f 9 3 4
+f 10 6 2
+f 10 9 6
+f 10 5 9
+f 13 9 5
+f 13 7 9
+f 14 5 10
+f 14 12 5
+f 15 10 2
+f 15 14 10
+f 16 11 8
+f 16 15 2
+f 16 8 15
+f 17 2 1
+f 17 1 11
+f 18 12 7
+f 18 5 12
+f 18 13 5
+f 18 7 13
+f 19 7 12
+f 20 12 14
+f 20 15 8
+f 20 14 15
+f 21 16 2
+f 21 11 16
+f 22 19 12
+f 22 8 19
+f 22 20 8
+f 22 12 20
+f 23 19 8
+f 23 8 11
+f 24 11 1
+f 24 23 11
+f 24 19 23
+f 25 21 2
+f 25 11 21
+f 25 17 11
+f 25 2 17
+f 26 24 1
+f 26 1 7
+f 26 7 19
+f 26 19 24
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_18.obj b/apple/apple_12/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77f23808a9063c3e397906d1cc26fe41abc93ba1
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_18.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.13376802 0.35606061 0.11450766
+v 0.13376802 0.35606061 -0.23397719
+v 0.14367241 0.44922180 0.12202118
+v -0.19032865 0.42885946 0.11776906
+v -0.18441380 0.35606061 0.11450766
+v -0.18752616 0.42452644 -0.23633775
+v 0.13957852 0.43391324 -0.23985702
+v -0.21427870 0.39920634 -0.25699409
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 8 5 4
+f 8 4 6
+f 8 2 5
+f 8 7 2
+f 8 6 7
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_19.obj b/apple/apple_12/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81d1311c7b0c79143c200db1d6b1b952296b82cb
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_19.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.00426979 -0.00720402 0.31074035
+v -0.00385827 0.04187455 0.30907635
+v -0.00621379 0.04821647 0.31703611
+v -0.06470559 0.10690724 0.46665720
+v -0.09551887 0.01137285 0.33757979
+v -0.06571428 0.08421964 0.47048815
+v -0.03508672 -0.00914149 0.31099418
+v -0.09117984 0.04817258 0.35706389
+v -0.01976668 0.00368339 0.35143427
+v -0.08524736 0.10549427 0.44977044
+v -0.03494653 0.00125490 0.37832254
+v -0.05530047 0.10003110 0.43265699
+v -0.12272717 0.07866461 0.46990260
+v -0.05990592 0.00778847 0.39714730
+v -0.04998969 0.03054647 0.42083135
+v -0.05860662 0.10101390 0.43430311
+v -0.07946403 0.10183336 0.47603629
+v -0.12390389 0.07925949 0.46092744
+v -0.12362775 0.06990862 0.46942785
+v -0.06764806 0.03882756 0.44957906
+v -0.07187761 0.10364112 0.47572313
+v -0.09383096 0.09702681 0.46621215
+v -0.09433097 0.09949430 0.45489122
+v -0.09586988 0.01748194 0.34327035
+v -0.08587440 0.03867468 0.45543735
+v -0.11016140 0.07649272 0.47836518
+v -0.04110933 0.00723114 0.39163007
+v -0.07363315 0.06538523 0.47569602
+v -0.11224288 0.06696106 0.47768284
+f 1 2 3
+f 6 3 4
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 8 2 5
+f 9 1 3
+f 9 3 6
+f 10 3 8
+f 11 7 1
+f 11 1 9
+f 12 4 3
+f 14 5 7
+f 14 7 11
+f 15 11 9
+f 15 9 6
+f 16 10 4
+f 16 4 12
+f 16 12 3
+f 16 3 10
+f 18 10 8
+f 19 18 5
+f 19 13 18
+f 21 6 4
+f 21 4 10
+f 21 10 17
+f 22 17 10
+f 22 13 17
+f 23 18 13
+f 23 10 18
+f 23 22 10
+f 23 13 22
+f 24 18 8
+f 24 8 5
+f 24 5 18
+f 25 19 5
+f 25 5 14
+f 26 17 13
+f 26 21 17
+f 27 11 15
+f 27 15 20
+f 27 20 25
+f 27 25 14
+f 27 14 11
+f 28 20 15
+f 28 15 6
+f 28 25 20
+f 28 6 21
+f 28 21 26
+f 29 26 13
+f 29 13 19
+f 29 19 25
+f 29 28 26
+f 29 25 28
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_2.obj b/apple/apple_12/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aa5370d7fa06e44ae03e27b1046f39460f351e5
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.07077843 -0.47422373 0.10925745
+v 0.36623822 -0.25810492 -0.15549596
+v 0.22001049 -0.25965809 0.29814870
+v -0.34038799 -0.25783579 0.19951595
+v -0.19001910 -0.28160856 -0.41500561
+v 0.33332178 -0.25656806 0.18411540
+v -0.05913480 -0.32899511 0.32521901
+v 0.11354071 -0.42916581 -0.26998715
+v -0.22073211 -0.44450632 -0.12586936
+v -0.23561483 -0.25621557 -0.40333837
+v -0.23689567 -0.25701501 0.29723043
+v 0.22568770 -0.41523423 0.02136617
+v 0.15323665 -0.39940837 0.20778944
+v 0.14366332 -0.25822452 -0.44772136
+v -0.15940699 -0.44267701 0.13812753
+v 0.01153459 -0.49019332 -0.12533409
+v -0.07435889 -0.44306823 -0.27077147
+v 0.20118782 -0.25560106 -0.41999961
+v -0.39958364 -0.25715027 -0.14093068
+v -0.21682500 -0.38497233 -0.28275630
+v 0.24437971 -0.25755646 0.28394881
+v -0.12097278 -0.26055745 0.34315238
+v 0.34352235 -0.29788138 0.06729370
+v 0.26982699 -0.37024015 -0.15309978
+v 0.15262990 -0.44419476 0.10930215
+v 0.02451997 -0.40018484 0.26706732
+v -0.07625579 -0.25980665 -0.46203359
+v -0.32067511 -0.37010171 0.00486677
+v -0.20145393 -0.38267404 0.20954923
+v -0.10389480 -0.48956214 0.00591175
+v 0.12795484 -0.47291745 -0.09474574
+v -0.11941593 -0.47272848 -0.15327887
+v -0.00381822 -0.45904795 -0.24203170
+v 0.04041882 -0.35474394 -0.40174522
+v 0.31856384 -0.25624593 -0.28931537
+v -0.38452691 -0.25734968 0.11056018
+v -0.25897795 -0.29640844 -0.35622792
+v -0.27503533 -0.40139711 -0.15204657
+v -0.10498135 -0.38478106 -0.35500059
+v 0.24043639 -0.33908505 0.20727705
+v 0.19910220 -0.33927837 0.25099136
+v -0.15959406 -0.28342253 0.32220722
+v 0.10024694 -0.26344622 0.34135293
+v -0.17842747 -0.25795938 0.32855711
+v 0.36519686 -0.25717782 0.09644134
+v 0.34394719 -0.29818896 -0.11031802
+v 0.08095357 -0.45850715 0.15150410
+v -0.17929807 -0.25770996 -0.43224922
+v 0.10096078 -0.25798763 -0.46402801
+v -0.21757081 -0.44414476 0.03520329
+v -0.31775971 -0.28242784 0.21003042
+v -0.10382313 -0.38399912 0.26716822
+v 0.04138600 -0.48992579 0.05160503
+v 0.12790714 -0.47418401 0.00644514
+v 0.05651661 -0.47412018 -0.18370177
+v 0.18359350 -0.44446570 -0.08007486
+v -0.14501171 -0.42668521 -0.26988761
+v -0.16205816 -0.47411589 -0.07988875
+v -0.09184691 -0.49058083 -0.08010306
+v -0.06151053 -0.47420434 -0.18406740
+v 0.02676100 -0.41373236 -0.32995905
+v 0.10098231 -0.38475971 -0.35604559
+v 0.31579538 -0.31038497 -0.19938503
+v -0.37896174 -0.29887114 0.02083867
+f 18 11 6
+f 18 10 11
+f 21 6 11
+f 35 18 6
+f 36 4 11
+f 36 11 10
+f 36 10 19
+f 37 10 5
+f 37 19 10
+f 38 20 9
+f 38 37 20
+f 38 19 37
+f 38 28 19
+f 38 9 28
+f 39 5 27
+f 39 27 34
+f 39 37 5
+f 39 20 37
+f 40 6 21
+f 40 13 25
+f 40 23 6
+f 40 25 12
+f 40 12 23
+f 41 21 3
+f 41 40 21
+f 41 13 40
+f 41 26 13
+f 42 7 22
+f 42 11 29
+f 43 22 7
+f 43 3 21
+f 43 21 22
+f 43 7 26
+f 43 41 3
+f 43 26 41
+f 44 22 21
+f 44 21 11
+f 44 42 22
+f 44 11 42
+f 45 23 2
+f 45 6 23
+f 45 35 6
+f 45 2 35
+f 46 23 12
+f 46 12 24
+f 46 2 23
+f 47 25 13
+f 47 1 25
+f 47 13 26
+f 47 26 15
+f 47 15 1
+f 48 27 5
+f 48 5 10
+f 49 18 14
+f 49 34 27
+f 49 27 48
+f 49 48 10
+f 49 10 18
+f 50 28 9
+f 50 29 28
+f 50 15 29
+f 50 30 15
+f 51 29 11
+f 51 11 4
+f 51 28 29
+f 51 36 28
+f 51 4 36
+f 52 26 7
+f 52 42 29
+f 52 7 42
+f 52 29 15
+f 52 15 26
+f 53 1 15
+f 53 15 30
+f 53 16 31
+f 54 25 1
+f 54 53 31
+f 54 1 53
+f 54 12 25
+f 55 31 16
+f 55 8 31
+f 55 33 8
+f 55 16 33
+f 56 24 12
+f 56 54 31
+f 56 12 54
+f 56 31 8
+f 56 8 24
+f 57 17 32
+f 57 39 17
+f 57 20 39
+f 57 32 9
+f 57 9 20
+f 58 9 32
+f 58 50 9
+f 58 30 50
+f 59 58 32
+f 59 30 58
+f 59 53 30
+f 59 16 53
+f 60 32 17
+f 60 17 33
+f 60 33 16
+f 60 59 32
+f 60 16 59
+f 61 33 17
+f 61 39 34
+f 61 17 39
+f 61 8 33
+f 62 61 34
+f 62 8 61
+f 62 35 8
+f 62 18 35
+f 62 14 18
+f 62 49 14
+f 62 34 49
+f 63 35 2
+f 63 24 8
+f 63 8 35
+f 63 46 24
+f 63 2 46
+f 64 36 19
+f 64 19 28
+f 64 28 36
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_20.obj b/apple/apple_12/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb06e2bfb7cc332964d0b103836d44c0e148aa39
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_20.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.13376802 0.35606061 0.11450766
+v 0.23825185 0.37832342 -0.24257753
+v 0.24938220 0.38831041 0.12802487
+v 0.12943750 0.46303857 0.08091947
+v 0.13376802 0.35606061 -0.23397719
+v 0.19928267 0.44428311 -0.09467297
+v 0.13880733 0.41373469 0.21104885
+v 0.12823399 0.44634752 -0.21384970
+v 0.21397840 0.42797636 -0.13902194
+v 0.20131554 0.44396767 0.03563115
+v 0.19183940 0.39601561 0.20204225
+v 0.13056006 0.42102263 0.20056410
+v 0.12913684 0.46391239 -0.15432571
+v 0.13127649 0.43957441 -0.23145594
+v 0.21833582 0.39275877 0.17115815
+v 0.14396996 0.44546471 0.13732352
+v 0.18508564 0.44368047 -0.13845219
+v 0.17162300 0.45813277 -0.08019796
+v 0.15577769 0.45826367 0.06444291
+v 0.12985529 0.44895395 0.13889195
+v 0.15598993 0.42737425 0.16608200
+v 0.21137508 0.41345006 0.13651315
+v 0.15846250 0.43098360 -0.22893421
+v 0.15659229 0.45895627 -0.12463795
+v 0.17111131 0.45837685 0.00747807
+v 0.21419811 0.42813167 0.07984829
+v 0.14336509 0.45901561 0.07999100
+v 0.18482042 0.42673456 0.13649710
+v 0.21198784 0.39914468 0.16719841
+v 0.21325228 0.41326585 -0.19572324
+v 0.15685779 0.44156119 -0.19718828
+v 0.14125284 0.45925654 -0.15421350
+v 0.15593588 0.44347473 0.12513690
+v 0.21410519 0.39949935 -0.22661984
+f 1 2 3
+f 5 2 1
+f 8 5 1
+f 9 3 2
+f 10 9 6
+f 10 3 9
+f 11 7 1
+f 12 1 7
+f 12 8 1
+f 13 8 4
+f 14 2 5
+f 14 5 8
+f 15 11 1
+f 15 1 3
+f 16 12 7
+f 17 6 9
+f 18 10 6
+f 20 16 4
+f 20 12 16
+f 20 4 8
+f 20 8 12
+f 21 16 7
+f 21 7 11
+f 21 11 16
+f 22 15 3
+f 23 2 14
+f 23 14 8
+f 24 13 18
+f 24 18 6
+f 24 6 17
+f 25 18 13
+f 25 13 4
+f 25 4 19
+f 25 19 10
+f 25 10 18
+f 26 10 19
+f 26 22 3
+f 26 3 10
+f 27 19 4
+f 27 4 16
+f 27 16 19
+f 28 16 11
+f 28 11 22
+f 28 22 26
+f 29 22 11
+f 29 11 15
+f 29 15 22
+f 30 17 9
+f 30 9 2
+f 31 23 8
+f 31 8 13
+f 31 30 23
+f 31 17 30
+f 32 24 17
+f 32 13 24
+f 32 31 13
+f 32 17 31
+f 33 26 19
+f 33 19 16
+f 33 28 26
+f 33 16 28
+f 34 30 2
+f 34 2 23
+f 34 23 30
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_21.obj b/apple/apple_12/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c2ed608046ec281eedf7b2eef4023e09cdddcde
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_21.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.14367241 0.44922180 0.12202118
+v 0.15463277 0.46527293 0.01093959
+v 0.02564280 0.49056134 0.04985041
+v -0.08917942 0.47523984 0.07953739
+v -0.07835319 0.41666667 0.00844705
+v 0.04142913 0.47397228 0.10950948
+v 0.11334390 0.47509350 0.04990177
+v -0.19032865 0.42885946 0.11776906
+v -0.07419391 0.49031374 0.00706026
+v -0.04724709 0.47411582 0.10956986
+v 0.04073768 0.49174366 0.00709790
+v 0.09806472 0.47263427 0.07924524
+v -0.14726983 0.46220021 0.06536254
+v -0.01702356 0.49114366 0.05134931
+v -0.11948180 0.45960500 0.10979652
+v 0.11431017 0.47830584 0.00757523
+v 0.04106266 0.49063324 0.02254223
+v 0.11403756 0.46049262 0.11030254
+v 0.13160351 0.45500661 0.11286565
+v -0.07391840 0.48917027 0.02211991
+v -0.19484184 0.43816288 0.07480305
+v -0.07396117 0.47497470 0.09461689
+v -0.16139776 0.44479346 0.11026488
+v -0.14593975 0.45926967 0.07979650
+v 0.13238993 0.47275463 0.00816806
+v -0.17807404 0.44815295 0.06563292
+v -0.17908025 0.43597521 0.11156679
+v -0.17541389 0.44229187 0.09450084
+f 5 2 1
+f 7 1 2
+f 8 5 1
+f 10 8 1
+f 10 1 6
+f 11 5 9
+f 12 7 3
+f 12 3 6
+f 14 10 6
+f 14 6 3
+f 14 11 9
+f 14 3 11
+f 15 8 10
+f 16 5 11
+f 17 11 3
+f 17 3 7
+f 17 16 11
+f 17 7 16
+f 18 12 6
+f 18 6 1
+f 19 1 7
+f 19 7 12
+f 19 18 1
+f 19 12 18
+f 20 13 4
+f 20 9 13
+f 20 14 9
+f 21 9 5
+f 21 5 8
+f 22 10 14
+f 22 15 10
+f 22 4 15
+f 22 20 4
+f 22 14 20
+f 23 8 15
+f 24 15 4
+f 24 4 13
+f 24 23 15
+f 24 13 23
+f 25 16 7
+f 25 7 2
+f 25 2 5
+f 25 5 16
+f 26 13 9
+f 26 9 21
+f 27 21 8
+f 27 8 23
+f 28 26 21
+f 28 23 13
+f 28 13 26
+f 28 27 23
+f 28 21 27
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_22.obj b/apple/apple_12/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f687d5c840cef63d6ada7493f500507d2ad8de74
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_22.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.07835319 0.41666667 -0.09761355
+v -0.07722480 0.48694544 -0.11186867
+v -0.07474495 0.49260068 -0.02305904
+v -0.07578291 0.48221250 0.06627963
+v -0.19484184 0.43816288 0.07480305
+v -0.07505426 0.49274470 -0.05095199
+v -0.19397663 0.43994876 -0.16236068
+v -0.09255169 0.47307740 0.08437413
+v -0.13279097 0.47489518 0.02231154
+v -0.14201418 0.46060298 -0.16627741
+v -0.08949595 0.48955351 -0.05069228
+v -0.17644358 0.45906064 -0.06583104
+v -0.11870505 0.47215123 0.06354701
+v -0.13159640 0.46576552 -0.16166672
+v -0.08899264 0.48913282 -0.02328084
+v -0.13160820 0.47506268 -0.11094589
+v -0.17600646 0.45833313 -0.00778274
+v -0.16128595 0.45969863 0.04959850
+v -0.08598064 0.48400410 -0.11882433
+v -0.16261913 0.46174400 -0.11173134
+v -0.17807404 0.44815295 0.06563292
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 9 4 3
+f 10 1 7
+f 11 3 6
+f 12 7 5
+f 13 8 4
+f 13 4 9
+f 13 5 8
+f 14 2 1
+f 14 1 10
+f 14 10 7
+f 15 11 9
+f 15 9 3
+f 15 3 11
+f 16 11 6
+f 16 6 2
+f 16 12 9
+f 16 9 11
+f 16 14 7
+f 17 12 5
+f 17 9 12
+f 18 13 9
+f 18 17 5
+f 18 9 17
+f 19 16 2
+f 19 2 14
+f 19 14 16
+f 20 16 7
+f 20 7 12
+f 20 12 16
+f 21 18 5
+f 21 5 13
+f 21 13 18
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_23.obj b/apple/apple_12/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d966d535a2f66f7d8d127ff71cd849d00db7f0de
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_23.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.15382794 0.46329990 -0.10226868
+v 0.13957852 0.43391324 -0.23985702
+v 0.04011028 0.47330813 -0.19766870
+v -0.05983344 0.49243311 -0.09638118
+v -0.19397663 0.43994876 -0.16236068
+v 0.04094326 0.49201954 -0.09544104
+v 0.09827431 0.47312599 -0.15376149
+v -0.18752616 0.42452644 -0.23633775
+v -0.18635268 0.45150194 -0.11306678
+v -0.03232667 0.49052084 -0.12525290
+v 0.13250595 0.47247693 -0.09729811
+v 0.12786663 0.46024802 -0.16840923
+v 0.07057702 0.45929514 -0.22832941
+v 0.08326021 0.47363691 -0.16903103
+v -0.11808938 0.45852415 -0.21354208
+v 0.02551013 0.48973266 -0.12542470
+v 0.11461781 0.47722939 -0.09661411
+v -0.14636793 0.46940233 -0.10112410
+v 0.11390970 0.47375931 -0.12510563
+v -0.09106386 0.45885407 -0.22805776
+v 0.09688364 0.45773816 -0.21216581
+v 0.04069141 0.48997444 -0.11030695
+v -0.17657849 0.44304503 -0.18512967
+v -0.07507375 0.47463787 -0.18365334
+v -0.04568155 0.47455069 -0.19792992
+v -0.13569504 0.47413241 -0.09982015
+v -0.14659952 0.44315274 -0.22828031
+v 0.11163158 0.45736354 -0.19739360
+v -0.16111304 0.45760673 -0.13946141
+v -0.05975578 0.49084450 -0.11002764
+v -0.11995885 0.47358728 -0.14002607
+v -0.16135556 0.44182625 -0.21299176
+v 0.12712548 0.44240500 -0.22725539
+v -0.16261913 0.46174400 -0.11173134
+v -0.13137118 0.45779569 -0.19807536
+v -0.12087603 0.47818960 -0.11043611
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 10 4 6
+f 12 1 2
+f 12 11 1
+f 14 13 3
+f 14 7 12
+f 16 10 6
+f 16 14 3
+f 17 6 4
+f 18 9 1
+f 18 1 11
+f 19 12 7
+f 19 11 12
+f 19 17 11
+f 19 7 6
+f 19 6 17
+f 20 13 2
+f 20 2 8
+f 21 2 13
+f 21 13 14
+f 22 6 7
+f 22 7 14
+f 22 16 6
+f 22 14 16
+f 23 8 5
+f 24 20 15
+f 25 16 3
+f 25 10 16
+f 25 24 10
+f 25 20 24
+f 25 3 13
+f 25 13 20
+f 26 17 4
+f 26 9 18
+f 26 18 11
+f 26 11 17
+f 27 20 8
+f 27 15 20
+f 28 12 2
+f 28 21 14
+f 28 14 12
+f 29 23 5
+f 30 4 10
+f 30 10 24
+f 31 24 15
+f 31 23 29
+f 31 30 24
+f 32 15 27
+f 32 27 8
+f 32 8 23
+f 33 28 2
+f 33 2 21
+f 33 21 28
+f 34 29 5
+f 34 5 9
+f 34 9 26
+f 34 31 29
+f 35 31 15
+f 35 23 31
+f 35 32 23
+f 35 15 32
+f 36 26 4
+f 36 4 30
+f 36 30 31
+f 36 34 26
+f 36 31 34
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_24.obj b/apple/apple_12/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b92a62fd4042c07d2bda53b04778b06e9833e61f
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_24.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.27706794 -0.15553578 -0.42616100
+v 0.32165826 -0.12502045 -0.39337471
+v 0.23982863 -0.00757576 -0.40064386
+v 0.26018766 0.10849271 -0.44734646
+v 0.27704682 -0.02356664 -0.45802155
+v 0.32874232 0.09805043 -0.39898440
+v 0.31139575 -0.14220061 -0.39728892
+v 0.31654115 -0.09479478 -0.41367797
+v 0.23877031 -0.00760273 -0.47380541
+v 0.28702972 0.04974733 -0.44521314
+v 0.27130284 -0.12495316 -0.44442350
+v 0.29992740 -0.13783347 -0.41387674
+v 0.31660419 0.07980244 -0.41416494
+v 0.24988079 -0.14018403 -0.45267298
+v 0.23295290 0.09559223 -0.46241621
+v 0.26185495 0.04997190 -0.45756067
+v 0.27625510 -0.05031804 -0.45716578
+v 0.31496799 -0.12224439 -0.40316989
+v 0.27727717 0.09454935 -0.44288455
+v 0.26156621 -0.13763147 -0.44684312
+v 0.26186423 -0.09461383 -0.45667051
+v 0.32235005 0.09638941 -0.40583598
+v 0.24890381 -0.09563976 -0.46189976
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 7 3 1
+f 8 6 2
+f 12 7 1
+f 12 11 8
+f 12 1 11
+f 12 2 7
+f 13 8 5
+f 13 6 8
+f 13 5 10
+f 14 1 3
+f 14 3 9
+f 15 9 3
+f 15 3 4
+f 16 10 5
+f 16 5 9
+f 16 9 15
+f 17 5 8
+f 17 8 11
+f 17 9 5
+f 18 12 8
+f 18 8 2
+f 18 2 12
+f 19 10 16
+f 19 16 15
+f 19 15 4
+f 20 11 1
+f 20 1 14
+f 21 17 11
+f 21 20 14
+f 21 11 20
+f 22 13 10
+f 22 10 19
+f 22 6 13
+f 22 19 4
+f 22 4 6
+f 23 21 14
+f 23 14 9
+f 23 9 17
+f 23 17 21
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_25.obj b/apple/apple_12/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58c25584ab7061a064be29b09e40d52dd842e5ba
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_25.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01255590 -0.14393940 -0.26428022
+v 0.01325233 -0.14660803 -0.47181760
+v 0.00897601 -0.00253846 -0.43954950
+v -0.21471683 -0.00757576 -0.26428022
+v -0.21471683 -0.14393940 -0.26428022
+v -0.21353415 -0.00753060 -0.47093891
+v 0.01255590 -0.00757576 -0.26428022
+v -0.12611587 -0.01011191 -0.46039796
+v -0.21143583 -0.14157070 -0.46421215
+v 0.01522026 -0.12384586 -0.45886485
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 3 4
+f 7 4 1
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 6 2
+f 9 2 5
+f 9 5 6
+f 10 7 1
+f 10 1 2
+f 10 2 3
+f 10 3 7
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_26.obj b/apple/apple_12/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf8bf35315464479d6b0122201be6a75b8733d90
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_26.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.33202605 0.22697955 0.21272950
+v 0.37949169 0.22792228 -0.20058612
+v 0.37275662 0.27075179 0.02142697
+v 0.21779100 0.43622886 0.03619124
+v 0.22467711 0.23484849 -0.23397719
+v 0.30076304 0.35683357 -0.15354545
+v 0.31439587 0.31102587 0.15358942
+v 0.39433049 0.22859745 0.02217731
+v 0.22063066 0.23259622 0.32038345
+v 0.37326640 0.27010677 -0.10963191
+v 0.35836327 0.29839584 -0.00930857
+v 0.22007522 0.39404232 -0.23077458
+v 0.39424828 0.22794075 -0.12579394
+v 0.35828584 0.24175519 0.15062729
+v 0.23160148 0.23053342 0.31400385
+v 0.21597850 0.36021235 0.22778231
+v 0.35852707 0.28179560 -0.15491552
+v 0.27003603 0.38694126 0.08066405
+v 0.34352071 0.31223052 -0.10945867
+v 0.35901384 0.29782547 -0.03633233
+v 0.31447048 0.34051167 0.08042717
+v 0.24321956 0.41365281 -0.12564212
+v 0.31337339 0.31053292 -0.22739724
+v 0.37727543 0.22790244 0.11084317
+v 0.32672786 0.28457829 0.16427916
+v 0.21666375 0.40365409 -0.21324891
+v 0.21640099 0.28613528 0.30019506
+v 0.37248264 0.25413690 -0.16869011
+v 0.22602258 0.38245106 0.18165330
+v 0.35791938 0.28306844 0.06653759
+v 0.25718604 0.38461606 0.12257607
+v 0.22822559 0.42904766 -0.08021804
+v 0.27122833 0.36928345 -0.19924382
+v 0.36867265 0.23014501 -0.23092345
+v 0.34143143 0.28322572 -0.21264121
+v 0.36298759 0.22876855 0.15307840
+v 0.35696930 0.25306070 0.13931269
+v 0.28320104 0.28087307 0.23904553
+v 0.21546821 0.38879904 0.18452091
+v 0.22710980 0.25807219 0.30699825
+v 0.21606218 0.26035642 0.31333232
+v 0.25281476 0.34140870 0.20868538
+v 0.34152143 0.29832885 0.09377339
+v 0.37188637 0.25554470 0.07913640
+v 0.31345861 0.32533247 0.12292089
+v 0.21739592 0.42167290 0.09687524
+v 0.22693717 0.42975642 0.03489570
+v 0.21750021 0.43588427 -0.08107405
+v 0.24302537 0.38210227 -0.22565747
+v 0.29825606 0.34086593 -0.19710716
+v 0.27001986 0.38362279 -0.15194023
+v 0.34456928 0.27003104 -0.22878235
+v 0.32790711 0.31147736 -0.18312796
+v 0.37363051 0.23895359 -0.19808768
+v 0.29931121 0.31172713 0.17873479
+v 0.22625121 0.35455190 0.22397081
+v 0.32728780 0.23883878 0.20915009
+v 0.24077577 0.35378258 0.20827676
+v 0.25440733 0.23931219 0.29537144
+v 0.37157193 0.24023793 0.10935753
+v 0.22759196 0.41476817 0.09518678
+v 0.21757307 0.41920644 -0.17068444
+v 0.22404476 0.28349727 0.29530747
+v 0.29941746 0.25666929 0.23618396
+f 13 1 2
+f 13 10 8
+f 15 9 5
+f 15 5 2
+f 15 2 1
+f 18 11 6
+f 19 17 6
+f 19 10 17
+f 20 11 3
+f 20 10 19
+f 20 19 6
+f 20 6 11
+f 20 3 8
+f 20 8 10
+f 21 11 18
+f 24 13 8
+f 24 1 13
+f 25 1 14
+f 26 12 5
+f 28 13 2
+f 28 17 10
+f 28 10 13
+f 30 3 11
+f 30 11 21
+f 31 21 18
+f 32 18 6
+f 32 6 22
+f 34 2 5
+f 34 5 12
+f 35 23 6
+f 35 17 28
+f 36 24 14
+f 36 14 1
+f 36 1 24
+f 37 25 14
+f 37 7 25
+f 37 14 24
+f 39 29 31
+f 40 9 15
+f 41 26 5
+f 41 5 9
+f 41 40 27
+f 41 9 40
+f 41 39 26
+f 41 27 16
+f 41 16 39
+f 43 30 21
+f 43 7 37
+f 44 24 8
+f 44 8 3
+f 44 3 30
+f 44 43 37
+f 44 30 43
+f 45 31 7
+f 45 21 31
+f 45 43 21
+f 45 7 43
+f 46 39 31
+f 46 4 39
+f 47 32 4
+f 47 4 18
+f 47 18 32
+f 48 4 32
+f 48 39 4
+f 48 26 39
+f 48 32 22
+f 49 33 23
+f 49 23 12
+f 49 12 26
+f 50 33 6
+f 50 6 23
+f 50 23 33
+f 51 33 22
+f 51 22 6
+f 51 6 33
+f 52 34 12
+f 52 12 23
+f 52 23 35
+f 53 35 6
+f 53 6 17
+f 53 17 35
+f 54 35 28
+f 54 28 2
+f 54 2 34
+f 54 52 35
+f 54 34 52
+f 55 38 25
+f 55 25 7
+f 55 42 38
+f 55 7 42
+f 56 16 27
+f 56 38 42
+f 57 1 25
+f 57 25 38
+f 58 39 16
+f 58 29 39
+f 58 16 56
+f 58 56 42
+f 58 31 29
+f 58 42 7
+f 58 7 31
+f 59 27 40
+f 59 40 15
+f 59 15 1
+f 60 44 37
+f 60 37 24
+f 60 24 44
+f 61 46 31
+f 61 31 18
+f 61 18 4
+f 61 4 46
+f 62 48 22
+f 62 26 48
+f 62 49 26
+f 62 22 33
+f 62 33 49
+f 63 56 27
+f 63 38 56
+f 63 59 38
+f 63 27 59
+f 64 59 1
+f 64 38 59
+f 64 57 38
+f 64 1 57
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_27.obj b/apple/apple_12/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff7c266a20865e6778a1c285dad92db8e2f66c35
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.25498014 -0.00757576 0.22056827
+v 0.25498014 -0.00757576 -0.23397719
+v 0.28834087 0.25234973 0.25087241
+v 0.01255590 0.23484849 0.22056827
+v 0.01255590 -0.00757576 -0.23397719
+v 0.01887707 0.00150306 0.22523088
+v 0.01255590 0.23484849 -0.23397719
+v 0.25498014 0.23484849 -0.23397719
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 2 5
+f 7 5 4
+f 7 4 3
+f 8 7 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_28.obj b/apple/apple_12/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77c8e0cff0ed014c8425068a61bb5b11bfe335a1
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00965912 -0.00834484 0.26516088
+v 0.01255590 -0.00757576 -0.23397719
+v 0.01255590 0.23484849 0.26602281
+v -0.24016704 0.26211573 0.30681688
+v -0.21471683 -0.00757576 -0.23397719
+v 0.01255590 0.23484849 -0.23397719
+v -0.21471683 -0.00757576 0.26602281
+v -0.21471683 0.23484849 -0.23397719
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_29.obj b/apple/apple_12/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4e4765517deac4b3ec290a87b801fb100af260a
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.22467711 0.23484849 0.20541675
+v 0.22467711 0.23484849 -0.23397719
+v 0.23825185 0.37832342 -0.24257753
+v -0.19645116 0.37662998 0.21932552
+v -0.18441380 0.23484849 -0.23397719
+v 0.22952530 0.36200960 0.20961205
+v -0.18441380 0.23484849 0.20541675
+v -0.21427870 0.39920634 -0.25699409
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 8 3 2
+f 8 2 5
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_3.obj b/apple/apple_12/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b9715dc008a79c2a973b8e77b3ddf1ad9c2c40d
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_3.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.28761038 -0.29872213 -0.28129266
+v 0.29202392 -0.16604877 -0.40533091
+v 0.25498014 -0.14393940 -0.26428022
+v -0.35808784 -0.14145345 -0.34990969
+v -0.10600199 -0.25838767 -0.45821913
+v 0.14873676 -0.14339013 -0.48130748
+v -0.21471683 -0.26515152 -0.26428022
+v -0.35159774 -0.13947240 -0.36085386
+v 0.12596454 -0.25486756 -0.45631667
+v -0.21471683 -0.14393940 -0.26428022
+v -0.29764412 -0.25819211 -0.34915633
+v -0.22499454 -0.14199402 -0.46038284
+v 0.14163054 -0.24039405 -0.45764084
+v 0.01293568 -0.24429089 -0.47350739
+v -0.35503194 -0.15567218 -0.34792864
+v -0.28072326 -0.14035465 -0.42913051
+v -0.19299896 -0.25559981 -0.42832211
+v 0.09941949 -0.23025033 -0.47199692
+v 0.14518579 -0.18462836 -0.47384224
+v 0.25491228 -0.26507517 -0.37025332
+v 0.05632466 -0.24458847 -0.47270953
+v -0.07797977 -0.20561892 -0.47593067
+v -0.33869074 -0.19717223 -0.34650963
+v -0.13290148 -0.24120682 -0.45816245
+v -0.26467910 -0.18083649 -0.42636816
+v 0.01480300 -0.15228610 -0.47535886
+v -0.06054381 -0.23126086 -0.47395035
+v -0.31015075 -0.24367598 -0.34774473
+v -0.33476011 -0.16924704 -0.37028576
+v -0.17748111 -0.23991541 -0.44248190
+v -0.07520911 -0.21574786 -0.47485802
+v -0.27938529 -0.15501429 -0.42680232
+v -0.24662325 -0.25227911 -0.39785082
+v -0.06300911 -0.19023891 -0.47524471
+v -0.33293742 -0.19374839 -0.35763063
+v -0.34854185 -0.15369112 -0.35887280
+v -0.22244599 -0.15330032 -0.45825504
+v -0.23499904 -0.18240506 -0.44154688
+v -0.28950249 -0.16774279 -0.41395872
+v -0.26087333 -0.20993618 -0.41470688
+v -0.30547079 -0.19457093 -0.38385216
+v -0.29404069 -0.25520585 -0.35648613
+v -0.27633784 -0.23786407 -0.38373804
+v -0.30640738 -0.24077498 -0.35555250
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 8 3 6
+f 9 1 5
+f 10 7 3
+f 10 8 4
+f 10 3 8
+f 11 5 1
+f 11 1 7
+f 15 10 4
+f 15 7 10
+f 15 4 8
+f 16 8 6
+f 16 6 12
+f 17 5 11
+f 18 13 9
+f 19 6 2
+f 19 2 13
+f 19 18 6
+f 19 13 18
+f 20 13 2
+f 20 2 1
+f 20 1 9
+f 20 9 13
+f 21 9 5
+f 21 5 14
+f 21 18 9
+f 21 14 6
+f 21 6 18
+f 22 6 14
+f 23 7 15
+f 24 5 17
+f 26 12 6
+f 27 22 14
+f 27 14 5
+f 27 5 24
+f 28 11 7
+f 28 7 23
+f 29 8 16
+f 30 24 17
+f 31 24 12
+f 31 12 22
+f 31 27 24
+f 31 22 27
+f 32 16 12
+f 32 29 16
+f 33 17 11
+f 34 22 12
+f 34 12 26
+f 34 26 6
+f 34 6 22
+f 35 23 15
+f 35 15 29
+f 36 29 15
+f 36 15 8
+f 36 8 29
+f 37 12 24
+f 37 24 30
+f 37 32 12
+f 37 25 32
+f 38 30 17
+f 38 37 30
+f 38 25 37
+f 39 32 25
+f 39 29 32
+f 40 17 33
+f 40 38 17
+f 40 25 38
+f 40 39 25
+f 41 35 29
+f 41 29 39
+f 41 39 40
+f 42 33 11
+f 43 40 33
+f 43 33 42
+f 44 42 11
+f 44 11 28
+f 44 35 41
+f 44 43 42
+f 44 41 40
+f 44 40 43
+f 44 28 23
+f 44 23 35
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_30.obj b/apple/apple_12/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eb00b683f88b833b2c4db2f539b46f59a9cad8f
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.29202392 -0.16604877 -0.40533091
+v 0.25498014 -0.14393940 -0.26428022
+v 0.01255590 -0.14393940 -0.26428022
+v 0.01255590 -0.00757576 -0.26428022
+v 0.25498014 -0.00757576 -0.37034083
+v 0.02547626 -0.00812210 -0.40766265
+v 0.25498014 -0.00757576 -0.26428022
+v 0.01255590 -0.14393940 -0.37034083
+v 0.14891954 -0.00757576 -0.37034083
+f 1 2 3
+f 3 2 4
+f 6 5 1
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 7 4 2
+f 8 6 1
+f 8 1 3
+f 8 3 4
+f 8 4 6
+f 9 6 4
+f 9 4 5
+f 9 5 6
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_31.obj b/apple/apple_12/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0c52c4391483d35dd4df5d40192ff9df5edd381
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.21471683 -0.00757576 0.20541675
+v -0.21471683 -0.00757576 -0.23397719
+v -0.21471683 0.23484849 0.20541675
+v -0.34391140 0.24016936 0.20920242
+v -0.38351556 -0.00384984 0.23412872
+v -0.36448300 0.24790927 -0.24414549
+v -0.33592895 -0.00757576 -0.23397719
+v -0.21471683 0.23484849 -0.23397719
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 7 5 6
+f 8 6 3
+f 8 3 2
+f 8 2 6
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_4.obj b/apple/apple_12/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd6ad529428fb75cabba6abbb41690b5e16d7d1e
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_4.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.14238695 -0.25991397 0.32688377
+v 0.14891954 -0.26515152 0.17511372
+v 0.02814934 -0.03006603 0.19693009
+v -0.21456109 -0.00683347 0.35304398
+v -0.21471683 -0.26515152 0.17511372
+v -0.02454044 -0.00347258 0.35332899
+v 0.14813291 -0.14846645 0.33030200
+v 0.11372016 -0.26197268 0.33873115
+v -0.21471683 -0.00757576 0.17511372
+v 0.14891954 -0.14393940 0.17511372
+v -0.01431101 -0.00156075 0.33570970
+v -0.19101166 -0.25450656 0.32446363
+v 0.02605754 -0.24470811 0.35596901
+v -0.00246370 -0.00847289 0.30599768
+v -0.20732767 -0.25775115 0.31367092
+v -0.15286766 -0.06936412 0.35587289
+v -0.01735331 -0.25923474 0.35374921
+v 0.11741056 -0.16603113 0.33933491
+v -0.20939579 -0.18564731 0.33945855
+v -0.00319543 -0.25879428 0.35383982
+v -0.14847354 -0.25906872 0.33780728
+v -0.18352339 -0.12912209 0.35595261
+v 0.02521984 -0.20512909 0.35498041
+v -0.20444532 -0.24159794 0.32371922
+v -0.19356242 -0.21359034 0.33793016
+v -0.09108933 -0.24392909 0.35391937
+v -0.14782232 -0.21347910 0.35246583
+v -0.17837745 -0.16999214 0.35226111
+f 7 1 2
+f 8 5 2
+f 8 2 1
+f 8 1 7
+f 9 2 5
+f 9 5 4
+f 10 7 2
+f 10 3 7
+f 10 9 3
+f 10 2 9
+f 11 6 7
+f 11 3 9
+f 11 9 4
+f 11 4 6
+f 14 11 7
+f 14 7 3
+f 14 3 11
+f 16 13 6
+f 16 6 4
+f 18 13 8
+f 18 8 7
+f 18 7 6
+f 19 4 5
+f 19 5 15
+f 20 17 8
+f 20 8 13
+f 20 13 17
+f 21 12 15
+f 21 15 5
+f 21 5 8
+f 21 8 17
+f 22 13 16
+f 22 16 4
+f 22 4 19
+f 23 18 6
+f 23 6 13
+f 23 13 18
+f 24 19 15
+f 24 15 12
+f 25 12 21
+f 25 24 12
+f 25 19 24
+f 26 17 13
+f 26 13 22
+f 26 21 17
+f 27 19 25
+f 27 26 22
+f 27 25 21
+f 27 21 26
+f 28 27 22
+f 28 22 19
+f 28 19 27
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_5.obj b/apple/apple_12/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b501dde99e46936e70f480333ab89a5fdedabbb
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_5.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.28807234 -0.29778677 0.20216096
+v 0.24437971 -0.25755646 0.28394881
+v 0.01255590 -0.14393940 0.17511372
+v 0.00965912 -0.00834484 0.26516088
+v 0.25405035 -0.00732910 0.32148907
+v 0.01239706 -0.14428610 0.34080779
+v 0.24465185 -0.18406540 0.30681923
+v 0.25498014 -0.00757576 0.17511372
+v 0.01050547 -0.11922769 0.33218414
+v 0.14238695 -0.25991397 0.32688377
+v 0.24578631 -0.23010523 0.29384361
+v 0.14891954 -0.26515152 0.17511372
+v 0.02814934 -0.03006603 0.19693009
+v 0.13879339 -0.00648498 0.31542862
+v 0.23053726 -0.26035794 0.29365653
+v 0.20114782 -0.19963651 0.32350088
+v 0.18310599 -0.00652377 0.32671001
+v 0.22242315 -0.00741751 0.32669346
+v 0.17172580 -0.24326927 0.32180881
+v 0.22228433 -0.08248248 0.32444486
+f 7 1 5
+f 8 5 1
+f 9 4 3
+f 9 3 6
+f 10 6 3
+f 11 2 1
+f 11 1 7
+f 12 8 1
+f 12 3 8
+f 12 10 3
+f 12 1 10
+f 13 8 3
+f 13 3 4
+f 13 4 8
+f 14 8 4
+f 14 4 9
+f 15 10 1
+f 15 1 2
+f 15 2 11
+f 15 11 7
+f 16 7 5
+f 16 15 7
+f 17 5 8
+f 17 8 14
+f 17 14 9
+f 17 9 6
+f 18 6 10
+f 18 10 16
+f 18 17 6
+f 18 5 17
+f 19 16 10
+f 19 10 15
+f 19 15 16
+f 20 18 16
+f 20 16 5
+f 20 5 18
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_6.obj b/apple/apple_12/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4123a0f0570bf173290a948d78624c0eafd18b5
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_6.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.28807234 -0.29778677 0.20216096
+v 0.28761038 -0.29872213 -0.28129266
+v 0.25498014 -0.00757576 -0.26428022
+v -0.42362884 -0.00892695 0.15324296
+v -0.40841752 -0.25337348 0.02121078
+v 0.25498014 -0.00757576 0.17511372
+v -0.36827374 -0.25597218 0.15248378
+v -0.42743099 -0.00759405 -0.24365620
+v -0.21471683 -0.00757576 0.17511372
+v -0.42369558 -0.14084897 0.12516402
+v -0.21471683 -0.00757576 -0.26428022
+v -0.36735516 -0.25485160 -0.24330829
+v -0.21471683 -0.26515152 0.17511372
+v -0.40655033 -0.16735063 0.15070760
+v -0.45470569 -0.09556835 -0.09676246
+v -0.21471683 -0.26515152 -0.26428022
+v -0.42362728 -0.05223214 0.15310027
+v -0.40881226 -0.24342056 0.06348200
+v -0.40806061 -0.25273771 -0.10944890
+v -0.40861329 -0.16722507 -0.24186302
+v -0.45664024 -0.00902667 0.03534359
+v -0.42381267 -0.11075087 0.13750127
+v -0.40638076 -0.21223003 0.10818505
+v -0.39303177 -0.25303125 0.09322367
+v -0.43854384 -0.16860474 0.02182003
+v -0.43847830 -0.08131784 -0.19832066
+v -0.43789334 -0.15553825 -0.13968852
+v -0.39275844 -0.25144753 -0.18221201
+v -0.45559669 -0.00851692 -0.13983297
+v -0.43958126 -0.00927173 0.10842955
+v -0.43857030 -0.09553067 0.09497480
+v -0.39143728 -0.22745748 0.13855238
+v -0.42293002 -0.19848317 0.06433722
+v -0.42309898 -0.22912187 -0.00851105
+v -0.45515369 -0.09562447 -0.00836368
+v -0.42319712 -0.09554433 -0.24163109
+v -0.42293485 -0.16623043 -0.19846643
+v -0.43799806 -0.10997078 -0.18320130
+v -0.37637388 -0.24029901 -0.24034511
+v -0.45473874 -0.06652255 -0.12489277
+v -0.44293453 -0.00840833 -0.19844309
+v -0.43914759 -0.15609282 0.05169316
+v -0.43883842 -0.05172065 0.11018822
+v -0.38092341 -0.23906889 0.15105661
+v -0.42360399 -0.22895533 -0.03621231
+v -0.43953342 -0.16815979 -0.10990594
+v -0.45514224 -0.05160115 0.03706298
+v -0.40640013 -0.19595185 -0.21323991
+v -0.40762803 -0.22723314 -0.16713944
+v -0.42272592 -0.12512477 -0.22808068
+v -0.45494767 -0.03637972 -0.13991177
+v -0.43832884 -0.03660832 -0.21208469
+v -0.42259751 -0.21325674 0.03621339
+v -0.39118005 -0.21273085 0.15060780
+v -0.37831096 -0.25238577 0.13786600
+v -0.43881600 -0.02380121 -0.21207809
+f 1 2 3
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 9 1 6
+f 9 8 4
+f 9 6 3
+f 11 3 2
+f 11 9 3
+f 11 8 9
+f 13 7 1
+f 13 1 9
+f 13 9 4
+f 14 7 13
+f 16 2 5
+f 16 5 12
+f 16 11 2
+f 16 8 11
+f 17 14 13
+f 17 13 4
+f 19 12 5
+f 20 16 12
+f 20 8 16
+f 21 4 8
+f 22 10 14
+f 22 14 17
+f 24 18 5
+f 24 5 7
+f 28 12 19
+f 29 21 8
+f 29 15 21
+f 30 17 4
+f 30 4 21
+f 31 10 22
+f 32 14 10
+f 32 10 23
+f 32 23 18
+f 33 23 10
+f 33 18 23
+f 34 5 18
+f 35 21 15
+f 36 8 20
+f 38 37 27
+f 39 20 12
+f 39 12 28
+f 40 15 29
+f 40 26 38
+f 40 38 27
+f 40 27 15
+f 41 29 8
+f 42 10 31
+f 42 33 10
+f 42 18 33
+f 42 25 34
+f 42 35 25
+f 43 30 21
+f 43 17 30
+f 43 31 22
+f 43 22 17
+f 44 7 14
+f 44 32 18
+f 45 19 5
+f 45 5 34
+f 45 34 25
+f 46 35 15
+f 46 25 35
+f 46 45 25
+f 46 15 27
+f 46 19 45
+f 46 27 37
+f 47 21 35
+f 47 43 21
+f 47 31 43
+f 47 42 31
+f 47 35 42
+f 48 37 20
+f 48 39 28
+f 48 20 39
+f 49 28 19
+f 49 46 37
+f 49 19 46
+f 49 48 28
+f 49 37 48
+f 50 36 20
+f 50 20 37
+f 50 37 38
+f 50 38 26
+f 50 26 36
+f 51 40 29
+f 51 26 40
+f 51 29 41
+f 52 36 26
+f 52 51 41
+f 52 26 51
+f 52 8 36
+f 53 42 34
+f 53 34 18
+f 53 18 42
+f 54 44 14
+f 54 14 32
+f 54 32 44
+f 55 24 7
+f 55 7 44
+f 55 44 18
+f 55 18 24
+f 56 52 41
+f 56 41 8
+f 56 8 52
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_7.obj b/apple/apple_12/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a892b28f29dcb85add7f2d6b3cd3301a87afdf41
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_7.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.25405035 -0.00732910 0.32148907
+v 0.25498014 -0.00757576 0.22056827
+v 0.28834087 0.25234973 0.25087241
+v -0.24016704 0.26211573 0.30681688
+v -0.27350414 -0.00724106 0.33818939
+v 0.01255590 0.23484849 0.22056827
+v 0.04056946 0.23014744 0.38519584
+v -0.21471683 -0.00757576 0.26602281
+v 0.17235615 0.21782226 0.35342891
+v -0.00217721 0.23207819 0.38614015
+v -0.15750779 -0.00500564 0.35481481
+v 0.22242315 -0.00741751 0.32669346
+v 0.01887707 0.00150306 0.22523088
+v -0.27178308 0.11310868 0.33497592
+v 0.13011499 0.17712465 0.36912274
+v 0.24319484 0.16998704 0.32451996
+v 0.12665298 0.23057578 0.36743123
+v -0.12307579 0.17487833 0.38647049
+v 0.21694776 0.13009761 0.33864220
+v 0.09959977 0.13183752 0.36807070
+v 0.24257898 0.22834419 0.30759857
+v 0.04173722 0.22081330 0.38615831
+v -0.18015403 0.06980482 0.36907104
+v -0.19597000 0.15955764 0.36924468
+v -0.15027318 0.23131179 0.37050670
+v 0.17456876 0.13309204 0.35306130
+v 0.21644782 0.17337513 0.33844830
+v -0.00405923 0.15207113 0.38479647
+v 0.19691488 0.22782933 0.33746814
+v -0.09295282 0.14475349 0.38665219
+v -0.19884829 -0.00415840 0.35418414
+v -0.24270266 0.05419053 0.35288686
+v -0.24577597 0.18438131 0.33938840
+v -0.09336062 0.20224587 0.38601564
+v -0.17924600 0.20226736 0.36898485
+v 0.24904910 0.03775660 0.32472231
+v 0.01083126 0.16005131 0.38546583
+v 0.22738545 0.21317063 0.32268561
+v -0.26743883 -0.00612489 0.34136535
+v -0.16556788 0.05974054 0.36908346
+v -0.23523298 0.12634003 0.35370944
+v -0.25286031 0.18684815 0.33287048
+v -0.12121170 0.18567449 0.38637808
+v -0.22039611 0.18545860 0.35262869
+v -0.21891547 0.22866326 0.34105972
+v -0.19242218 0.17121579 0.36912987
+v -0.19182121 0.22696695 0.35493815
+v -0.20465375 0.21391070 0.35314545
+v -0.23806109 0.21578194 0.33231352
+v -0.22499842 0.23164000 0.33531815
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 8 4 6
+f 10 3 4
+f 12 8 2
+f 12 2 1
+f 12 5 8
+f 12 11 5
+f 13 8 6
+f 13 6 2
+f 13 2 8
+f 14 8 5
+f 14 4 8
+f 16 1 3
+f 17 15 9
+f 17 10 7
+f 17 3 10
+f 20 12 1
+f 20 1 15
+f 21 16 3
+f 22 17 7
+f 22 15 17
+f 22 7 10
+f 24 23 18
+f 25 10 4
+f 26 19 15
+f 26 15 1
+f 27 9 15
+f 27 15 19
+f 27 16 9
+f 28 11 12
+f 29 9 16
+f 29 17 9
+f 29 21 3
+f 29 3 17
+f 30 22 10
+f 30 10 18
+f 30 18 23
+f 30 11 28
+f 31 5 11
+f 32 14 5
+f 32 23 24
+f 34 10 25
+f 36 27 19
+f 36 1 16
+f 36 16 27
+f 36 26 1
+f 36 19 26
+f 37 28 12
+f 37 12 20
+f 37 20 15
+f 37 15 22
+f 37 30 28
+f 37 22 30
+f 38 29 16
+f 38 16 21
+f 38 21 29
+f 39 31 23
+f 39 5 31
+f 39 32 5
+f 39 23 32
+f 40 30 23
+f 40 23 31
+f 40 31 11
+f 40 11 30
+f 41 32 24
+f 41 14 32
+f 41 33 14
+f 42 4 14
+f 42 14 33
+f 43 34 25
+f 43 18 10
+f 43 10 34
+f 43 25 35
+f 43 24 18
+f 44 41 24
+f 44 33 41
+f 46 43 35
+f 46 24 43
+f 46 44 24
+f 46 35 44
+f 47 35 25
+f 47 25 4
+f 47 4 45
+f 48 44 35
+f 48 47 45
+f 48 35 47
+f 48 45 33
+f 48 33 44
+f 49 42 33
+f 49 33 45
+f 49 4 42
+f 50 49 45
+f 50 45 4
+f 50 4 49
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_8.obj b/apple/apple_12/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e48d17f882ffe117ea10d1d2e35ce7bba62ec174
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_8.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.20732767 -0.25775115 0.31367092
+v -0.21471683 -0.26515152 0.15996221
+v -0.21471683 0.09848485 0.20541675
+v -0.33766937 0.09630140 0.28189568
+v -0.38387402 -0.22981060 0.15324553
+v -0.21951487 0.09665676 0.36223949
+v -0.21471683 -0.00757576 0.15996221
+v -0.36827374 -0.25597218 0.15248378
+v -0.33704081 -0.12504735 0.27974451
+v -0.42177582 -0.00794830 0.15810965
+v -0.21452090 0.03797689 0.35530872
+v -0.24234138 0.09819627 0.35221238
+v -0.20704853 -0.22857584 0.32829664
+v -0.33639658 -0.25509506 0.21014645
+v -0.38803062 0.09660503 0.20010503
+v -0.41220177 -0.14096808 0.15340402
+v -0.37847204 -0.06662410 0.23929238
+v -0.29638083 -0.06755988 0.32356837
+v -0.21051465 -0.17103940 0.34232469
+v -0.28971868 -0.22383078 0.28092817
+v -0.37888085 -0.16723471 0.20959319
+v -0.34825737 -0.23770007 0.21022029
+v -0.37803190 0.02090515 0.23942079
+v -0.40805306 -0.09550283 0.18271129
+v -0.29037950 0.09456339 0.32482755
+v -0.26743883 -0.00612489 0.34136535
+v -0.26233756 -0.16738684 0.32235137
+v -0.24906361 -0.25402691 0.29199829
+v -0.39240241 -0.16769155 0.18146844
+v -0.36391647 -0.10881004 0.25273527
+v -0.36110235 -0.21162697 0.20980909
+v -0.39963501 0.05036642 0.19788954
+v -0.41204246 -0.00866459 0.18485068
+v -0.40673549 -0.13985837 0.16610622
+v -0.25381203 0.09779968 0.34572666
+v -0.25138068 -0.11106367 0.33827589
+v -0.23916127 -0.15509997 0.33738942
+v -0.28155411 -0.12583706 0.32207591
+v -0.32226079 -0.16826649 0.27899849
+v -0.21949560 -0.25476305 0.30843878
+v -0.21901763 -0.22597263 0.32270075
+v -0.36359278 -0.15205754 0.23710523
+v -0.37873184 -0.13909693 0.22225901
+v -0.37829122 -0.22758917 0.16543536
+v -0.34852447 0.07971055 0.27039564
+v -0.39432097 -0.09557275 0.20938526
+v -0.26684614 -0.05153770 0.33853973
+v -0.22455733 -0.17019421 0.33847024
+v -0.30652876 -0.10897239 0.30841852
+v -0.33393400 -0.19615797 0.25068897
+v -0.34842594 -0.12386788 0.26762889
+v -0.39305847 0.04891274 0.20893344
+v -0.36381355 0.09489021 0.24017635
+v -0.31949607 -0.22357668 0.25023158
+v -0.33455854 -0.16616044 0.26639900
+f 7 1 2
+f 8 7 2
+f 11 3 6
+f 12 6 3
+f 13 7 3
+f 13 1 7
+f 13 3 11
+f 14 8 2
+f 14 2 1
+f 15 3 7
+f 15 7 10
+f 15 12 3
+f 15 4 12
+f 16 8 5
+f 16 10 7
+f 16 7 8
+f 18 4 17
+f 19 13 11
+f 19 11 6
+f 22 5 8
+f 22 8 14
+f 23 17 4
+f 24 10 16
+f 25 4 18
+f 26 6 12
+f 26 25 18
+f 28 20 14
+f 28 14 1
+f 29 16 5
+f 29 5 21
+f 30 18 17
+f 30 9 18
+f 32 15 10
+f 33 17 23
+f 33 10 24
+f 33 32 10
+f 33 23 32
+f 34 24 16
+f 34 29 21
+f 34 16 29
+f 35 12 4
+f 35 4 25
+f 35 26 12
+f 35 25 26
+f 37 27 13
+f 37 19 6
+f 37 6 36
+f 38 27 37
+f 38 37 36
+f 38 36 18
+f 39 20 27
+f 39 27 38
+f 40 28 1
+f 40 1 13
+f 40 13 28
+f 41 27 20
+f 41 20 28
+f 41 28 13
+f 41 13 27
+f 42 21 31
+f 43 21 42
+f 43 34 21
+f 43 24 34
+f 44 5 22
+f 44 22 31
+f 44 31 21
+f 44 21 5
+f 45 23 4
+f 46 33 24
+f 46 17 33
+f 46 24 43
+f 46 43 30
+f 46 30 17
+f 47 36 6
+f 47 6 26
+f 47 26 18
+f 47 18 36
+f 48 37 13
+f 48 13 19
+f 48 19 37
+f 49 38 18
+f 49 18 9
+f 49 39 38
+f 49 9 39
+f 50 31 22
+f 51 9 30
+f 51 43 42
+f 51 30 43
+f 52 45 32
+f 52 32 23
+f 52 23 45
+f 53 45 4
+f 53 4 15
+f 53 15 32
+f 53 32 45
+f 54 50 22
+f 54 20 39
+f 54 39 50
+f 54 22 14
+f 54 14 20
+f 55 42 31
+f 55 31 50
+f 55 50 39
+f 55 51 42
+f 55 39 9
+f 55 9 51
\ No newline at end of file
diff --git a/apple/apple_12/collision/model_normalized_collision_9.obj b/apple/apple_12/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..782e734871398b6e260cc6b8d655305713b9cea4
--- /dev/null
+++ b/apple/apple_12/collision/model_normalized_collision_9.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.21951487 0.09665676 0.36223949
+v -0.21471683 0.09848485 0.20541675
+v -0.21444582 0.23455312 0.34118420
+v -0.37245818 0.24881268 0.12847230
+v -0.42298050 0.09779403 0.11316891
+v -0.21471683 0.23484849 0.20541675
+v -0.39640684 0.09500109 0.18431755
+v -0.33592895 0.09848485 0.11450766
+v -0.32215551 0.09494225 0.29616236
+v -0.37639055 0.18432565 0.18275175
+v -0.38680839 0.23081925 0.11054972
+v -0.41367042 0.09548264 0.13968513
+v -0.28413679 0.09751868 0.32975828
+v -0.33487565 0.10969249 0.28159081
+v -0.31807006 0.22631055 0.25215111
+v -0.41133192 0.15518961 0.10872418
+v -0.34891296 0.22935075 0.20897569
+v -0.37827124 0.15512268 0.19571668
+v -0.33766937 0.09630140 0.28189568
+v -0.29082395 0.21469784 0.29375680
+v -0.39928797 0.20136134 0.10986975
+v -0.40793029 0.12448122 0.13745091
+v -0.31877938 0.16716881 0.28327563
+v -0.36359801 0.18374813 0.20866346
+v -0.38145408 0.09515135 0.21114892
+v -0.27557246 0.15391384 0.32364410
+v -0.26251879 0.22641268 0.30963823
+v -0.40663203 0.15400714 0.12212273
+v -0.33198272 0.15420251 0.26863982
+v -0.37910263 0.11006987 0.20995705
+v -0.24842883 0.21309057 0.32580556
+v -0.30605400 0.16926981 0.29385082
+v -0.23538618 0.22884687 0.32887673
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 8 6 2
+f 9 7 2
+f 9 2 1
+f 11 4 6
+f 11 6 8
+f 12 5 8
+f 12 8 2
+f 12 2 7
+f 13 9 1
+f 13 1 3
+f 14 9 13
+f 15 3 4
+f 16 11 8
+f 16 8 5
+f 17 15 4
+f 18 12 7
+f 19 9 14
+f 19 14 18
+f 21 11 16
+f 21 10 17
+f 21 17 4
+f 21 4 11
+f 22 18 10
+f 22 12 18
+f 22 16 5
+f 22 5 12
+f 23 15 17
+f 23 20 15
+f 23 14 13
+f 24 17 10
+f 24 10 18
+f 24 23 17
+f 24 18 14
+f 25 7 9
+f 25 9 19
+f 25 18 7
+f 26 13 3
+f 27 3 15
+f 27 15 20
+f 28 22 10
+f 28 16 22
+f 28 21 16
+f 28 10 21
+f 29 24 14
+f 29 14 23
+f 29 23 24
+f 30 25 19
+f 30 19 18
+f 30 18 25
+f 31 26 3
+f 31 20 26
+f 32 23 13
+f 32 13 26
+f 32 26 20
+f 32 20 23
+f 33 27 20
+f 33 20 31
+f 33 31 3
+f 33 3 27
\ No newline at end of file
diff --git a/apple/apple_12/model.xml b/apple/apple_12/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..49842253115ff63e967d33968eeae4361f6303e4
--- /dev/null
+++ b/apple/apple_12/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="apple_14">
+  <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" texture="image0" specular="0.5" shininess="0.15999998099999999"/>
+  </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"/>
+        <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="-0.00015646889999999886 7.573544999999849e-05 -0.0336915236" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00015646889999999886 7.573544999999849e-05 0.033485562600000005" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.031651879 0.034492129 -0.00010298050000000031" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/apple/apple_12/visual/material.mtl b/apple/apple_12/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9b69ee017d934c5b09e3ee53e590b4276cccd4fc
--- /dev/null
+++ b/apple/apple_12/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 159.99998100
+map_Kd material_0.png
\ No newline at end of file
diff --git a/apple/apple_12/visual/model_normalized_0.obj b/apple/apple_12/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bda455b7326c3fc556e5a3f07f3a0ad83512e2f
--- /dev/null
+++ b/apple/apple_12/visual/model_normalized_0.obj
@@ -0,0 +1,4201 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.42577004 0.11665887 -0.20353143
+v -0.43832202 0.12260524 -0.13077839
+v -0.41172694 0.20682239 -0.13986612
+v -0.39854527 0.19928759 -0.21031567
+v -0.41043181 0.11267818 -0.25715629
+v -0.38344866 0.19315796 -0.26121311
+v -0.37232520 0.25583933 -0.21193761
+v -0.35721613 0.24990704 -0.26198586
+v -0.38543277 0.26326571 -0.14163853
+v -0.38387070 0.10224027 -0.32351160
+v -0.35535541 0.18227866 -0.32725745
+v -0.33269207 0.23351685 -0.32829103
+v -0.34442877 0.08601100 -0.38697029
+v -0.31499245 0.16337163 -0.39201441
+v -0.29250806 0.21480962 -0.39326254
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\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_0.obj b/apple/apple_13/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c4f6fd510c954cb3c1f1eb00ca3144276546d32
--- /dev/null
+++ b/apple/apple_13/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.02095069 -0.47711937 0.20416270
+v 0.17851090 -0.30819867 -0.25747256
+v 0.14393941 -0.26821458 0.25422108
+v -0.23484847 -0.26821458 0.25422108
+v -0.26668285 -0.30174368 -0.25394401
+v 0.09317344 -0.41886104 0.31567710
+v -0.03719685 -0.44748647 -0.16385262
+v -0.22343655 -0.41709505 0.21774503
+v 0.13344040 -0.44701428 -0.00022943
+v -0.09244117 -0.41515249 -0.22136833
+v -0.22514389 -0.40507464 0.24947687
+v -0.10689782 -0.47618570 0.02929294
+v 0.13572237 -0.44707405 0.17557219
+v 0.04491194 -0.41455983 -0.22086266
+v -0.11007335 -0.46294658 0.23511507
+v 0.04698146 -0.47714148 -0.03059680
+v -0.12188860 -0.44537860 -0.10422958
+v 0.09110776 -0.46052069 0.20405232
+v 0.14944892 -0.40052607 0.30601537
+v 0.13274348 -0.41648753 -0.11830040
+v 0.00444520 -0.44734151 -0.16381199
+v -0.15223684 -0.44506239 0.24736805
+v 0.00630101 -0.46699892 0.24997243
+v -0.10914340 -0.47659049 0.16110910
+v 0.07817238 -0.47742572 0.11639140
+v -0.03628143 -0.47707994 -0.05983466
+v -0.09258248 -0.44672820 -0.13385842
+v -0.20783643 -0.38524828 -0.17683616
+v 0.13560581 -0.43080567 0.24949543
+v 0.13054152 -0.37066825 -0.21978691
+v 0.13285749 -0.43120912 -0.07431433
+v 0.06072060 -0.44479214 -0.13222624
+v -0.19491588 -0.42992304 0.23253249
+v -0.20779626 -0.41690976 0.24840327
+v 0.00593138 -0.47848621 0.20450530
+v 0.04865676 -0.46026055 0.24883564
+v -0.13737778 -0.46090523 0.20449799
+v -0.18229666 -0.44700942 0.01360425
+v 0.07769516 -0.47717662 0.04356143
+v 0.10619305 -0.46217976 0.16048515
+v 0.06372421 -0.47693529 0.16005822
+v 0.00488495 -0.47802396 -0.05991014
+v -0.06333729 -0.47630516 -0.04473346
+v -0.06489063 -0.46174868 -0.10323750
+v -0.13578164 -0.40083537 -0.22191951
+v 0.11991279 -0.44572201 0.21869823
+v 0.13530465 -0.41442586 0.29178619
+v 0.10368858 -0.41486818 -0.16252916
+v 0.13136226 -0.38518493 -0.19097987
+v 0.11987659 -0.44576256 -0.04396688
+v 0.03436676 -0.43069897 -0.19209824
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+v -0.15187377 -0.46212079 0.04402367
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+v -0.02074846 -0.46190531 -0.11913735
+v -0.22266560 -0.35531578 -0.22126204
+v -0.16611596 -0.41518293 -0.14866581
+v 0.04542930 -0.44486494 -0.14757613
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\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_1.obj b/apple/apple_13/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..699b8b5b36389199d031f3f63dbb8a7599610640
--- /dev/null
+++ b/apple/apple_13/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23484847 -0.01063883 0.22391805
+v -0.23484847 -0.01063883 -0.20032437
+v -0.22795887 0.38581361 -0.17859429
+v -0.22751659 0.41604097 0.20540018
+v -0.49187729 0.07898137 0.14621117
+v -0.47753767 -0.00778828 -0.07533036
+v -0.46509077 0.12326007 0.21901674
+v -0.35606058 -0.01063883 0.22391805
+v -0.39758199 0.23619307 -0.17559620
+v -0.23194190 0.40881095 0.22192450
+v -0.48653536 0.07978216 0.17671941
+v -0.47347336 0.13693546 -0.05938273
+v -0.23051927 0.37523035 -0.19606688
+v -0.43276139 -0.00789513 -0.19322006
+v -0.32834239 0.36631824 -0.01604133
+v -0.47223494 0.14881241 0.17264787
+v -0.49181206 0.07937815 -0.00180705
+v -0.31182248 0.33490852 -0.17522584
+v -0.44440950 0.09250564 -0.17726949
+v -0.41181860 0.19322075 -0.19151625
+v -0.22944669 0.43104245 -0.00166219
+v -0.41424206 0.27980860 0.01356419
+v -0.34173648 0.35056776 0.15990704
+v -0.49063978 0.09176272 0.14600116
+v -0.47400498 0.09217949 -0.08994737
+v -0.26840594 0.36458465 -0.17553783
+v -0.45880396 -0.00709524 -0.13309544
+v -0.38297616 0.24895269 -0.19038837
+v -0.42923866 0.13612094 -0.19135761
+v -0.45895514 0.18033519 -0.05689409
+v -0.22875082 0.43184969 0.10177935
+v -0.34018510 0.32198130 -0.14912036
+v -0.29790037 0.38077971 0.17288634
+v -0.32791192 0.36654700 0.13035227
+v -0.41370913 0.27982819 0.13009675
+v -0.39900674 0.26618200 0.21320673
+v -0.48951558 0.10701187 0.01360097
+v -0.49092118 0.09213754 -0.00169097
+v -0.25427879 0.36518587 -0.19065917
+v -0.27005243 0.39541630 -0.08855381
+v -0.44335277 0.00673944 -0.17579903
+v -0.47404222 -0.00711896 -0.08959386
+v -0.41212199 0.20849759 -0.17649836
+v -0.45872494 0.13327439 -0.11904168
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+v -0.26967551 0.41083525 0.05663472
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+v -0.36884647 0.27980407 -0.17525895
+v -0.29796948 0.36589074 0.21528975
+v -0.23897850 0.40978739 0.20383924
+v -0.31395164 0.38110948 0.02830907
+v -0.28365321 0.39606297 0.14516780
+v -0.39815816 0.29396629 0.15954828
+v -0.44357798 0.22300090 0.16113854
+v -0.48944398 0.10679715 0.13054015
+v -0.47368895 0.16541266 -0.00179837
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+v -0.29803584 0.33666070 -0.19133175
+v -0.23012943 0.41698716 -0.09081272
+v -0.31064148 0.36683398 -0.08909199
+v -0.44263507 0.13571076 -0.16219004
+v -0.45849422 0.10770806 -0.13394782
+v -0.23967418 0.42669934 -0.00104960
+v -0.39895913 0.29479756 -0.01304260
+f 1 2 3
+f 1 3 4
+f 8 6 2
+f 8 2 1
+f 10 1 4
+f 10 8 1
+f 10 7 8
+f 11 5 6
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+f 11 8 7
+f 13 3 2
+f 14 2 6
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+f 16 11 7
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+f 36 7 10
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+f 58 28 48
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+f 63 46 31
+f 63 31 21
+f 63 51 46
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+f 63 59 40
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+f 64 15 47
+f 64 47 48
+f 64 48 45
+f 64 45 22
\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_10.obj b/apple/apple_13/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00171780ea947b8b9bfd7384994b158ec5d5d1e7
--- /dev/null
+++ b/apple/apple_13/collision/model_normalized_collision_10.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.24609744 -0.24679049 -0.25186174
+v 0.20528621 -0.21036571 -0.33981988
+v 0.21538145 -0.00911695 -0.44986388
+v 0.00757578 -0.01063883 -0.23062740
+v 0.01936065 -0.25199249 -0.44816133
+v 0.21969699 -0.01063883 -0.23062740
+v 0.20407896 -0.12225619 -0.41164984
+v 0.12176438 -0.21558134 -0.41887453
+v 0.00757578 -0.22276003 -0.23062740
+v 0.01156412 -0.01001722 -0.42903308
+v 0.20360275 -0.16547767 -0.38330513
+v 0.20830149 -0.06335044 -0.43864801
+v 0.13205368 -0.21181127 -0.41369224
+v 0.18691794 -0.00987933 -0.46505892
+v 0.14716984 -0.15356974 -0.44045434
+v 0.19672434 -0.00920162 -0.46025801
+v 0.12421851 -0.12963485 -0.46278517
+v 0.12059570 -0.20002864 -0.43100708
+v 0.17463177 -0.16548354 -0.41187149
+v 0.19312336 -0.04831099 -0.45379910
+v 0.12285494 -0.14300664 -0.45952266
+v 0.13129249 -0.19660050 -0.42555806
+v 0.13294534 -0.13964209 -0.45508973
+v 0.14587282 -0.18102675 -0.42474641
+f 6 1 3
+f 6 3 4
+f 8 1 5
+f 9 5 1
+f 9 6 4
+f 9 1 6
+f 10 4 3
+f 10 9 4
+f 10 5 9
+f 11 7 1
+f 11 1 2
+f 12 3 1
+f 12 1 7
+f 13 2 1
+f 13 1 8
+f 13 11 2
+f 15 12 7
+f 16 14 10
+f 16 10 3
+f 17 5 10
+f 17 10 14
+f 18 8 5
+f 19 15 7
+f 19 7 11
+f 19 11 13
+f 20 16 3
+f 20 3 12
+f 20 17 14
+f 20 14 16
+f 21 15 18
+f 21 17 20
+f 21 18 5
+f 21 5 17
+f 22 13 8
+f 22 8 18
+f 23 21 20
+f 23 20 12
+f 23 12 15
+f 23 15 21
+f 24 15 19
+f 24 19 13
+f 24 13 22
+f 24 22 18
+f 24 18 15
\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_11.obj b/apple/apple_13/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e82f1b94f0454d322a48ff469bbbcb80e7a8fce
--- /dev/null
+++ b/apple/apple_13/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.13800095 -0.43701028 0.22042539
+v 0.29462676 -0.26751062 -0.15438038
+v 0.25044573 -0.32834308 0.31926506
+v 0.14373503 -0.26781262 0.43492672
+v 0.13640982 -0.36373296 -0.22453506
+v 0.25774739 -0.26184762 0.38045910
+v 0.13647183 -0.38953412 0.33653728
+v 0.22260273 -0.40246395 0.05987850
+v 0.25575825 -0.26029210 -0.22353134
+v 0.25240136 -0.35701650 0.26214228
+v 0.13607890 -0.43668097 -0.04540601
+v 0.14090188 -0.29083549 0.42298790
+v 0.19259083 -0.32697673 0.37560547
+v 0.17851090 -0.30819867 -0.25747256
+v 0.28619530 -0.26016484 -0.17978795
+v 0.18443563 -0.26261968 0.42438792
+v 0.25094853 -0.37130048 0.00140053
+v 0.22372810 -0.40206534 0.16039138
+v 0.19264562 -0.38539026 0.29206683
+v 0.16416110 -0.43130587 0.19075019
+v 0.25199195 -0.27237378 0.37804739
+v 0.13999380 -0.33406005 0.39454155
+v 0.26880662 -0.25851924 -0.20750191
+v 0.24897195 -0.31203418 -0.15944721
+v 0.16764081 -0.28873009 0.41666854
+v 0.25195633 -0.37138494 0.21878926
+v 0.17714739 -0.41606299 -0.02931915
+v 0.13798973 -0.40538544 0.30693526
+v 0.23660762 -0.35613948 0.29207497
+v 0.17807856 -0.36998195 0.33362104
+v 0.16362896 -0.43056417 0.00055024
+v 0.19351513 -0.40208945 0.24858368
+v 0.22180591 -0.34153169 0.33442189
+v 0.24105305 -0.26052092 0.39350071
+v 0.16490836 -0.34291548 0.37633263
+v 0.23447352 -0.29654976 -0.20374532
+v 0.28219431 -0.28724123 -0.14702957
+v 0.18392425 -0.27371071 0.41923775
+v 0.22110417 -0.38598168 -0.02885788
+v 0.14779647 -0.40147993 -0.13190411
+v 0.16466568 -0.40049624 0.29197744
+v 0.14763541 -0.43038356 -0.04370172
+v 0.16485398 -0.41711680 0.24926913
+v 0.20786987 -0.40079607 0.21900601
+v 0.20802073 -0.34252401 0.34565126
+v 0.19328208 -0.37007132 0.31852243
+v 0.23715372 -0.27277330 0.38879182
+v 0.18014375 -0.30023370 0.40436806
+v 0.16398167 -0.35645223 0.36065273
+v 0.25107942 -0.26913082 -0.21905522
+v 0.20489527 -0.31194552 -0.21937708
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\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_12.obj b/apple/apple_13/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbf11e1dc65284208a1db2c5457475ba5f03908b
--- /dev/null
+++ b/apple/apple_13/collision/model_normalized_collision_12.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.26493888 -0.34374543 0.26926589
+v 0.46300887 -0.02178601 0.26390058
+v 0.30155014 -0.04921639 0.44592154
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+v 0.26515153 0.23178542 0.26937259
+v 0.40076241 0.12416457 0.39101913
+v 0.25849792 -0.17295355 0.42294134
+v 0.28296035 -0.33024385 0.26275810
+v 0.39960671 -0.02032250 0.37777807
+v 0.27264225 0.13802434 0.47897686
+v 0.43377379 0.22584804 0.26519134
+v 0.25649881 -0.31962467 0.32367490
+v 0.35859888 0.05127949 0.43330780
+v 0.42882389 0.00744827 0.34692612
+v 0.33957205 -0.09216691 0.40417564
+v 0.34461016 0.16373343 0.43316031
+v 0.26178513 0.03699244 0.48082619
+v 0.45917808 0.10796976 0.29382630
+v 0.37145382 -0.21312888 0.26190856
+v 0.25882405 -0.33716277 0.29498457
+v 0.25932916 0.19655684 0.46755899
+v 0.41143522 -0.09294387 0.31996362
+v 0.40052682 0.02304870 0.38924595
+v 0.27028348 -0.17066123 0.41780023
+v 0.35682661 -0.01993267 0.42064778
+v 0.38544317 0.22068452 0.36300868
+v 0.35861240 0.10958342 0.43351869
+v 0.26160032 -0.03707042 0.46624202
+v 0.27501513 0.03691916 0.47786165
+v 0.46094241 0.15138801 0.26395348
+v 0.45783462 0.00719883 0.29305632
+v 0.42885613 0.13566900 0.34747253
+v 0.32297972 -0.25584915 0.30355607
+v 0.26225526 0.13852549 0.48238406
+v 0.28740990 0.18083097 0.46222146
+v 0.41348840 -0.05021854 0.34652180
+v 0.44873210 -0.06524644 0.26406154
+v 0.25774739 -0.26184762 0.38045910
+v 0.38505110 -0.06290640 0.37617696
+v 0.36996958 0.02340692 0.41968025
+v 0.41200213 0.22279029 0.32015270
+v 0.34282849 0.21984675 0.40419136
+v 0.38624897 0.17872387 0.38863167
+v 0.37144024 0.12180080 0.42074524
+v 0.30318238 0.15131142 0.46317744
+v 0.27219587 -0.03562479 0.46318060
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+f 64 49 33
+f 64 33 50
+f 64 50 20
+f 64 20 8
\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_13.obj b/apple/apple_13/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac14e18c763efba27b20e6492476b7cf4a51a66a
--- /dev/null
+++ b/apple/apple_13/collision/model_normalized_collision_13.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.31033198 -0.12034471 -0.34907363
+v -0.22985429 -0.01225287 -0.43366058
+v -0.23484847 -0.01063883 -0.20032437
+v -0.23051927 0.37523035 -0.19606688
+v -0.41376837 0.16657041 -0.20662748
+v -0.22681304 0.35356166 -0.23715482
+v -0.28874751 -0.11501461 -0.37601266
+v -0.42937986 -0.01016798 -0.19910519
+v -0.22862677 0.00253904 -0.43170807
+v -0.22778953 0.37014722 -0.20847783
+v -0.35727561 0.28237705 -0.19243695
+v -0.33957466 0.09389894 -0.33796328
+v -0.32277956 -0.11598036 -0.33451960
+v -0.29730913 0.32053354 -0.21911798
+v -0.43533717 0.09348694 -0.19420496
+v -0.24276461 0.37002779 -0.19341563
+v -0.29518720 -0.02468028 -0.38158736
+v -0.26766955 0.12070830 -0.39391179
+v -0.33897132 0.20651976 -0.29229214
+v -0.35486096 0.02103097 -0.32242159
+v -0.40363783 0.20999343 -0.19435932
+v -0.43420363 0.00602730 -0.19394841
+v -0.38370437 0.10889548 -0.27936431
+v -0.32918340 0.31084362 -0.19301166
+v -0.26854633 0.34878682 -0.20511307
+v -0.31131826 0.09406866 -0.36581765
+v -0.23881452 -0.01359408 -0.42739216
+v -0.22820591 0.13762159 -0.41391319
+v -0.30990471 0.27711724 -0.26244120
+v -0.40035727 -0.00790623 -0.25079530
+v -0.29628361 0.00348817 -0.38076773
+v -0.32376600 -0.09819383 -0.33893421
+v -0.32488072 -0.02400987 -0.35161726
+v -0.38724235 0.23890195 -0.19316231
+v -0.41945776 0.16802317 -0.19426503
+v -0.38361790 0.20502829 -0.23315228
+v -0.27152125 0.35368625 -0.19258376
+v -0.39749630 0.13638028 -0.25057027
+v -0.35466037 0.06465379 -0.32292875
+v -0.35361016 0.14924657 -0.30671472
+v -0.24014870 0.36493642 -0.20578777
+v -0.23858706 0.31925435 -0.27824459
+v -0.25360988 0.07823618 -0.40963257
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+v -0.41314334 0.02170403 -0.23482535
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+v -0.28026717 0.17916577 -0.36529359
+v -0.35260677 0.27902213 -0.20494612
+v -0.42891634 0.09296587 -0.20663830
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+f 64 15 52
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+f 64 38 54
\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_14.obj b/apple/apple_13/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bf535a3f79fec20531cd349f760e7cb74fdf1c5
--- /dev/null
+++ b/apple/apple_13/collision/model_normalized_collision_14.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.41739425 -0.12456819 0.27490691
+v 0.47465285 -0.00611837 -0.07523088
+v 0.49084687 0.02144129 0.18944345
+v 0.41994280 0.24393259 0.27557191
+v 0.39444547 0.18354348 -0.21159932
+v 0.47459837 0.00619989 0.24738777
+v 0.45422340 -0.11257316 0.16225870
+v 0.39187898 0.22653481 -0.18011403
+v 0.47475053 0.10756294 0.24806516
+v 0.49068650 -0.00641157 0.02912924
+v 0.45834397 -0.07831468 0.21934618
+v 0.41186413 -0.01331913 -0.22107117
+v 0.45778570 0.13498089 -0.10322522
+v 0.45961370 -0.03579909 0.26244054
+v 0.48975941 -0.00756611 0.17618089
+v 0.44264397 -0.10631068 0.23170055
+v 0.44057161 -0.13710471 0.16852072
+v 0.42698750 0.16508514 -0.16189558
+v 0.45863518 0.06368385 -0.13267165
+v 0.49035888 0.07919206 -0.00068513
+v 0.45810870 0.22370107 0.05885610
+v 0.45732741 0.16551242 0.26275387
+v 0.46259754 -0.09554759 0.16136326
+v 0.47323413 -0.03581235 0.21942001
+v 0.44351490 -0.07859928 0.26242864
+v 0.44356196 -0.00591341 -0.16187848
+v 0.45885089 -0.09354111 0.18929765
+v 0.39739523 0.22128470 -0.17505568
+v 0.44415742 0.09208016 -0.16311058
+v 0.48998980 0.02191814 -0.00069192
+v 0.47416497 0.09203331 -0.07465164
+v 0.48937194 0.12236814 0.14629730
+v 0.44243832 0.22398681 -0.04417271
+v 0.45718040 0.20767852 0.20475005
+v 0.47367676 -0.02077915 0.23467528
+v 0.43007483 -0.10768806 0.26298059
+v 0.45884303 0.02116542 -0.13261486
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+v 0.41503323 0.13501350 -0.20639753
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+v 0.47320754 0.13725176 0.23540736
+v 0.45809906 0.19367379 -0.03029664
+v 0.48911120 0.10714571 0.17659431
+v 0.43377379 0.22584804 0.26519134
+v 0.47282278 0.15060353 0.22012341
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+f 58 47 22
+f 58 22 9
+f 58 9 44
+f 59 50 45
+f 59 45 33
+f 59 33 52
+f 59 52 42
+f 59 42 50
+f 60 44 32
+f 60 32 56
+f 61 57 55
+f 61 55 4
+f 61 4 57
+f 62 56 47
+f 62 47 58
+f 62 60 56
+f 62 58 44
+f 62 44 60
\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_15.obj b/apple/apple_13/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69ff3cf9c3c16b6b0263eefcd7f805d02137a06c
--- /dev/null
+++ b/apple/apple_13/collision/model_normalized_collision_15.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.00517574 -0.42183442 -0.22462539
+v 0.24609744 -0.24679049 -0.25186174
+v 0.21097129 -0.30385371 -0.22306211
+v -0.18939392 -0.23791155 -0.23062740
+v 0.00697842 -0.22150985 -0.47096730
+v 0.00757578 -0.22276003 -0.23062740
+v -0.18302686 -0.37744118 -0.22513821
+v 0.07172254 -0.31285767 -0.36590706
+v -0.16683352 -0.23028356 -0.41538530
+v 0.21083524 -0.21462781 -0.32879029
+v 0.17895511 -0.33126545 -0.22271748
+v -0.03693048 -0.34129427 -0.36977654
+v 0.04891502 -0.21555033 -0.46264120
+v -0.20213147 -0.34060631 -0.27417246
+v 0.11485836 -0.32716844 -0.30998035
+v -0.05061811 -0.42189379 -0.22447327
+v 0.03011188 -0.35686170 -0.33910387
+v -0.07861432 -0.25624734 -0.44080800
+v 0.10641414 -0.21518782 -0.43099776
+v 0.00443638 -0.29881294 -0.41123423
+v -0.18363035 -0.23256554 -0.40358952
+v -0.12180479 -0.37015564 -0.29414499
+v 0.20410400 -0.26749196 -0.27833977
+v 0.06285510 -0.40582201 -0.22415298
+v -0.15376506 -0.39175322 -0.22492025
+v -0.02155829 -0.37126604 -0.32610320
+v 0.07217775 -0.35606987 -0.31045427
+v -0.10849127 -0.23212352 -0.44604871
+v 0.04526081 -0.26873824 -0.42500228
+v 0.08704709 -0.32666989 -0.33812595
+v 0.00400619 -0.34072447 -0.36914119
+v -0.03705895 -0.28384179 -0.42655274
+v -0.13457861 -0.26778257 -0.41036818
+v -0.19308795 -0.34363981 -0.28010117
+v 0.20530295 -0.22481458 -0.32500603
+v 0.18870367 -0.28270769 -0.27852078
+v 0.04497292 -0.38514745 -0.28105814
+v 0.11990473 -0.37590133 -0.22349071
+v -0.11004274 -0.40799886 -0.22512189
+v 0.00414624 -0.41623795 -0.23720233
+v -0.06435977 -0.35688515 -0.33989939
+v -0.05107075 -0.23125306 -0.46167446
+v 0.07151808 -0.28240056 -0.39607479
+v 0.06018554 -0.23965610 -0.44137333
+v 0.01765426 -0.24244587 -0.45535034
+v 0.10218016 -0.22420036 -0.42679238
+v 0.04476586 -0.32849382 -0.36713640
+v -0.01023663 -0.28427134 -0.42666332
+v 0.00406034 -0.37028097 -0.32572263
+v -0.06503133 -0.31211567 -0.39710913
+v -0.16343517 -0.24258873 -0.41009102
+v -0.10571926 -0.24214578 -0.44210020
+v -0.19621353 -0.34750632 -0.26949127
+v -0.13514827 -0.31145676 -0.36642179
+v -0.17837610 -0.31086160 -0.33729066
+v -0.18055608 -0.37279012 -0.23815961
+v 0.14373830 -0.31233581 -0.29470108
+v 0.04537091 -0.39973156 -0.25162073
+v 0.06087367 -0.40064862 -0.23689614
+v 0.11506777 -0.35576766 -0.26510826
+v -0.12317080 -0.38481803 -0.26596397
+v -0.04955899 -0.41619133 -0.23692266
+v -0.04995773 -0.24262253 -0.45521219
+v 0.04568344 -0.22709700 -0.45603171
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 9 4 6
+f 10 6 2
+f 11 3 7
+f 13 9 6
+f 13 5 9
+f 13 6 10
+f 14 7 4
+f 15 3 11
+f 19 13 10
+f 21 14 4
+f 21 4 9
+f 24 16 1
+f 25 16 11
+f 25 11 7
+f 28 9 5
+f 30 15 27
+f 31 26 12
+f 35 10 2
+f 35 2 23
+f 35 15 30
+f 35 19 10
+f 36 23 2
+f 36 2 3
+f 36 35 23
+f 36 15 35
+f 37 17 27
+f 38 11 16
+f 38 16 24
+f 39 16 25
+f 40 1 16
+f 41 12 26
+f 42 28 5
+f 44 13 19
+f 44 43 29
+f 45 29 20
+f 45 5 13
+f 45 44 29
+f 46 30 8
+f 46 35 30
+f 46 19 35
+f 46 8 43
+f 46 44 19
+f 46 43 44
+f 47 30 27
+f 47 27 17
+f 47 8 30
+f 47 17 31
+f 47 43 8
+f 47 29 43
+f 47 31 20
+f 47 20 29
+f 48 31 12
+f 48 20 31
+f 48 12 32
+f 48 45 20
+f 48 32 5
+f 48 5 45
+f 49 31 17
+f 49 26 31
+f 49 40 26
+f 49 17 37
+f 49 37 40
+f 50 32 12
+f 50 18 32
+f 50 33 18
+f 50 12 41
+f 51 33 21
+f 51 21 9
+f 52 18 33
+f 52 42 18
+f 52 28 42
+f 52 33 51
+f 52 51 9
+f 52 9 28
+f 53 7 14
+f 53 14 34
+f 54 33 50
+f 54 50 41
+f 54 41 22
+f 55 34 14
+f 55 14 21
+f 55 21 33
+f 55 33 54
+f 55 54 22
+f 55 22 34
+f 56 25 7
+f 56 53 34
+f 56 7 53
+f 56 34 22
+f 57 36 3
+f 57 3 15
+f 57 15 36
+f 58 24 1
+f 58 40 37
+f 58 1 40
+f 59 37 27
+f 59 58 37
+f 59 24 58
+f 59 38 24
+f 59 27 38
+f 60 38 27
+f 60 27 15
+f 60 15 11
+f 60 11 38
+f 61 39 25
+f 61 56 22
+f 61 25 56
+f 62 40 16
+f 62 26 40
+f 62 41 26
+f 62 22 41
+f 62 61 22
+f 62 16 39
+f 62 39 61
+f 63 32 18
+f 63 18 42
+f 63 42 5
+f 63 5 32
+f 64 45 13
+f 64 13 44
+f 64 44 45
\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_16.obj b/apple/apple_13/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bf07c9dca434d4f4a2ed8e29da1b48ff4f7dbd1
--- /dev/null
+++ b/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
+v -0.48129452 -0.00876015 0.19038845
+v -0.42821334 -0.22911367 0.01352758
+v -0.23484847 -0.01063883 -0.23062740
+v -0.22978162 -0.41183273 0.22117725
+v -0.22687915 -0.40671236 -0.07607302
+v -0.41752473 -0.00772670 -0.22206490
+v -0.46439213 -0.05278952 0.21835849
+v -0.36970735 -0.30009393 0.15928741
+v -0.22730620 -0.37778451 -0.16505733
+v -0.49170684 -0.00803450 0.14552087
+v -0.35287382 -0.22774255 -0.22051593
+v -0.35606058 -0.01063883 0.22391805
+v -0.29536454 -0.37209367 0.17435182
+v -0.42795304 -0.21376183 0.15897114
+v -0.36952596 -0.29936040 -0.04415065
+v -0.47753767 -0.00778828 -0.07533036
+v -0.47467015 -0.05261738 0.18866971
+v -0.38219716 -0.15728566 -0.22124007
+v -0.23733084 -0.41734862 0.17491873
+v -0.35378032 -0.29824747 0.21726299
+v -0.39971913 -0.26927906 0.12981726
+v -0.47408257 -0.11158884 0.10135358
+v -0.28157354 -0.35636221 -0.11895889
+v -0.39706097 -0.24049258 -0.10260456
+v -0.28145055 -0.38846052 0.14647118
+v -0.45793728 -0.14139611 0.16034377
+v -0.36727101 -0.20055660 -0.22087261
+v -0.42695052 -0.09647576 -0.16181467
+v -0.26645658 -0.38624693 0.21721773
+v -0.22874720 -0.42359410 0.01295077
+v -0.33940443 -0.32844021 0.17411904
+v -0.39683990 -0.24087909 0.21705285
+v -0.42855533 -0.22882183 0.10119750
+v -0.39919039 -0.27080530 -0.01537472
+v -0.47387288 -0.09717013 -0.00124799
+v -0.47313133 -0.09664864 0.14522146
+v -0.23848703 -0.37165540 -0.16244399
+v -0.29534703 -0.29713527 -0.22097733
+v -0.45818436 -0.08150026 0.21567907
+v -0.38384812 -0.21301510 -0.17645345
+v -0.44644306 -0.00769841 -0.16371230
+v -0.42823670 -0.03724606 -0.19087398
+v -0.23943744 -0.40600509 0.21910209
+v -0.23866246 -0.41728950 0.01372965
+v -0.41282392 -0.24100020 0.15905758
+v -0.38315060 -0.26892236 0.20217454
+v -0.42750244 -0.19919165 0.18839586
+v -0.44373976 -0.19898650 0.02864450
+v -0.44339892 -0.19854706 0.10136028
+v -0.28166034 -0.38721470 0.01362358
+v -0.36978999 -0.28481646 -0.08848062
+v -0.41291241 -0.24105445 -0.04508244
+v -0.44188695 -0.15607952 -0.07343164
+v -0.49018543 -0.03815721 0.02861497
+v -0.48934898 -0.02279905 0.14512866
+v -0.45810815 -0.15472171 0.12978679
+v -0.23805759 -0.40022260 -0.07455783
+v -0.32297070 -0.26856169 -0.22011654
+v -0.28006932 -0.34157685 -0.16144269
+v -0.35330629 -0.24208377 -0.20530878
+v -0.42827109 -0.13968234 -0.13165636
+f 7 1 3
+f 8 3 1
+f 9 3 6
+f 9 6 2
+f 12 6 3
+f 12 3 8
+f 12 2 6
+f 13 4 3
+f 13 3 9
+f 15 10 7
+f 15 7 3
+f 15 3 4
+f 15 4 10
+f 20 10 4
+f 20 4 13
+f 21 9 2
+f 22 1 7
+f 28 16 11
+f 28 22 16
+f 30 21 2
+f 30 2 14
+f 32 16 22
+f 32 7 23
+f 33 8 1
+f 33 1 22
+f 34 23 11
+f 34 11 16
+f 34 32 23
+f 34 16 32
+f 35 23 7
+f 35 7 10
+f 37 11 24
+f 37 28 11
+f 37 36 5
+f 37 24 36
+f 39 29 20
+f 40 12 8
+f 40 2 12
+f 42 10 20
+f 42 20 29
+f 42 35 10
+f 43 21 30
+f 44 19 13
+f 44 13 9
+f 45 9 21
+f 45 21 31
+f 45 44 9
+f 45 31 44
+f 46 32 22
+f 46 22 7
+f 46 7 32
+f 47 33 22
+f 47 22 28
+f 48 35 17
+f 48 36 24
+f 48 17 36
+f 49 11 23
+f 49 23 35
+f 49 35 48
+f 49 48 24
+f 49 24 11
+f 50 29 17
+f 50 17 35
+f 50 42 29
+f 50 35 42
+f 51 5 36
+f 51 25 38
+f 52 51 36
+f 52 25 51
+f 52 36 17
+f 53 37 18
+f 53 28 37
+f 53 47 28
+f 53 18 26
+f 54 18 37
+f 54 26 18
+f 55 37 5
+f 55 54 37
+f 55 27 54
+f 55 5 51
+f 56 27 55
+f 56 55 51
+f 56 51 38
+f 56 43 27
+f 56 38 19
+f 57 38 25
+f 57 13 19
+f 57 19 38
+f 58 39 20
+f 58 20 13
+f 58 25 39
+f 58 57 25
+f 58 13 57
+f 59 39 25
+f 59 29 39
+f 59 25 52
+f 59 52 17
+f 59 17 29
+f 60 40 8
+f 60 26 40
+f 60 53 26
+f 60 47 53
+f 60 8 33
+f 60 33 47
+f 61 14 2
+f 61 2 41
+f 61 41 54
+f 62 40 26
+f 62 54 41
+f 62 26 54
+f 62 41 2
+f 62 2 40
+f 63 43 30
+f 63 30 14
+f 63 14 61
+f 63 27 43
+f 63 61 54
+f 63 54 27
+f 64 31 21
+f 64 21 43
+f 64 43 56
+f 64 56 19
+f 64 44 31
+f 64 19 44
\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_17.obj b/apple/apple_13/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed71498b2686835bb099c580dcb99b01b302cbc1
--- /dev/null
+++ b/apple/apple_13/collision/model_normalized_collision_17.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.39760239 -0.23578118 0.22234061
+v -0.35606058 -0.13185094 0.13300896
+v -0.35606058 -0.13185094 0.22391805
+v -0.39534079 0.23481152 0.24745700
+v -0.49371790 0.07913249 0.13128820
+v -0.35606058 0.20148238 0.13300896
+v -0.46333247 -0.13646142 0.13566929
+v -0.47420627 0.00606584 0.21659081
+v -0.45527727 0.20587781 0.13447205
+v -0.49409663 -0.00842669 0.13076686
+v -0.40502260 -0.24005439 0.19447458
+v -0.46509077 0.12326007 0.21901674
+v -0.45979403 -0.09660199 0.20297529
+v -0.49001406 0.07913961 0.16078079
+v -0.47400888 0.07873479 0.21667741
+v -0.44551546 0.20079660 0.19319370
+v -0.44457580 -0.12642137 0.21661556
+v -0.49170684 -0.00803450 0.14552087
+v -0.47903609 0.12276648 0.17440447
+v -0.42729268 0.20658934 0.22914178
+v -0.47292101 -0.03786890 0.20335876
+v -0.42952403 -0.18512087 0.20184736
+v -0.49028611 0.00565177 0.16044108
+v -0.47504159 0.12229129 0.18882178
+v -0.41924834 -0.21684520 0.19071366
+v -0.41150366 -0.21389210 0.21616340
+v -0.43270649 -0.18629016 0.18979106
+v -0.47397868 0.10692982 0.20368020
+v -0.40236893 -0.23012685 0.21815384
+v -0.40960306 -0.23359615 0.19188396
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 8 1 4
+f 9 6 5
+f 9 4 6
+f 10 6 2
+f 10 5 6
+f 10 2 7
+f 11 7 2
+f 11 2 1
+f 14 5 10
+f 15 8 4
+f 15 4 12
+f 16 4 9
+f 17 1 8
+f 18 10 7
+f 18 7 13
+f 19 9 5
+f 19 5 14
+f 19 16 9
+f 20 16 12
+f 20 12 4
+f 20 4 16
+f 21 17 8
+f 21 13 17
+f 21 18 13
+f 22 17 13
+f 23 14 10
+f 23 10 18
+f 23 15 14
+f 23 8 15
+f 23 21 8
+f 23 18 21
+f 24 12 16
+f 24 16 19
+f 26 1 17
+f 26 17 22
+f 26 22 25
+f 27 22 13
+f 27 13 7
+f 27 25 22
+f 27 7 25
+f 28 15 12
+f 28 12 24
+f 28 14 15
+f 28 24 19
+f 28 19 14
+f 29 11 1
+f 29 26 25
+f 29 1 26
+f 30 25 7
+f 30 7 11
+f 30 29 25
+f 30 11 29
\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_18.obj b/apple/apple_13/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e28ca783549e00ed6b643ee7f1176a656466c81
--- /dev/null
+++ b/apple/apple_13/collision/model_normalized_collision_18.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.14393941 0.35299753 0.26937259
+v 0.25000002 0.35299753 0.02694835
+v 0.26710517 0.38213823 0.28205014
+v 0.13910420 0.46168410 0.23542333
+v 0.14393941 0.35299753 0.02694835
+v 0.25638564 0.42482446 0.02653773
+v 0.14078557 0.45146214 0.26597461
+v 0.24499577 0.41915548 0.20702145
+v 0.16426100 0.46879490 0.02385547
+v 0.22612194 0.41241475 0.26433353
+v 0.14387332 0.47402958 0.16329383
+v 0.16619783 0.44173695 0.26364133
+v 0.24400495 0.40237793 0.26591080
+v 0.18000941 0.45581871 0.19000545
+v 0.18216033 0.45984490 0.16184160
+v 0.16712717 0.45577763 0.21855242
+v 0.22596476 0.42676203 0.21845251
+v 0.22682660 0.42885818 0.20585044
+v 0.15242566 0.45694338 0.23404329
+v 0.18064014 0.44020994 0.24798455
+v 0.24022382 0.40988818 0.24820647
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 7 1 3
+f 7 4 1
+f 8 3 6
+f 9 6 2
+f 9 2 5
+f 11 9 5
+f 11 5 4
+f 12 7 3
+f 12 3 10
+f 13 10 3
+f 13 3 8
+f 15 6 9
+f 15 9 11
+f 15 8 6
+f 16 11 4
+f 16 15 11
+f 16 14 15
+f 17 10 13
+f 17 14 16
+f 18 15 14
+f 18 8 15
+f 18 17 8
+f 18 14 17
+f 19 16 4
+f 19 4 7
+f 19 7 12
+f 19 12 16
+f 20 16 12
+f 20 12 10
+f 20 17 16
+f 20 10 17
+f 21 17 13
+f 21 13 8
+f 21 8 17
\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_19.obj b/apple/apple_13/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7994b914ae9ec0cd149651f470e4f05a31c3efe8
--- /dev/null
+++ b/apple/apple_13/collision/model_normalized_collision_19.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.35606058 -0.01063883 0.13300896
+v -0.35606058 -0.01063883 0.02694835
+v -0.35606058 0.08027027 0.13300896
+v -0.49371790 0.07913249 0.13128820
+v -0.49409663 -0.00842669 0.13076686
+v -0.47333026 0.08378687 -0.09627695
+v -0.46885597 -0.02082874 -0.09762776
+v -0.35606058 0.08027027 0.02694835
+v -0.48987058 0.07927195 -0.01566018
+v -0.49011906 -0.00730975 -0.01545167
+v -0.47834575 0.07957509 -0.07587697
+v -0.47753767 -0.00778828 -0.07533036
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 8 6 3
+f 8 3 2
+f 8 7 6
+f 8 2 7
+f 9 5 4
+f 9 4 6
+f 10 7 5
+f 10 5 9
+f 11 10 9
+f 11 9 6
+f 12 11 6
+f 12 6 7
+f 12 7 10
+f 12 10 11
\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_2.obj b/apple/apple_13/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..212557ce86fe93711f28cee983d5eef7b48cf3aa
--- /dev/null
+++ b/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
+v -0.27991585 -0.01005852 0.38094933
+v -0.08552363 -0.00022504 0.29049266
+v -0.13807977 -0.27975390 0.43162559
+v -0.16411115 -0.43060048 0.27456034
+v -0.23484847 -0.01063883 0.25422108
+v -0.22470695 -0.27755314 0.38922616
+v -0.09626100 -0.15417078 0.43397898
+v -0.12193424 -0.44506365 0.27767151
+v -0.13846833 -0.44929222 0.24876272
+v -0.28122416 -0.05563767 0.38187832
+v -0.13671445 -0.38904876 0.35959369
+v -0.20801445 -0.01315815 0.37406678
+v -0.15405243 -0.19653557 0.43327012
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+v -0.09660774 -0.12724155 0.42000568
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+v -0.22270837 -0.40256573 0.26084119
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+f 45 28 3
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+f 46 9 37
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+f 46 30 38
\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_20.obj b/apple/apple_13/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a78cfbe51f8fc9002a7a12d8be48168083c05729
--- /dev/null
+++ b/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
+v 0.26515153 -0.01063883 0.26937259
+v 0.25776122 -0.21675495 -0.27021249
+v 0.48357814 -0.00827426 0.20669306
+v 0.25890432 -0.35066742 0.26582995
+v 0.33806822 -0.28593109 0.00078892
+v 0.25575825 -0.26029210 -0.22353134
+v 0.26515153 -0.01063883 -0.23062740
+v 0.49168234 -0.00748745 0.16127790
+v 0.41326487 -0.16677869 0.21987148
+v 0.25800356 -0.36515277 -0.00096152
+v 0.41191934 -0.10497350 -0.14635567
+v 0.46104575 -0.00631250 -0.11936116
+v 0.44377918 -0.13799859 0.05853038
+v 0.45715240 -0.06223080 0.24623996
+v 0.38203894 -0.19559449 0.26302301
+v 0.33884234 -0.29922409 0.13106574
+v 0.29332735 -0.29876456 -0.10303205
+v 0.25603249 -0.31933325 -0.13489355
+v 0.35229836 -0.14931135 -0.20469987
+v 0.45782748 -0.06197742 -0.07605508
+v 0.40984373 -0.00887174 -0.22693850
+v 0.49249921 -0.00686528 0.04404668
+v 0.45920185 -0.10725818 0.14575046
+v 0.46085287 -0.05131148 0.24777546
+v 0.32277366 -0.28598565 0.26105312
+v 0.42553029 -0.11358351 0.26718108
+v 0.36871412 -0.25667660 0.07293549
+v 0.31103783 -0.32781917 0.04518999
+v 0.38276937 -0.19450364 -0.07099034
+v 0.25744172 -0.37963162 0.08852406
+v 0.26623764 -0.34199895 -0.05831091
+v 0.29411124 -0.25387443 -0.17557995
+v 0.47416303 -0.02114529 -0.05997239
+v 0.42676090 -0.06225707 -0.16141157
+v 0.26324143 -0.20597207 -0.27460328
+v 0.41964481 -0.00746927 -0.20922659
+v 0.47289986 -0.07848108 0.05992418
+v 0.41350177 -0.18145667 0.17499300
+v 0.44431655 -0.12236574 0.18974878
+v 0.47418383 -0.06353870 0.17626753
+v 0.30891535 -0.31438724 0.23466636
+v 0.36707244 -0.24047240 0.21830453
+v 0.41454561 -0.13844317 0.26335261
+v 0.42967177 -0.15067785 -0.00045785
+v 0.33948453 -0.29973310 0.08848446
+v 0.32333468 -0.28325586 -0.05824797
+v 0.25681737 -0.34897677 -0.06061305
+v 0.28038950 -0.35857362 0.05974311
+v 0.28028220 -0.35853957 0.17568156
+v 0.26418675 -0.32720145 -0.10281970
+v 0.28027203 -0.34335375 -0.01413601
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+v 0.35226687 -0.19466076 -0.14633932
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+v 0.44273768 -0.07697085 -0.10370571
+v 0.38268150 -0.08984529 -0.21920411
+v 0.27932495 -0.20980019 -0.24976671
+v 0.41374956 -0.03631517 -0.20627527
+v 0.47274755 -0.06376526 0.01556107
+v 0.47402680 -0.07902657 0.11751997
+v 0.39831625 -0.21133308 0.13192183
+f 6 4 3
+f 7 3 4
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+f 10 9 4
+f 10 5 9
+f 11 4 6
+f 15 10 4
+f 15 4 11
+f 21 1 9
+f 25 15 11
+f 25 2 15
+f 27 6 3
+f 27 3 17
+f 28 18 3
+f 28 3 7
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+f 29 3 18
+f 33 1 21
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+f 38 10 24
+f 39 24 10
+f 39 10 15
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+f 52 19 44
+f 52 33 51
+f 52 51 48
+f 52 48 19
+f 53 21 20
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+f 53 50 21
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+f 54 50 34
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+f 54 51 13
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+f 56 32 49
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+f 57 36 23
+f 57 15 36
+f 57 37 15
+f 58 14 37
+f 58 23 47
+f 58 47 32
+f 58 32 14
+f 58 57 23
+f 58 37 57
+f 59 37 14
+f 59 14 22
+f 59 38 24
+f 60 22 35
+f 60 35 9
+f 60 9 5
+f 60 5 38
+f 60 59 22
+f 60 38 59
+f 61 24 39
+f 61 59 24
+f 61 37 59
+f 61 39 15
+f 61 15 37
+f 62 36 25
+f 62 25 40
+f 62 23 36
+f 62 47 23
+f 62 40 47
+f 63 26 16
+f 63 16 40
+f 63 43 26
+f 63 11 43
+f 63 40 25
+f 63 25 11
+f 64 41 19
+f 64 30 16
+f 64 16 26
+f 64 26 41
+f 64 48 30
+f 64 19 48
\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_21.obj b/apple/apple_13/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f43a22bd9c8c14261f2c40161bb5ca0fd93ca140
--- /dev/null
+++ b/apple/apple_13/collision/model_normalized_collision_21.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.12106665 -0.01971933 0.33433856
+v -0.08552363 -0.00022504 0.29049266
+v -0.09208272 0.32929336 0.42130966
+v -0.09507497 0.46425973 0.25070647
+v -0.23484847 -0.01063883 0.25422108
+v -0.09246899 0.44304931 0.30598604
+v -0.09253569 0.17884971 0.41979677
+v -0.10411759 -0.01827035 0.32166982
+v -0.09194498 0.41495746 0.34900142
+v -0.09359848 0.45995134 0.26433614
+v -0.22679495 0.40067508 0.24909132
+v -0.23586947 -0.01086131 0.37989166
+v -0.09250576 0.15075185 0.40553134
+v -0.15169039 0.44257035 0.24840914
+v -0.15028315 0.41043097 0.31863023
+v -0.20801445 -0.01315815 0.37406678
+v -0.23551465 0.08197438 0.39022705
+v -0.10879400 0.46007974 0.24922998
+v -0.12035115 0.42450931 0.31866660
+v -0.17840940 0.42451991 0.26170889
+v -0.22267521 0.31346915 0.35631313
+v -0.13362961 0.35497499 0.38797771
+v -0.16766101 -0.01423685 0.35804824
+v -0.13701961 0.23390758 0.41733574
+v -0.10749443 0.45573095 0.26299633
+v -0.10624242 0.41047765 0.34639643
+v -0.18122957 0.42795175 0.24861806
+v -0.19330770 0.41018865 0.27435700
+v -0.14988213 0.43854167 0.26214054
+v -0.22929348 0.21343783 0.38781631
+v -0.09264057 0.37212855 0.39372769
+v -0.14881318 0.31398052 0.40167323
+v -0.16242437 0.38175184 0.34745332
+v -0.22433912 0.39746238 0.26104384
+v -0.10556989 0.43952595 0.30345152
+v -0.22626238 0.27199080 0.37351974
+v -0.13627152 0.27634095 0.41718230
+v -0.16299120 0.32797395 0.38638549
+v -0.10535860 0.32678768 0.41699430
+v -0.16247224 0.36965019 0.35840685
+v -0.10608512 0.36886549 0.39022031
+v -0.22311783 0.38123460 0.28956387
+v -0.21006830 0.25614237 0.38656083
+v -0.16455165 0.28717641 0.40106605
+f 5 4 2
+f 7 2 3
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+f 9 2 6
+f 10 6 2
+f 10 2 4
+f 13 7 1
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+f 13 2 7
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+f 16 5 1
+f 16 7 12
+f 17 12 7
+f 17 11 5
+f 17 5 12
+f 18 4 5
+f 18 5 14
+f 19 9 6
+f 23 16 1
+f 23 1 7
+f 23 7 16
+f 24 17 7
+f 24 7 3
+f 25 10 4
+f 25 4 18
+f 25 6 10
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+f 27 11 20
+f 27 14 5
+f 27 5 11
+f 28 15 20
+f 29 20 15
+f 29 27 20
+f 29 14 27
+f 29 25 18
+f 29 18 14
+f 30 11 17
+f 31 22 3
+f 31 3 9
+f 31 9 26
+f 33 26 15
+f 34 28 20
+f 34 20 11
+f 35 29 15
+f 35 15 19
+f 35 19 6
+f 35 6 25
+f 35 25 29
+f 36 21 11
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+f 37 30 17
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+f 38 22 21
+f 38 36 32
+f 38 21 36
+f 39 3 22
+f 39 22 32
+f 39 37 3
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+f 40 33 21
+f 40 21 22
+f 40 22 33
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+f 41 26 33
+f 42 34 11
+f 42 11 21
+f 42 21 33
+f 42 33 15
+f 42 15 28
+f 42 28 34
+f 43 36 30
+f 43 32 36
+f 44 37 32
+f 44 32 43
+f 44 43 30
+f 44 30 37
\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_22.obj b/apple/apple_13/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b9f4e30c3743677a7fce3ad427b221db0f867ad
--- /dev/null
+++ b/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
+v 0.00726626 -0.23223170 -0.46433219
+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
+v 0.10263127 -0.18272264 -0.45312694
+v 0.18221314 -0.08228958 -0.44756272
+v -0.05785279 -0.13824633 -0.48540341
+v -0.06391753 -0.21409966 -0.46817808
+v -0.01926216 -0.01110756 -0.47384934
+v -0.15670782 -0.04491282 -0.47028010
+v -0.18159212 -0.01705931 -0.45676949
+f 3 2 4
+f 6 3 1
+f 9 2 3
+f 9 3 6
+f 11 4 2
+f 13 1 3
+f 16 2 9
+f 17 7 4
+f 17 4 11
+f 18 5 12
+f 19 12 5
+f 19 5 7
+f 19 10 12
+f 20 1 13
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+f 21 14 8
+f 21 8 13
+f 22 6 1
+f 22 1 15
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+f 23 12 10
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+f 23 20 12
+f 23 15 1
+f 23 1 20
+f 24 11 2
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+f 25 12 20
+f 26 8 14
+f 26 14 4
+f 27 7 5
+f 27 5 18
+f 28 19 7
+f 28 7 17
+f 28 10 19
+f 28 24 10
+f 28 17 24
+f 29 21 13
+f 29 13 3
+f 29 3 21
+f 30 16 9
+f 30 9 22
+f 30 24 16
+f 30 10 24
+f 30 22 15
+f 30 15 10
+f 31 24 2
+f 31 2 16
+f 31 16 24
+f 32 25 8
+f 32 18 25
+f 32 26 18
+f 32 8 26
+f 33 25 20
+f 33 20 13
+f 33 13 8
+f 33 8 25
+f 34 4 7
+f 34 27 18
+f 34 7 27
+f 35 34 18
+f 35 18 26
+f 36 35 26
+f 36 26 4
+f 36 4 34
+f 36 34 35
\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_23.obj b/apple/apple_13/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1faa0c741e880105ea4eedecbf18a31ad96a1ef3
--- /dev/null
+++ b/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
+v -0.18060554 0.29287702 -0.34990407
+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
+v -0.18090191 0.30512094 -0.33669827
+v -0.21204207 0.20850098 -0.39582248
+v -0.22272089 0.24844349 -0.36480139
+v -0.18223969 0.20707554 -0.40969291
+v -0.22566585 0.22182958 -0.38081807
+f 7 1 2
+f 9 6 4
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+f 11 6 1
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+f 13 2 1
+f 13 1 8
+f 14 9 4
+f 14 5 9
+f 15 8 1
+f 15 1 9
+f 15 9 5
+f 16 11 7
+f 16 10 3
+f 16 3 11
+f 17 4 10
+f 20 14 4
+f 23 17 10
+f 23 10 16
+f 24 21 12
+f 25 18 7
+f 25 7 2
+f 25 2 19
+f 26 13 8
+f 26 19 2
+f 26 2 13
+f 29 12 21
+f 30 12 22
+f 31 22 4
+f 31 4 17
+f 31 17 22
+f 32 4 22
+f 32 22 12
+f 33 23 16
+f 33 16 7
+f 34 7 18
+f 34 18 24
+f 34 33 7
+f 34 30 23
+f 34 23 33
+f 34 24 12
+f 34 12 30
+f 35 26 8
+f 35 19 26
+f 36 8 15
+f 36 35 8
+f 36 27 35
+f 37 29 21
+f 37 21 27
+f 38 27 21
+f 38 21 28
+f 38 35 27
+f 38 19 35
+f 39 25 19
+f 39 38 28
+f 39 19 38
+f 39 28 18
+f 39 18 25
+f 40 24 18
+f 40 18 28
+f 40 28 21
+f 40 21 24
+f 41 17 23
+f 41 23 30
+f 41 30 22
+f 41 22 17
+f 42 32 20
+f 42 20 4
+f 42 4 32
+f 43 29 20
+f 43 20 32
+f 43 32 12
+f 43 12 29
+f 44 36 15
+f 44 37 27
+f 44 15 5
+f 45 14 20
+f 45 20 29
+f 45 29 37
+f 46 44 27
+f 46 27 36
+f 46 36 44
+f 47 45 37
+f 47 37 44
+f 47 44 5
+f 47 5 14
+f 47 14 45
\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_24.obj b/apple/apple_13/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12a943bdb038667d477a7cd21e8a8e06d38fd6db
--- /dev/null
+++ b/apple/apple_13/collision/model_normalized_collision_24.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v -0.18841582 -0.37244407 -0.22979350
+v -0.18159072 -0.30353904 -0.34325765
+v -0.18939392 -0.01063883 -0.23062740
+v -0.41319285 -0.00993107 -0.22854642
+v -0.34252280 -0.24252023 -0.22231262
+v -0.18257565 -0.02944430 -0.46090066
+v -0.18322619 -0.36286395 -0.25478904
+v -0.21109887 -0.36138211 -0.22450551
+v -0.40412335 -0.06830436 -0.22360752
+v -0.18767042 -0.01180898 -0.45259091
+v -0.23601250 -0.12408769 -0.42489450
+v -0.19557941 -0.35768667 -0.25200269
+v -0.37142153 -0.00826247 -0.29592578
+v -0.18399150 -0.12591319 -0.45759033
+v -0.26431961 -0.21099925 -0.35067974
+v -0.20822631 -0.35707463 -0.23761176
+v -0.18208077 -0.31690021 -0.32703110
+v -0.23881452 -0.01359408 -0.42739216
+v -0.40035727 -0.00790623 -0.25079530
+v -0.18142947 -0.21541548 -0.41537393
+v -0.28024968 -0.28186069 -0.26420142
+v -0.30786479 -0.15550229 -0.33816816
+v -0.21184643 -0.01388021 -0.44366211
+v -0.22295949 -0.11066513 -0.44003293
+v -0.35227731 -0.11247418 -0.29378324
+v -0.39775131 -0.06750096 -0.23594910
+v -0.18137100 -0.25916820 -0.38579734
+v -0.23632767 -0.18267284 -0.39507362
+v -0.29445259 -0.22604717 -0.30630488
+v -0.23579537 -0.31204554 -0.27794506
+v -0.25485120 -0.33065033 -0.22363883
+v -0.29372127 -0.12547664 -0.36719714
+v -0.20822202 -0.13933734 -0.43898225
+v -0.22480847 -0.02907203 -0.43937320
+v -0.19315188 -0.12419566 -0.45427456
+v -0.36828865 -0.03793020 -0.29358109
+v -0.35272645 -0.19782529 -0.24884386
+v -0.39856225 -0.02275700 -0.24967982
+v -0.19232948 -0.25580347 -0.38055566
+v -0.29472348 -0.25395514 -0.27825831
+v -0.30810198 -0.18296624 -0.32201695
+v -0.19208026 -0.31263840 -0.32297894
+v -0.22224082 -0.34060078 -0.24990905
+v -0.25155791 -0.32656677 -0.23641878
+v -0.33843090 -0.08294711 -0.32341637
+v -0.20701763 -0.19641647 -0.40937398
+v -0.19651597 -0.03061741 -0.45496487
+v -0.36752578 -0.15702174 -0.24982507
+v -0.33673173 -0.22715960 -0.24865130
+v -0.22051548 -0.22644989 -0.37997169
+v -0.19297841 -0.21209330 -0.40984500
+v -0.33783164 -0.23886689 -0.23458287
+v -0.32250661 -0.19783387 -0.29319818
+v -0.20712073 -0.34158838 -0.26613395
+v -0.36674525 -0.12684894 -0.26493142
+v -0.38306510 -0.12639113 -0.23585637
+v -0.35807082 -0.21551131 -0.22335273
+v -0.24872664 -0.21060987 -0.36620287
+v -0.35286349 -0.21263895 -0.23562160
+v -0.38898356 -0.12814255 -0.22388785
+f 6 3 2
+f 7 2 3
+f 7 3 1
+f 8 1 3
+f 8 3 5
+f 9 5 3
+f 9 3 4
+f 10 3 6
+f 12 7 1
+f 13 3 10
+f 16 12 1
+f 16 1 8
+f 17 2 7
+f 17 7 12
+f 18 13 10
+f 19 4 3
+f 19 3 13
+f 20 14 6
+f 23 18 10
+f 23 10 6
+f 24 13 18
+f 26 9 4
+f 27 20 6
+f 27 6 2
+f 28 22 11
+f 28 15 22
+f 31 16 8
+f 31 8 5
+f 31 5 21
+f 32 11 22
+f 32 24 11
+f 32 13 24
+f 33 11 24
+f 33 28 11
+f 34 24 18
+f 34 18 23
+f 35 6 14
+f 35 33 24
+f 35 14 20
+f 35 20 33
+f 36 19 13
+f 36 25 26
+f 38 26 4
+f 38 4 19
+f 38 36 26
+f 38 19 36
+f 39 27 2
+f 39 29 15
+f 40 2 21
+f 40 39 2
+f 40 29 39
+f 41 22 15
+f 41 15 29
+f 42 30 21
+f 42 21 2
+f 42 2 17
+f 43 12 16
+f 44 31 21
+f 44 21 30
+f 44 30 43
+f 44 43 16
+f 44 16 31
+f 45 32 22
+f 45 22 25
+f 45 25 36
+f 45 36 13
+f 45 13 32
+f 46 33 20
+f 46 28 33
+f 47 34 23
+f 47 23 6
+f 47 24 34
+f 47 35 24
+f 47 6 35
+f 48 25 22
+f 49 29 40
+f 50 39 15
+f 50 28 46
+f 51 20 27
+f 51 27 39
+f 51 39 50
+f 51 50 46
+f 51 46 20
+f 52 40 21
+f 52 21 5
+f 52 49 40
+f 53 22 41
+f 53 48 22
+f 53 37 48
+f 53 49 37
+f 53 41 29
+f 53 29 49
+f 54 43 30
+f 54 30 42
+f 54 42 17
+f 54 17 12
+f 54 12 43
+f 55 26 25
+f 55 25 48
+f 56 9 26
+f 56 55 48
+f 56 26 55
+f 57 48 37
+f 57 52 5
+f 58 50 15
+f 58 15 28
+f 58 28 50
+f 59 57 37
+f 59 37 49
+f 59 49 52
+f 59 52 57
+f 60 57 5
+f 60 5 9
+f 60 9 56
+f 60 56 48
+f 60 48 57
\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_25.obj b/apple/apple_13/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b674a82052c471a863a8be6e2f18e8bbd4365c6c
--- /dev/null
+++ b/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
+v -0.44291943 -0.09534390 0.24256811
+v -0.41651623 -0.00564622 0.31391774
+v -0.36975043 -0.17179438 0.31385809
+v -0.26775194 0.38046983 0.23075268
+v -0.32876167 0.34004077 0.21772774
+v -0.41187462 0.20697663 0.25887062
+v -0.31319808 0.23605037 0.34133723
+v -0.33899895 0.29518294 0.27119855
+v -0.23725287 0.38105259 0.27395836
+v -0.29919876 -0.18745001 0.37079536
+v -0.38600734 0.09319287 0.34436677
+v -0.44295324 0.10569489 0.27320429
+v -0.45868801 -0.02228204 0.24510521
+v -0.29133500 0.09435730 0.38928191
+v -0.23506464 -0.38650126 0.27540632
+v -0.22640078 -0.36328381 0.32174875
+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
+f 20 3 13
+f 21 6 12
+f 21 12 13
+f 25 17 8
+f 25 8 23
+f 28 20 13
+f 28 13 7
+f 32 13 3
+f 32 3 22
+f 33 23 14
+f 33 14 5
+f 33 25 23
+f 33 5 16
+f 34 23 8
+f 38 18 11
+f 38 11 26
+f 39 26 11
+f 40 38 26
+f 41 28 7
+f 41 7 18
+f 42 3 20
+f 44 27 15
+f 44 43 29
+f 45 30 16
+f 45 16 6
+f 46 6 21
+f 46 21 30
+f 46 45 6
+f 46 30 45
+f 47 21 13
+f 47 10 31
+f 47 13 32
+f 48 31 10
+f 48 10 37
+f 48 37 17
+f 48 17 25
+f 49 30 21
+f 49 47 31
+f 49 21 47
+f 49 48 25
+f 49 31 48
+f 50 33 16
+f 50 16 30
+f 50 30 49
+f 50 49 25
+f 50 25 33
+f 51 34 8
+f 51 24 35
+f 51 35 15
+f 51 15 34
+f 52 36 24
+f 52 10 36
+f 52 37 10
+f 52 24 37
+f 53 36 10
+f 53 22 36
+f 53 10 47
+f 53 47 32
+f 53 32 22
+f 54 36 22
+f 54 22 3
+f 54 42 29
+f 54 3 42
+f 55 8 17
+f 55 17 37
+f 55 51 8
+f 55 37 24
+f 55 24 51
+f 56 39 11
+f 56 19 14
+f 56 11 19
+f 57 14 23
+f 57 26 39
+f 57 40 26
+f 57 23 40
+f 57 56 14
+f 57 39 56
+f 58 15 27
+f 58 38 40
+f 59 34 15
+f 59 58 40
+f 59 15 58
+f 59 40 23
+f 59 23 34
+f 60 41 27
+f 60 28 41
+f 60 20 28
+f 61 27 41
+f 61 58 27
+f 61 38 58
+f 61 41 18
+f 61 18 38
+f 62 29 42
+f 62 44 29
+f 62 27 44
+f 62 60 27
+f 62 42 20
+f 62 20 60
+f 63 43 24
+f 63 24 36
+f 63 36 54
+f 63 54 29
+f 63 29 43
+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/apple/apple_13/collision/model_normalized_collision_26.obj b/apple/apple_13/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72d6a7049a1c3ee4e701bbbe6e75c1e5c27dd7f5
--- /dev/null
+++ b/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/apple/apple_13/collision/model_normalized_collision_27.obj b/apple/apple_13/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca4334e054c5268e02c71aa166be4ab711f79d57
--- /dev/null
+++ b/apple/apple_13/collision/model_normalized_collision_27.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.33212518 0.22386014 0.40980414
+v 0.44751589 0.22583730 -0.01594594
+v 0.41393172 0.28015476 0.22038475
+v 0.24387725 0.41693888 0.22015114
+v 0.25000002 0.23178542 -0.21547589
+v 0.34323061 0.36655836 0.01415001
+v 0.31409335 0.33504777 0.32032951
+v 0.43377379 0.22584804 0.26519134
+v 0.37592665 0.22637925 -0.20978608
+v 0.24706921 0.22841417 0.45880146
+v 0.41448066 0.29423591 0.02810118
+v 0.35575673 0.35175789 0.17481124
+v 0.24257243 0.40023766 -0.13420506
+v 0.40282213 0.22368839 0.33784389
+v 0.44363873 0.25064829 0.14660229
+v 0.28842533 0.22478293 0.44121143
+v 0.24121248 0.32598346 0.39493439
+v 0.33994861 0.33627249 -0.11839289
+v 0.25448201 0.42492732 0.13084847
+v 0.38690114 0.32234718 0.17501007
+v 0.34073102 0.33571338 0.27524868
+v 0.24579589 0.36198881 -0.21128299
+v 0.44880920 0.22592357 0.20616664
+v 0.41982079 0.22527734 -0.12043026
+v 0.35401219 0.25020848 0.37728823
+v 0.38371796 0.29194193 0.27781277
+v 0.44445946 0.25136057 0.05830158
+v 0.26081610 0.22641512 0.45453403
+v 0.24214403 0.38521561 0.30911440
+v 0.24399577 0.37218052 -0.19440578
+v 0.24325867 0.26916962 0.44012558
+v 0.38580567 0.32188136 -0.01547372
+v 0.29812499 0.38012293 -0.08861532
+v 0.34297006 0.36569260 0.14635357
+v 0.24337249 0.43226067 0.02737453
+v 0.41477309 0.29355103 0.14648513
+v 0.34062825 0.35153132 0.23291880
+v 0.33892874 0.30746343 -0.17463157
+v 0.44378271 0.23779885 0.20512881
+v 0.31409571 0.29270337 0.37481189
+v 0.41306902 0.23438554 0.30491525
+v 0.35602730 0.30577026 0.30563993
+v 0.42837508 0.26735413 -0.00045843
+v 0.27005929 0.33644968 0.36182519
+v 0.24159524 0.36945043 0.33674545
+v 0.31322717 0.34908952 0.29093851
+v 0.28237791 0.36428657 -0.16181946
+v 0.24557299 0.24066415 0.45384808
+v 0.25893037 0.23923078 0.44939793
+v 0.35535347 0.35258137 -0.01590233
+v 0.39898437 0.30932592 -0.00039250
+v 0.38326546 0.29425505 -0.10269397
+v 0.29917191 0.39534335 0.16167355
+v 0.24293349 0.43133646 0.13157805
+v 0.24358202 0.41734994 -0.07692056
+v 0.25482121 0.42575409 0.02761264
+v 0.42900602 0.26571571 0.18991576
+v 0.39989677 0.29245539 0.23301496
+v 0.35413677 0.26558932 -0.20596202
+v 0.42960745 0.25100932 0.23376777
+v 0.25481953 0.30810856 0.40349494
+v 0.25545512 0.26563200 0.43527517
+v 0.39741485 0.23404904 0.33495255
+v 0.41717662 0.22513915 0.30756700
+f 16 9 1
+f 16 5 9
+f 20 11 6
+f 22 9 5
+f 23 14 2
+f 23 8 14
+f 24 2 14
+f 24 14 1
+f 24 1 9
+f 25 1 14
+f 25 16 1
+f 27 23 2
+f 27 15 23
+f 28 10 5
+f 28 5 16
+f 30 17 13
+f 30 5 17
+f 30 22 5
+f 31 17 5
+f 34 20 6
+f 34 12 20
+f 36 11 20
+f 36 27 11
+f 36 15 27
+f 36 20 3
+f 37 20 12
+f 37 21 26
+f 39 23 15
+f 39 8 23
+f 42 26 21
+f 42 21 7
+f 42 40 25
+f 42 7 40
+f 43 27 2
+f 43 11 27
+f 43 2 24
+f 44 40 7
+f 44 17 40
+f 45 13 17
+f 45 17 44
+f 45 44 7
+f 45 7 29
+f 46 29 7
+f 46 7 21
+f 46 21 37
+f 46 37 4
+f 46 4 29
+f 47 30 13
+f 47 22 30
+f 47 38 22
+f 47 18 38
+f 47 33 18
+f 47 13 33
+f 48 31 5
+f 48 5 10
+f 48 10 28
+f 49 28 16
+f 49 48 28
+f 49 31 48
+f 50 32 18
+f 50 6 32
+f 50 33 6
+f 50 18 33
+f 51 32 6
+f 51 6 11
+f 51 11 43
+f 52 18 32
+f 52 38 18
+f 52 43 24
+f 52 51 43
+f 52 32 51
+f 53 34 6
+f 53 4 37
+f 53 37 12
+f 53 12 34
+f 54 19 35
+f 54 53 19
+f 54 4 53
+f 54 29 4
+f 54 45 29
+f 54 35 13
+f 54 13 45
+f 55 33 13
+f 55 13 35
+f 55 6 33
+f 56 35 19
+f 56 55 35
+f 56 6 55
+f 56 53 6
+f 56 19 53
+f 57 36 3
+f 57 15 36
+f 57 39 15
+f 57 3 39
+f 58 37 26
+f 58 26 3
+f 58 3 20
+f 58 20 37
+f 59 9 22
+f 59 22 38
+f 59 38 52
+f 59 52 24
+f 59 24 9
+f 60 39 3
+f 60 8 39
+f 60 41 8
+f 60 3 26
+f 60 26 41
+f 61 40 17
+f 61 17 31
+f 62 16 25
+f 62 25 40
+f 62 49 16
+f 62 31 49
+f 62 61 31
+f 62 40 61
+f 63 41 26
+f 63 14 41
+f 63 26 42
+f 63 42 25
+f 63 25 14
+f 64 41 14
+f 64 14 8
+f 64 8 41
\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_28.obj b/apple/apple_13/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d03bdcba13604d8b26d32e18559397b0f8022060
--- /dev/null
+++ b/apple/apple_13/collision/model_normalized_collision_28.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00593138 -0.47848621 0.20450530
+v 0.00504270 -0.49266425 0.02848487
+v 0.00757578 -0.26821458 0.02694835
+v -0.09848483 -0.26821458 0.25422108
+v -0.09446815 -0.47820973 0.17644396
+v 0.00757578 -0.26821458 0.25422108
+v 0.00630101 -0.46699892 0.24997243
+v -0.02210243 -0.49440343 0.11595207
+v -0.09848483 -0.26821458 0.02694835
+v 0.00539650 -0.49288187 0.11587402
+v -0.07922044 -0.47655142 0.20427005
+v -0.09439913 -0.47986993 0.02876309
+v -0.09446171 -0.46232759 0.24782003
+v -0.03653987 -0.49424868 0.08734310
+v -0.03629040 -0.49324614 0.04374351
+v -0.02113456 -0.49319880 0.02859647
+f 6 3 4
+f 7 2 3
+f 7 3 6
+f 7 6 4
+f 9 3 2
+f 9 5 4
+f 9 4 3
+f 10 7 1
+f 10 2 7
+f 10 8 2
+f 10 1 8
+f 11 1 7
+f 11 8 1
+f 11 5 8
+f 12 9 2
+f 12 5 9
+f 13 11 7
+f 13 7 4
+f 13 4 5
+f 13 5 11
+f 14 8 5
+f 14 5 12
+f 15 14 12
+f 16 2 8
+f 16 8 14
+f 16 14 15
+f 16 15 12
+f 16 12 2
\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_29.obj b/apple/apple_13/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d58963984ff33f3ccfdf83cda3cba7a10ec2d08a
--- /dev/null
+++ b/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
+v 0.01080346 -0.12464371 0.43441114
+v -0.08239683 -0.26355451 0.44726150
+v -0.09626100 -0.15417078 0.43397898
+v -0.06587189 -0.18167975 0.44793075
+v -0.00618304 -0.16693040 0.44896433
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 8 1 2
+f 8 2 3
+f 9 5 2
+f 9 2 1
+f 11 1 8
+f 12 7 9
+f 12 11 7
+f 12 1 11
+f 13 3 10
+f 14 10 3
+f 14 3 4
+f 14 4 5
+f 14 5 9
+f 14 13 10
+f 15 11 8
+f 15 8 3
+f 16 12 9
+f 16 9 1
+f 16 1 12
+f 17 9 7
+f 17 15 3
+f 17 3 13
+f 17 14 9
+f 17 13 14
+f 18 17 7
+f 18 7 11
+f 19 18 11
+f 19 11 15
+f 19 15 17
+f 19 17 18
\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_3.obj b/apple/apple_13/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..991f48edd99f4efe2b0e6bf862a41df6a091cb62
--- /dev/null
+++ b/apple/apple_13/collision/model_normalized_collision_3.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.23484850 -0.01063883 -0.21547589
+v 0.22543049 -0.00785937 -0.44443230
+v 0.23484850 0.20148238 -0.21547589
+v -0.23484847 0.20148238 -0.21547589
+v -0.23484847 -0.01063883 -0.21547589
+v -0.01918486 0.19568140 -0.45494737
+v -0.15694843 -0.01564553 -0.46015389
+v 0.22707717 0.19708344 -0.38707666
+v -0.09510687 0.19663376 -0.43876462
+v 0.16852054 -0.00942929 -0.47089422
+v -0.22985429 -0.01225287 -0.43366058
+v -0.16870273 0.13725714 -0.43903680
+v -0.06227937 0.03447514 -0.47481679
+v 0.18080587 0.09000445 -0.45412278
+v -0.21184643 -0.01388021 -0.44366211
+v -0.23484847 -0.01063883 -0.33668801
+v -0.14054004 0.16581945 -0.43944680
+v -0.22594942 0.19434734 -0.39535125
+v -0.01926216 -0.01110756 -0.47384934
+v 0.15456484 0.04625243 -0.47174535
+v 0.22330537 0.06039721 -0.44053072
+v 0.07893533 0.19471002 -0.45448012
+v -0.18291727 0.10868617 -0.43910362
+v -0.03368056 0.18350969 -0.45567272
+v -0.18110302 0.17840172 -0.42237482
+v 0.22307687 0.11968739 -0.42378262
+v 0.19579085 0.06035520 -0.45512669
+v 0.13844296 0.15001558 -0.45282662
+v -0.22496220 0.09281821 -0.42400180
+v -0.15359820 0.19377169 -0.42615998
+v 0.19528362 0.11851419 -0.43855715
+v 0.16937929 0.03197492 -0.46915240
+v 0.13697477 0.19282719 -0.43761687
+v -0.22364686 0.16461850 -0.40844318
+v -0.21049809 0.13554234 -0.42294843
+v -0.19656038 0.19323597 -0.41032220
+v 0.16652872 0.16285686 -0.43884918
+v 0.22054369 0.19338517 -0.39363823
+v 0.19239308 0.16460001 -0.42417669
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 7 1 5
+f 8 3 2
+f 9 4 3
+f 9 8 6
+f 9 3 8
+f 10 2 1
+f 10 1 7
+f 13 7 12
+f 15 7 5
+f 15 5 11
+f 16 11 5
+f 16 5 4
+f 17 9 6
+f 17 13 12
+f 18 4 9
+f 18 16 4
+f 18 11 16
+f 19 10 7
+f 19 7 13
+f 20 19 13
+f 20 10 19
+f 21 8 2
+f 22 6 8
+f 22 20 13
+f 22 13 6
+f 23 12 7
+f 23 7 15
+f 24 17 6
+f 24 6 13
+f 24 13 17
+f 25 17 12
+f 26 8 21
+f 27 20 14
+f 27 26 21
+f 27 21 2
+f 28 14 20
+f 28 20 22
+f 29 23 15
+f 29 15 11
+f 29 11 18
+f 30 18 9
+f 30 9 17
+f 30 17 25
+f 31 27 14
+f 31 26 27
+f 32 10 20
+f 32 20 27
+f 32 27 2
+f 32 2 10
+f 33 28 22
+f 33 22 8
+f 34 29 18
+f 35 12 23
+f 35 23 29
+f 35 29 34
+f 35 34 25
+f 35 25 12
+f 36 30 25
+f 36 18 30
+f 36 34 18
+f 36 25 34
+f 37 31 14
+f 37 14 28
+f 37 28 33
+f 37 26 31
+f 38 37 33
+f 38 33 8
+f 38 8 26
+f 39 38 26
+f 39 26 37
+f 39 37 38
\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_30.obj b/apple/apple_13/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85d047ed7606142a9703ddc446e66e400d3a9d24
--- /dev/null
+++ b/apple/apple_13/collision/model_normalized_collision_30.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.44954688 -0.02535543 0.29462669
+v 0.41186413 -0.01331913 -0.22107117
+v 0.41994280 0.24393259 0.27557191
+v 0.26515153 0.23178542 0.26937259
+v 0.26515153 -0.01063883 0.26937259
+v 0.26515153 0.23178542 -0.21547589
+v 0.26515153 -0.01063883 -0.21547589
+v 0.38667602 0.22409903 -0.19223470
+v 0.37592665 0.22637925 -0.20978608
+v 0.38641299 0.20881127 -0.20724282
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 7 5 6
+f 8 3 2
+f 9 6 3
+f 9 3 8
+f 9 2 6
+f 10 9 8
+f 10 8 2
+f 10 2 9
\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_31.obj b/apple/apple_13/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18f76c1a696e7c0c9394b792170640629182ef22
--- /dev/null
+++ b/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
+v 0.00757578 -0.01063883 -0.23062740
+v -0.18363035 -0.23256554 -0.40358952
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 7 1 2
+f 7 2 3
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_4.obj b/apple/apple_13/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ecdbd5420928870fe873771c7b0264055818518
--- /dev/null
+++ b/apple/apple_13/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.22926898 0.34356916 0.38277660
+v 0.25114231 0.35470202 -0.21664800
+v 0.19489017 0.45503587 0.14619783
+v -0.07734400 0.47055358 0.25009096
+v -0.23186229 0.34757648 -0.24257398
+v 0.07813155 0.45402747 0.30644398
+v 0.23990475 0.42496870 0.18994523
+v -0.09848483 0.33784602 -0.21547589
+v -0.25129650 0.37417502 0.26729972
+v 0.09515566 0.47214750 -0.05977800
+v 0.09352214 0.48673850 0.17600159
+v 0.24546143 0.34532815 0.36908179
+v 0.23968679 0.42575407 -0.04522990
+v -0.21626080 0.34682568 -0.25672353
+v -0.21164338 0.43995065 0.01339735
+v -0.07732843 0.36789076 0.40412849
+v -0.09389238 0.34686244 0.41032172
+v 0.05109957 0.48730384 0.21907234
+v 0.15251822 0.47068402 -0.00040603
+v 0.13580215 0.45455810 0.26304884
+v 0.18053911 0.39387995 0.34906106
+v 0.22611680 0.44107213 0.01434897
+v 0.16817870 0.40846920 -0.19091539
+v -0.22435105 0.42546727 0.17499003
+v -0.22691805 0.42393679 -0.06053178
+v -0.04835184 0.44005586 0.33441263
+v -0.09168429 0.35885671 0.40432950
+v 0.12610830 0.34467352 0.42734329
+v -0.05061872 0.48713093 0.08909199
+v 0.10952761 0.48599463 0.13136243
+v 0.13644938 0.46998114 0.20562457
+v 0.07859436 0.47153340 0.26450793
+v 0.24105760 0.35303799 0.36291897
+v 0.10910453 0.43969137 0.31901146
+v 0.23961623 0.39407486 0.29157764
+v 0.22564095 0.44102188 0.13104208
+v 0.19561484 0.45576326 0.01352641
+v 0.22489153 0.41083755 -0.13232758
+v -0.09567901 0.39885568 -0.23817422
+v -0.16532303 0.44148600 0.23325658
+v -0.12231392 0.47044354 0.16127932
+v -0.22727126 0.40985967 -0.11902556
+v -0.09128376 0.42781308 0.33366019
+v -0.04999887 0.34681806 0.42512757
+v 0.16814376 0.35366875 0.40487556
+v 0.03682333 0.42712620 0.36180119
+v -0.05015965 0.48652299 0.19194923
+v -0.15393772 0.45629684 -0.01586636
+v 0.06744677 0.48737377 0.01341551
+v 0.21030068 0.44041082 0.19007472
+v 0.15238556 0.47108969 0.16146942
+v -0.02232816 0.47108315 0.27743090
+v 0.22505462 0.35123244 0.37650619
+v 0.15194405 0.42384165 0.31847478
+v 0.12090323 0.45521949 0.27602907
+v 0.23838656 0.36416288 0.34869594
+v 0.10989406 0.48670340 0.05885521
+v 0.18239819 0.45533295 -0.03101484
+v 0.24016143 0.41141007 -0.10406958
+v 0.24098125 0.36712003 -0.20707495
+v 0.12486713 0.45425475 -0.10247600
+v -0.10510820 0.37319013 -0.28106576
+v -0.22349768 0.41003876 0.23128431
+v -0.21013070 0.44014269 0.11640378
+f 8 2 1
+f 12 1 2
+f 12 2 7
+f 13 7 2
+f 14 8 5
+f 14 2 8
+f 17 9 5
+f 17 5 8
+f 22 7 13
+f 25 24 15
+f 25 9 24
+f 27 17 16
+f 27 9 17
+f 28 17 8
+f 28 8 1
+f 32 20 31
+f 32 31 11
+f 32 11 18
+f 33 1 12
+f 35 12 7
+f 36 3 7
+f 36 7 22
+f 37 36 22
+f 37 3 36
+f 37 22 13
+f 41 40 4
+f 41 24 40
+f 42 5 9
+f 42 9 25
+f 42 39 14
+f 42 14 5
+f 43 16 26
+f 43 27 16
+f 43 9 27
+f 43 26 4
+f 43 4 40
+f 44 16 17
+f 44 17 28
+f 45 28 1
+f 45 21 34
+f 46 44 28
+f 46 26 16
+f 46 16 44
+f 46 34 6
+f 46 45 34
+f 46 28 45
+f 47 18 29
+f 47 41 4
+f 47 29 41
+f 48 25 15
+f 48 41 29
+f 48 15 41
+f 48 42 25
+f 48 10 39
+f 48 39 42
+f 49 29 18
+f 49 48 29
+f 49 10 48
+f 50 31 20
+f 50 7 3
+f 50 35 7
+f 50 20 35
+f 51 30 11
+f 51 11 31
+f 51 3 37
+f 51 50 3
+f 51 31 50
+f 52 6 32
+f 52 46 6
+f 52 26 46
+f 52 4 26
+f 52 32 18
+f 52 47 4
+f 52 18 47
+f 53 33 21
+f 53 1 33
+f 53 45 1
+f 53 21 45
+f 54 34 21
+f 54 35 20
+f 54 21 35
+f 55 32 6
+f 55 6 34
+f 55 20 32
+f 55 54 20
+f 55 34 54
+f 56 35 21
+f 56 21 33
+f 56 33 12
+f 56 12 35
+f 57 37 19
+f 57 51 37
+f 57 30 51
+f 57 19 10
+f 57 10 49
+f 57 11 30
+f 57 49 18
+f 57 18 11
+f 58 37 13
+f 58 19 37
+f 59 13 2
+f 59 58 13
+f 59 38 58
+f 60 2 23
+f 60 23 38
+f 60 59 2
+f 60 38 59
+f 61 38 23
+f 61 58 38
+f 61 10 19
+f 61 19 58
+f 61 39 10
+f 61 23 39
+f 62 39 23
+f 62 23 2
+f 62 2 14
+f 62 14 39
+f 63 40 24
+f 63 24 9
+f 63 43 40
+f 63 9 43
+f 64 41 15
+f 64 15 24
+f 64 24 41
\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_5.obj b/apple/apple_13/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44975abd724aed1e4410c1b51275693ed5436536
--- /dev/null
+++ b/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
+v 0.37329086 0.19628886 -0.23768778
+v 0.16883057 0.39990614 -0.20890297
+v -0.08175027 0.41507833 -0.20972642
+v 0.00757578 0.20148238 -0.21547589
+v 0.01030950 0.19581221 -0.46050674
+v 0.29946714 0.32495841 -0.20775033
+v 0.03682989 0.32233873 -0.36667104
+v -0.10301994 0.37719811 -0.27471736
+v 0.34278453 0.19436122 -0.28093328
+v 0.35995776 0.25440952 -0.20920529
+v 0.06696859 0.39519531 -0.26495188
+v 0.19472802 0.32021048 -0.30654337
+v -0.10692525 0.39671831 -0.23815690
+v 0.00785827 0.23654152 -0.43992206
+v 0.35278067 0.22212259 -0.24897568
+v 0.37592665 0.22637925 -0.20978608
+v 0.11084388 0.41527677 -0.20970738
+v 0.00806417 0.39605805 -0.26529038
+v 0.22479573 0.34976276 -0.24856722
+v 0.15447905 0.19610543 -0.43004847
+v 0.12212480 0.36508699 -0.29249841
+v -0.09794780 0.41074017 -0.21421862
+v 0.00869595 0.30711130 -0.38185892
+v 0.00922001 0.21068602 -0.45451216
+v 0.32405641 0.25046209 -0.26194374
+v 0.36947691 0.20778091 -0.23482608
+v 0.32846216 0.29637365 -0.20787073
+v -0.08080441 0.39459072 -0.25119528
+v 0.00834121 0.36732997 -0.31061640
+v 0.25712768 0.35611146 -0.20867200
+v 0.23891417 0.30605019 -0.29100766
+v 0.25550982 0.19437323 -0.36986374
+v 0.09359300 0.26293789 -0.41063248
+v 0.15218410 0.36405458 -0.27820456
+v 0.10927481 0.39503107 -0.25130008
+v 0.07878561 0.36547381 -0.30806832
+v 0.04996697 0.21007314 -0.45458592
+v 0.35516892 0.25106786 -0.21947965
+v 0.33848367 0.20720580 -0.27759648
+v 0.29576543 0.32070798 -0.21785965
+v -0.09671904 0.38943204 -0.25570835
+v -0.08110639 0.40985086 -0.22125836
+v 0.00868860 0.32217757 -0.36663630
+v 0.19629600 0.36436655 -0.24980967
+v 0.19316549 0.24731603 -0.37987725
+v 0.10944166 0.19579333 -0.44534014
+v 0.26547964 0.23366198 -0.33550493
+v 0.10799793 0.29234628 -0.38114472
+v 0.05224079 0.23527713 -0.43981846
+v 0.10716042 0.33578345 -0.33658961
+v 0.10972864 0.41013599 -0.22149332
+v 0.13738841 0.37916732 -0.26346500
+v 0.32428404 0.29257220 -0.21793859
+v 0.32944019 0.19525244 -0.29617015
+v 0.25323188 0.32049055 -0.26218669
+v -0.09567901 0.39885568 -0.23817422
+v 0.02199608 0.30763929 -0.38200725
+v 0.16565399 0.33522566 -0.30694046
+v 0.15138093 0.23601979 -0.40881206
+v 0.20764594 0.20761274 -0.39539669
+v 0.21094094 0.19480561 -0.39987423
+v 0.05141758 0.19577796 -0.45962545
+v 0.23689434 0.26270180 -0.33516740
+f 5 2 1
+f 7 3 4
+f 9 6 5
+f 10 2 5
+f 10 5 6
+f 14 9 5
+f 16 2 10
+f 17 5 1
+f 17 16 11
+f 18 4 3
+f 19 18 12
+f 19 4 18
+f 23 14 5
+f 23 5 4
+f 24 15 9
+f 25 6 9
+f 25 9 15
+f 27 17 1
+f 27 1 2
+f 27 2 16
+f 27 16 17
+f 28 4 5
+f 28 5 17
+f 28 7 4
+f 28 17 11
+f 29 19 9
+f 30 19 12
+f 30 9 19
+f 31 3 7
+f 32 13 20
+f 33 10 6
+f 37 36 22
+f 37 12 36
+f 37 30 12
+f 37 8 30
+f 38 6 25
+f 38 25 15
+f 39 11 16
+f 39 16 26
+f 40 26 16
+f 40 16 10
+f 41 7 28
+f 41 31 7
+f 42 29 9
+f 42 9 14
+f 43 23 4
+f 43 4 19
+f 43 19 29
+f 44 24 9
+f 44 9 30
+f 44 30 8
+f 45 31 20
+f 45 3 31
+f 45 20 13
+f 46 13 32
+f 48 33 46
+f 49 13 46
+f 49 34 8
+f 50 38 15
+f 50 47 38
+f 51 22 35
+f 51 37 22
+f 51 49 8
+f 51 8 37
+f 52 18 3
+f 52 3 36
+f 52 36 12
+f 52 12 18
+f 53 35 22
+f 53 22 36
+f 53 36 3
+f 53 45 35
+f 53 3 45
+f 54 28 11
+f 54 11 39
+f 54 39 26
+f 54 41 28
+f 55 40 10
+f 55 10 33
+f 55 33 48
+f 55 48 26
+f 55 26 40
+f 56 26 32
+f 56 32 20
+f 56 20 31
+f 56 31 41
+f 56 54 26
+f 56 41 54
+f 57 42 14
+f 57 14 23
+f 57 29 42
+f 57 43 29
+f 57 23 43
+f 58 44 8
+f 58 24 44
+f 58 8 34
+f 58 34 50
+f 58 50 15
+f 58 15 24
+f 59 45 13
+f 59 35 45
+f 59 51 35
+f 59 13 49
+f 59 49 51
+f 60 49 46
+f 60 34 49
+f 60 21 47
+f 60 50 34
+f 60 47 50
+f 61 46 33
+f 61 60 46
+f 61 21 60
+f 62 33 6
+f 62 47 21
+f 62 61 33
+f 62 21 61
+f 63 6 38
+f 63 38 47
+f 63 62 6
+f 63 47 62
+f 64 48 46
+f 64 46 32
+f 64 32 26
+f 64 26 48
\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_6.obj b/apple/apple_13/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26edb0dcd93611c37dc7da60600aec27d071ded3
--- /dev/null
+++ b/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
+v 0.41964481 -0.00746927 -0.20922659
+v 0.23484850 -0.01063883 -0.21547589
+v 0.23484850 0.20148238 -0.21547589
+v 0.21538145 -0.00911695 -0.44986388
+v 0.40329417 0.16590693 -0.20814325
+v 0.22674997 -0.28940768 -0.22360587
+v 0.21969699 -0.01063883 -0.23062740
+v 0.22707717 0.19708344 -0.38707666
+v 0.34006129 0.07609260 -0.33730334
+v 0.27912260 -0.10558523 -0.35222590
+v 0.20945564 -0.25827927 -0.28298249
+v 0.39034291 0.19707746 -0.20934974
+v 0.21033109 -0.08029215 -0.43027251
+v 0.41459503 0.10705541 -0.22025375
+v 0.26682344 0.06040850 -0.41018024
+v 0.35930913 -0.12338339 -0.22350995
+v 0.33950722 -0.00521861 -0.33848704
+v 0.21226630 -0.29015894 -0.23933642
+v 0.30900251 0.19190354 -0.32163737
+v 0.21245441 -0.03696459 -0.44541812
+v 0.21046803 -0.16912476 -0.37276184
+v 0.35438499 0.14962466 -0.29243021
+v 0.41991883 0.10819419 -0.20972401
+v 0.22659437 0.09165600 -0.42985845
+v 0.25575825 -0.26029210 -0.22353134
+v 0.35197883 -0.07718361 -0.27860006
+v 0.38343527 0.02186537 -0.27995326
+v 0.25336133 0.03204258 -0.42537091
+v 0.26434431 -0.06303778 -0.39529778
+v 0.22239590 -0.28450986 -0.23498236
+v 0.28117158 0.16277393 -0.36504323
+v 0.39722024 0.10643797 -0.24903567
+v 0.36720425 0.19385477 -0.24908537
+v 0.41384944 -0.00598506 -0.22091238
+v 0.32815921 -0.16803915 -0.22326677
+v 0.23354417 -0.22354739 -0.29292252
+v 0.29300224 -0.11937655 -0.32317666
+v 0.32373290 -0.04765707 -0.33841897
+v 0.39817152 -0.03509232 -0.23477867
+v 0.35355255 0.04836279 -0.32459203
+v 0.28205637 0.07610756 -0.39457395
+v 0.23759129 0.08976055 -0.42337038
+v 0.23637527 -0.04961174 -0.42443118
+v 0.23505114 -0.10630772 -0.39647936
+v 0.27950769 0.19238882 -0.35139893
+v 0.30877438 0.13464673 -0.35135222
+v 0.38427077 0.06331825 -0.27879233
+v 0.39773680 0.16392076 -0.21897495
+v 0.35254745 0.17878284 -0.27742530
+v 0.25074256 -0.25606176 -0.23489380
+v 0.35475427 -0.12034269 -0.23484805
+v 0.32276185 -0.09067439 -0.30873239
+v 0.23351163 -0.16432367 -0.35314472
+v 0.32320013 -0.01999175 -0.35270644
+v 0.29315339 -0.06213885 -0.36629600
+v 0.39779152 -0.00575031 -0.25072536
+v 0.36709190 -0.01898902 -0.29304757
+v 0.35362711 0.02191849 -0.32458133
+v 0.26652168 0.11991631 -0.39379383
+v 0.22082703 -0.07706758 -0.42400649
+v 0.22186809 -0.03481757 -0.44039230
+v 0.25205275 0.17854665 -0.38151506
+v 0.32340202 0.16344863 -0.32191680
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 7 3 1
+f 8 1 4
+f 9 8 4
+f 13 9 4
+f 13 4 6
+f 14 8 9
+f 14 12 8
+f 19 1 8
+f 19 8 12
+f 20 9 13
+f 21 14 9
+f 21 9 5
+f 22 12 14
+f 24 15 6
+f 24 6 2
+f 25 5 9
+f 26 2 7
+f 29 5 25
+f 31 19 12
+f 31 7 1
+f 31 1 19
+f 31 26 7
+f 33 10 23
+f 34 20 13
+f 35 24 2
+f 35 15 24
+f 36 17 2
+f 36 2 26
+f 37 12 22
+f 40 2 17
+f 40 35 2
+f 41 29 10
+f 42 29 16
+f 42 10 29
+f 43 29 25
+f 43 16 29
+f 45 22 14
+f 45 30 11
+f 46 9 20
+f 47 23 10
+f 47 10 42
+f 48 33 15
+f 48 41 10
+f 48 10 33
+f 48 35 28
+f 48 15 35
+f 49 33 23
+f 49 6 15
+f 49 15 33
+f 49 23 34
+f 49 34 13
+f 49 13 6
+f 50 34 23
+f 50 20 34
+f 51 12 37
+f 51 31 12
+f 51 26 31
+f 51 37 38
+f 51 38 36
+f 51 36 26
+f 52 17 36
+f 52 36 38
+f 52 40 17
+f 52 27 40
+f 53 38 11
+f 53 52 38
+f 53 27 52
+f 53 39 27
+f 54 38 37
+f 54 37 22
+f 54 11 38
+f 54 45 11
+f 54 22 45
+f 55 18 39
+f 55 30 44
+f 55 29 18
+f 56 11 30
+f 56 55 39
+f 56 30 55
+f 56 53 11
+f 56 39 53
+f 57 18 28
+f 57 28 35
+f 57 35 40
+f 58 39 18
+f 58 57 40
+f 58 18 57
+f 58 40 27
+f 58 27 39
+f 59 28 18
+f 59 18 29
+f 59 29 41
+f 59 48 28
+f 59 41 48
+f 60 42 16
+f 60 16 43
+f 60 47 42
+f 60 32 47
+f 60 43 25
+f 61 44 30
+f 61 14 44
+f 61 45 14
+f 61 30 45
+f 62 44 14
+f 62 14 21
+f 62 21 5
+f 62 5 29
+f 62 55 44
+f 62 29 55
+f 63 46 32
+f 63 9 46
+f 63 32 60
+f 63 60 25
+f 63 25 9
+f 64 46 20
+f 64 32 46
+f 64 47 32
+f 64 23 47
+f 64 50 23
+f 64 20 50
\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_7.obj b/apple/apple_13/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e185239282abadc54ac1d02305d65e8145f3300f
--- /dev/null
+++ b/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/apple/apple_13/collision/model_normalized_collision_8.obj b/apple/apple_13/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d65bbdd2240b917959b51d35b6667e54d4aea8f
--- /dev/null
+++ b/apple/apple_13/collision/model_normalized_collision_8.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.02125506 -0.46540452 0.25044686
+v 0.15684657 -0.41534878 0.26459636
+v 0.05011841 -0.37681374 0.38806941
+v -0.16093447 -0.26904495 0.42562270
+v -0.09848483 -0.26821458 0.25422108
+v -0.09347970 -0.40146791 0.36220397
+v 0.07681432 -0.43056166 0.30423099
+v 0.14393941 -0.26821458 0.25422108
+v -0.09514078 -0.33328943 0.41825262
+v -0.09733942 -0.46005722 0.25239865
+v 0.07882839 -0.45197305 0.25086974
+v 0.13568348 -0.35777529 0.37696065
+v -0.02392291 -0.43160456 0.33547794
+v -0.07995309 -0.46520530 0.24884291
+v 0.14134430 -0.26311081 0.43706469
+v -0.08184655 -0.36337214 0.40253448
+v -0.21608678 -0.33977492 0.35591902
+v 0.06399626 -0.44639795 0.27741053
+v 0.12218778 -0.41924584 0.29364521
+v 0.09292195 -0.40078638 0.34625948
+v -0.09363152 -0.43102625 0.31978169
+v -0.00909869 -0.44700242 0.30487447
+v -0.09687336 -0.26647708 0.44418070
+v 0.02156290 -0.30612543 0.43266454
+v 0.15629457 -0.30791362 0.40989328
+v -0.09354045 -0.38951309 0.37546424
+v -0.18519398 -0.28644653 0.40849521
+v -0.21141510 -0.34963442 0.35031649
+v -0.16394786 -0.34667683 0.38629435
+v 0.07739454 -0.44788784 0.26251305
+v 0.13564519 -0.39973290 0.31897688
+v 0.06299100 -0.38650784 0.37724229
+v 0.12021694 -0.41482813 0.30350896
+v 0.03451316 -0.41744829 0.34620112
+v -0.07810131 -0.41703723 0.34707157
+v -0.05125026 -0.44633464 0.30493460
+v 0.02094415 -0.46114483 0.26253288
+v 0.04912867 -0.43015087 0.31967567
+v -0.09483481 -0.30529586 0.43175546
+v 0.02110025 -0.36129112 0.40296400
+v 0.15556051 -0.32184282 0.39791252
+v 0.15861085 -0.31272025 0.40467232
+v -0.03579246 -0.43182817 0.33526938
+v -0.15158498 -0.33159023 0.40231222
+v -0.16434349 -0.37453909 0.36010752
+v -0.21128362 -0.33419068 0.36526621
+v -0.13639755 -0.35853770 0.39002411
+v 0.14027316 -0.41115195 0.29483423
+v 0.13481346 -0.37116049 0.36079756
+v 0.10614414 -0.37155209 0.37675636
+v -0.07893020 -0.46062667 0.26236694
+v 0.07937831 -0.34667503 0.40398371
+v -0.09394980 -0.44681793 0.28994886
+v -0.13639229 -0.37367825 0.37486164
+v -0.20666258 -0.34396969 0.35968198
+v -0.09419263 -0.37437330 0.38956555
+v -0.12216568 -0.34771804 0.40318860
+v 0.14009543 -0.27348956 0.43338554
+v 0.03601622 -0.33424812 0.41745741
+v 0.12303010 -0.32950751 0.40455143
+v 0.09619595 -0.29093343 0.43216523
+v 0.09533406 -0.31880375 0.41758821
+v 0.13899661 -0.30349578 0.41660559
+f 11 8 2
+f 14 5 8
+f 14 10 5
+f 14 11 1
+f 14 8 11
+f 15 8 5
+f 16 13 3
+f 18 1 11
+f 19 11 2
+f 19 7 18
+f 22 14 1
+f 23 15 5
+f 23 5 4
+f 24 9 16
+f 24 15 23
+f 27 4 5
+f 27 5 17
+f 28 17 5
+f 28 5 10
+f 30 19 18
+f 30 18 11
+f 30 11 19
+f 32 3 13
+f 33 20 7
+f 33 7 19
+f 33 31 20
+f 34 13 22
+f 34 32 13
+f 34 20 32
+f 35 6 21
+f 35 26 6
+f 37 22 1
+f 37 1 18
+f 38 18 7
+f 38 34 22
+f 38 7 20
+f 38 20 34
+f 38 37 18
+f 38 22 37
+f 39 23 4
+f 39 24 23
+f 39 9 24
+f 40 16 3
+f 42 2 8
+f 42 8 15
+f 42 15 25
+f 42 41 2
+f 42 25 12
+f 42 12 41
+f 43 13 16
+f 43 16 26
+f 43 26 35
+f 43 35 21
+f 43 21 36
+f 43 36 22
+f 43 22 13
+f 44 4 27
+f 44 39 4
+f 44 9 39
+f 44 27 29
+f 45 21 6
+f 46 29 27
+f 46 27 17
+f 46 17 28
+f 47 44 29
+f 47 29 45
+f 48 19 2
+f 48 2 31
+f 48 33 19
+f 48 31 33
+f 49 20 31
+f 49 41 12
+f 49 31 2
+f 49 2 41
+f 50 32 20
+f 50 12 25
+f 50 49 12
+f 50 20 49
+f 51 14 22
+f 51 22 36
+f 51 10 14
+f 52 40 3
+f 52 3 32
+f 52 32 50
+f 53 45 28
+f 53 28 10
+f 53 21 45
+f 53 10 51
+f 53 51 36
+f 53 36 21
+f 54 45 6
+f 54 6 26
+f 54 47 45
+f 54 26 47
+f 55 45 29
+f 55 29 46
+f 55 46 28
+f 55 28 45
+f 56 47 26
+f 56 26 16
+f 56 16 47
+f 57 47 16
+f 57 16 9
+f 57 9 44
+f 57 44 47
+f 58 25 15
+f 59 40 52
+f 59 24 16
+f 59 16 40
+f 60 52 50
+f 60 50 25
+f 61 58 15
+f 61 15 24
+f 61 24 59
+f 62 52 60
+f 62 58 61
+f 62 61 59
+f 62 59 52
+f 62 60 25
+f 63 62 25
+f 63 25 58
+f 63 58 62
\ No newline at end of file
diff --git a/apple/apple_13/collision/model_normalized_collision_9.obj b/apple/apple_13/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f606dfe788d53294efd2db72e9886957366fb81
--- /dev/null
+++ b/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/apple/apple_13/model.xml b/apple/apple_13/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f68a129916bbe20d52347463a71dd46ec14df59c
--- /dev/null
+++ b/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"/>
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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_25._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_5._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"/>
+        <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"/>
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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_29._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_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/apple/apple_13/visual/material.mtl b/apple/apple_13/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..842b70538fc6029daec10eabd1278717f12035ab
--- /dev/null
+++ b/apple/apple_13/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/apple/apple_13/visual/model_normalized_0.obj b/apple/apple_13/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c761709fad56b14cc291890f518a4ac4890910a
--- /dev/null
+++ b/apple/apple_13/visual/model_normalized_0.obj
@@ -0,0 +1,13286 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_0.obj b/apple/apple_14/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dcb9a53f13445d5a6f97384c4b52169d5fe4c93
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.22903448 -0.22801396 -0.23484848
+v 0.21882223 -0.21773509 -0.37261806
+v 0.22126066 0.33750235 -0.26237282
+v -0.24581756 0.32478923 -0.25475604
+v -0.22551097 -0.22801396 -0.23484848
+v -0.05532284 0.14528664 -0.48991934
+v 0.22903448 0.19622846 -0.23484848
+v -0.09747094 -0.21718842 -0.44266232
+v 0.20041904 0.10290044 -0.44464097
+v -0.08603947 0.31904888 -0.37308521
+v 0.21710911 -0.14559279 -0.41693974
+v 0.01187084 -0.21686523 -0.44251142
+v -0.21598654 -0.02751092 -0.45879860
+v -0.21152924 0.21530166 -0.38314815
+v -0.14713050 0.32773874 -0.33641513
+v 0.14756904 0.19883619 -0.42903460
+v 0.11888271 -0.08670917 -0.49104041
+v 0.21596442 0.15862275 -0.41550107
+v -0.21448599 -0.21912203 -0.37303331
+v -0.21611632 -0.11371921 -0.42782995
+v -0.11043559 0.21652808 -0.44198970
+v -0.21654830 0.08289464 -0.44344081
+v 0.01571817 0.32667701 -0.36493738
+v -0.19628757 0.28762541 -0.33989876
+v 0.11859571 0.09998630 -0.48944431
+v 0.20091660 -0.08937969 -0.44499199
+v 0.14683782 -0.17066092 -0.44268141
+v -0.01835661 -0.13234147 -0.49075495
+v 0.21490815 0.11729574 -0.43040479
+v 0.21695334 0.18658500 -0.40021094
+v -0.09583555 -0.18930725 -0.45727526
+v -0.18345522 -0.18865860 -0.41312616
+v -0.01624756 0.27452297 -0.41498192
+v -0.12678252 0.27281621 -0.39929549
+v -0.21591819 0.03938668 -0.45804723
+v -0.21392164 0.15679310 -0.41315278
+v -0.08189060 0.17288437 -0.47219024
+v 0.16026051 0.28740341 -0.35453217
+v -0.21166005 0.27267435 -0.34009047
+v -0.15894603 0.32376686 -0.33276939
+v 0.15856433 0.08838027 -0.47448782
+v 0.15932757 0.14251068 -0.45842953
+v 0.17260129 -0.11613075 -0.45896875
+v 0.20198333 -0.17279984 -0.41448571
+v 0.14757496 -0.21417842 -0.41295093
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+v -0.06970178 -0.20284674 -0.45836264
+v -0.14463507 0.02503230 -0.48974473
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+v -0.20243566 -0.05443663 -0.45704501
+v -0.18276821 -0.21726477 -0.39817617
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+v -0.08412103 0.27390748 -0.41407260
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+v -0.00233689 0.22982671 -0.44293026
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+v -0.21185090 0.28794475 -0.32588613
+v 0.15821326 -0.08961607 -0.47367959
+v 0.17184235 0.12937653 -0.45768275
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+f 64 29 9
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\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_1.obj b/apple/apple_14/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7447ffc2f5e32d62bf47e2392a185e8a93f4aba0
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_1.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.29129401 -0.30135310 0.29217795
+v 0.28845309 -0.28643010 -0.24701682
+v 0.25796127 0.37251211 0.23339890
+v -0.24173298 0.36936237 0.23385840
+v -0.25505188 -0.30177608 -0.26180929
+v 0.27448903 0.22653149 0.26515152
+v -0.25413262 -0.30424073 0.30303696
+v -0.22902275 0.35239541 -0.23839680
+v -0.22551097 0.22653149 0.26515152
+v 0.30857593 0.25254278 -0.26439098
+v 0.24239681 0.34541015 -0.23314009
+f 5 2 1
+f 7 5 1
+f 7 4 5
+f 7 1 6
+f 8 5 4
+f 8 4 3
+f 9 6 3
+f 9 3 4
+f 9 7 6
+f 9 4 7
+f 10 6 1
+f 10 1 2
+f 10 3 6
+f 10 2 5
+f 10 5 8
+f 11 10 8
+f 11 8 3
+f 11 3 10
\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_10.obj b/apple/apple_14/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5394dc5b86fdf585504a1e53d363bef27d2561ae
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_10.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.13747373 -0.39247013 0.26353940
+v 0.24053925 -0.35643533 0.25918689
+v 0.22436621 -0.18984712 0.39821436
+v 0.01384541 -0.01186262 0.32572028
+v 0.24418600 -0.01589275 0.26515152
+v 0.01410000 -0.28198803 0.38697490
+v 0.22216279 -0.30429909 0.32485348
+v 0.01691327 -0.33407457 0.26515152
+v 0.27346969 -0.04667517 0.39734437
+v 0.19228390 -0.34717043 0.29509509
+v 0.27201468 -0.15069663 0.39595656
+v 0.22364904 -0.24641570 0.36780215
+v 0.17976601 -0.38337982 0.25690552
+v 0.01341400 -0.01237500 0.30260599
+v 0.01494369 -0.32569485 0.36004649
+v 0.24418417 -0.01644595 0.39757963
+v 0.22154727 -0.34746384 0.28154044
+v 0.23814485 -0.26109860 0.35323017
+v 0.26747105 -0.14790081 0.39847182
+v 0.17749962 -0.37666443 0.26715694
+v 0.01075458 -0.10077923 0.35588342
+v 0.13386256 -0.36555984 0.29683858
+v 0.04322339 -0.30673606 0.36768617
+v 0.14506783 -0.09473195 0.39917073
+v 0.23767907 -0.34997933 0.26978552
+v 0.19272505 -0.33278564 0.30956961
+v 0.25271904 -0.17550498 0.39602919
+v 0.25655969 -0.03366511 0.39904026
+v 0.01418855 -0.30914271 0.37170075
+v 0.13547109 -0.38573908 0.27305019
+v 0.14764722 -0.36255371 0.29539970
+v 0.13361232 -0.31995997 0.33793163
+v 0.14072876 -0.19453264 0.39750950
+v 0.01267622 -0.15904367 0.38659625
+v 0.27001840 -0.04829830 0.39837443
+v 0.21632517 -0.03519371 0.39906855
+v 0.14818429 -0.34888444 0.30896274
+v 0.05870549 -0.32182831 0.35421539
+v 0.20844452 -0.27524876 0.35235645
+v 0.17887216 -0.30476645 0.33821519
+v 0.15951193 -0.06866901 0.39628604
+v 0.17500866 -0.02146076 0.38382219
+f 9 2 5
+f 11 2 9
+f 12 3 6
+f 13 8 5
+f 13 5 2
+f 13 1 8
+f 14 4 5
+f 14 5 8
+f 15 8 1
+f 16 9 5
+f 16 5 4
+f 18 2 11
+f 19 11 9
+f 20 1 13
+f 20 17 10
+f 21 4 14
+f 21 14 8
+f 23 12 6
+f 24 3 19
+f 25 7 17
+f 25 18 7
+f 25 2 18
+f 25 17 20
+f 25 20 13
+f 25 13 2
+f 26 17 7
+f 26 10 17
+f 27 18 11
+f 27 3 12
+f 27 12 18
+f 27 19 3
+f 27 11 19
+f 28 9 16
+f 28 24 19
+f 29 6 21
+f 29 23 6
+f 29 21 8
+f 29 8 15
+f 30 22 15
+f 30 15 1
+f 30 1 20
+f 31 20 10
+f 31 10 26
+f 31 30 20
+f 31 22 30
+f 33 24 6
+f 33 6 3
+f 33 3 24
+f 34 21 6
+f 34 6 24
+f 34 4 21
+f 35 28 19
+f 35 19 9
+f 35 9 28
+f 36 28 16
+f 36 24 28
+f 37 31 26
+f 37 22 31
+f 38 37 32
+f 38 15 22
+f 38 22 37
+f 38 29 15
+f 38 23 29
+f 39 7 18
+f 39 18 12
+f 39 12 23
+f 39 23 38
+f 40 26 7
+f 40 7 39
+f 40 39 38
+f 40 38 32
+f 40 37 26
+f 40 32 37
+f 41 34 24
+f 41 24 36
+f 42 36 16
+f 42 16 4
+f 42 41 36
+f 42 4 34
+f 42 34 41
\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_11.obj b/apple/apple_14/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16b87dbcec4ac2240856687e89e603a22a793270
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_11.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.16915337 -0.43620542 -0.11094774
+v 0.14732939 -0.39410628 -0.22557597
+v 0.15327691 -0.27346851 -0.09848485
+v -0.22551097 -0.27346851 -0.09848485
+v -0.15858454 -0.45354570 -0.09418199
+v 0.15327691 -0.27346851 -0.23484848
+v 0.04529621 -0.44222287 -0.18341657
+v -0.08907608 -0.47004340 -0.09837748
+v -0.21843701 -0.42754705 -0.09442237
+v 0.11895747 -0.42653442 -0.18293759
+v -0.12903436 -0.40823795 -0.22523911
+v 0.04444530 -0.42183313 -0.22501331
+v 0.14970146 -0.41541066 -0.18467306
+v -0.10075732 -0.45079262 -0.15114387
+v -0.17232857 -0.43483094 -0.13584644
+v -0.25505188 -0.30177608 -0.26180929
+v 0.08850086 -0.42136650 -0.21016552
+v 0.11722024 -0.40579116 -0.22386322
+v -0.14415917 -0.45014057 -0.12203451
+v -0.08601746 -0.45307613 -0.15206760
+v -0.15729383 -0.45010524 -0.10772011
+v -0.07073282 -0.42208223 -0.22502636
+v -0.21420896 -0.37658170 -0.20808666
+v 0.04448134 -0.43658889 -0.19596275
+v 0.11733807 -0.42105477 -0.19549008
+v 0.14776969 -0.41028970 -0.19656652
+v -0.14201660 -0.42006009 -0.19417331
+v -0.07065589 -0.43684531 -0.19579348
+v -0.21435001 -0.42067121 -0.12139613
+v -0.19903820 -0.37659316 -0.22275670
+v -0.15704980 -0.43464393 -0.15081349
+v -0.17080425 -0.39160530 -0.22349100
+v -0.11404509 -0.42084210 -0.20955375
+v -0.21607514 -0.36458870 -0.22470761
+v -0.11389907 -0.43525533 -0.18026134
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 8 1 3
+f 8 3 5
+f 8 7 1
+f 9 5 3
+f 9 3 4
+f 10 1 7
+f 13 2 1
+f 13 1 10
+f 16 9 4
+f 16 4 6
+f 16 6 2
+f 16 2 12
+f 17 10 7
+f 18 17 12
+f 18 12 2
+f 19 14 8
+f 19 8 5
+f 20 7 8
+f 20 8 14
+f 21 5 9
+f 21 9 15
+f 21 19 5
+f 21 15 19
+f 22 16 12
+f 22 11 16
+f 24 17 7
+f 24 12 17
+f 24 22 12
+f 25 13 10
+f 25 10 17
+f 25 17 18
+f 26 18 2
+f 26 2 13
+f 26 25 18
+f 26 13 25
+f 28 7 20
+f 28 20 14
+f 28 24 7
+f 28 22 24
+f 29 15 9
+f 29 9 16
+f 29 16 23
+f 31 19 15
+f 32 23 30
+f 32 11 27
+f 32 30 16
+f 32 16 11
+f 32 29 23
+f 32 15 29
+f 32 31 15
+f 32 27 31
+f 33 11 22
+f 33 22 28
+f 33 27 11
+f 34 30 23
+f 34 23 16
+f 34 16 30
+f 35 31 27
+f 35 14 19
+f 35 19 31
+f 35 27 33
+f 35 33 28
+f 35 28 14
\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_12.obj b/apple/apple_14/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9af79324d36d03a626665067e6e6f6fd91e8416b
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_12.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.39662320 0.21885859 0.25653612
+v 0.42712336 0.22025269 -0.07973270
+v 0.36538561 0.33291891 0.12591011
+v 0.24317072 0.36101664 0.26385522
+v 0.24418600 0.22653149 -0.23484848
+v 0.33625820 0.33052801 0.21048326
+v 0.44218446 0.22060334 0.12702993
+v 0.36822108 0.22014975 -0.21149602
+v 0.25139312 0.23503452 0.37283676
+v 0.25298807 0.32898855 -0.24389444
+v 0.39290809 0.27520048 0.19702838
+v 0.30291031 0.36013593 0.20332442
+v 0.41246882 0.21934002 0.22781820
+v 0.42328800 0.26158638 0.03934042
+v 0.41370798 0.21981990 -0.12435483
+v 0.29640256 0.21914985 0.35744074
+v 0.23745937 0.29063797 0.34134879
+v 0.23694589 0.34906267 0.28379945
+v 0.35597858 0.22173661 -0.22814201
+v 0.36359272 0.27280682 0.25324307
+v 0.36447508 0.31652117 0.18268705
+v 0.40700936 0.27466265 0.15463992
+v 0.32182395 0.31583802 0.25361887
+v 0.35865909 0.34138146 0.00837155
+v 0.44325413 0.22085850 0.02364618
+v 0.34756740 0.30342526 -0.15074514
+v 0.28463119 0.22213814 0.36302806
+v 0.39239227 0.24450044 0.23965189
+v 0.33641290 0.24481919 0.31043658
+v 0.36386140 0.30348819 0.21068154
+v 0.31301120 0.35440887 0.20056192
+v 0.39355121 0.28825063 0.16905479
+v 0.39419413 0.30413185 0.09770407
+v 0.42936861 0.22031782 0.18568334
+v 0.30684999 0.34648308 0.22476237
+v 0.29243162 0.31653000 0.28173571
+v 0.39291066 0.28917114 -0.04925755
+v 0.42334885 0.26034760 0.11209010
+v 0.42241774 0.24663266 -0.03489108
+v 0.37655279 0.27454483 -0.13573696
+v 0.29392396 0.30732477 -0.22597375
+v 0.34738460 0.27314610 -0.19262804
+v 0.28255178 0.23365244 0.35811975
+v 0.40614880 0.24622801 0.21064072
+v 0.39169358 0.23135192 0.25355143
+v 0.31220130 0.22144259 0.34573771
+v 0.37892296 0.31897022 0.12603252
+v 0.39401407 0.30409146 0.03929500
+v 0.43706784 0.23151200 0.12625966
+v 0.24956576 0.34446783 0.28131042
+v 0.37814066 0.30357391 -0.06375432
+v 0.43808555 0.23185020 0.02411705
+v 0.40766241 0.27506288 -0.01960447
+v 0.39164236 0.27446066 -0.09312202
+v 0.36363570 0.23292770 -0.20844583
+v 0.33319056 0.30158408 -0.17869682
+v 0.34674600 0.24508065 -0.22193414
+v 0.25044816 0.28713546 0.33818380
+v 0.40728210 0.23173578 0.22512420
+v 0.42361009 0.23238156 0.18376413
+v 0.29269237 0.23108082 0.35325593
+v 0.37899900 0.31937732 0.00953552
+v 0.37749481 0.28792827 -0.10740951
+v 0.42176553 0.23107482 -0.07815513
+f 12 10 4
+f 13 2 7
+f 15 1 8
+f 15 13 1
+f 15 2 13
+f 16 8 1
+f 16 5 8
+f 17 5 9
+f 18 10 5
+f 18 4 10
+f 18 5 17
+f 19 8 5
+f 19 5 10
+f 24 12 3
+f 24 10 12
+f 25 7 2
+f 26 10 24
+f 27 9 5
+f 27 5 16
+f 28 11 20
+f 29 20 23
+f 30 20 11
+f 30 21 6
+f 30 23 20
+f 30 6 23
+f 31 6 21
+f 31 21 3
+f 31 3 12
+f 32 11 22
+f 32 30 11
+f 32 21 30
+f 33 24 3
+f 34 13 7
+f 35 12 4
+f 35 31 12
+f 35 23 6
+f 35 6 31
+f 36 29 23
+f 36 35 4
+f 36 23 35
+f 38 14 33
+f 38 33 22
+f 39 25 2
+f 42 26 40
+f 43 9 27
+f 43 27 16
+f 44 11 28
+f 44 13 34
+f 45 28 20
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+f 45 20 29
+f 46 16 1
+f 46 1 29
+f 47 3 21
+f 47 21 32
+f 47 33 3
+f 47 32 22
+f 47 22 33
+f 48 33 14
+f 48 24 33
+f 49 34 7
+f 49 38 22
+f 50 36 4
+f 50 4 18
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+f 52 14 38
+f 52 39 14
+f 52 25 39
+f 52 38 49
+f 52 49 7
+f 52 7 25
+f 53 39 37
+f 53 14 39
+f 53 48 14
+f 54 37 39
+f 54 15 40
+f 54 51 37
+f 55 40 15
+f 55 15 8
+f 55 42 40
+f 55 8 19
+f 56 41 10
+f 56 10 26
+f 56 42 41
+f 56 26 42
+f 57 41 42
+f 57 19 10
+f 57 10 41
+f 57 55 19
+f 57 42 55
+f 58 17 9
+f 58 9 43
+f 58 36 50
+f 58 50 18
+f 58 18 17
+f 58 29 36
+f 59 44 28
+f 59 28 13
+f 59 13 44
+f 60 44 34
+f 60 22 11
+f 60 11 44
+f 60 49 22
+f 60 34 49
+f 61 43 16
+f 61 16 46
+f 61 46 29
+f 61 58 43
+f 61 29 58
+f 62 24 48
+f 62 51 24
+f 62 37 51
+f 62 53 37
+f 62 48 53
+f 63 40 26
+f 63 26 51
+f 63 54 40
+f 63 51 54
+f 64 54 39
+f 64 39 2
+f 64 2 15
+f 64 15 54
\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_13.obj b/apple/apple_14/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9e303566fab8005b13a47c885c134d86b1227e1
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_13.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.24418600 0.34774361 0.12878788
+v 0.25428047 0.41343741 0.13356642
+v 0.25796127 0.37251211 0.23339890
+v -0.15493605 0.42165650 0.22688292
+v -0.23787322 0.42995978 0.00694461
+v 0.14199884 0.42331659 0.22719376
+v -0.14975339 0.34774361 0.21969697
+v 0.15811848 0.46471978 0.00601020
+v 0.24242755 0.38944258 0.21770546
+v -0.22551097 0.34774361 0.00757576
+v -0.23265165 0.42046552 0.13172109
+v 0.13812539 0.34774361 0.00757576
+v -0.22551097 0.34774361 0.12878788
+f 1 2 3
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 8 6 2
+f 8 5 4
+f 8 4 6
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 1 7
+f 10 5 8
+f 11 4 5
+f 12 10 8
+f 12 8 1
+f 12 1 10
+f 13 7 4
+f 13 4 11
+f 13 10 7
+f 13 11 5
+f 13 5 10
\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_14.obj b/apple/apple_14/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f37f5b0f0f6cdde5cd6058cc101eeef0f582e98e
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_14.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.12072713 0.39973650 0.27425670
+v 0.15003601 0.45403446 0.13983086
+v 0.04479469 0.45008350 0.21149412
+v -0.12933462 0.46509948 0.12477125
+v 0.09267085 0.40834967 0.00757576
+v 0.03121975 0.48178853 0.11071017
+v -0.13184812 0.40144429 0.27510177
+v 0.14495394 0.43485561 0.20116321
+v 0.08896519 0.46450820 0.15340049
+v -0.07216960 0.46530299 0.16874486
+v -0.10087085 0.48160753 0.00794056
+v 0.03066608 0.42089332 0.26812035
+v 0.08905721 0.42072764 0.25399141
+v 0.04502473 0.46636663 0.16833215
+v 0.07535137 0.48131359 0.08106923
+v 0.11796907 0.44951575 0.18183634
+v -0.14232617 0.43447830 0.21045397
+v -0.05699023 0.48078753 0.11054048
+v -0.16976613 0.46180424 0.00617345
+v -0.05739790 0.42067499 0.26917376
+v 0.08895823 0.44960130 0.19708200
+v 0.11818389 0.40517268 0.26745635
+v 0.04480851 0.43597071 0.24016032
+v -0.07224271 0.44975019 0.21131028
+v 0.14302217 0.45743495 0.13332795
+v 0.06020361 0.48122609 0.09553544
+v 0.08934988 0.48229201 0.00778220
+v 0.13662309 0.44799655 0.17229138
+v -0.12914290 0.44910944 0.18237185
+v -0.08579933 0.48150500 0.08105540
+v -0.10079342 0.46480495 0.15406095
+v -0.14797303 0.40384567 0.26211063
+v -0.14442447 0.44962642 0.16836314
+v -0.11422701 0.41974551 0.25414000
+v -0.07083917 0.43590001 0.24099983
+v 0.08921737 0.48136956 0.05206441
+v 0.13549980 0.44360573 0.18542912
+v -0.11431157 0.43510531 0.22580353
+v -0.14468310 0.46587625 0.09618375
+v -0.10091949 0.48165008 0.03763893
+v -0.14234302 0.41962606 0.23972524
+v -0.14585789 0.47022433 0.00791174
+v -0.14407013 0.40907546 0.25637342
+v -0.12980564 0.40612887 0.26900820
+f 7 5 1
+f 8 5 2
+f 8 1 5
+f 13 12 1
+f 14 9 6
+f 14 6 10
+f 18 10 6
+f 20 7 1
+f 20 1 12
+f 21 13 8
+f 21 8 16
+f 21 14 3
+f 21 16 9
+f 21 9 14
+f 22 13 1
+f 22 1 8
+f 22 8 13
+f 23 12 13
+f 23 20 12
+f 23 21 3
+f 23 13 21
+f 24 14 10
+f 24 3 14
+f 25 15 9
+f 25 9 2
+f 26 15 6
+f 26 6 9
+f 26 9 15
+f 27 6 15
+f 27 19 11
+f 27 5 19
+f 27 25 2
+f 27 2 5
+f 28 8 2
+f 28 2 9
+f 28 9 16
+f 29 24 10
+f 30 18 6
+f 31 10 18
+f 31 29 10
+f 31 30 4
+f 31 18 30
+f 32 19 5
+f 32 5 7
+f 33 17 29
+f 33 31 4
+f 33 29 31
+f 33 32 17
+f 33 19 32
+f 34 7 20
+f 35 23 3
+f 35 3 24
+f 35 20 23
+f 35 34 20
+f 36 27 15
+f 36 15 25
+f 36 25 27
+f 37 28 16
+f 37 16 8
+f 37 8 28
+f 38 29 17
+f 38 24 29
+f 38 35 24
+f 38 34 35
+f 39 4 30
+f 39 33 4
+f 39 19 33
+f 40 27 11
+f 40 39 30
+f 40 30 6
+f 40 6 27
+f 41 17 32
+f 41 38 17
+f 41 34 38
+f 42 40 11
+f 42 11 19
+f 42 19 39
+f 42 39 40
+f 43 41 32
+f 43 32 7
+f 44 43 7
+f 44 7 34
+f 44 34 41
+f 44 41 43
\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_15.obj b/apple/apple_14/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2933a1fe60f7e1900937bbfcb13de580bd5b61f2
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_15.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22435373 -0.36282782 -0.21862569
+v -0.21627189 -0.23485646 -0.36022463
+v -0.21646611 -0.35247808 -0.24089029
+v -0.22185610 0.37308687 -0.21651246
+v -0.41134964 0.10282969 -0.21260094
+v -0.21666742 0.33642417 -0.27061992
+v -0.34988728 -0.23533190 -0.21106802
+v -0.21644077 0.27830487 -0.33084492
+v -0.21805802 0.36811388 -0.22791532
+v -0.33562363 0.26366831 -0.21158854
+v -0.30045815 -0.29013940 -0.22196590
+v -0.28528341 -0.04305985 -0.40169887
+v -0.24635554 -0.35171078 -0.21094107
+v -0.25625231 0.33115618 -0.23615169
+v -0.36441051 0.21942582 -0.21089936
+v -0.26947954 -0.23107088 -0.31073389
+v -0.21721587 -0.25080138 -0.34673618
+v -0.40987186 -0.10291758 -0.21154455
+v -0.21826904 0.06978968 -0.44743709
+v -0.23279967 0.36737658 -0.21284606
+v -0.30541309 -0.29435329 -0.21122264
+v -0.24252197 -0.34684505 -0.22191297
+v -0.22636586 0.33207261 -0.26661203
+v -0.26987727 0.27383152 -0.28045382
+v -0.29985010 -0.26128401 -0.25109354
+v -0.25610604 -0.14246434 -0.38556391
+v -0.22545293 -0.23083947 -0.35504164
+v -0.40446187 -0.04367625 -0.23809710
+v -0.37966640 0.19026390 -0.21118165
+v -0.21626616 -0.19074426 -0.38970546
+v -0.28489073 0.05478774 -0.40104423
+v -0.28499914 0.30265034 -0.23588537
+v -0.22921576 0.36260551 -0.22388292
+v -0.22757207 -0.34715570 -0.23681572
+v -0.29907646 0.21521053 -0.29576317
+v -0.29866265 -0.18736152 -0.31099668
+v -0.32879495 -0.05675410 -0.34259638
+v -0.21688011 0.21957002 -0.37593960
+v -0.22668242 -0.18717589 -0.38365647
+v -0.21878769 -0.05662344 -0.44906621
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+v -0.33042474 0.25978736 -0.22198103
+v -0.32887811 0.18602103 -0.28084098
+v -0.34438929 -0.23177662 -0.22147475
+v -0.28450564 -0.14332497 -0.35618508
+v -0.38943450 -0.07236298 -0.25268977
+v -0.25575358 0.12615597 -0.39907288
+v -0.23973461 0.25894270 -0.32524965
+v -0.22923247 -0.09797472 -0.42755458
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+v -0.35897310 0.17232842 -0.25118704
+v -0.34450809 -0.01495150 -0.32874432
+v -0.29949903 -0.02804199 -0.38817481
+v -0.32919699 0.24544775 -0.23603234
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+v -0.25466425 0.20020355 -0.35509337
+v -0.28399086 0.09829806 -0.38539600
+v -0.22593889 0.27366271 -0.32579471
+v -0.22715860 0.21563954 -0.37005414
+f 1 3 4
+f 8 6 3
+f 8 3 2
+f 9 4 3
+f 9 3 6
+f 13 1 4
+f 15 7 13
+f 17 2 3
+f 18 7 15
+f 20 13 4
+f 20 15 13
+f 20 10 15
+f 21 13 7
+f 21 7 11
+f 22 1 13
+f 22 21 11
+f 22 13 21
+f 23 9 6
+f 23 6 8
+f 25 11 7
+f 25 17 11
+f 25 16 17
+f 27 17 16
+f 27 2 17
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+f 28 18 5
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+f 33 14 20
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+f 47 18 28
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+f 49 35 24
+f 50 40 30
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+f 50 26 12
+f 50 12 40
+f 51 19 40
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+f 52 5 41
+f 52 31 42
+f 52 42 28
+f 52 28 5
+f 53 41 5
+f 53 5 29
+f 53 44 41
+f 53 29 15
+f 53 15 44
+f 54 37 28
+f 54 28 42
+f 55 42 31
+f 55 54 42
+f 55 12 37
+f 55 37 54
+f 55 51 12
+f 55 31 51
+f 56 43 24
+f 56 24 35
+f 56 15 43
+f 56 44 15
+f 56 35 44
+f 57 45 7
+f 57 7 18
+f 57 36 45
+f 57 46 36
+f 58 37 12
+f 58 12 26
+f 58 26 46
+f 58 46 57
+f 59 47 37
+f 59 18 47
+f 59 37 58
+f 59 58 57
+f 59 57 18
+f 60 48 38
+f 60 38 19
+f 60 19 51
+f 60 51 31
+f 61 35 49
+f 61 44 35
+f 62 31 41
+f 62 41 44
+f 62 61 48
+f 62 44 61
+f 62 60 31
+f 62 48 60
+f 63 49 24
+f 63 8 49
+f 63 24 23
+f 63 23 8
+f 64 49 8
+f 64 8 38
+f 64 61 49
+f 64 38 48
+f 64 48 61
\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_16.obj b/apple/apple_14/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaf5ff993107c3ac432dbf80df470136c32d2cfb
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_16.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.14975339 0.34774361 0.21969697
+v -0.14392526 0.40865412 -0.22645563
+v -0.14407013 0.40907546 0.25637342
+v -0.14548743 0.45346932 0.15475989
+v -0.24173298 0.36936237 0.23385840
+v -0.14406933 0.43898791 0.19832765
+v -0.22902275 0.35239541 -0.23839680
+v -0.15260412 0.38515857 0.28569112
+v -0.14385864 0.42345314 -0.19744902
+v -0.21481718 0.41981306 0.16770509
+v -0.16635681 0.37973437 -0.25714241
+v -0.20382859 0.36803598 0.27195962
+v -0.14544797 0.39751129 0.27294115
+v -0.14568604 0.46961708 -0.00671610
+v -0.21445426 0.40470347 -0.16627164
+v -0.15768006 0.40516248 0.25399236
+v -0.18561355 0.43408019 0.16773696
+v -0.21939134 0.36857981 0.25797916
+v -0.14574628 0.46977021 0.05233627
+v -0.15749246 0.40461810 -0.22417413
+v -0.15775017 0.44984396 -0.10899269
+v -0.21630930 0.43419522 -0.06473843
+v -0.21390615 0.37446724 -0.22264203
+v -0.21418945 0.37544969 0.25304042
+v -0.17066265 0.39024221 0.26745005
+v -0.15752308 0.44947605 0.15393069
+v -0.15753570 0.43459533 0.19648426
+v -0.18764894 0.45045389 0.09606422
+v -0.15742240 0.41919668 -0.19535936
+v -0.14557974 0.45409102 -0.11014332
+v -0.21516093 0.42066653 -0.12313887
+v -0.18653322 0.45046146 -0.05046859
+v -0.21622374 0.43440676 0.11013627
+v -0.19879311 0.37520957 0.26679117
+v -0.15805539 0.46581848 0.05215009
+v -0.18616048 0.43467156 -0.12312603
+v -0.15799089 0.46559101 -0.00642799
+v -0.20073003 0.41851344 -0.15101792
+f 1 2 3
+f 7 1 5
+f 9 6 3
+f 9 3 2
+f 11 2 1
+f 11 1 7
+f 12 1 8
+f 13 8 1
+f 13 1 3
+f 14 6 9
+f 16 3 6
+f 16 13 3
+f 18 5 1
+f 18 1 12
+f 19 4 6
+f 19 6 14
+f 20 9 2
+f 20 2 11
+f 22 7 5
+f 23 11 7
+f 23 7 15
+f 23 20 11
+f 23 15 20
+f 24 16 10
+f 24 10 5
+f 24 5 18
+f 25 8 13
+f 25 13 16
+f 25 16 24
+f 26 6 4
+f 27 16 6
+f 27 26 17
+f 27 6 26
+f 27 17 10
+f 27 10 16
+f 28 17 26
+f 28 26 4
+f 28 4 19
+f 29 20 15
+f 29 9 20
+f 30 14 9
+f 31 15 7
+f 31 7 22
+f 32 30 21
+f 32 14 30
+f 32 22 28
+f 33 22 5
+f 33 5 10
+f 33 28 22
+f 33 10 17
+f 33 17 28
+f 34 24 18
+f 34 18 12
+f 34 25 24
+f 34 12 8
+f 34 8 25
+f 35 28 19
+f 35 19 14
+f 35 32 28
+f 36 21 30
+f 36 31 22
+f 36 32 21
+f 36 22 32
+f 36 30 9
+f 36 9 29
+f 37 35 14
+f 37 14 32
+f 37 32 35
+f 38 36 29
+f 38 29 15
+f 38 15 31
+f 38 31 36
\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_17.obj b/apple/apple_14/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c8804a57e8faab1250fdfe926f7997c8b1cafb5
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_17.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.13812539 -0.01589275 -0.35606061
+v 0.15958840 -0.00898598 -0.46612469
+v 0.13812539 0.19622846 -0.35606061
+v -0.18039592 0.22236754 -0.40128773
+v -0.24321783 -0.02109486 -0.44389034
+v 0.14157541 0.20365619 -0.42757098
+v -0.22551097 0.07501634 -0.35606061
+v -0.15523936 0.20081215 -0.42722614
+v -0.22551097 -0.01589275 -0.35606061
+v -0.23633790 0.08122932 -0.43333069
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
+f 9 7 5
+f 9 5 1
+f 9 1 7
+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/apple/apple_14/collision/model_normalized_collision_18.obj b/apple/apple_14/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3977ce906243b1460a9805e6207f1fc4706c8a8
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_18.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.24053925 -0.35643533 0.25918689
+v 0.42981402 -0.14919023 0.25894322
+v 0.23970605 -0.20615338 0.38686363
+v 0.24325151 0.27063104 0.35405698
+v 0.24418600 0.22653149 0.26515152
+v 0.35261889 0.08831102 0.35344602
+v 0.35075070 -0.23033473 0.30945234
+v 0.36833418 0.26373911 0.25721722
+v 0.23838925 0.24797141 0.37064028
+v 0.38391433 -0.24881981 0.25682405
+v 0.28007466 -0.27478033 0.32386773
+v 0.32317997 -0.14699538 0.36843571
+v 0.25305694 -0.35266109 0.25628624
+v 0.44450725 0.04333769 0.25862523
+v 0.34693787 0.28430687 0.26249812
+v 0.23767907 -0.34997933 0.26978552
+v 0.23907493 0.26455671 0.36011284
+v 0.32191860 0.21775776 0.34004162
+v 0.39357535 -0.20445084 0.28140823
+v 0.29445897 -0.24615584 0.33830419
+v 0.32209237 -0.30193495 0.26631349
+v 0.29481972 0.14721553 0.38335354
+v 0.35532586 0.27857653 0.25798754
+v 0.32567276 -0.30675390 0.25644462
+v 0.44424952 -0.07511508 0.25806194
+v 0.23839264 -0.27744372 0.34098601
+v 0.27912646 0.24494915 0.35301650
+v 0.34957258 0.24606374 0.29615407
+v 0.41517384 -0.19233522 0.25863364
+v 0.37799538 -0.23159469 0.28058574
+v 0.35125998 -0.17596923 0.33824428
+v 0.32296043 -0.25982661 0.30886998
+v 0.29491690 -0.16110506 0.38191456
+v 0.27841933 -0.33148035 0.26638450
+v 0.23827553 0.21934625 0.38567840
+v 0.31049160 -0.04691216 0.38313014
+v 0.33609725 0.16096484 0.35264243
+v 0.36325378 0.26025247 0.26761348
+v 0.37957759 -0.24507536 0.26693224
+v 0.42900756 0.13258592 0.25802928
+v 0.43771615 -0.07444545 0.26874003
+v 0.25284621 -0.23183962 0.36763969
+v 0.26628309 -0.24535173 0.35307596
+v 0.25129725 0.24492303 0.36718181
+v 0.29287782 0.20381908 0.36718795
+v 0.34182189 0.27993004 0.27354695
+v 0.39435671 -0.17675302 0.29622319
+v 0.33597288 -0.20354366 0.33779573
+v 0.30814685 -0.28770870 0.29401093
+v 0.24975271 -0.34649699 0.26677370
+v 0.28179505 -0.33682205 0.25666553
+v 0.30925009 -0.10556312 0.38356209
+v 0.23892011 -0.23397769 0.37117436
+v 0.32350270 0.13308814 0.36848717
+v 0.36375945 0.20252187 0.30997501
+v 0.39444323 0.11694492 0.31034936
+v 0.36573782 -0.13394562 0.33904897
+v 0.42387463 -0.14767265 0.26924681
+v 0.25275091 -0.20359607 0.38356717
+v 0.25147731 -0.27398391 0.33817072
+v 0.25179997 0.21742304 0.38148385
+v 0.25221596 0.26165988 0.35594292
+v 0.32211293 0.18997724 0.35336837
+v 0.40977559 -0.18973692 0.26887926
+f 13 1 5
+f 15 5 4
+f 16 5 1
+f 17 4 5
+f 17 16 9
+f 17 5 16
+f 23 13 5
+f 23 8 13
+f 23 5 15
+f 24 13 8
+f 24 8 10
+f 26 16 11
+f 28 27 18
+f 29 25 2
+f 29 10 25
+f 30 19 7
+f 32 20 11
+f 32 7 20
+f 35 9 16
+f 35 16 26
+f 38 23 15
+f 38 8 23
+f 39 24 10
+f 39 21 24
+f 39 32 21
+f 39 30 7
+f 39 7 32
+f 39 19 30
+f 39 29 19
+f 39 10 29
+f 40 14 25
+f 40 25 10
+f 40 10 8
+f 41 25 14
+f 43 11 20
+f 43 42 26
+f 43 20 42
+f 44 17 9
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+f 46 27 28
+f 46 38 15
+f 46 28 38
+f 47 31 7
+f 47 7 19
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+f 48 31 12
+f 48 12 33
+f 49 32 11
+f 49 21 32
+f 49 34 21
+f 49 11 34
+f 50 13 34
+f 50 16 1
+f 50 1 13
+f 50 34 11
+f 50 11 16
+f 51 24 21
+f 51 21 34
+f 51 34 13
+f 51 13 24
+f 52 35 3
+f 52 22 35
+f 52 36 22
+f 52 3 33
+f 52 33 12
+f 52 6 36
+f 53 35 26
+f 53 3 35
+f 53 42 3
+f 53 26 42
+f 54 36 6
+f 54 22 36
+f 54 37 22
+f 54 6 37
+f 55 28 18
+f 55 38 28
+f 55 40 8
+f 55 8 38
+f 56 37 6
+f 56 14 40
+f 56 41 14
+f 56 6 41
+f 56 55 37
+f 56 40 55
+f 57 12 31
+f 57 31 47
+f 57 52 12
+f 57 41 6
+f 57 6 52
+f 58 2 25
+f 58 25 41
+f 58 57 47
+f 58 41 57
+f 59 33 3
+f 59 3 42
+f 59 42 20
+f 59 48 33
+f 59 20 48
+f 60 43 26
+f 60 26 11
+f 60 11 43
+f 61 44 9
+f 61 9 35
+f 61 35 22
+f 61 22 45
+f 61 45 27
+f 61 27 44
+f 62 44 27
+f 62 27 4
+f 62 4 17
+f 62 17 44
+f 63 18 45
+f 63 55 18
+f 63 37 55
+f 63 45 22
+f 63 22 37
+f 64 47 19
+f 64 19 29
+f 64 58 47
+f 64 29 2
+f 64 2 58
\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_19.obj b/apple/apple_14/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ed0c784e99720b09cd683085696a835eb8dcaed
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_19.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.38592091 -0.23895443 0.21618407
+v -0.34252439 -0.24041875 -0.21650270
+v -0.34672309 -0.13710487 0.00757576
+v -0.44089626 -0.13234841 0.21498874
+v -0.43479578 -0.21845882 -0.00612498
+v -0.42349391 -0.15022018 0.23683723
+v -0.34672309 -0.24316548 0.00757576
+v -0.41893285 -0.23309995 -0.06428509
+v -0.43304259 -0.20371025 0.13981850
+v -0.40989213 -0.13311523 -0.19694375
+v -0.41797087 -0.23231789 0.13946685
+v -0.46846610 -0.13284279 0.08226540
+v -0.41800435 -0.18802570 0.21122814
+v -0.37448870 -0.14816278 -0.24009935
+v -0.45445412 -0.13323290 -0.09469962
+v -0.40276477 -0.23229064 -0.12135211
+v -0.43461088 -0.21827290 0.08164313
+v -0.45492812 -0.13314274 0.17071165
+v -0.43636043 -0.14560407 0.21303763
+v -0.40271077 -0.21649859 0.21053092
+v -0.41862832 -0.21736899 0.16810702
+v -0.39861621 -0.13368885 -0.21392928
+v -0.38878688 -0.18892639 -0.19287383
+v -0.44867689 -0.17545934 -0.05024710
+v -0.43629505 -0.14602460 -0.13710032
+v -0.46514400 -0.14607230 0.00837884
+v -0.44862637 -0.17531873 0.12584267
+v -0.45079984 -0.14564090 0.16943420
+v -0.40487058 -0.23319933 0.18266102
+v -0.36153256 -0.21927104 -0.20888834
+v -0.39117435 -0.16109430 -0.20896483
+v -0.43360374 -0.20420084 -0.06443138
+v -0.43988133 -0.13333651 -0.13869056
+v -0.41821805 -0.16000750 -0.16474787
+v -0.46469503 -0.14550508 0.08192087
+v -0.46888822 -0.13302294 0.00821586
+v -0.43317006 -0.18847722 0.16838148
+v -0.44880365 -0.16013533 0.15467106
+v -0.39201860 -0.23296880 0.21228438
+v -0.37455435 -0.23157574 -0.17876068
+v -0.43406479 -0.18909025 -0.09287522
+v -0.45089765 -0.14590876 -0.09358285
+v -0.41798996 -0.20374328 -0.12175234
+v -0.40631502 -0.14598057 -0.19463226
+v -0.34988728 -0.23533190 -0.21106802
+v -0.37364467 -0.21758821 -0.19255619
+v -0.44896857 -0.16037093 -0.07892113
+f 6 1 3
+f 6 3 4
+f 7 2 3
+f 7 3 1
+f 8 7 1
+f 8 2 7
+f 11 8 1
+f 12 4 10
+f 14 3 2
+f 16 2 8
+f 17 5 8
+f 17 8 11
+f 17 11 9
+f 18 4 12
+f 19 13 6
+f 19 6 4
+f 20 6 13
+f 21 9 11
+f 22 3 14
+f 22 10 4
+f 22 4 3
+f 26 5 17
+f 26 24 5
+f 27 17 9
+f 28 19 4
+f 28 4 18
+f 29 20 13
+f 29 13 21
+f 29 21 11
+f 29 11 1
+f 30 14 2
+f 31 22 14
+f 31 30 23
+f 31 14 30
+f 31 10 22
+f 32 8 5
+f 32 5 24
+f 33 15 10
+f 34 31 23
+f 34 33 10
+f 34 25 33
+f 35 26 17
+f 35 12 26
+f 35 17 27
+f 35 27 18
+f 35 18 12
+f 36 26 12
+f 36 24 26
+f 36 12 10
+f 36 10 15
+f 37 9 21
+f 37 21 13
+f 37 13 19
+f 37 19 28
+f 38 28 18
+f 38 18 27
+f 38 37 28
+f 38 27 9
+f 38 9 37
+f 39 29 1
+f 39 20 29
+f 39 1 6
+f 39 6 20
+f 40 2 16
+f 40 34 23
+f 41 8 32
+f 41 32 24
+f 42 33 25
+f 42 15 33
+f 42 25 41
+f 43 25 34
+f 43 41 25
+f 43 16 8
+f 43 8 41
+f 43 40 16
+f 43 34 40
+f 44 34 10
+f 44 10 31
+f 44 31 34
+f 45 40 30
+f 45 30 2
+f 45 2 40
+f 46 40 23
+f 46 23 30
+f 46 30 40
+f 47 42 41
+f 47 41 24
+f 47 15 42
+f 47 36 15
+f 47 24 36
\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_2.obj b/apple/apple_14/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91a130a5baa81416faae6270d47ff4f357325f32
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.36001906 0.31201621 0.20184649
+v 0.36964139 0.30884234 -0.08010376
+v 0.27876619 0.40564222 0.09611226
+v 0.08961901 0.46795146 0.13997220
+v 0.13812539 0.34774361 -0.15909091
+v 0.21966822 0.40364643 0.21034600
+v 0.35162702 0.34679779 0.12584992
+v 0.24418600 0.31744058 0.20454545
+v 0.13459779 0.44160331 -0.15448114
+v 0.20597899 0.43444653 0.13919164
+v 0.38039825 0.31732080 0.00759352
+v 0.30752906 0.35993220 0.19661003
+v 0.28481537 0.31211402 -0.23060766
+v 0.32475028 0.30782332 -0.18290594
+v 0.24760118 0.35413693 0.27002583
+v 0.09327623 0.41130250 0.26720152
+v 0.26194253 0.40438223 -0.07853720
+v 0.09267085 0.40834967 -0.03787879
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\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_20.obj b/apple/apple_14/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dcb69bd06be155417abe9a6f3bc0088b8c9b109
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_20.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22083467 -0.23942678 0.36291568
+v -0.22551097 -0.24316548 0.21969697
+v -0.22551097 0.19622846 0.21969697
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+v -0.36211931 -0.15864866 0.30834280
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+v -0.37737270 0.02795677 0.33972208
+v -0.37573240 -0.20259804 0.26672478
+v -0.31968968 -0.12942364 0.35206119
+v -0.30695075 0.05622338 0.38384588
+v -0.43428870 -0.05881548 0.26947893
+v -0.41980005 0.06909096 0.28277974
+v -0.40385502 -0.20195700 0.22506828
+v -0.28905613 -0.23387909 0.32395256
+v -0.29145379 -0.13032276 0.36697826
+v -0.39159312 -0.04336079 0.32460669
+v -0.27794686 0.11456408 0.38279487
+v -0.22490746 -0.07351225 0.40059072
+v -0.45403446 -0.08853189 0.21456993
+v -0.40389829 -0.12866019 0.28128708
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+v -0.37629037 -0.23231458 0.23963305
+v -0.41868343 -0.17313720 0.22553521
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+v -0.41838550 -0.15920602 0.23919268
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\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_21.obj b/apple/apple_14/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61c877a199e7d662d2dd46f7684ac66289ba888b
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_21.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.08963586 -0.41164288 -0.22756026
+v 0.33922144 -0.23058521 -0.23786700
+v 0.32405636 -0.26492492 -0.22627919
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+v 0.02896620 -0.22114347 -0.43533686
+v -0.18820960 -0.38103621 -0.22621118
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+v 0.21691843 -0.25900668 -0.33988538
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+v -0.10123392 -0.41410975 -0.22874775
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+v -0.14070227 -0.33242496 -0.32620966
+v 0.19195046 -0.21883358 -0.38948535
+v 0.31869909 -0.24568660 -0.25162506
+v -0.01663515 -0.24627405 -0.42993970
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+v 0.16003106 -0.36098328 -0.26609110
+v -0.22044078 -0.35760508 -0.22996556
+v -0.16746217 -0.28851128 -0.35447646
+v -0.14234360 -0.37628094 -0.26811360
+v 0.23478892 -0.21876713 -0.35951984
+v -0.11377023 -0.22099922 -0.43420584
+v 0.14564831 -0.30277588 -0.33920572
+v 0.30367696 -0.23178975 -0.28112435
+v 0.24626854 -0.33209040 -0.23657276
+v 0.02869827 -0.37770440 -0.29725579
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+v -0.11143543 -0.27393775 -0.39889976
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\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_22.obj b/apple/apple_14/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ed29111517072cbaccbe58e542fcb4968198644
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_22.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.22563973 0.22084180 0.38897793
+v 0.24418600 0.22653149 0.21969697
+v 0.23743390 0.39403648 0.21295590
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+v -0.22551097 0.22653149 0.21969697
+v 0.05983810 0.40672336 0.28253792
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+v -0.22959726 0.38458549 0.22363764
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+v 0.06088635 0.41326924 0.27325327
+v 0.22313459 0.26079135 0.36843537
+v 0.19197759 0.34667672 0.30971721
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+v -0.21378077 0.29023345 0.33818121
+v 0.03021881 0.32086083 0.36874062
+v 0.13349001 0.39072780 0.28170645
+v 0.22349412 0.23279422 0.38394340
+v 0.23569374 0.36203219 0.26801092
+v 0.22202011 0.30271951 0.33829353
+v -0.15572954 0.37592714 0.29547072
+v -0.10105159 0.41169387 0.27265529
+v -0.14347342 0.27666692 0.38143367
+v -0.08604932 0.32046610 0.36928748
+v 0.08923785 0.34772057 0.33888696
+v 0.23838925 0.24797141 0.37064028
+v 0.15058314 0.26285081 0.38364594
+v 0.22094950 0.35965831 0.28049126
+v 0.21993104 0.38866911 0.23830363
+v 0.19229795 0.33202189 0.32402007
+v 0.23710675 0.27451379 0.35378572
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+v -0.14446104 0.23622199 0.39768381
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+f 16 6 13
+f 17 9 8
+f 19 10 13
+f 20 1 7
+f 21 7 3
+f 24 16 13
+f 24 13 4
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+f 27 6 18
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+f 31 10 19
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+f 33 22 11
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+f 34 4 9
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+f 37 24 4
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+f 37 4 34
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+f 41 13 6
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+f 45 32 15
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+f 46 14 33
+f 46 11 42
+f 46 43 14
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+f 47 25 40
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+f 50 8 1
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+f 51 43 29
+f 51 1 43
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+f 52 51 26
+f 52 26 40
+f 53 42 18
+f 53 29 42
+f 53 51 29
+f 53 18 51
+f 54 41 27
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+f 54 19 41
+f 54 45 15
+f 54 15 19
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+f 55 34 48
+f 56 25 49
+f 56 52 25
+f 56 39 52
+f 57 39 1
+f 57 52 39
+f 58 50 39
+f 58 39 56
+f 58 56 49
+f 58 49 50
+f 59 57 1
+f 59 1 51
+f 59 51 52
+f 59 52 57
\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_23.obj b/apple/apple_14/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a4a568b9b6a28d87609696b06923aeda0d29a41
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_23.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.19328350 0.29290803 -0.33151577
+v 0.22126066 0.33750235 -0.26237282
+v -0.24581756 0.32478923 -0.25475604
+v -0.08659953 0.42492428 -0.22771318
+v 0.05801928 0.39104897 -0.28243356
+v 0.19191006 0.38076255 -0.22681509
+v -0.10117203 0.29409945 -0.39208564
+v -0.21805802 0.36811388 -0.22791532
+v 0.06039946 0.42565426 -0.22785662
+v 0.16060044 0.34511448 -0.29522701
+v 0.02934850 0.29352171 -0.39069777
+v -0.21692208 0.29324193 -0.31625485
+v -0.05625191 0.37630708 -0.31299895
+v -0.20197044 0.37965775 -0.22602455
+v 0.11723575 0.40483546 -0.23836290
+v 0.18891171 0.37520507 -0.23745846
+v 0.18827339 0.33078766 -0.29494404
+v 0.13137726 0.31639667 -0.33932097
+v -0.21221354 0.33087882 -0.28117951
+v -0.20127385 0.29274836 -0.33091701
+v 0.02755007 0.30249167 -0.38385313
+v 0.02944980 0.40595028 -0.26843588
+v -0.14216815 0.37438525 -0.28229332
+v 0.16232339 0.39505823 -0.22664225
+v 0.08806956 0.40442421 -0.25265233
+v 0.16110735 0.30201770 -0.34022275
+v 0.08695858 0.36057849 -0.31023546
+v -0.21187420 0.30300385 -0.31132801
+v -0.21419496 0.36323208 -0.23887289
+v -0.09856189 0.30246401 -0.38539039
+v 0.02850036 0.36163828 -0.32614334
+v 0.08728712 0.31696500 -0.35439206
+v -0.07064929 0.40457020 -0.26872265
+v -0.17341268 0.39516700 -0.22689251
+v -0.15477333 0.33218869 -0.32669300
+v 0.11914166 0.41085875 -0.22760301
+v 0.14512562 0.37519225 -0.26647455
+v 0.05933652 0.41956532 -0.23880395
+v 0.18934319 0.30158355 -0.32520235
+v 0.13104570 0.33117077 -0.32469126
+v 0.16361290 0.29383482 -0.34700924
+v 0.11613157 0.37512820 -0.28104986
+v -0.19850736 0.37430863 -0.23769163
+v -0.09968528 0.34512702 -0.34084584
+v 0.01469842 0.37599906 -0.31164694
+v -0.11382595 0.40368816 -0.25365448
+v -0.17015864 0.36004328 -0.28196983
+v -0.19731324 0.31632749 -0.31053174
+v -0.12720321 0.30375573 -0.37199172
+v 0.15971789 0.38929965 -0.23731241
+v -0.17047479 0.38953826 -0.23880088
+v -0.08461231 0.36072630 -0.32680208
+v -0.15537751 0.34511521 -0.31105444
+v -0.08557720 0.41916119 -0.23914980
+v -0.19761981 0.30172253 -0.32545439
+v -0.13071044 0.29512586 -0.37831531
+v -0.09899580 0.38940719 -0.28273917
+v -0.11270004 0.37535948 -0.29746663
+f 1 2 3
+f 6 3 2
+f 8 3 6
+f 12 1 3
+f 14 8 6
+f 16 6 2
+f 17 2 1
+f 17 16 2
+f 17 10 16
+f 20 11 1
+f 20 1 12
+f 20 7 11
+f 21 11 7
+f 22 4 9
+f 24 9 4
+f 24 4 14
+f 24 14 6
+f 28 12 3
+f 28 3 19
+f 28 20 12
+f 29 19 3
+f 29 3 8
+f 30 21 7
+f 30 13 21
+f 31 21 13
+f 31 5 27
+f 32 11 21
+f 32 31 27
+f 32 21 31
+f 33 22 13
+f 33 4 22
+f 34 14 4
+f 36 24 15
+f 36 9 24
+f 36 25 9
+f 36 15 25
+f 37 16 10
+f 38 22 9
+f 38 9 25
+f 38 25 5
+f 38 5 22
+f 39 17 1
+f 39 26 10
+f 39 10 17
+f 40 26 18
+f 40 10 26
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+f 41 1 11
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+f 41 32 18
+f 41 18 26
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+f 41 26 39
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+f 42 5 25
+f 42 25 15
+f 42 15 37
+f 42 37 10
+f 42 40 27
+f 42 10 40
+f 43 29 8
+f 43 8 14
+f 45 22 5
+f 45 5 31
+f 45 31 13
+f 45 13 22
+f 46 34 4
+f 47 19 29
+f 47 29 43
+f 48 28 19
+f 48 47 35
+f 48 19 47
+f 49 30 7
+f 49 44 30
+f 49 35 44
+f 50 16 37
+f 50 24 6
+f 50 6 16
+f 50 37 15
+f 50 15 24
+f 51 43 14
+f 51 14 34
+f 51 47 43
+f 51 23 47
+f 51 46 23
+f 51 34 46
+f 52 13 30
+f 52 30 44
+f 53 44 35
+f 53 47 23
+f 53 35 47
+f 54 46 4
+f 54 4 33
+f 55 48 35
+f 55 20 28
+f 55 28 48
+f 56 49 7
+f 56 7 20
+f 56 20 55
+f 56 55 35
+f 56 35 49
+f 57 33 13
+f 57 13 52
+f 57 54 33
+f 57 46 54
+f 58 53 23
+f 58 44 53
+f 58 23 46
+f 58 46 57
+f 58 57 52
+f 58 52 44
\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_24.obj b/apple/apple_14/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b659bae92a810222f8649d331fed1d0c043bb615
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_24.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22307254 0.19444697 0.38083062
+v -0.22551097 0.19622846 -0.21969697
+v -0.21708681 0.37936814 -0.21140577
+v -0.21848017 0.42644808 0.14040481
+v -0.43939809 0.18952614 0.14045289
+v -0.21733598 0.27873912 0.34359830
+v -0.24789345 0.19029973 0.37061734
+v -0.40815642 0.18947744 -0.16608049
+v -0.21772114 0.38090513 0.24170794
+v -0.21907111 0.22127314 0.37315134
+v -0.35942957 0.21472114 0.26544784
+v -0.37966640 0.19026390 -0.21118165
+v -0.39415996 0.18873957 0.24128491
+v -0.36100691 0.31777750 -0.07881027
+v -0.21811194 0.41122358 0.18435800
+v -0.25900410 0.21733668 0.35217292
+v -0.27187384 0.28871768 0.29435933
+v -0.42222895 0.18904547 -0.13737194
+v -0.29263572 0.18974001 0.34364076
+v -0.36008984 0.31713728 0.12389758
+v -0.24536349 0.42031826 -0.05040994
+v -0.32923259 0.30197154 -0.17835759
+v -0.23058837 0.21859665 0.36832564
+v -0.24173792 0.33215395 0.28078893
+v -0.25737304 0.24547596 0.33746704
+v -0.41963437 0.24677651 -0.03602815
+v -0.31664435 0.21535446 0.30906500
+v -0.24490836 0.20309552 0.36712750
+v -0.28742029 0.37652575 0.15234359
+v -0.40287996 0.22971327 0.18129459
+v -0.21864661 0.42663311 -0.09523728
+v -0.27389894 0.40573445 0.06642496
+v -0.38808963 0.24466786 -0.14893517
+v -0.30263621 0.36084968 -0.12235839
+v -0.33020455 0.27475888 -0.20762977
+v -0.24194706 0.31751388 0.29490022
+v -0.34473624 0.28864600 0.20911878
+v -0.22902772 0.27518479 0.33832407
+v -0.28892429 0.20214243 0.33971555
+v -0.44009022 0.19037206 -0.08030165
+v -0.40497869 0.27540949 0.00811963
+v -0.30076083 0.27353391 0.27963655
+v -0.22963200 0.40530792 0.18181236
+v -0.40411667 0.25943241 0.12426520
+v -0.42484566 0.18949472 0.18350996
+v -0.24529966 0.42058404 0.09592680
+v -0.21749122 0.39490679 -0.18293655
+v -0.28808885 0.39176853 -0.05039512
+v -0.31611417 0.36176142 0.12401665
+v -0.38816933 0.21576554 -0.17821068
+v -0.40349032 0.20243448 -0.16355231
+v -0.35878058 0.30319049 -0.12159456
+v -0.28618747 0.34618082 -0.17915216
+v -0.33091584 0.33142266 0.16580405
+v -0.38843501 0.22986864 0.20914291
+v -0.43475661 0.21784763 0.09554158
+v -0.40243638 0.23043132 -0.13512153
+v -0.39034664 0.28885214 -0.05034861
+v -0.35910264 0.25912824 0.22303085
+v -0.30114284 0.30248518 0.25134272
+v -0.25881661 0.40613525 0.12438179
+v -0.27184705 0.36138952 0.20940357
+v -0.24299014 0.39068349 0.19561282
+v -0.37435829 0.28817360 0.15182398
+f 7 2 1
+f 9 6 3
+f 10 1 2
+f 10 2 3
+f 10 3 6
+f 10 7 1
+f 12 3 2
+f 12 2 7
+f 15 9 3
+f 18 12 7
+f 18 8 12
+f 18 13 5
+f 19 18 7
+f 19 13 18
+f 23 10 6
+f 23 6 16
+f 24 6 9
+f 25 16 6
+f 27 11 13
+f 27 13 19
+f 27 25 17
+f 28 19 7
+f 28 16 19
+f 28 23 16
+f 28 7 10
+f 28 10 23
+f 35 3 12
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+f 36 24 17
+f 36 6 24
+f 38 25 6
+f 38 17 25
+f 38 36 17
+f 38 6 36
+f 39 19 16
+f 39 16 25
+f 39 27 19
+f 39 25 27
+f 40 18 5
+f 42 27 17
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+f 43 15 4
+f 44 5 30
+f 44 20 41
+f 45 30 5
+f 45 5 13
+f 46 31 21
+f 46 4 31
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+f 47 34 31
+f 47 15 3
+f 47 4 15
+f 48 32 21
+f 48 41 32
+f 48 14 41
+f 48 34 14
+f 48 21 31
+f 48 31 34
+f 49 41 20
+f 49 32 41
+f 50 12 8
+f 50 35 12
+f 50 33 35
+f 51 8 18
+f 51 50 8
+f 51 33 50
+f 52 22 33
+f 52 14 34
+f 53 52 34
+f 53 22 52
+f 53 35 22
+f 53 3 35
+f 53 47 3
+f 53 34 47
+f 54 49 20
+f 54 29 49
+f 55 37 30
+f 55 45 13
+f 55 30 45
+f 56 40 5
+f 56 26 40
+f 56 41 26
+f 56 44 41
+f 56 5 44
+f 57 18 40
+f 57 51 18
+f 57 33 51
+f 57 40 26
+f 57 52 33
+f 58 41 14
+f 58 26 41
+f 58 14 52
+f 58 57 26
+f 58 52 57
+f 59 37 55
+f 59 55 13
+f 59 13 11
+f 60 42 17
+f 60 17 24
+f 60 37 59
+f 60 59 11
+f 60 11 42
+f 61 43 4
+f 61 29 43
+f 61 4 46
+f 61 49 29
+f 61 46 32
+f 61 32 49
+f 62 29 54
+f 62 54 37
+f 62 37 60
+f 62 60 24
+f 62 24 9
+f 63 9 15
+f 63 15 43
+f 63 62 9
+f 63 43 29
+f 63 29 62
+f 64 44 30
+f 64 20 44
+f 64 54 20
+f 64 30 37
+f 64 37 54
\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_25.obj b/apple/apple_14/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5abc8abd96600b21ede9ba21eace527a7f78589f
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_25.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.21912403 -0.44203333 0.09690710
+v -0.21742488 -0.38156198 -0.19670805
+v -0.22083467 -0.23942678 0.36291568
+v -0.35048962 -0.23512568 0.27032388
+v -0.41891934 -0.24839607 -0.00603135
+v -0.21779205 -0.36741290 0.26970570
+v -0.31532458 -0.36304757 -0.07778063
+v -0.34458139 -0.33431767 0.13880294
+v -0.22551097 -0.24316548 -0.21969697
+v -0.22905652 -0.31945520 0.30889091
+v -0.21795570 -0.41271293 0.19879325
+v -0.21769112 -0.28087703 0.34326545
+v -0.34988728 -0.23533190 -0.21106802
+v -0.21843701 -0.42754705 -0.09442237
+v -0.41125177 -0.23689335 0.15596959
+v -0.27130602 -0.36263617 0.22335187
+v -0.25980716 -0.42236385 0.05254334
+v -0.39033724 -0.29119047 -0.02039275
+v -0.21736038 -0.32397029 0.31288429
+v -0.28754599 -0.39227829 0.12452248
+v -0.32107060 -0.23504768 0.29853904
+v -0.21870413 -0.25206406 0.35829623
+v -0.33033560 -0.30466612 -0.16349505
+v -0.21946108 -0.36984088 -0.21348205
+v -0.23302153 -0.23695165 0.35721010
+v -0.27283933 -0.37647432 -0.13524609
+v -0.21765249 -0.41187381 -0.13809558
+v -0.35917060 -0.29020891 0.19634151
+v -0.42515655 -0.23655132 -0.00654612
+v -0.34613299 -0.24611025 0.26604072
+v -0.22858091 -0.36291676 0.26680475
+v -0.21925785 -0.44223180 -0.02088322
+v -0.27384211 -0.40812543 0.09588574
+v -0.25965958 -0.42257377 0.02297640
+v -0.38942277 -0.29052931 0.09552023
+v -0.21782677 -0.39746256 0.22723007
+v -0.23033102 -0.42316435 0.15328030
+v -0.28723728 -0.37859813 0.16722614
+v -0.28769414 -0.26206865 0.30787750
+v -0.37964297 -0.23492220 -0.16667945
+v -0.35891838 -0.30505534 -0.10710823
+v -0.29981676 -0.30464013 -0.20699750
+v -0.26183766 -0.23603512 0.34078589
+v -0.22994685 -0.24931200 0.35335132
+v -0.27381374 -0.39252101 -0.09301762
+v -0.27121645 -0.36208968 -0.16423022
+v -0.24258777 -0.39153141 -0.14937146
+v -0.36036173 -0.30458378 0.16734889
+v -0.38116783 -0.23566837 0.22848519
+v -0.34463872 -0.28884434 0.22366101
+v -0.31705674 -0.24709627 0.29392658
+v -0.31570669 -0.36378074 0.13878861
+v -0.22947935 -0.43666755 0.09620104
+v -0.37470565 -0.30597413 -0.04978801
+v -0.41945921 -0.24858613 0.06711421
+v -0.22964602 -0.39211994 0.22396411
+v -0.21992011 -0.42864936 0.15534072
+v -0.25734209 -0.40651573 0.15254208
+v -0.27296162 -0.37697076 0.19589810
+v -0.22975227 -0.27771015 0.33785195
+v -0.34442916 -0.27544108 -0.17844882
+v -0.40977530 -0.23620859 -0.09449124
+v -0.28667810 -0.37740304 -0.10704844
+v -0.25831126 -0.24823717 0.33677624
+f 19 2 12
+f 19 12 10
+f 22 9 3
+f 22 12 2
+f 22 2 9
+f 24 13 9
+f 24 9 2
+f 25 3 9
+f 25 9 13
+f 27 11 1
+f 27 1 14
+f 27 2 19
+f 31 30 16
+f 31 19 10
+f 31 6 19
+f 32 14 1
+f 33 18 17
+f 34 17 18
+f 34 32 1
+f 34 1 17
+f 35 18 33
+f 36 19 6
+f 36 27 19
+f 36 11 27
+f 36 6 31
+f 40 21 13
+f 40 4 21
+f 42 13 24
+f 43 25 13
+f 43 13 21
+f 44 22 3
+f 44 3 25
+f 44 25 43
+f 44 12 22
+f 45 14 32
+f 45 34 7
+f 45 32 34
+f 45 27 14
+f 46 24 2
+f 46 42 24
+f 46 26 23
+f 46 23 42
+f 47 2 27
+f 47 46 2
+f 47 26 46
+f 47 45 26
+f 47 27 45
+f 48 28 15
+f 48 38 28
+f 48 35 8
+f 48 15 35
+f 49 15 28
+f 49 29 15
+f 49 40 29
+f 49 4 40
+f 49 30 4
+f 50 28 16
+f 50 16 30
+f 50 49 28
+f 50 30 49
+f 51 21 4
+f 51 4 30
+f 51 39 21
+f 51 30 31
+f 51 31 10
+f 51 10 39
+f 52 33 20
+f 52 35 33
+f 52 8 35
+f 52 20 38
+f 52 48 8
+f 52 38 48
+f 53 33 17
+f 53 17 1
+f 54 34 18
+f 54 7 34
+f 54 41 7
+f 55 5 18
+f 55 18 35
+f 55 29 5
+f 55 35 15
+f 55 15 29
+f 56 36 31
+f 56 31 16
+f 56 11 36
+f 57 1 11
+f 57 11 37
+f 57 53 1
+f 57 37 53
+f 58 20 33
+f 58 53 37
+f 58 33 53
+f 58 38 20
+f 58 37 11
+f 59 16 28
+f 59 28 38
+f 59 56 16
+f 59 11 56
+f 59 58 11
+f 59 38 58
+f 60 39 10
+f 60 10 12
+f 60 12 44
+f 61 40 13
+f 61 41 40
+f 61 23 41
+f 61 42 23
+f 61 13 42
+f 62 5 29
+f 62 29 40
+f 62 40 41
+f 62 41 54
+f 62 54 18
+f 62 18 5
+f 63 7 41
+f 63 45 7
+f 63 26 45
+f 63 41 23
+f 63 23 26
+f 64 43 21
+f 64 21 39
+f 64 39 60
+f 64 60 44
+f 64 44 43
\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_26.obj b/apple/apple_14/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc83c4dbefe9f0431848289795dd64bf7666601e
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_26.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.01069596 -0.03116831 0.48212208
+v 0.01714324 -0.00763973 0.34098178
+v 0.01636950 -0.00673050 0.49501199
+v -0.00458347 -0.00271865 0.49655297
+v -0.00459252 -0.01496326 0.38728891
+v 0.01367588 0.01084435 0.34086949
+v -0.00899850 -0.02062350 0.49079800
+v 0.01849376 -0.02072389 0.48948760
+v 0.01353030 -0.01214186 0.34093420
+v 0.01718528 0.00639024 0.34085081
+v 0.01611918 0.00070540 0.46040617
+v -0.00798243 0.00903120 0.38616591
+v -0.00464638 -0.02967107 0.46796856
+v 0.01046672 -0.00225773 0.49635226
+v -0.01297800 -0.00813650 0.48889500
+v -0.01385024 -0.02126419 0.48616934
+v 0.00986302 -0.03016256 0.46762773
+v -0.01283879 -0.00449446 0.44682232
+v -0.00721452 -0.02908368 0.48351826
+f 7 3 4
+f 8 1 2
+f 8 7 1
+f 8 3 7
+f 9 2 1
+f 10 9 6
+f 10 2 9
+f 10 8 2
+f 11 10 6
+f 11 3 8
+f 11 8 10
+f 12 11 6
+f 12 9 5
+f 12 6 9
+f 13 5 9
+f 14 4 3
+f 14 3 11
+f 14 12 4
+f 14 11 12
+f 15 7 4
+f 15 4 12
+f 16 5 13
+f 16 7 15
+f 17 13 9
+f 17 9 1
+f 17 1 13
+f 18 16 15
+f 18 15 12
+f 18 12 5
+f 18 5 16
+f 19 16 13
+f 19 13 1
+f 19 1 7
+f 19 7 16
\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_27.obj b/apple/apple_14/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ed4e7cf4c2b5c2652061cab69cafc67cfe1f711
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_27.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.07475668 -0.41362788 0.25773607
+v 0.13470267 -0.39829620 0.25668654
+v 0.00048929 -0.32676584 0.36144693
+v -0.18895230 -0.32489717 0.32897463
+v -0.22130200 -0.37286437 0.25994947
+v 0.13581946 -0.32687359 0.33199947
+v -0.14514924 -0.41248738 0.25673110
+v -0.23585315 -0.34751338 0.27758751
+v 0.08817497 -0.39230928 0.28126121
+v -0.20440490 -0.38523744 0.25776411
+v -0.08704051 -0.40719580 0.28222712
+v -0.22181586 -0.32942006 0.30523606
+v 0.14831043 -0.36478588 0.29266232
+v 0.13270204 -0.39143576 0.26688657
+v 0.02902459 -0.34924962 0.33880369
+v -0.15850070 -0.37743742 0.29551356
+v -0.18620334 -0.37681373 0.28062715
+v 0.00052941 -0.40808243 0.28190663
+v 0.07395762 -0.40692633 0.26717590
+v 0.07534073 -0.32726307 0.34657975
+v 0.08857503 -0.35030366 0.32456606
+v -0.11565425 -0.37808048 0.31052957
+v -0.21779205 -0.36741290 0.26970570
+v -0.20068571 -0.37933926 0.26830149
+v -0.14280505 -0.40613002 0.26687197
+v -0.18522494 -0.33433522 0.32329585
+v 0.02936514 -0.39276217 0.29553789
+v -0.00027022 -0.33575168 0.35467325
+v 0.13376571 -0.33579064 0.32500572
+v 0.07363522 -0.33645169 0.33984120
+v -0.10268763 -0.32612036 0.36119691
+v -0.21777127 -0.33946044 0.29931684
+v -0.10134572 -0.33491288 0.35437197
+v -0.15699794 -0.34928688 0.32415465
+v -0.11564920 -0.34908494 0.33935024
+f 7 2 1
+f 8 2 5
+f 10 5 2
+f 10 2 7
+f 12 4 6
+f 12 6 8
+f 13 8 6
+f 13 2 8
+f 14 1 2
+f 14 13 9
+f 14 2 13
+f 18 11 7
+f 18 7 1
+f 19 14 9
+f 19 1 14
+f 19 18 1
+f 20 6 3
+f 20 3 15
+f 21 9 13
+f 23 8 5
+f 24 10 7
+f 24 7 17
+f 24 17 23
+f 24 23 5
+f 24 5 10
+f 25 17 7
+f 25 16 17
+f 25 22 16
+f 25 7 11
+f 25 11 22
+f 26 17 16
+f 27 21 15
+f 27 9 21
+f 27 19 9
+f 27 18 19
+f 28 15 3
+f 28 11 18
+f 28 27 15
+f 28 18 27
+f 29 21 13
+f 29 13 6
+f 29 6 21
+f 30 20 15
+f 30 15 21
+f 30 21 6
+f 30 6 20
+f 31 6 4
+f 31 3 6
+f 31 28 3
+f 32 23 17
+f 32 12 8
+f 32 8 23
+f 32 17 26
+f 32 26 4
+f 32 4 12
+f 33 22 11
+f 33 11 28
+f 33 28 31
+f 34 31 4
+f 34 4 26
+f 34 26 16
+f 34 16 22
+f 35 33 31
+f 35 31 34
+f 35 34 22
+f 35 22 33
\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_28.obj b/apple/apple_14/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55d63a73d42f3ad605831aaf3d47efe1bec8cafd
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_28.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.46550938 0.08900181 -0.09681957
+v 0.45731442 0.08746607 -0.12393053
+v 0.42406598 0.21887458 -0.09405473
+v 0.27448903 0.22653149 -0.09848485
+v 0.27448903 0.09016786 -0.09848485
+v 0.30857593 0.25254278 -0.26439098
+v 0.45285883 0.13050940 -0.10835475
+v 0.45656837 0.13151683 -0.09427890
+v 0.27448903 0.09016786 -0.23484848
+v 0.45239964 0.11530693 -0.12222927
+v 0.40020554 0.08852498 -0.22728814
+v 0.43936592 0.08712736 -0.16502823
+v 0.42150997 0.15919196 -0.16471402
+v 0.41199522 0.08790189 -0.21039235
+v 0.43720498 0.10188180 -0.16413269
+v 0.42069730 0.21737946 -0.10748683
+v 0.43720490 0.13058628 -0.14998606
+v 0.37647260 0.18842908 -0.22137799
+v 0.40821616 0.11628182 -0.20790862
+v 0.42231292 0.13087250 -0.17902129
+v 0.39177918 0.14476964 -0.22157010
+v 0.36255066 0.21736937 -0.22203366
+v 0.39207236 0.17342649 -0.20718210
+f 5 2 1
+f 5 3 4
+f 6 4 3
+f 8 5 1
+f 8 3 5
+f 8 7 3
+f 8 1 7
+f 9 5 4
+f 9 4 6
+f 10 7 1
+f 10 1 2
+f 11 9 6
+f 12 2 5
+f 12 5 9
+f 14 12 9
+f 14 9 11
+f 15 10 2
+f 15 2 12
+f 15 12 14
+f 16 3 7
+f 16 7 13
+f 16 6 3
+f 17 13 7
+f 17 7 10
+f 17 10 15
+f 19 15 14
+f 19 14 11
+f 20 17 15
+f 20 13 17
+f 20 15 19
+f 21 11 6
+f 21 6 18
+f 21 19 11
+f 21 20 19
+f 22 16 13
+f 22 18 6
+f 22 6 16
+f 23 21 18
+f 23 13 20
+f 23 20 21
+f 23 22 13
+f 23 18 22
\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_29.obj b/apple/apple_14/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bd241970a2f2280b3a2e776ff11b1df24d50aa2
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_29.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.15460821 -0.38346968 0.26837894
+v 0.28845309 -0.28643010 -0.24701682
+v 0.29129401 -0.30135310 0.29217795
+v 0.15327691 -0.27346851 0.26515152
+v 0.15510281 -0.38351702 -0.23750519
+v 0.15327691 -0.27346851 -0.23484848
+v 0.26308135 -0.36481337 -0.16604904
+v 0.21736267 -0.36157073 -0.22256926
+v 0.26613550 -0.36462677 0.22598657
+v 0.24689653 -0.36053700 -0.19359563
+v 0.23619407 -0.36230111 0.25384679
+v 0.26097696 -0.33159509 -0.22194323
+v 0.26532340 -0.34748956 0.25403952
+v 0.25185751 -0.36360434 0.24079633
+f 1 3 4
+f 3 2 4
+f 6 5 1
+f 6 1 4
+f 6 4 2
+f 6 2 5
+f 7 2 3
+f 8 5 2
+f 9 7 3
+f 9 1 5
+f 9 5 7
+f 10 7 5
+f 10 5 8
+f 11 3 1
+f 12 10 8
+f 12 8 2
+f 12 2 7
+f 12 7 10
+f 13 9 3
+f 13 3 11
+f 14 11 1
+f 14 1 9
+f 14 13 11
+f 14 9 13
\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_3.obj b/apple/apple_14/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81aef62f0ce765ce4f8f03e10e1a62cf44530c6d
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.33431280 -0.24267801 -0.23427623
+v 0.40072741 -0.07493082 -0.22776569
+v 0.35337849 -0.22173143 -0.22624741
+v 0.19677891 0.37446893 -0.23235475
+v 0.22047663 0.13247675 -0.42158440
+v 0.22054355 0.36497985 -0.22591493
+v 0.22903448 -0.22801396 -0.23484848
+v 0.22133615 -0.11908124 -0.42258636
+v 0.30866145 0.29178789 -0.22563567
+v 0.19120798 0.24698195 -0.37398559
+v 0.34165122 -0.23775597 -0.22845529
+v 0.19873145 0.19622846 -0.23484848
+v 0.36406169 -0.00038374 -0.28191313
+v 0.33250079 -0.14577116 -0.29593134
+v 0.22397650 -0.22301196 -0.36467916
+v 0.40020554 0.08852498 -0.22728814
+v 0.23188993 0.30079610 -0.29536142
+v 0.19192524 0.20400956 -0.40590739
+v 0.19168618 0.34972596 -0.26987284
+v 0.22932159 0.12997090 -0.41484838
+v 0.38428045 -0.14874223 -0.22691355
+v 0.30232421 -0.18965112 -0.31073406
+v 0.33315118 -0.08860944 -0.31122283
+v 0.36854240 -0.19186765 -0.22621212
+v 0.27477133 0.31617778 -0.23693150
+v 0.19551991 0.19268956 -0.41114812
+v 0.22033484 -0.19079777 -0.39030776
+v 0.25915001 0.24365215 -0.32463457
+v 0.19354872 0.36854650 -0.24338280
+v 0.24655368 0.31568929 -0.26625410
+v 0.22929159 -0.11820397 -0.41591345
+v 0.34836496 0.07291975 -0.29662769
+v 0.37826422 -0.10305272 -0.25157681
+v 0.33222263 -0.20415064 -0.26617310
+v 0.27389680 -0.21602242 -0.32502160
+v 0.34886893 -0.05932984 -0.29682018
+v 0.36240968 -0.16036664 -0.25177924
+v 0.27922139 0.32107463 -0.22570801
+v 0.22045579 -0.16258447 -0.40649504
+v 0.21605932 0.21324557 -0.38360963
+v 0.23095240 0.27169373 -0.32449904
+v 0.36425356 0.18977627 -0.23795510
+v 0.30307012 0.27414157 -0.25134460
+v 0.21719258 0.35971822 -0.23652286
+v 0.20315588 0.34600282 -0.26622543
+v 0.28843757 -0.11836750 -0.35613469
+v 0.36399563 0.01408063 -0.28185887
+v 0.31800935 -0.10394133 -0.32604433
+v 0.34715340 -0.21885810 -0.23704496
+v 0.32850541 -0.23910694 -0.24489257
+v 0.23478892 -0.21876713 -0.35951984
+v 0.39391380 -0.07392012 -0.23730879
+v 0.36207526 -0.18940433 -0.23687013
+v 0.37797700 -0.14686225 -0.23673971
+v 0.30201789 -0.16133549 -0.32570639
+v 0.23005741 -0.15945364 -0.39988764
+v 0.20285261 0.24300335 -0.36990702
+v 0.20383343 0.20049737 -0.40078033
+v 0.24404419 0.17237364 -0.38497031
+v 0.37047448 0.19214183 -0.22779037
+v 0.36265027 0.13049551 -0.26638026
+v 0.30376073 0.28727223 -0.23673096
+v 0.31800842 0.21624685 -0.28086176
+v 0.39329225 0.08748417 -0.23703953
+f 7 3 6
+f 11 7 1
+f 11 1 3
+f 11 3 7
+f 12 7 6
+f 12 6 4
+f 15 1 7
+f 16 2 13
+f 18 12 10
+f 19 10 12
+f 19 17 10
+f 20 8 5
+f 21 2 16
+f 24 16 9
+f 24 9 3
+f 24 21 16
+f 26 5 8
+f 26 8 18
+f 27 15 7
+f 27 7 12
+f 27 12 18
+f 29 19 12
+f 29 12 4
+f 31 20 13
+f 31 8 20
+f 33 2 21
+f 35 22 34
+f 36 31 13
+f 37 34 22
+f 38 9 25
+f 38 6 3
+f 38 3 9
+f 39 27 18
+f 39 18 8
+f 41 10 17
+f 41 17 28
+f 41 28 40
+f 43 30 25
+f 43 28 17
+f 43 17 30
+f 44 29 4
+f 44 4 6
+f 44 25 30
+f 44 38 25
+f 44 6 38
+f 45 30 17
+f 45 17 19
+f 45 44 30
+f 45 19 29
+f 45 29 44
+f 46 36 23
+f 46 31 36
+f 47 16 13
+f 47 13 20
+f 47 20 32
+f 48 33 14
+f 48 23 33
+f 48 46 23
+f 48 14 46
+f 49 3 1
+f 49 24 3
+f 50 1 15
+f 50 35 34
+f 50 49 1
+f 50 34 49
+f 51 15 27
+f 51 27 35
+f 51 50 15
+f 51 35 50
+f 52 36 13
+f 52 13 2
+f 52 2 33
+f 52 33 23
+f 52 23 36
+f 53 37 21
+f 53 21 24
+f 53 34 37
+f 53 49 34
+f 53 24 49
+f 54 33 21
+f 54 21 37
+f 54 37 14
+f 54 14 33
+f 55 37 22
+f 55 14 37
+f 55 46 14
+f 56 39 8
+f 56 8 31
+f 56 31 46
+f 56 46 55
+f 56 55 22
+f 56 22 35
+f 56 35 27
+f 56 27 39
+f 57 40 18
+f 57 18 10
+f 57 41 40
+f 57 10 41
+f 58 26 18
+f 58 18 40
+f 59 40 28
+f 59 20 5
+f 59 58 40
+f 59 5 26
+f 59 26 58
+f 60 9 16
+f 60 43 9
+f 61 32 20
+f 61 20 59
+f 61 60 16
+f 61 42 60
+f 62 43 25
+f 62 25 9
+f 62 9 43
+f 63 28 43
+f 63 59 28
+f 63 61 59
+f 63 42 61
+f 63 60 42
+f 63 43 60
+f 64 47 32
+f 64 16 47
+f 64 61 16
+f 64 32 61
\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_30.obj b/apple/apple_14/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..effcd0ab4c8da66693e2620b4d9a54c91ca84cc9
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.22551097 -0.24316548 0.21969697
+v -0.22551097 -0.24316548 -0.21969697
+v -0.22551097 0.19622846 0.21969697
+v -0.37719299 0.21599900 0.24091305
+v -0.36439679 -0.25673662 0.23189277
+v -0.35978032 0.20359752 -0.22937742
+v -0.22551097 0.19622846 -0.21969697
+v -0.34252439 -0.24041875 -0.21650270
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 5 4
+f 7 3 2
+f 7 2 6
+f 7 6 4
+f 7 4 3
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_31.obj b/apple/apple_14/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..795baf2ce8132645da70b50092d596e62bf05de7
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15155832 -0.38962634 0.26143029
+v 0.16915337 -0.43620542 -0.11094774
+v 0.15327691 -0.27346851 -0.09848485
+v -0.25413262 -0.30424073 0.30303696
+v -0.21653689 -0.38047052 0.25406007
+v 0.15327691 -0.27346851 0.26515152
+v -0.23663121 -0.41342559 -0.10469109
+v -0.22551097 -0.27346851 -0.09848485
+f 5 2 1
+f 5 1 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 2 5
+f 7 5 4
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_4.obj b/apple/apple_14/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..677021eefcb2d1e3ce1386073116868845a2399e
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.36439679 -0.25673662 0.23189277
+v -0.37448870 -0.14816278 -0.24009935
+v -0.35978032 0.20359752 -0.22937742
+v -0.37719299 0.21599900 0.24091305
+v -0.48066247 -0.07277504 0.11187121
+v -0.34672309 -0.24316548 0.00757576
+v -0.46495844 -0.01533317 0.21301640
+v -0.46394340 0.05747858 -0.12251133
+v -0.41920821 -0.24947379 0.00701049
+v -0.44763211 -0.13081599 0.19797089
+v -0.39098618 0.11994788 0.29445731
+v -0.41837442 0.08589675 -0.20748714
+v -0.48064866 0.08638022 0.09717643
+v -0.45079118 -0.13216868 -0.10884635
+v -0.46323289 -0.07208889 0.19834495
+v -0.44742729 -0.11553429 0.21194702
+v -0.41229231 -0.24634330 0.12997858
+v -0.38326762 0.14606591 0.28775493
+v -0.41793474 0.18699306 -0.14920233
+v -0.43456243 -0.01505840 -0.19402081
+v -0.48078200 -0.01517373 -0.06512945
+v -0.48094336 -0.00007807 0.15538624
+v -0.44970659 0.10032870 0.21189039
+v -0.43523794 -0.13192083 -0.15066936
+v -0.46374080 -0.13159270 -0.05033071
+v -0.46365515 -0.11614821 0.15479752
+v -0.38592091 -0.23895443 0.21618407
+v -0.44861245 0.11482833 -0.13611409
+v -0.39011523 0.17287920 -0.20799722
+v -0.44948254 0.18726526 0.09561172
+v -0.41927397 -0.07239556 -0.20805521
+v -0.44929147 0.02873768 -0.16564608
+v -0.48050701 0.07285485 -0.03605278
+v -0.46459411 -0.04387880 -0.12272444
+v -0.48069105 -0.04393822 0.14094390
+v -0.48100328 -0.07300411 -0.02094398
+v -0.41830739 0.12773902 0.25304586
+v -0.46489728 0.05685934 0.19830066
+v -0.46417716 -0.13154923 0.12610240
+v -0.40257554 0.18684655 -0.17805087
+v -0.44851871 0.18903159 -0.03588225
+v -0.43318090 0.18614266 0.16645768
+v -0.46327453 0.12933101 0.13939074
+v -0.43487678 0.01359051 -0.19421976
+v -0.40374407 -0.13136251 -0.20752419
+v -0.44912158 0.08618109 -0.15026172
+v -0.48148791 0.04227611 0.14089573
+v -0.48054697 0.02882952 -0.06507944
+v -0.46404727 0.08627155 -0.10842268
+v -0.46512994 -0.07281148 -0.10871918
+v -0.45012353 -0.07272330 -0.15069457
+v -0.44949924 -0.01507795 -0.16575532
+v -0.38897314 0.18553160 0.25167098
+v -0.39062997 0.14201064 0.28171483
+v -0.46495137 0.01305371 0.21278441
+v -0.48067935 -0.08805141 0.02311350
+v -0.37966640 0.19026390 -0.21118165
+v -0.41937838 0.14376812 -0.17925812
+v -0.43389360 0.18749008 -0.10805819
+v -0.46401787 0.14533630 -0.03590995
+v -0.43375596 0.12838175 0.22489356
+v -0.46357907 0.14487069 0.11103690
+v -0.46393665 0.08525172 0.18373887
+v -0.43303278 -0.08737781 -0.17886248
+f 6 3 4
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+f 9 6 1
+f 12 3 2
+f 16 15 10
+f 16 7 15
+f 16 11 7
+f 16 1 11
+f 17 9 1
+f 18 11 1
+f 18 1 4
+f 24 2 9
+f 24 9 14
+f 25 14 9
+f 26 10 15
+f 27 16 10
+f 27 1 16
+f 27 17 1
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+f 29 3 12
+f 31 12 2
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+f 35 7 22
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+f 55 22 7
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\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_5.obj b/apple/apple_14/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fa1a02f1330c40fb8f7f6273fbb92477f948c9f
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.26749094 -0.38273606 0.18479933
+v 0.46842549 -0.10319172 -0.06469112
+v 0.45296119 -0.07423243 0.24167034
+v 0.27448903 0.22653149 0.26515152
+v 0.27448903 0.09016786 -0.23484848
+v 0.43821789 0.21899785 0.15480545
+v 0.27023452 -0.34128923 0.25914611
+v 0.40851367 -0.27720441 0.12737520
+v 0.26644621 -0.32358004 -0.22716686
+v 0.48508947 0.07325677 0.09737299
+v 0.39662320 0.21885859 0.25653612
+v 0.27448903 0.22653149 -0.09848485
+v 0.26847531 -0.35344821 0.24258875
+v 0.46922431 -0.14690312 0.12748164
+v 0.37846174 -0.25887649 0.25253216
+v 0.40820589 -0.04455456 -0.22217298
+v 0.26580560 -0.35317610 -0.18315721
+v 0.45200446 0.10177092 0.22660067
+v 0.43821024 -0.21832944 -0.00499290
+v 0.48484463 -0.03064243 0.14185852
+v 0.33652224 -0.30119772 0.25246923
+v 0.43691189 -0.13186145 0.25453476
+v 0.43616396 -0.20502748 0.19864929
+v 0.40020554 0.08852498 -0.22728814
+v 0.37697575 -0.21817601 -0.19288250
+v 0.31995484 -0.36278747 -0.03491609
+v 0.46760651 0.13095939 0.15521708
+v 0.43804677 0.10204199 0.25478435
+v 0.43727533 0.15963036 0.22618095
+v 0.45329328 -0.19037953 0.14180153
+v 0.46871338 -0.14768435 0.02409327
+v 0.46745060 -0.08909304 0.19860828
+v 0.46765957 0.07287107 0.19817485
+v 0.48524138 -0.03037364 -0.02093691
+v 0.29340178 -0.33173173 0.25308835
+v 0.36449503 -0.31796904 0.16895108
+v 0.42332999 -0.17595691 0.25503622
+v 0.39388102 -0.27463673 0.19866169
+v 0.39301862 -0.13150429 -0.22219464
+v 0.42406598 0.21887458 -0.09405473
+v 0.43576889 -0.17517148 -0.10785641
+v 0.33307776 -0.30295255 -0.16480650
+v 0.26741242 -0.38403481 -0.11061375
+v 0.39388291 -0.29031009 -0.00487630
+v 0.46809095 0.14592961 -0.00556188
+v 0.42181454 0.21629325 0.21107682
+v 0.42299321 0.15996458 0.25423470
+v 0.45200541 0.17473324 0.16937159
+v 0.42213790 -0.24590475 0.16968013
+v 0.45187296 -0.16179963 0.19831614
+v 0.45256885 -0.18951331 0.00961462
+v 0.48443440 -0.05987646 0.12674542
+v 0.45248897 -0.11818420 0.22766210
+v 0.45229709 0.05760710 0.24086172
+v 0.46713137 0.10187901 0.18365908
+v 0.48448357 0.02879030 0.14159884
+v 0.48514931 -0.07394208 0.09762111
+v 0.45316953 -0.01522946 -0.15023327
+v 0.48519970 -0.07380320 0.03833491
+v 0.28055717 -0.34804121 0.24047490
+v 0.33656925 -0.33218242 0.19691497
+v 0.32207402 -0.36099933 0.14014266
+v 0.39400285 -0.25937848 0.22615063
+v 0.39380889 -0.28995382 0.15543163
+f 11 6 4
+f 12 4 6
+f 12 5 9
+f 13 7 4
+f 13 4 1
+f 17 1 4
+f 17 12 9
+f 17 4 12
+f 21 15 7
+f 24 9 5
+f 24 5 12
+f 28 22 3
+f 28 11 4
+f 28 4 22
+f 29 28 18
+f 30 8 19
+f 31 14 30
+f 33 32 20
+f 33 3 32
+f 35 21 7
+f 37 22 4
+f 37 4 7
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+f 39 24 16
+f 39 9 24
+f 39 25 9
+f 40 24 12
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+f 42 17 9
+f 42 9 25
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+f 43 26 1
+f 43 1 17
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+f 43 17 42
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+f 44 8 26
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+f 45 40 6
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+f 47 11 28
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+f 47 29 46
+f 48 27 6
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+f 48 6 46
+f 49 30 23
+f 49 8 30
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+f 50 14 32
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+f 51 31 30
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+f 51 41 2
+f 51 2 31
+f 52 32 14
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+f 53 32 3
+f 53 3 22
+f 53 50 32
+f 53 22 50
+f 54 28 3
+f 54 3 33
+f 54 33 18
+f 54 18 28
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+f 55 27 48
+f 55 48 29
+f 55 29 18
+f 56 33 20
+f 56 20 10
+f 56 55 33
+f 56 10 27
+f 56 27 55
+f 57 34 10
+f 57 10 20
+f 57 20 52
+f 57 52 14
+f 58 34 2
+f 58 16 24
+f 58 45 34
+f 58 24 40
+f 58 40 45
+f 58 39 16
+f 58 41 39
+f 58 2 41
+f 59 31 2
+f 59 2 34
+f 59 34 57
+f 59 57 14
+f 59 14 31
+f 60 35 7
+f 60 7 13
+f 60 13 1
+f 60 21 35
+f 61 60 1
+f 61 21 60
+f 61 36 38
+f 62 26 8
+f 62 8 36
+f 62 1 26
+f 62 61 1
+f 62 36 61
+f 63 37 15
+f 63 23 37
+f 63 15 21
+f 63 61 38
+f 63 21 61
+f 63 49 23
+f 63 38 49
+f 64 38 36
+f 64 36 8
+f 64 49 38
+f 64 8 49
\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_6.obj b/apple/apple_14/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa70d2ebba28b71dcfc535db5afe4dcc2dc0744c
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_6.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.08852059 -0.46737593 0.12502828
+v 0.31407552 -0.37176463 -0.00659659
+v 0.21033777 -0.37040603 0.25846894
+v -0.20440490 -0.38523744 0.25776411
+v -0.09510359 -0.42742864 -0.20609402
+v 0.19379167 -0.37053025 -0.22903408
+v -0.01426691 -0.43740791 0.23954982
+v 0.24960220 -0.40590906 0.13973781
+v 0.25296216 -0.36982813 -0.16920284
+v -0.21983839 -0.38562043 0.24369410
+v 0.08814013 -0.46578111 -0.09333441
+v 0.08801583 -0.45057975 0.18136126
+v 0.15460821 -0.38346968 0.26837894
+v 0.31423083 -0.37152569 0.11233508
+v -0.23663121 -0.41342559 -0.10469109
+v -0.11626503 -0.46713392 0.15347200
+v 0.08834554 -0.43579752 -0.18034581
+v 0.21861414 -0.42152560 -0.07918885
+v 0.01502338 -0.46731456 0.16779541
+v 0.19074225 -0.41981830 0.18132703
+v -0.11511488 -0.42212979 0.25405799
+v 0.05895119 -0.43642744 0.22499105
+v 0.26312406 -0.40745470 -0.00586199
+v 0.27105649 -0.37360353 0.20189014
+v -0.20162746 -0.45233368 0.08119142
+v -0.10131527 -0.48353515 -0.00615032
+v 0.01563899 -0.45226718 -0.16663143
+v 0.15510281 -0.38351702 -0.23750519
+v 0.17456863 -0.42059018 -0.15108908
+v 0.26272285 -0.39207254 -0.09338513
+v 0.05906209 -0.46585536 0.15314985
+v -0.07319605 -0.45177044 0.21094663
+v 0.17678286 -0.40527478 0.22363969
+v 0.16125184 -0.43526659 0.16730915
+v 0.04381915 -0.42226485 0.25349826
+v -0.17269946 -0.43531143 0.19588807
+v 0.04410636 -0.45251322 0.19728680
+v 0.26344380 -0.40647756 0.09612086
+v 0.30686044 -0.37736929 -0.00539266
+v 0.11768926 -0.46796532 0.08111752
+v 0.26337172 -0.39099666 0.16816217
+v -0.21583019 -0.43535209 0.13852423
+v -0.05776470 -0.48363431 0.11075319
+v -0.10140213 -0.48288092 0.08128684
+v -0.18843281 -0.45233951 -0.04986342
+v 0.07320438 -0.45090678 -0.15160187
+v -0.05712020 -0.46705614 -0.12296585
+v 0.14732939 -0.39410628 -0.22557597
+v 0.18895275 -0.37686664 -0.22333839
+v 0.13198603 -0.45016750 -0.10828279
+v 0.26939221 -0.37182228 -0.14087230
+v 0.27794002 -0.39179579 -0.04982643
+v -0.01410031 -0.45214462 0.21121300
+v -0.07299160 -0.43737636 0.23938337
+v 0.20647022 -0.37586890 0.25298087
+v 0.11742847 -0.40607261 0.25282769
+v 0.14730484 -0.43479601 0.18126699
+v 0.26534372 -0.37889309 0.19747090
+v 0.19147641 -0.43615332 0.12508484
+v -0.17321427 -0.42157785 0.22438649
+v -0.11492254 -0.45218469 0.19679791
+v 0.30718951 -0.37681248 0.11073115
+v 0.20538382 -0.43710565 -0.02058543
+v 0.23441541 -0.40562683 0.16778717
+f 9 6 3
+f 10 4 3
+f 10 3 6
+f 13 3 4
+f 14 9 3
+f 14 2 9
+f 15 10 6
+f 15 6 5
+f 21 13 4
+f 24 14 3
+f 27 5 17
+f 28 5 6
+f 31 1 12
+f 35 21 7
+f 35 13 21
+f 35 7 22
+f 37 12 22
+f 37 31 12
+f 37 19 31
+f 39 2 14
+f 41 14 24
+f 42 10 15
+f 42 15 25
+f 42 36 10
+f 42 25 16
+f 42 16 36
+f 43 32 16
+f 43 19 32
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+f 43 1 31
+f 43 40 1
+f 43 26 11
+f 43 11 40
+f 44 16 25
+f 44 25 26
+f 44 43 16
+f 44 26 43
+f 45 26 25
+f 45 25 15
+f 45 15 5
+f 46 27 17
+f 46 11 27
+f 47 5 27
+f 47 45 5
+f 47 26 45
+f 47 27 11
+f 47 11 26
+f 48 17 5
+f 48 5 28
+f 48 29 17
+f 49 6 9
+f 49 9 29
+f 49 29 48
+f 49 48 28
+f 49 28 6
+f 50 29 18
+f 50 11 46
+f 50 46 17
+f 50 17 29
+f 51 9 2
+f 51 29 9
+f 51 30 18
+f 51 18 29
+f 52 23 18
+f 52 18 30
+f 52 39 23
+f 52 2 39
+f 52 51 2
+f 52 30 51
+f 53 32 19
+f 53 19 37
+f 53 37 22
+f 53 22 7
+f 54 7 21
+f 54 53 7
+f 54 32 53
+f 55 3 13
+f 55 13 33
+f 55 24 3
+f 56 33 13
+f 56 22 33
+f 56 35 22
+f 56 13 35
+f 57 33 22
+f 57 22 12
+f 57 12 1
+f 57 1 34
+f 57 34 20
+f 57 20 33
+f 58 33 20
+f 58 55 33
+f 58 24 55
+f 58 41 24
+f 59 20 34
+f 59 34 1
+f 59 1 40
+f 59 38 8
+f 60 21 4
+f 60 4 10
+f 60 10 36
+f 61 60 36
+f 61 21 60
+f 61 54 21
+f 61 32 54
+f 61 36 16
+f 61 16 32
+f 62 38 23
+f 62 8 38
+f 62 41 8
+f 62 14 41
+f 62 39 14
+f 62 23 39
+f 63 18 23
+f 63 23 38
+f 63 59 40
+f 63 38 59
+f 63 50 18
+f 63 40 11
+f 63 11 50
+f 64 8 41
+f 64 59 8
+f 64 20 59
+f 64 58 20
+f 64 41 58
\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_7.obj b/apple/apple_14/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd4a62906e1b65f7c3d4c9c8ad54e777ab8bb058
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_7.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.01494369 -0.32569485 0.36004649
+v 0.01691327 -0.33407457 0.26515152
+v 0.01332959 0.01010504 0.38620761
+v -0.21907111 0.22127314 0.37315134
+v -0.23585315 -0.34751338 0.27758751
+v -0.08914733 0.22653149 0.26515152
+v -0.22490746 -0.07351225 0.40059072
+v 0.03134389 -0.21306087 0.39787498
+v 0.01341400 -0.01237500 0.30260599
+v -0.08863674 0.22566866 0.41154587
+v -0.22551097 0.22653149 0.26515152
+v -0.11372130 -0.26453521 0.39683589
+v 0.03137966 -0.22791107 0.39806358
+v -0.02854127 0.09016786 0.26515152
+v -0.22391525 0.10235681 0.39989214
+v -0.21544820 -0.23556440 0.36728199
+v -0.14248719 -0.32072944 0.35371792
+v -0.01579231 -0.26651328 0.39883542
+v 0.02793696 -0.22753246 0.39880951
+v 0.00960465 0.01342225 0.34077338
+v -0.15883764 0.22156524 0.39720071
+v -0.15824292 -0.22373978 0.39666254
+v -0.21861568 -0.17850432 0.38309831
+v -0.07337582 -0.32106699 0.36914428
+v -0.21539142 -0.29192376 0.33780877
+v 0.01310557 -0.25284402 0.39809153
+v 0.02776801 -0.21391434 0.39864966
+v -0.21859062 0.19138351 0.38361219
+v -0.15745376 -0.26451001 0.38216682
+v -0.18571585 -0.23568662 0.38174004
+v -0.11483066 -0.29162655 0.38210591
+v -0.02958950 -0.32099863 0.36897829
+v -0.20158217 -0.32094905 0.32534309
+v 0.01418855 -0.30914271 0.37170075
+v -0.20174524 0.21978064 0.38180362
+v -0.17081739 -0.30595322 0.35219528
+v -0.21736038 -0.32397029 0.31288429
+v -0.00097620 -0.29382732 0.38339081
+v -0.15636449 -0.29253913 0.36737516
+v -0.19934122 -0.30573589 0.33772101
+f 5 2 1
+f 9 8 2
+f 9 3 8
+f 10 3 6
+f 10 8 3
+f 11 10 6
+f 11 4 10
+f 11 6 2
+f 11 2 5
+f 13 1 2
+f 13 2 8
+f 14 9 2
+f 14 2 6
+f 15 7 10
+f 15 4 11
+f 15 11 5
+f 15 5 7
+f 18 10 7
+f 18 7 12
+f 19 13 8
+f 19 10 18
+f 20 14 6
+f 20 6 3
+f 20 3 9
+f 20 9 14
+f 21 15 10
+f 21 10 4
+f 22 12 7
+f 23 7 5
+f 23 5 16
+f 23 22 7
+f 24 17 5
+f 24 5 1
+f 24 18 12
+f 25 16 5
+f 26 19 18
+f 26 13 19
+f 27 19 8
+f 27 8 10
+f 27 10 19
+f 28 4 15
+f 28 15 21
+f 29 12 22
+f 29 16 25
+f 30 23 16
+f 30 22 23
+f 30 29 22
+f 30 16 29
+f 31 24 12
+f 31 17 24
+f 31 12 29
+f 32 24 1
+f 32 18 24
+f 33 5 17
+f 34 1 13
+f 34 13 26
+f 34 32 1
+f 35 28 21
+f 35 21 4
+f 35 4 28
+f 36 33 17
+f 37 33 25
+f 37 25 5
+f 37 5 33
+f 38 34 26
+f 38 26 18
+f 38 18 32
+f 38 32 34
+f 39 29 25
+f 39 25 36
+f 39 31 29
+f 39 36 17
+f 39 17 31
+f 40 36 25
+f 40 25 33
+f 40 33 36
\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_8.obj b/apple/apple_14/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6010521967268b8d71dbbb7defb2fcf2ef10b823
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_8.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.13812539 0.34774361 0.00757576
+v 0.25998241 0.37174981 -0.17156891
+v 0.15811848 0.46471978 0.00601020
+v -0.08626980 0.48444194 0.00788198
+v -0.16635681 0.37973437 -0.25714241
+v 0.08934988 0.48229201 0.00778220
+v 0.24239681 0.34541015 -0.23314009
+v -0.14975339 0.34774361 0.00757576
+v 0.04469592 0.45034164 -0.18148954
+v -0.14585789 0.47022433 0.00791174
+v -0.10043942 0.44881767 -0.16726183
+v 0.01614841 0.48195528 -0.08007028
+v 0.08865447 0.42102217 -0.22507808
+v -0.07066876 0.43602343 -0.21121230
+v -0.12931905 0.46530151 -0.07958603
+v 0.11746249 0.46458829 -0.09388713
+v 0.14584935 0.40385868 -0.22319154
+v -0.14192143 0.41849234 -0.20923295
+v -0.11409411 0.41974939 -0.22470189
+v 0.05963013 0.43492178 -0.21043218
+v -0.05678460 0.46541650 -0.13836609
+v -0.08571232 0.48164605 -0.03627009
+v 0.06012006 0.48071747 -0.06536907
+v 0.13393731 0.46914897 -0.03621294
+v 0.23351969 0.39212026 -0.16583391
+v 0.14571017 0.43348402 -0.16530369
+v -0.14456020 0.45077897 -0.12382283
+v -0.14392526 0.40865412 -0.22645563
+v -0.11377762 0.43379241 -0.19562384
+v 0.04494162 0.46586825 -0.13836013
+v -0.05689458 0.45030347 -0.18221013
+v -0.14458250 0.46570241 -0.05065791
+v -0.08550879 0.46530223 -0.12377879
+v -0.02795596 0.48176673 -0.08001645
+v 0.08903448 0.48107359 -0.02128360
+v 0.23230941 0.35976964 -0.22235280
+v 0.23659774 0.39583109 -0.15351130
+v 0.08851331 0.44913076 -0.16620299
+v 0.10386187 0.46438392 -0.10909622
+v -0.05685982 0.48175456 -0.06543946
+v 0.13289152 0.46558504 -0.06532573
+v 0.13224294 0.44843656 -0.13718295
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 8 7 1
+f 8 5 7
+f 10 8 1
+f 10 5 8
+f 10 6 4
+f 10 1 6
+f 12 4 6
+f 13 7 5
+f 17 7 13
+f 19 14 13
+f 19 13 5
+f 20 14 9
+f 20 13 14
+f 22 10 4
+f 23 12 6
+f 24 6 3
+f 26 17 13
+f 26 25 17
+f 27 18 5
+f 28 19 5
+f 28 5 18
+f 28 18 19
+f 29 19 18
+f 29 11 14
+f 29 14 19
+f 29 27 11
+f 29 18 27
+f 30 21 12
+f 30 12 23
+f 31 9 14
+f 31 14 11
+f 31 11 21
+f 31 30 9
+f 31 21 30
+f 32 22 15
+f 32 10 22
+f 32 15 27
+f 32 27 5
+f 32 5 10
+f 33 27 15
+f 33 21 11
+f 33 11 27
+f 34 4 12
+f 34 12 21
+f 35 23 6
+f 35 6 24
+f 36 25 2
+f 36 2 7
+f 36 7 17
+f 36 17 25
+f 37 3 2
+f 37 2 25
+f 37 25 26
+f 38 26 13
+f 38 13 20
+f 38 20 9
+f 38 9 30
+f 39 30 23
+f 39 23 16
+f 39 38 30
+f 40 33 15
+f 40 15 22
+f 40 22 4
+f 40 4 34
+f 40 34 21
+f 40 21 33
+f 41 35 24
+f 41 16 23
+f 41 23 35
+f 41 24 3
+f 41 3 37
+f 42 39 16
+f 42 26 38
+f 42 38 39
+f 42 16 41
+f 42 41 37
+f 42 37 26
\ No newline at end of file
diff --git a/apple/apple_14/collision/model_normalized_collision_9.obj b/apple/apple_14/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d66a38efeb1f846f05c5ac19e167903d6260f9ef
--- /dev/null
+++ b/apple/apple_14/collision/model_normalized_collision_9.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.24418417 -0.01644595 0.39757963
+v 0.24418600 -0.01589275 0.26515152
+v 0.24418600 0.22653149 0.26515152
+v -0.08863674 0.22566866 0.41154587
+v -0.03469300 -0.01348925 0.31792514
+v 0.23827553 0.21934625 0.38567840
+v 0.25873399 0.06020342 0.39816329
+v 0.18814091 -0.01856956 0.38791769
+v -0.08914733 0.22653149 0.26515152
+v 0.25758853 0.16493974 0.39692381
+v 0.25611738 0.06167143 0.39878273
+v -0.08893525 0.14300473 0.40065092
+v -0.08914733 0.09016786 0.26515152
+v 0.18124889 0.21960694 0.39816401
+v 0.25280096 0.16228089 0.39933320
+v -0.09642545 0.04376187 0.35988095
+v -0.01064550 -0.00758900 0.30260599
+v 0.23781146 0.19046664 0.39705811
+v -0.00818849 -0.01099209 0.34094626
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 9 3 2
+f 9 4 3
+f 10 7 3
+f 10 3 6
+f 11 4 1
+f 11 1 7
+f 12 8 1
+f 12 1 4
+f 13 9 2
+f 14 6 4
+f 15 4 11
+f 15 14 4
+f 15 11 7
+f 15 7 10
+f 16 8 12
+f 16 13 5
+f 16 9 13
+f 16 12 4
+f 16 4 9
+f 17 13 2
+f 17 2 5
+f 17 5 13
+f 18 15 10
+f 18 10 6
+f 18 6 14
+f 18 14 15
+f 19 16 5
+f 19 5 8
+f 19 8 16
\ No newline at end of file
diff --git a/apple/apple_14/model.xml b/apple/apple_14/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b4ca0932a0ebb898ee90636571cc4e732db304e7
--- /dev/null
+++ b/apple/apple_14/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="apple_76">
+  <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="lambert1.051" 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="lambert1.051"/>
+        <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="0.00013137144999999934 2.826705000000013e-05 -0.034372828700000004" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00013137144999999934 2.826705000000013e-05 0.034758707900000005" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0339668966 0.0339109358 0.0001929396" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/apple/apple_14/visual/material.mtl b/apple/apple_14/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/apple/apple_14/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/apple/apple_14/visual/model_normalized_0.obj b/apple/apple_14/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b54dc1bbfad37ba1d682cc5bc717daf04cce242
--- /dev/null
+++ b/apple/apple_14/visual/model_normalized_0.obj
@@ -0,0 +1,71996 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.15677450 0.12037550 -0.46907100
+v 0.14733050 0.13257300 -0.46810000
+v 0.15498800 0.14024500 -0.46151900
+v 0.16492150 0.12732050 -0.46248500
+v 0.13696400 0.14397150 -0.46567150
+v 0.14408350 0.15232300 -0.45910350
+v 0.15126700 0.16095500 -0.45190650
+v 0.16271400 0.14817500 -0.45431000
+v 0.17314200 0.13449850 -0.45527100
+v 0.12575200 0.15451350 -0.46227250
+v 0.13229000 0.16349350 -0.45572150
+v 0.11377150 0.16414200 -0.45838750
+v 0.11968800 0.17369600 -0.45185650
+v 0.12565750 0.18357100 -0.44469650
+v 0.13888650 0.17277500 -0.44854200
+v 0.14554650 0.18230200 -0.44073550
+v 0.15851950 0.16981550 -0.44408100
+v 0.13168450 0.19370700 -0.43691250
+v 0.13777300 0.20404450 -0.42850950
+v 0.15227450 0.19201900 -0.43230500
+v 0.16584600 0.17885200 -0.43562600
+v 0.17051400 0.15631400 -0.44647000
+v 0.18144100 0.14186650 -0.44742600
+v 0.17839400 0.16461550 -0.43799750
+v 0.18982550 0.14938100 -0.43894650
+v 0.10110050 0.17279950 -0.45450250
+v 0.10635950 0.18286950 -0.44799150
+v 0.08781550 0.18042850 -0.45110300
+v 0.09238550 0.19095350 -0.44461000
+v 0.09699650 0.20183200 -0.43748700
+v 0.11166600 0.19327800 -0.44085100
+v 0.07399450 0.18697200 -0.44867500
+v 0.07784750 0.19788750 -0.44219400
+v 0.05971400 0.19237300 -0.44770400
+v 0.06282600 0.20361000 -0.44122800
+v 0.06596600 0.21522450 -0.43412200
+v 0.08173450 0.20916900 -0.43508350
+v 0.08565950 0.22074900 -0.42735550
+v 0.10165150 0.21299800 -0.42974450
+v 0.06913600 0.22714600 -0.42639950
+v 0.07233850 0.23930450 -0.41807300
+v 0.08962400 0.23255900 -0.41902150
+v 0.10635450 0.22438600 -0.42139350
+v 0.11702300 0.20396150 -0.43309000
+v 0.12243500 0.21485750 -0.42471450
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diff --git a/apple/apple_15/collision/model_normalized_collision_0.obj b/apple/apple_15/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e30a581a005ff15d4e1b89051a6a6ad31a799876
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
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+v 0.12992697 -0.15833314 -0.47290039
+v 0.28369724 -0.15941954 -0.36973533
+v 0.01231199 -0.16316136 -0.49044664
+v -0.15935703 -0.21673047 -0.42945574
+v 0.22621337 -0.20102875 -0.39986878
+f 6 3 4
+f 10 6 1
+f 10 3 6
+f 16 10 2
+f 16 3 10
+f 23 4 3
+f 25 1 6
+f 28 14 15
+f 30 16 2
+f 31 17 10
+f 31 10 1
+f 34 5 20
+f 35 20 8
+f 38 37 7
+f 38 21 37
+f 39 22 10
+f 39 10 17
+f 40 2 10
+f 40 10 22
+f 40 30 2
+f 41 4 23
+f 41 33 13
+f 41 23 33
+f 42 41 13
+f 42 24 41
+f 43 6 4
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+f 43 4 41
+f 44 1 25
+f 44 28 1
+f 44 14 28
+f 44 25 6
+f 45 43 26
+f 45 6 43
+f 45 44 6
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+f 46 27 15
+f 46 15 14
+f 46 45 26
+f 46 14 45
+f 47 27 9
+f 47 21 38
+f 47 38 15
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+f 47 9 36
+f 48 9 27
+f 48 46 26
+f 48 27 46
+f 49 11 29
+f 49 16 30
+f 50 29 3
+f 50 3 16
+f 50 49 29
+f 50 16 49
+f 51 23 3
+f 51 3 29
+f 51 33 23
+f 51 18 33
+f 52 49 30
+f 52 11 49
+f 52 40 19
+f 52 30 40
+f 53 31 1
+f 53 1 28
+f 54 17 31
+f 54 39 17
+f 54 7 39
+f 54 38 7
+f 54 15 38
+f 54 31 53
+f 54 53 28
+f 54 28 15
+f 55 32 8
+f 55 33 18
+f 56 8 32
+f 56 35 8
+f 56 19 35
+f 56 52 19
+f 56 11 52
+f 57 29 11
+f 57 56 32
+f 57 11 56
+f 57 51 29
+f 57 18 51
+f 57 55 18
+f 57 32 55
+f 58 8 20
+f 58 20 5
+f 58 5 13
+f 58 13 33
+f 58 55 8
+f 58 33 55
+f 59 34 20
+f 59 12 34
+f 59 20 35
+f 60 21 5
+f 60 5 34
+f 60 34 12
+f 60 37 21
+f 60 12 37
+f 61 35 19
+f 61 59 35
+f 61 12 59
+f 61 40 22
+f 61 19 40
+f 62 5 21
+f 62 47 36
+f 62 21 47
+f 62 36 42
+f 62 42 13
+f 62 13 5
+f 63 42 36
+f 63 24 42
+f 63 43 24
+f 63 26 43
+f 63 36 9
+f 63 48 26
+f 63 9 48
+f 64 7 37
+f 64 39 7
+f 64 22 39
+f 64 61 22
+f 64 37 12
+f 64 12 61
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_1.obj b/apple/apple_15/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3fdcdc174955b49592bae69bc06c4810f96da11
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.23312285 -0.33901292 0.12337200
+v 0.41879169 -0.11793396 -0.14061516
+v 0.38801091 -0.06025083 0.13446825
+v 0.23403635 0.19081441 0.25255946
+v 0.23987739 0.19624950 -0.23484848
+v 0.23305899 -0.23519773 0.23746644
+v 0.37221342 -0.23176806 0.04782999
+v 0.23307069 -0.33551562 -0.22902138
+v 0.40342970 0.17470535 -0.08262710
+v 0.28946366 -0.01645266 0.24780467
+v 0.41869538 -0.13313499 0.00484135
+v 0.31348383 -0.26047771 0.13292676
+v 0.38765946 0.11955808 -0.23317460
+v 0.23220263 -0.32349477 0.15234755
+v 0.30294757 -0.33198344 -0.06730712
+v 0.38815818 0.18756797 0.01824112
+v 0.37180135 -0.11705676 0.14768167
+v 0.32860780 0.10126038 0.20527638
+v 0.24200188 -0.01539210 0.27108407
+v 0.40213791 -0.18901738 -0.11080404
+v 0.41936494 0.11628988 -0.11219399
+v 0.31428346 -0.30302917 0.06155706
+v 0.35740804 -0.21753127 -0.22609213
+v 0.36292875 0.18920883 -0.22915154
+v 0.25554101 -0.25972955 0.20375959
+v 0.30238051 -0.33262001 -0.02394805
+v 0.31223542 0.18874205 0.19064361
+v 0.25682449 -0.21736426 0.23217536
+v 0.36186100 -0.01612267 0.17850796
+v 0.37148919 -0.18891878 0.10398007
+v 0.40367570 -0.08868744 0.09147909
+v 0.27374422 0.13238999 0.24799038
+v 0.40327659 -0.18953941 -0.00964427
+v 0.41836080 -0.14783426 -0.09644728
+v 0.41897585 -0.10385009 0.03399813
+v 0.41884418 0.11575176 -0.02529211
+v 0.41792758 0.08752842 -0.15486378
+v 0.32757726 -0.27362701 0.08990583
+v 0.28606798 -0.31714617 0.09000578
+v 0.41810510 -0.10432746 -0.15502451
+v 0.32848563 -0.25911245 -0.22661783
+v 0.40475405 -0.16126143 -0.15493418
+v 0.40445748 0.14613490 -0.15534434
+v 0.38860043 0.18820278 -0.15494609
+v 0.25536705 -0.28721276 0.17609904
+v 0.34433659 -0.28994803 -0.01007431
+v 0.37103841 0.15920229 0.10539978
+v 0.24309905 -0.23207032 0.23260696
+v 0.31336437 -0.21733053 0.17542168
+v 0.30126666 0.10188539 0.23329590
+v 0.38690035 -0.11780862 0.11947797
+v 0.28920594 -0.00132500 0.24760063
+v 0.27165672 0.18693276 0.23166610
+v 0.40233305 -0.16152690 0.04755364
+v 0.41844634 -0.14691233 -0.02437775
+v 0.40359987 0.17389141 -0.05413455
+v 0.41897659 -0.07445184 0.04805857
+v 0.35823283 -0.26116326 0.03315743
+v 0.34202194 -0.24500564 0.10410760
+v 0.25673186 -0.31663565 0.13355869
+v 0.28602082 -0.33173501 0.04873570
+v 0.29897571 -0.28814867 0.11870435
+v 0.31470087 -0.30185049 -0.16755394
+v 0.38858763 -0.20477620 -0.15493044
+f 8 4 5
+f 13 8 5
+f 14 6 4
+f 14 4 8
+f 14 8 1
+f 19 4 6
+f 24 13 5
+f 25 6 14
+f 26 1 8
+f 26 8 15
+f 27 16 5
+f 27 5 4
+f 28 17 10
+f 28 19 6
+f 28 10 19
+f 29 17 3
+f 29 10 17
+f 32 4 19
+f 34 2 11
+f 34 33 20
+f 35 11 2
+f 35 2 21
+f 37 21 2
+f 40 23 13
+f 40 37 2
+f 40 13 37
+f 41 8 13
+f 41 13 23
+f 42 34 20
+f 42 2 34
+f 42 40 2
+f 42 23 40
+f 43 13 24
+f 43 37 13
+f 43 21 37
+f 43 9 21
+f 44 16 9
+f 44 43 24
+f 44 9 43
+f 44 24 5
+f 44 5 16
+f 45 25 14
+f 45 12 25
+f 46 22 26
+f 46 26 15
+f 46 20 33
+f 47 27 18
+f 47 16 27
+f 47 18 29
+f 47 29 3
+f 47 36 16
+f 48 28 6
+f 48 6 25
+f 48 25 28
+f 49 28 25
+f 49 25 12
+f 49 30 17
+f 49 17 28
+f 50 29 18
+f 50 10 29
+f 50 18 27
+f 51 31 3
+f 51 3 17
+f 51 17 30
+f 52 32 19
+f 52 19 10
+f 52 50 32
+f 52 10 50
+f 53 27 4
+f 53 4 32
+f 53 50 27
+f 53 32 50
+f 54 30 7
+f 54 7 33
+f 54 33 11
+f 54 11 35
+f 54 51 30
+f 54 35 31
+f 54 31 51
+f 55 34 11
+f 55 11 33
+f 55 33 34
+f 56 36 21
+f 56 21 9
+f 56 9 16
+f 56 16 36
+f 57 35 21
+f 57 21 36
+f 57 31 35
+f 57 3 31
+f 57 47 3
+f 57 36 47
+f 58 38 22
+f 58 22 46
+f 58 46 33
+f 58 33 7
+f 59 12 38
+f 59 49 12
+f 59 30 49
+f 59 7 30
+f 59 58 7
+f 59 38 58
+f 60 14 1
+f 60 1 39
+f 60 45 14
+f 61 26 22
+f 61 22 39
+f 61 39 1
+f 61 1 26
+f 62 39 22
+f 62 22 38
+f 62 38 12
+f 62 60 39
+f 62 12 45
+f 62 45 60
+f 63 15 8
+f 63 8 41
+f 63 46 15
+f 64 42 20
+f 64 23 42
+f 64 20 46
+f 64 46 63
+f 64 63 41
+f 64 41 23
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_10.obj b/apple/apple_15/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d14298ddd5f3046edd265d4c29e5afb56e8df011
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_10.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.20820449 0.19475630 0.26108405
+v 0.20957435 0.19624950 0.14393941
+v 0.20280404 0.36518531 0.07852340
+v -0.07523450 0.39525025 0.07837724
+v -0.07830444 0.19624950 0.14393941
+v 0.12960424 0.34416609 0.17703832
+v 0.21445573 0.35475395 0.08648321
+v -0.07489047 0.19848390 0.24740575
+v 0.11866526 0.30231011 0.08333334
+v 0.04192885 0.40554335 0.09259814
+v 0.20053540 0.31567356 0.17696181
+v -0.01531450 0.19667008 0.24770726
+v -0.07481283 0.30565089 0.20298204
+v -0.07830444 0.30231011 0.08333334
+v 0.11377859 0.38946853 0.10555637
+v 0.04177678 0.40927635 0.07980989
+v 0.17164225 0.27469766 0.23095689
+v 0.20131349 0.27416887 0.21835977
+v 0.18338515 0.35841315 0.11923802
+v 0.00044329 0.37481680 0.14682248
+v 0.08498810 0.37450354 0.14701330
+v 0.01358615 0.40950284 0.07842667
+v 0.12927296 0.39471331 0.07874591
+v 0.18569804 0.30044662 0.20323026
+v 0.05932612 0.29169839 0.23223892
+v 0.20227133 0.23191971 0.24597078
+v 0.19998976 0.36160951 0.09182488
+v 0.14321553 0.35971107 0.14839622
+v -0.07265044 0.36116512 0.14643258
+v 0.08466650 0.38944585 0.11993639
+v -0.01442474 0.38926984 0.11883672
+v 0.17130729 0.37529166 0.09248499
+v 0.17177830 0.32955531 0.17622794
+v 0.14477231 0.30249004 0.21771453
+v 0.00084253 0.27839832 0.23218094
+v 0.06015854 0.26418323 0.24697311
+v -0.02934636 0.34764245 0.17485237
+v 0.11712200 0.29056090 0.23252829
+v 0.16955490 0.35861281 0.13318916
+v 0.01385494 0.40493596 0.09163621
+v -0.05859321 0.38848296 0.10415057
+v 0.12817860 0.39047297 0.09236929
+v 0.17313114 0.37891541 0.07885172
+v 0.14345760 0.33000591 0.18974422
+v 0.00060238 0.30528067 0.21694807
+v -0.04546205 0.29155670 0.21709005
+v 0.01644434 0.25076456 0.24579083
+v 0.14480270 0.26150925 0.24658393
+v -0.07449713 0.39048331 0.09124303
+v -0.02912218 0.31860133 0.20136370
+f 5 2 1
+f 7 1 2
+f 7 2 3
+f 9 3 2
+f 9 2 5
+f 12 8 5
+f 12 5 1
+f 12 1 8
+f 13 5 8
+f 14 9 5
+f 14 4 3
+f 14 3 9
+f 14 13 4
+f 14 5 13
+f 18 1 7
+f 18 7 11
+f 19 11 7
+f 21 10 20
+f 22 3 4
+f 22 10 16
+f 23 22 16
+f 23 3 22
+f 23 16 10
+f 23 10 15
+f 24 18 11
+f 24 17 18
+f 26 18 17
+f 26 1 18
+f 27 19 7
+f 27 7 3
+f 28 21 6
+f 30 15 10
+f 30 10 21
+f 30 28 15
+f 30 21 28
+f 31 20 10
+f 31 29 20
+f 32 19 27
+f 32 27 3
+f 33 24 11
+f 33 28 6
+f 34 17 24
+f 36 8 1
+f 36 25 35
+f 37 29 13
+f 37 20 29
+f 37 25 21
+f 37 21 20
+f 38 6 21
+f 38 21 25
+f 38 34 6
+f 38 25 36
+f 39 11 19
+f 39 19 32
+f 39 15 28
+f 39 33 11
+f 39 28 33
+f 40 31 10
+f 40 10 22
+f 40 22 4
+f 41 29 31
+f 41 40 4
+f 41 31 40
+f 42 32 23
+f 42 23 15
+f 42 39 32
+f 42 15 39
+f 43 32 3
+f 43 3 23
+f 43 23 32
+f 44 33 6
+f 44 6 34
+f 44 34 24
+f 44 24 33
+f 45 35 25
+f 45 25 37
+f 46 13 8
+f 46 8 35
+f 46 45 13
+f 46 35 45
+f 47 36 35
+f 47 35 8
+f 47 8 36
+f 48 17 34
+f 48 34 38
+f 48 26 17
+f 48 1 26
+f 48 38 36
+f 48 36 1
+f 49 41 4
+f 49 29 41
+f 49 4 13
+f 49 13 29
+f 50 45 37
+f 50 37 13
+f 50 13 45
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_11.obj b/apple/apple_15/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5680f2c356b869d31fdf630598f293f195098bd7
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_11.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.05607293 -0.42305027 0.03493273
+v 0.20716517 -0.34491794 0.14163809
+v 0.05683993 -0.39145488 0.13516928
+v -0.16590433 -0.34245483 0.15457525
+v -0.07830444 -0.34920506 0.00757577
+v 0.11433462 -0.37536762 0.14816202
+v -0.06061457 -0.40732977 0.07806361
+v 0.08836223 -0.34920506 0.00757577
+v 0.20415821 -0.34004514 0.15327803
+v -0.07418996 -0.37651114 0.14846211
+v 0.12974383 -0.39502857 0.09384188
+v -0.03071169 -0.40691922 0.09263130
+v -0.07706938 -0.41860883 0.00681710
+v 0.19900710 -0.34555229 0.14899683
+v -0.19553288 -0.34324029 0.12540262
+v 0.08788715 -0.42184680 0.00718780
+v 0.08490560 -0.40557628 0.09232127
+v -0.05982738 -0.39206748 0.12120205
+v -0.03055672 -0.42164375 0.03468252
+v 0.07126927 -0.42453527 0.00571932
+v 0.20223483 -0.35035832 0.13665170
+v -0.20626067 -0.36103754 0.07188432
+v 0.12834030 -0.39102266 0.10695744
+v -0.01605069 -0.39172151 0.13517802
+v -0.04562735 -0.42198034 0.02001775
+v -0.04552091 -0.42382844 0.00587766
+v 0.07087381 -0.42287611 0.02030728
+v -0.19420147 -0.36908862 0.06545000
+v -0.13258215 -0.39082595 0.07803869
+v -0.19061348 -0.36227681 0.09170993
+v -0.17686676 -0.37752437 0.06386036
+v -0.11879989 -0.39050541 0.09235606
+v -0.16135914 -0.34840663 0.14881137
+v -0.17532060 -0.37453028 0.07740649
+v -0.13223536 -0.37589656 0.11995042
+v -0.19103350 -0.34850605 0.12052304
+v -0.13207531 -0.36103177 0.14817100
+f 9 4 6
+f 9 2 8
+f 9 8 5
+f 10 6 4
+f 10 3 6
+f 14 9 6
+f 14 2 9
+f 15 9 5
+f 15 4 9
+f 16 8 2
+f 17 6 3
+f 17 16 11
+f 17 12 1
+f 17 3 12
+f 18 7 12
+f 19 12 7
+f 19 1 12
+f 20 5 8
+f 20 8 16
+f 21 2 14
+f 21 16 2
+f 21 11 16
+f 22 15 5
+f 23 17 11
+f 23 6 17
+f 23 11 21
+f 23 21 14
+f 23 14 6
+f 24 18 12
+f 24 12 3
+f 24 3 10
+f 24 10 18
+f 25 19 7
+f 25 7 13
+f 26 13 5
+f 26 5 20
+f 26 25 13
+f 26 19 25
+f 26 20 1
+f 26 1 19
+f 27 20 16
+f 27 1 20
+f 27 17 1
+f 27 16 17
+f 28 22 5
+f 28 5 13
+f 29 13 7
+f 30 15 22
+f 31 28 13
+f 31 13 29
+f 32 29 7
+f 32 7 18
+f 33 4 15
+f 34 28 31
+f 34 30 22
+f 34 22 28
+f 34 31 29
+f 35 32 18
+f 35 18 10
+f 35 30 34
+f 35 34 29
+f 35 29 32
+f 36 33 15
+f 36 15 30
+f 36 35 33
+f 36 30 35
+f 37 10 4
+f 37 4 33
+f 37 35 10
+f 37 33 35
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_12.obj b/apple/apple_15/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78bbf89ecf31049912df2d6c23c2ce53bbe42f19
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_12.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.13129560 -0.41379437 0.00658641
+v 0.24738124 -0.36339274 -0.10117251
+v 0.23987739 -0.24314445 0.00757577
+v -0.07830444 -0.24314445 0.00757577
+v -0.07739680 -0.41938246 -0.09782072
+v 0.23987739 -0.24314445 -0.09848484
+v 0.24939049 -0.36510160 0.00954459
+v 0.08576307 -0.42274308 -0.09730291
+v -0.07706938 -0.41860883 0.00681710
+v -0.07830444 -0.24314445 -0.09848484
+v 0.13101569 -0.41397976 -0.09736399
+v 0.08566311 -0.42241206 0.00537158
+v 0.10062859 -0.42283589 -0.05245922
+v -0.04552091 -0.42382844 0.00587766
+v 0.10023255 -0.42193188 -0.00994679
+v -0.06022370 -0.42298545 -0.00890775
+v -0.04586766 -0.42382971 -0.09711582
+v -0.06106067 -0.42307982 -0.08221943
+f 6 4 3
+f 7 3 4
+f 7 6 3
+f 7 2 6
+f 8 5 2
+f 9 4 5
+f 9 7 4
+f 9 1 7
+f 10 5 4
+f 10 4 6
+f 10 6 2
+f 10 2 5
+f 11 7 1
+f 11 2 7
+f 11 8 2
+f 13 11 1
+f 13 8 11
+f 14 12 1
+f 14 1 9
+f 14 13 12
+f 15 13 1
+f 15 1 12
+f 15 12 13
+f 16 14 9
+f 16 9 5
+f 17 5 8
+f 17 8 13
+f 17 13 14
+f 18 16 5
+f 18 5 17
+f 18 17 14
+f 18 14 16
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_13.obj b/apple/apple_15/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..896ce9fffccbeb10945fd5bd11063024900f0edf
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_13.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.19672764 0.16287258 0.25205542
+v -0.07830444 0.19624950 0.14393941
+v -0.07489047 0.19848390 0.24740575
+v -0.07789470 0.36175198 0.14312906
+v -0.34788146 0.16445231 0.14180521
+v -0.07436447 0.34839279 0.16236736
+v -0.19951656 0.16594647 0.14393941
+v -0.23727017 0.30385461 0.13589412
+v -0.07594194 0.27922901 0.22076351
+v -0.33886223 0.18910551 0.13595475
+v -0.29371966 0.15933869 0.20515934
+v -0.12043783 0.35312281 0.13709259
+v -0.07732270 0.26791249 0.22700124
+v -0.07481283 0.30565089 0.20298204
+v -0.20972924 0.16194524 0.24909750
+v -0.34175939 0.16159643 0.15231599
+v -0.30522967 0.23103854 0.14641710
+v -0.16474139 0.33767659 0.13652051
+v -0.08832005 0.34610723 0.16016732
+v -0.19546354 0.17669163 0.24924749
+v -0.32251276 0.15994209 0.17752864
+v -0.33367316 0.18582783 0.14656771
+v -0.23385725 0.24422905 0.20087074
+v -0.31011001 0.23411229 0.13658688
+v -0.16259714 0.33120794 0.14641429
+v -0.17937272 0.27314763 0.20343520
+v -0.30331530 0.20093796 0.17373325
+v -0.31894441 0.17246660 0.17490680
+v -0.23405745 0.29932242 0.14530639
+v -0.23569089 0.18900827 0.23078971
+v -0.11859946 0.34670889 0.14638714
+v -0.08915869 0.30321905 0.20162091
+v -0.17723266 0.31458560 0.15994984
+v -0.12033610 0.27432525 0.21629552
+v -0.26217770 0.21503169 0.20119228
+v -0.29125592 0.17224517 0.20164975
+v -0.22046412 0.27065382 0.18782245
+v -0.20841178 0.17636478 0.24581455
+v -0.20708529 0.21678980 0.23110714
+v -0.26232597 0.18736850 0.21593734
+v -0.20626550 0.24396501 0.21600364
+f 1 2 3
+f 6 3 2
+f 6 2 4
+f 7 2 1
+f 10 7 5
+f 10 2 7
+f 12 4 2
+f 12 2 10
+f 13 3 9
+f 14 9 3
+f 14 3 6
+f 15 11 7
+f 15 7 1
+f 16 5 7
+f 18 12 10
+f 18 10 8
+f 19 6 4
+f 19 4 12
+f 20 1 3
+f 20 3 13
+f 20 15 1
+f 21 16 7
+f 21 7 11
+f 22 10 5
+f 22 5 16
+f 24 17 8
+f 24 8 10
+f 24 22 17
+f 24 10 22
+f 25 12 18
+f 26 6 19
+f 27 17 22
+f 28 22 16
+f 28 16 21
+f 28 27 22
+f 29 8 17
+f 29 18 8
+f 30 11 15
+f 31 25 19
+f 31 19 12
+f 31 12 25
+f 32 14 6
+f 32 6 26
+f 33 26 19
+f 33 19 25
+f 33 25 18
+f 33 18 29
+f 34 9 14
+f 34 32 26
+f 34 14 32
+f 34 13 9
+f 35 23 17
+f 35 17 27
+f 35 30 23
+f 36 28 21
+f 36 21 11
+f 36 27 28
+f 36 35 27
+f 37 29 17
+f 37 17 23
+f 37 33 29
+f 37 26 33
+f 38 30 15
+f 38 15 20
+f 39 23 30
+f 39 30 38
+f 39 38 20
+f 39 20 13
+f 39 13 34
+f 40 36 11
+f 40 11 30
+f 40 30 35
+f 40 35 36
+f 41 37 23
+f 41 26 37
+f 41 23 39
+f 41 39 34
+f 41 34 26
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_14.obj b/apple/apple_15/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9cd48d20bff6ca91f1e02ef63417380065ee212
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_14.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.26130882 0.19035050 0.23752445
+v 0.39339072 0.19056970 -0.12676450
+v 0.35734083 0.21641919 0.07693688
+v 0.20280404 0.36518531 0.07852340
+v 0.22472587 0.19624950 -0.23484848
+v 0.31662932 0.30138220 -0.03925855
+v 0.27052844 0.28595129 0.14750363
+v 0.37895745 0.19063499 0.04917392
+v 0.36292875 0.18920883 -0.22915154
+v 0.20820449 0.19475630 0.26108405
+v 0.21900451 0.33641699 -0.23038629
+v 0.31480454 0.20265056 0.17759496
+v 0.27195575 0.32973427 0.04692478
+v 0.37268832 0.23033210 -0.02507478
+v 0.23403635 0.19081441 0.25255946
+v 0.39281497 0.19021153 -0.01002313
+v 0.32907084 0.27099590 -0.16921441
+v 0.20957435 0.19624950 0.00757577
+v 0.20293301 0.32081106 0.16742784
+v 0.25793462 0.22933760 0.21740476
+v 0.31298880 0.25823066 0.11974232
+v 0.36320325 0.19096187 0.09346643
+v 0.27205914 0.31354433 0.09124122
+v 0.21748798 0.36415185 -0.14105920
+v 0.35792419 0.23050799 0.04827690
+v 0.31864684 0.19051282 0.18077809
+v 0.38809668 0.20234635 -0.12580290
+v 0.32929174 0.24418512 -0.22765382
+v 0.21714072 0.34862907 -0.19930753
+v 0.20438092 0.21954584 0.25149466
+v 0.29817230 0.21488222 0.19018871
+v 0.22740650 0.29983364 0.17606154
+v 0.23257230 0.20344682 0.24787451
+v 0.35831346 0.20345826 0.09198706
+v 0.21281155 0.36028723 0.07608651
+v 0.29901608 0.30075942 0.06267840
+v 0.31380214 0.27290316 0.09167839
+v 0.24275795 0.31348677 0.13460204
+v 0.20904708 0.37705499 0.00749000
+v 0.25730053 0.34454851 -0.12512338
+v 0.37340755 0.20211466 0.04814675
+v 0.38737147 0.20174590 -0.01113345
+v 0.32654082 0.21601928 0.14868990
+v 0.37963107 0.19008998 -0.18536068
+v 0.32993238 0.28723708 -0.09657962
+v 0.27196455 0.31440706 -0.19776267
+v 0.20376924 0.24776327 0.23618695
+v 0.28516840 0.21573371 0.20365514
+v 0.29807400 0.25717955 0.14752319
+v 0.22852985 0.27273054 0.20346337
+v 0.25854135 0.20233337 0.23339046
+v 0.32944580 0.28763043 -0.02403282
+v 0.34251003 0.25941128 0.03350290
+v 0.24194102 0.29878344 0.16335000
+v 0.21449158 0.31557218 0.16477096
+v 0.25706922 0.34445897 0.03392125
+v 0.22810895 0.35920484 0.04834882
+v 0.22925588 0.35840662 -0.14032720
+v 0.35740612 0.22968314 -0.18411228
+v 0.37379816 0.22923063 -0.11128321
+v 0.31578859 0.30139856 -0.09668040
+v 0.25636199 0.31392685 -0.22626306
+v 0.29997528 0.30060300 -0.16905903
+v 0.25832573 0.32913626 -0.18391133
+f 11 9 5
+f 15 9 1
+f 15 5 9
+f 16 1 9
+f 16 9 2
+f 18 15 10
+f 18 5 15
+f 18 11 5
+f 26 16 8
+f 26 1 16
+f 26 8 22
+f 27 16 2
+f 28 9 11
+f 29 18 4
+f 29 11 18
+f 30 18 10
+f 30 4 18
+f 31 26 12
+f 33 15 1
+f 33 30 10
+f 33 10 15
+f 34 22 8
+f 34 8 3
+f 35 23 13
+f 36 13 23
+f 37 23 7
+f 37 7 21
+f 37 36 23
+f 37 21 3
+f 37 3 25
+f 38 7 23
+f 38 23 35
+f 38 35 4
+f 39 29 4
+f 39 24 29
+f 41 25 3
+f 41 3 8
+f 42 14 25
+f 42 27 14
+f 42 16 27
+f 42 25 41
+f 42 41 8
+f 42 8 16
+f 43 26 22
+f 43 12 26
+f 43 22 34
+f 43 31 12
+f 43 34 3
+f 43 3 21
+f 44 27 2
+f 44 2 9
+f 47 19 4
+f 47 4 30
+f 47 33 20
+f 47 30 33
+f 48 1 26
+f 48 26 31
+f 49 21 7
+f 49 48 31
+f 49 7 48
+f 49 43 21
+f 49 31 43
+f 50 48 7
+f 50 20 48
+f 50 47 20
+f 50 32 19
+f 50 19 47
+f 51 33 1
+f 51 20 33
+f 51 48 20
+f 51 1 48
+f 52 6 13
+f 52 13 36
+f 52 45 6
+f 53 37 25
+f 53 36 37
+f 53 52 36
+f 53 25 14
+f 53 14 52
+f 54 7 38
+f 54 50 7
+f 54 32 50
+f 55 38 4
+f 55 4 19
+f 55 54 38
+f 55 19 32
+f 55 32 54
+f 56 13 6
+f 56 40 39
+f 56 6 40
+f 56 35 13
+f 57 39 4
+f 57 4 35
+f 57 56 39
+f 57 35 56
+f 58 29 24
+f 58 24 39
+f 58 39 40
+f 59 44 9
+f 59 9 28
+f 59 28 17
+f 59 27 44
+f 60 14 27
+f 60 27 59
+f 60 59 17
+f 60 17 45
+f 60 52 14
+f 60 45 52
+f 61 40 6
+f 61 6 45
+f 62 46 28
+f 62 28 11
+f 63 17 28
+f 63 28 46
+f 63 40 61
+f 63 61 45
+f 63 45 17
+f 64 11 29
+f 64 29 58
+f 64 58 40
+f 64 63 46
+f 64 40 63
+f 64 62 11
+f 64 46 62
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_15.obj b/apple/apple_15/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c44c6d9bea5a7a8e5fbf9715c080d48bb4cb0ca0
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_15.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.07830444 -0.13708384 -0.35606060
+v -0.07823772 -0.13671304 -0.48808730
+v -0.07497390 0.17642854 -0.46469916
+v -0.18666512 0.18351218 -0.42135914
+v -0.18436505 -0.13708384 -0.35606060
+v -0.17668271 0.05638823 -0.47402499
+v -0.07830444 0.07503738 -0.35606060
+v -0.07846895 0.11907463 -0.47661131
+v -0.14726798 0.14301120 -0.45749116
+v -0.17683872 -0.13222696 -0.46128384
+v -0.08705758 0.19722763 -0.45175182
+v -0.18436505 0.07503738 -0.35606060
+v -0.11973641 0.11564079 -0.47408671
+v -0.17635431 0.11267408 -0.45760274
+v -0.17660895 -0.07428310 -0.47377183
+v -0.14763083 0.17242432 -0.44432087
+v -0.10376263 0.17187070 -0.45905278
+v -0.16282979 0.08406351 -0.47235164
+v -0.14673773 -0.13292787 -0.47428471
+v -0.17672381 0.17336412 -0.43150185
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 5 1
+f 8 3 2
+f 8 2 6
+f 10 5 4
+f 10 2 5
+f 11 7 3
+f 11 4 7
+f 12 7 4
+f 12 4 5
+f 12 5 7
+f 13 8 6
+f 13 3 8
+f 14 6 4
+f 15 10 4
+f 15 4 6
+f 15 6 2
+f 16 4 11
+f 17 13 9
+f 17 3 13
+f 17 9 16
+f 17 16 11
+f 17 11 3
+f 18 13 6
+f 18 6 14
+f 18 14 9
+f 18 9 13
+f 19 15 2
+f 19 2 10
+f 19 10 15
+f 20 14 4
+f 20 4 16
+f 20 16 9
+f 20 9 14
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_16.obj b/apple/apple_15/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19d3d78acb98244d0ca1f35e3fd4ee27487a87e3
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_16.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.14428036 -0.36563331 0.15146034
+v 0.26826317 -0.26778866 0.18365638
+v 0.14423574 -0.27785862 0.24754968
+v -0.10483475 -0.23816634 0.26484976
+v 0.01260465 -0.24314445 0.15909092
+v 0.20359406 -0.23593881 0.25111896
+v -0.07505494 -0.34809968 0.19127724
+v 0.17066819 -0.31792760 0.20347182
+v 0.23220263 -0.32349477 0.15234755
+v 0.14612131 -0.23794511 0.26700018
+v 0.23305899 -0.23519773 0.23746644
+v -0.04560929 -0.29255093 0.24722133
+v -0.07685862 -0.37224831 0.15485098
+v 0.05669338 -0.37648714 0.16323922
+v -0.01651365 -0.38274692 0.15217697
+v 0.15708354 -0.34594207 0.17608082
+v 0.21558104 -0.31723651 0.17602023
+v 0.14496979 -0.25066180 0.26212186
+v 0.21495961 -0.25985153 0.23155848
+v -0.12111535 -0.29790297 0.22756895
+v -0.06141798 -0.26460759 0.26135686
+v 0.12945052 -0.31834038 0.21886630
+v 0.05726520 -0.38262989 0.15257075
+v -0.01685912 -0.37641123 0.16268328
+v 0.09973446 -0.36087632 0.17665846
+v 0.22915386 -0.31852437 0.16281241
+v 0.20064918 -0.24830445 0.24591245
+v 0.10202423 -0.26389280 0.26221160
+v 0.17056353 -0.30339141 0.21718202
+v 0.22954375 -0.24645385 0.23233367
+v -0.08911129 -0.30490216 0.23185728
+v -0.08378321 -0.35806739 0.17557703
+v -0.13007147 -0.25064252 0.25213377
+v 0.08656550 -0.29222453 0.24708790
+v 0.12925157 -0.33296010 0.20403132
+v -0.05964933 -0.36193651 0.17727130
+v 0.14253488 -0.35977401 0.16238042
+v -0.10372393 -0.27765868 0.24705349
+v -0.12176927 -0.24107744 0.25906314
+v 0.11553566 -0.30594071 0.23282509
+v -0.07541268 -0.36621809 0.16585937
+v -0.10379440 -0.25015687 0.26083796
+v -0.11800183 -0.26526467 0.24967633
+v -0.11774417 -0.29179747 0.23330469
+f 9 5 2
+f 10 6 4
+f 11 5 4
+f 11 4 6
+f 11 2 5
+f 14 12 7
+f 15 9 1
+f 15 5 9
+f 15 13 5
+f 16 1 9
+f 17 16 9
+f 17 8 16
+f 18 6 10
+f 19 8 17
+f 19 17 2
+f 21 10 4
+f 23 15 1
+f 23 14 15
+f 24 15 14
+f 25 23 1
+f 25 14 23
+f 26 17 9
+f 26 9 2
+f 26 2 17
+f 27 18 3
+f 27 6 18
+f 27 3 19
+f 27 19 11
+f 27 11 6
+f 28 3 18
+f 28 21 12
+f 28 18 10
+f 28 10 21
+f 29 19 3
+f 29 8 19
+f 29 22 8
+f 29 3 22
+f 30 19 2
+f 30 2 11
+f 30 11 19
+f 31 20 7
+f 31 7 12
+f 32 20 13
+f 32 7 20
+f 33 5 13
+f 33 13 20
+f 34 12 14
+f 34 28 12
+f 34 3 28
+f 35 16 8
+f 35 8 22
+f 35 25 16
+f 35 14 25
+f 36 24 14
+f 36 14 7
+f 36 7 32
+f 36 15 24
+f 37 25 1
+f 37 1 16
+f 37 16 25
+f 38 31 12
+f 38 12 21
+f 39 4 5
+f 39 5 33
+f 40 34 14
+f 40 22 3
+f 40 3 34
+f 40 35 22
+f 40 14 35
+f 41 36 32
+f 41 32 13
+f 41 13 15
+f 41 15 36
+f 42 38 21
+f 42 21 4
+f 42 4 39
+f 43 38 42
+f 43 42 39
+f 43 39 33
+f 44 20 31
+f 44 31 38
+f 44 38 43
+f 44 43 33
+f 44 33 20
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_17.obj b/apple/apple_15/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..451db2d017c1fee6f524011db216296b5a8e5a68
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_17.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.09272231 -0.14421320 -0.48343335
+v 0.20311300 -0.09513146 -0.46228213
+v 0.08836223 0.07503738 -0.41666666
+v 0.08836223 0.12049192 -0.41666666
+v 0.12983751 0.11473312 -0.48912079
+v 0.13381678 0.07503738 -0.41666666
+v 0.04990151 0.12204668 -0.48560821
+v 0.16048845 -0.04460649 -0.49031730
+v 0.18790416 0.12673393 -0.46405487
+v 0.05750978 -0.13705389 -0.48914611
+v 0.18552184 -0.08726378 -0.47329991
+v 0.13381678 0.12049192 -0.41666666
+v 0.07462133 0.11811634 -0.49045544
+v 0.15764414 0.08657163 -0.48942821
+v 0.14738912 -0.05916483 -0.49082281
+v 0.20608001 -0.06588103 -0.46689368
+v 0.05904655 0.11981029 -0.48769804
+v 0.17297672 0.11467208 -0.47560663
+v 0.18762924 -0.05861253 -0.47831810
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 9 7 4
+f 10 1 3
+f 10 3 7
+f 11 2 1
+f 12 9 4
+f 12 4 6
+f 12 6 2
+f 12 2 9
+f 13 9 5
+f 13 7 9
+f 14 13 5
+f 15 1 10
+f 15 11 1
+f 15 8 11
+f 15 10 13
+f 15 14 8
+f 15 13 14
+f 16 14 9
+f 16 9 2
+f 17 13 10
+f 17 10 7
+f 17 7 13
+f 18 14 5
+f 18 5 9
+f 18 9 14
+f 19 11 8
+f 19 8 14
+f 19 14 16
+f 19 16 2
+f 19 2 11
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_18.obj b/apple/apple_15/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b182bfbd37824acb222b62b325a4aa4b14ae82c
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_18.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.05648106 -0.01951582 0.22676731
+v 0.00530201 0.04251786 0.21154717
+v 0.01526789 0.19637046 0.25430691
+v -0.07774536 0.28510595 0.21662069
+v -0.19726625 0.25282043 0.21372557
+v -0.01831832 0.28910280 0.22302354
+v 0.00442176 0.06188897 0.25922347
+v -0.04963134 -0.01661085 0.21825515
+v -0.18179581 0.26449760 0.21053628
+v -0.16631985 0.20540458 0.24704572
+v 0.00554129 0.04807660 0.22464990
+v -0.20377703 -0.01481367 0.27339058
+v -0.01573301 0.26604770 0.23466016
+v -0.13681875 0.24665215 0.23185341
+v -0.19881796 -0.01604493 0.27384060
+v -0.19472779 0.19018893 0.24540672
+v -0.01648320 0.28302815 0.22655959
+v -0.07594194 0.27922901 0.22076351
+v -0.17864016 0.25866943 0.21594890
+v -0.11570006 -0.01826204 0.26267372
+v -0.19881464 0.08805300 0.26321583
+v -0.17948103 0.23239300 0.23239181
+v -0.07094642 -0.01956608 0.23861861
+v -0.19358624 0.24641685 0.21941925
+v -0.08733864 -0.01922309 0.24926316
+f 6 3 2
+f 6 2 4
+f 8 7 1
+f 9 4 2
+f 9 8 5
+f 9 2 8
+f 11 2 3
+f 11 3 7
+f 11 8 2
+f 11 7 8
+f 12 5 8
+f 13 10 3
+f 14 10 13
+f 15 12 8
+f 15 8 1
+f 15 7 3
+f 17 13 3
+f 17 3 6
+f 17 14 13
+f 17 6 14
+f 18 14 6
+f 18 6 4
+f 18 4 14
+f 19 14 4
+f 19 4 9
+f 19 9 5
+f 20 7 15
+f 21 15 3
+f 21 3 10
+f 21 12 15
+f 21 10 16
+f 21 16 5
+f 21 5 12
+f 22 16 10
+f 22 10 14
+f 22 14 19
+f 23 15 1
+f 23 1 7
+f 24 5 16
+f 24 16 22
+f 24 22 19
+f 24 19 5
+f 25 20 15
+f 25 15 23
+f 25 23 7
+f 25 7 20
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_19.obj b/apple/apple_15/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed1722c824ead603a155124171ac90e583c3f675
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_19.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.05913631 0.11133004 0.47801749
+v 0.07469758 0.12155913 0.46477141
+v 0.06634726 0.14113945 0.47805946
+v 0.04270008 0.15808419 0.47949061
+v -0.01330449 0.06541676 0.26218059
+v 0.03887832 0.13130933 0.49847031
+v 0.07169715 0.11949904 0.47029535
+v 0.01160591 0.07911285 0.27043742
+v 0.03607524 0.14606459 0.49754451
+v 0.03971807 0.11981412 0.48298733
+v 0.07682965 0.14265227 0.46671222
+v 0.00701987 0.06473561 0.26379799
+v -0.00756678 0.08594750 0.27149917
+v -0.00213176 0.10279796 0.36390030
+v 0.01185128 0.07319843 0.26677329
+v 0.06210281 0.15073640 0.45829322
+v 0.02708743 0.14862033 0.48856090
+v 0.03642355 0.13226695 0.49747978
+v -0.00426942 0.10476326 0.33115496
+v 0.07373839 0.12897731 0.45743171
+v 0.07641186 0.14362671 0.46346375
+v 0.00400357 0.08728909 0.27211966
+v 0.02908836 0.15112367 0.49020923
+v 0.03179940 0.14849193 0.49533162
+v -0.00071357 0.11157089 0.36850597
+v 0.03607819 0.15107661 0.45493561
+v 0.06349944 0.15101445 0.46806077
+f 7 6 1
+f 7 3 6
+f 9 6 3
+f 9 3 4
+f 10 5 1
+f 10 1 6
+f 11 7 2
+f 11 3 7
+f 11 4 3
+f 12 2 7
+f 12 7 1
+f 12 1 5
+f 14 5 10
+f 15 2 12
+f 15 12 5
+f 18 14 10
+f 18 10 6
+f 18 17 14
+f 18 6 9
+f 19 13 5
+f 19 5 14
+f 20 2 15
+f 21 15 8
+f 21 20 15
+f 21 11 2
+f 21 2 20
+f 22 8 15
+f 22 21 8
+f 22 16 21
+f 22 15 5
+f 22 5 13
+f 24 18 9
+f 24 17 18
+f 24 23 17
+f 24 9 4
+f 24 4 23
+f 25 19 14
+f 25 14 17
+f 25 23 19
+f 25 17 23
+f 26 13 19
+f 26 22 13
+f 26 4 16
+f 26 16 22
+f 26 23 4
+f 26 19 23
+f 27 21 16
+f 27 16 4
+f 27 4 11
+f 27 11 21
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_2.obj b/apple/apple_15/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0360b31d6d574b69443688e69e84533c131765b2
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_2.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.24200188 -0.01539210 0.27108407
+v 0.23987739 -0.01587172 0.00757577
+v 0.23987739 0.19624950 0.00757577
+v -0.20550881 0.20329392 0.23747301
+v -0.20377703 -0.01481367 0.27339058
+v -0.19951656 0.19624950 0.00757577
+v 0.23403635 0.19081441 0.25255946
+v 0.08121704 -0.01917177 0.25432542
+v -0.19951656 -0.01587172 0.00757577
+v 0.01526789 0.19637046 0.25430691
+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 4
+f 9 4 6
+f 9 6 2
+f 9 8 5
+f 9 2 8
+f 10 5 1
+f 10 1 7
+f 10 7 4
+f 10 4 5
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_20.obj b/apple/apple_15/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd2b765935e030f03690a1c418f4ef5616a77d19
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_20.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.13101569 -0.41397976 -0.09736399
+v 0.16194147 -0.38880957 -0.17236487
+v 0.15325837 -0.40578811 -0.10679182
+v -0.19922719 -0.34861088 -0.23459192
+v -0.03044240 -0.40601529 -0.19872874
+v 0.16325854 -0.39239034 -0.15856001
+v -0.17161511 -0.39536360 -0.10134930
+v 0.06950580 -0.40581604 -0.19908450
+v 0.12826504 -0.40507591 -0.15432029
+v -0.20913815 -0.36749716 -0.16359913
+v -0.04586766 -0.42382971 -0.09711582
+v 0.13765261 -0.36872149 -0.24652516
+v 0.15799095 -0.39567109 -0.15542524
+v 0.07086099 -0.42208133 -0.12614361
+v 0.13017081 -0.38046282 -0.22829017
+v -0.11903776 -0.39018134 -0.19850071
+v -0.15176606 -0.40313372 -0.09789749
+v -0.06098940 -0.39132718 -0.22812871
+v 0.09889235 -0.40535201 -0.18261310
+v 0.07097491 -0.42509967 -0.09722272
+v -0.01638916 -0.42343822 -0.12621068
+v 0.15698813 -0.39168299 -0.16905635
+v 0.09534143 -0.38965503 -0.22769772
+v -0.19053507 -0.37516159 -0.16918775
+v -0.13445523 -0.40776224 -0.09751277
+v -0.13360023 -0.37583545 -0.22736365
+v -0.06017801 -0.40588962 -0.18421917
+v -0.19183114 -0.36069381 -0.21291766
+v -0.13443421 -0.40648776 -0.11120540
+v -0.19171986 -0.37811255 -0.15524316
+v -0.10437371 -0.40555618 -0.15453679
+v -0.17680529 -0.36122673 -0.22721547
+v -0.04564146 -0.42217585 -0.11132206
+v -0.19442925 -0.35288983 -0.22974421
+f 6 2 4
+f 6 4 3
+f 7 1 3
+f 9 3 1
+f 10 7 3
+f 10 3 4
+f 12 4 2
+f 13 6 3
+f 13 3 9
+f 13 2 6
+f 14 9 1
+f 15 12 2
+f 17 1 7
+f 18 8 5
+f 18 4 12
+f 19 14 8
+f 19 9 14
+f 19 13 9
+f 20 14 1
+f 20 1 11
+f 21 5 8
+f 21 8 14
+f 21 20 11
+f 21 14 20
+f 22 15 2
+f 22 2 13
+f 22 19 15
+f 22 13 19
+f 23 12 15
+f 23 18 12
+f 23 8 18
+f 23 19 8
+f 23 15 19
+f 25 11 1
+f 25 1 17
+f 26 18 16
+f 26 4 18
+f 27 18 5
+f 27 16 18
+f 27 5 21
+f 28 24 10
+f 28 10 4
+f 28 16 24
+f 29 25 17
+f 29 11 25
+f 30 17 7
+f 30 7 10
+f 30 10 24
+f 30 29 17
+f 31 27 21
+f 31 16 27
+f 31 24 16
+f 31 30 24
+f 31 29 30
+f 32 4 26
+f 32 26 16
+f 32 16 28
+f 33 31 21
+f 33 21 11
+f 33 11 29
+f 33 29 31
+f 34 32 28
+f 34 28 4
+f 34 4 32
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_21.obj b/apple/apple_15/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dba70785afc1cf64ef75433354806d6e1d61c935
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_21.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.09946644 -0.40678228 0.07868012
+v 0.28049060 -0.34185829 -0.11233871
+v 0.23008244 -0.37631544 0.00617435
+v 0.21937153 -0.33970378 0.13860062
+v 0.08836223 -0.34920506 0.00757577
+v 0.27881979 -0.34065854 0.03585386
+v 0.20040672 -0.37576165 0.07718656
+v 0.12956746 -0.41038496 -0.12643838
+v 0.09299840 -0.37417305 0.15803710
+v 0.23444520 -0.33943830 -0.21616844
+v 0.27252928 -0.34571063 0.03392002
+v 0.15782646 -0.40640313 0.00593940
+v 0.20149338 -0.39114857 -0.05230399
+v 0.08788715 -0.42184680 0.00718780
+v 0.14317573 -0.37455372 0.13470730
+v 0.13765261 -0.36872149 -0.24652516
+v 0.21515154 -0.37620831 -0.12558380
+v 0.23312285 -0.33901292 0.12337200
+v 0.24376217 -0.36196405 0.04922239
+v 0.17253390 -0.39109568 0.06305311
+v 0.23043494 -0.37617611 -0.06674992
+v 0.15832451 -0.40715861 -0.08111702
+v 0.20233216 -0.39112055 -0.02354773
+v 0.08690050 -0.38566700 0.13924257
+v 0.14326703 -0.40648237 0.03480293
+v 0.18560655 -0.35955765 0.13422936
+v 0.22077483 -0.34081265 -0.23136034
+v 0.13017081 -0.38046282 -0.22829017
+v 0.25914570 -0.34563072 -0.15400534
+v 0.22917833 -0.36102444 0.07717304
+v 0.14307806 -0.39188944 0.09261542
+v 0.18746304 -0.39173231 0.03497784
+v 0.27393520 -0.34642265 -0.11065887
+v 0.18713069 -0.39153967 -0.11161996
+v 0.08574811 -0.40931894 0.07932854
+v 0.19993185 -0.35979537 0.11984063
+v 0.18529880 -0.37534537 -0.18439437
+v 0.14395668 -0.37802522 -0.22655147
+v 0.26524777 -0.34120166 -0.15685342
+v 0.22729022 -0.34536341 0.11869532
+v 0.21567991 -0.37649050 0.04890969
+v 0.24470794 -0.36092058 -0.12552035
+v 0.14253811 -0.40657655 -0.12556557
+v 0.21420759 -0.34582332 0.13311696
+v 0.22826584 -0.34423157 -0.21232410
+v 0.17112828 -0.39053708 -0.15294409
+v 0.18469215 -0.35973102 -0.22787540
+v 0.21528962 -0.34536898 -0.22691971
+f 9 4 5
+f 10 5 4
+f 10 6 2
+f 11 3 2
+f 11 2 6
+f 18 10 4
+f 18 6 10
+f 19 3 11
+f 19 11 6
+f 19 6 18
+f 22 14 8
+f 22 12 14
+f 23 22 13
+f 23 12 22
+f 23 21 3
+f 23 13 21
+f 24 9 5
+f 24 15 9
+f 25 14 12
+f 26 4 9
+f 26 9 15
+f 27 16 5
+f 27 5 10
+f 28 14 5
+f 28 5 16
+f 28 8 14
+f 31 25 20
+f 31 1 25
+f 31 24 1
+f 31 15 24
+f 31 26 15
+f 31 20 7
+f 32 23 3
+f 32 12 23
+f 32 25 12
+f 32 20 25
+f 33 2 3
+f 33 3 21
+f 34 21 13
+f 34 17 21
+f 34 13 22
+f 35 24 5
+f 35 5 14
+f 35 1 24
+f 35 25 1
+f 35 14 25
+f 36 7 30
+f 36 31 7
+f 36 26 31
+f 37 29 17
+f 38 28 16
+f 38 8 28
+f 39 29 10
+f 39 10 2
+f 39 33 29
+f 39 2 33
+f 40 30 19
+f 40 19 18
+f 40 36 30
+f 40 18 4
+f 41 32 3
+f 41 3 19
+f 41 7 20
+f 41 20 32
+f 41 30 7
+f 41 19 30
+f 42 33 21
+f 42 21 17
+f 42 17 29
+f 42 29 33
+f 43 34 22
+f 43 22 8
+f 44 4 26
+f 44 26 36
+f 44 40 4
+f 44 36 40
+f 45 27 10
+f 45 10 29
+f 45 29 37
+f 46 37 17
+f 46 17 34
+f 46 34 43
+f 46 38 37
+f 46 43 8
+f 46 8 38
+f 47 38 16
+f 47 16 27
+f 47 37 38
+f 48 45 37
+f 48 37 47
+f 48 47 27
+f 48 27 45
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_22.obj b/apple/apple_15/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32855a469a56eb186a52c29b9e5966f854ab389b
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_22.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v -0.19677667 -0.21058920 0.24395421
+v -0.19951656 -0.21284142 0.15909092
+v -0.19951656 0.16594647 0.15909092
+v -0.34175939 0.16159643 0.15231599
+v -0.35428756 -0.13230771 0.15107684
+v -0.19672764 0.16287258 0.25205542
+v -0.19414429 -0.19313007 0.25134495
+v -0.31312634 -0.20781748 0.15358343
+v -0.32492072 -0.19100047 0.15158671
+v -0.27967846 0.02728583 0.24702407
+v -0.27717491 -0.13106269 0.23103242
+v -0.35469871 0.13208806 0.15131593
+v -0.27769998 0.15875525 0.21754510
+v -0.19557137 -0.13465763 0.26518229
+v -0.22149663 -0.17602641 0.24583329
+v -0.30585028 -0.14469138 0.20272563
+v -0.33653095 0.01331407 0.20368723
+v -0.23815033 0.13113206 0.24677617
+v -0.25140941 0.16056326 0.23270505
+v -0.30508988 0.14397341 0.20220370
+v -0.23926987 0.04176366 0.26199858
+v -0.23841211 -0.07405149 0.26246816
+v -0.20695287 -0.19130364 0.24677611
+v -0.20893764 -0.13394556 0.26147645
+v -0.33241203 -0.14360247 0.17543590
+v -0.24862342 -0.20390848 0.21854282
+v -0.37028089 0.07308423 0.15151784
+v -0.30649085 -0.10229142 0.21799787
+v -0.32251276 0.15994209 0.17752864
+v -0.20972924 0.16194524 0.24909750
+v -0.27847802 0.11561942 0.23073083
+v -0.19885474 0.07314629 0.26506396
+v -0.26681002 0.07131933 0.24681801
+v -0.25099028 -0.13242145 0.24576966
+v -0.22180710 -0.20605059 0.23414279
+v -0.31837573 -0.17272167 0.17493062
+v -0.26402505 -0.18803064 0.21645737
+v -0.36931762 -0.07384352 0.15213782
+v -0.33458481 0.10047116 0.18883777
+v -0.28025438 -0.04535937 0.24689161
+v -0.34680026 -0.10092131 0.17688810
+v -0.33289618 0.14334438 0.17408879
+v -0.21190828 0.07270608 0.26365793
+v -0.26438448 0.14462552 0.23082426
+v -0.29356241 0.07150597 0.23154809
+v -0.24970336 -0.17496155 0.23166901
+v -0.31893598 -0.18835068 0.16231004
+v -0.29066123 -0.17302357 0.20278474
+v -0.30758388 -0.20489093 0.16375300
+v -0.36279072 -0.07324122 0.16255549
+v -0.34850325 0.12996782 0.16102462
+v -0.36388009 0.07148770 0.16123714
+v -0.33557926 -0.02935636 0.20419783
+v -0.29347371 -0.08756638 0.23205991
+v -0.26469735 -0.10268654 0.24600817
+v -0.34845882 -0.13007530 0.16139712
+v -0.33499166 0.15955771 0.16289547
+v -0.32053902 0.10082003 0.20286227
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 8 2 1
+f 9 3 2
+f 9 2 8
+f 12 9 5
+f 12 4 3
+f 12 3 9
+f 14 7 6
+f 19 6 4
+f 22 21 10
+f 23 1 7
+f 23 7 15
+f 24 15 7
+f 24 7 14
+f 24 14 22
+f 26 8 1
+f 27 12 5
+f 28 16 11
+f 29 19 4
+f 29 13 19
+f 29 20 13
+f 30 19 18
+f 30 6 19
+f 30 18 21
+f 31 13 20
+f 32 14 6
+f 32 22 14
+f 32 21 22
+f 33 21 18
+f 33 10 21
+f 34 24 22
+f 34 15 24
+f 35 23 15
+f 35 1 23
+f 35 26 1
+f 36 16 25
+f 36 25 5
+f 36 5 9
+f 38 27 5
+f 40 10 17
+f 40 22 10
+f 41 25 16
+f 41 16 28
+f 41 38 5
+f 42 39 20
+f 42 20 29
+f 43 30 21
+f 43 6 30
+f 43 32 6
+f 43 21 32
+f 44 19 13
+f 44 13 31
+f 44 18 19
+f 44 33 18
+f 44 31 33
+f 45 33 31
+f 45 10 33
+f 45 17 10
+f 46 34 11
+f 46 11 37
+f 46 37 26
+f 46 26 35
+f 46 35 15
+f 46 15 34
+f 47 36 9
+f 47 9 8
+f 48 37 11
+f 48 11 16
+f 48 16 36
+f 49 8 26
+f 49 26 37
+f 49 37 48
+f 49 48 36
+f 49 47 8
+f 49 36 47
+f 50 17 27
+f 50 27 38
+f 50 38 41
+f 51 12 27
+f 51 39 42
+f 52 27 17
+f 52 17 39
+f 52 51 27
+f 52 39 51
+f 53 40 17
+f 53 41 28
+f 53 50 41
+f 53 17 50
+f 54 28 11
+f 54 53 28
+f 54 40 53
+f 55 34 22
+f 55 22 40
+f 55 40 54
+f 55 54 11
+f 55 11 34
+f 56 41 5
+f 56 5 25
+f 56 25 41
+f 57 42 29
+f 57 29 4
+f 57 51 42
+f 57 4 12
+f 57 12 51
+f 58 45 31
+f 58 31 20
+f 58 20 39
+f 58 39 17
+f 58 17 45
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_23.obj b/apple/apple_15/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6326ed3c986398bb394941e2332b21989b4af29f
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_23.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.19951656 -0.21284142 0.15909092
+v -0.19951656 -0.21284142 -0.23484848
+v -0.19951656 0.18109798 -0.23484848
+v -0.32075149 0.17368011 0.17207128
+v -0.32453564 -0.22490497 -0.24381172
+v -0.19951656 0.16594647 0.15909092
+v -0.30553695 -0.21281366 0.15905416
+v -0.33973037 0.20029769 -0.25297144
+v -0.19951656 0.18109798 0.00757577
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 9 6 3
+f 9 3 8
+f 9 8 4
+f 9 4 6
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_24.obj b/apple/apple_15/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e8bd31d932bf4a996598510050ba4d12d8df59d
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_24.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.19951656 0.16594647 0.14393941
+v -0.19951656 0.18109798 -0.09848484
+v -0.19249593 0.36301942 0.06273491
+v -0.19366715 0.38085112 -0.00952838
+v -0.31887022 0.18312837 0.16790130
+v -0.19499435 0.38353506 -0.09790290
+v -0.19951656 0.16594647 0.00757577
+v -0.19512100 0.32349294 0.13801650
+v -0.27661250 0.33003096 0.00485633
+v -0.19331511 0.33446606 0.12119003
+v -0.29042566 0.16594647 0.00757577
+v -0.24849267 0.34374912 0.03217552
+v -0.23467040 0.36032057 -0.00974109
+v -0.29042566 0.18109798 -0.09848484
+v -0.22042401 0.35908488 0.03293129
+v -0.24793633 0.32830343 0.07526109
+v -0.20623324 0.37507285 -0.01048526
+v -0.27781167 0.33208499 -0.09736155
+v -0.20624879 0.32968104 0.11865615
+v -0.20497751 0.35809158 0.06031841
+v -0.27784778 0.27430146 0.13361623
+v -0.27626310 0.31432884 0.06213902
+v -0.20673760 0.37774134 -0.09723933
+v -0.22078376 0.31432108 0.13309405
+v -0.24813520 0.29950246 0.13222664
+v -0.27648255 0.28656062 0.11886288
+v -0.23534039 0.36181671 -0.09712294
+v -0.26126939 0.29954927 0.11787046
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 8 5 1
+f 10 7 3
+f 10 1 7
+f 10 8 1
+f 11 2 7
+f 11 7 1
+f 11 1 5
+f 13 9 12
+f 14 11 5
+f 14 6 2
+f 14 2 11
+f 15 3 4
+f 15 13 12
+f 17 4 6
+f 17 15 4
+f 17 13 15
+f 18 9 13
+f 18 6 14
+f 18 14 5
+f 18 5 9
+f 19 10 3
+f 20 15 12
+f 20 12 16
+f 20 3 15
+f 20 19 3
+f 20 16 19
+f 22 16 12
+f 22 12 9
+f 22 9 5
+f 23 17 6
+f 23 13 17
+f 24 8 10
+f 24 10 19
+f 25 21 5
+f 25 5 8
+f 25 8 24
+f 26 22 5
+f 26 5 21
+f 26 21 25
+f 27 18 13
+f 27 13 23
+f 27 23 6
+f 27 6 18
+f 28 24 19
+f 28 19 16
+f 28 25 24
+f 28 26 25
+f 28 16 22
+f 28 22 26
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_25.obj b/apple/apple_15/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0297101aa428c2c43374aa2a68e4b18836e16c6b
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_25.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.36796685 0.17704966 -0.23145679
+v 0.36352558 0.17500393 -0.24471126
+v 0.15883557 0.36458914 -0.22956291
+v -0.09062961 0.39379365 -0.22941761
+v -0.18436505 0.18109798 -0.23484848
+v 0.13049500 0.17437788 -0.46416113
+v 0.36292875 0.18920883 -0.22915154
+v 0.22761839 0.28497623 -0.31246621
+v 0.03980156 0.31642495 -0.37225662
+v -0.13408543 0.17448705 -0.44824095
+v -0.17703885 0.36237027 -0.22863490
+v 0.25906813 0.17310544 -0.38859414
+v 0.29895060 0.24223157 -0.28395357
+v 0.03989100 0.38896620 -0.25627450
+v 0.11295388 0.25727769 -0.41384847
+v 0.16928337 0.32838390 -0.29819624
+v 0.24611958 0.32002397 -0.22905619
+v -0.18178847 0.17847022 -0.42642157
+v -0.13177665 0.31612497 -0.34129540
+v 0.17262494 0.17312813 -0.44848777
+v 0.32802407 0.22830976 -0.25534946
+v 0.21241312 0.22844768 -0.38547345
+v -0.04520493 0.35992559 -0.31426203
+v 0.06940102 0.39337246 -0.23001026
+v -0.05777144 0.22997469 -0.44241647
+v 0.11298484 0.30018139 -0.37134905
+v 0.26873942 0.27159493 -0.28513789
+v 0.18492400 0.34253158 -0.25642256
+v -0.16453708 0.17562150 -0.43605345
+v -0.11798207 0.35987785 -0.28553453
+v -0.17509485 0.31681999 -0.31387558
+v 0.16846246 0.22726709 -0.41503174
+v 0.34258219 0.21598239 -0.24188157
+v 0.33281675 0.17497585 -0.30193930
+v 0.29764867 0.18585383 -0.34119578
+v 0.25517914 0.18462390 -0.38452157
+v 0.02611282 0.36004808 -0.31481480
+v -0.04582976 0.39019406 -0.25719683
+v 0.08288174 0.37357606 -0.27078128
+v 0.04087693 0.27304625 -0.41582931
+v -0.13011623 0.25763539 -0.39841764
+v -0.04471758 0.31571812 -0.37240883
+v -0.07497390 0.17642854 -0.46469916
+v 0.16917878 0.29951059 -0.34157453
+v 0.25627985 0.29954833 -0.25505998
+v 0.28530276 0.25704297 -0.28384311
+v 0.21369344 0.32815964 -0.25481395
+v -0.11788491 0.37468228 -0.25642415
+v -0.07371640 0.34493683 -0.32794779
+v -0.16077936 0.31449851 -0.32727757
+v -0.17522017 0.34381048 -0.27073190
+v 0.17037056 0.18491100 -0.44281055
+v 0.12771681 0.18587374 -0.45866339
+v 0.35900118 0.18715353 -0.24130969
+v 0.34685671 0.21748074 -0.22942019
+v 0.30167566 0.17365311 -0.34470968
+v 0.32921305 0.18633064 -0.29860294
+v 0.06873866 0.34417962 -0.32851339
+v 0.04033540 0.37460704 -0.28579435
+v -0.06007830 0.37461019 -0.28524800
+v 0.06820632 0.38911936 -0.24262419
+v 0.17032039 0.34278949 -0.27088212
+v 0.05537979 0.28630069 -0.40163167
+v -0.14555900 0.22908936 -0.41270771
+f 5 2 1
+f 7 5 1
+f 10 2 5
+f 11 3 4
+f 11 5 7
+f 12 2 10
+f 17 11 7
+f 17 3 11
+f 18 5 11
+f 20 12 10
+f 20 10 6
+f 24 4 3
+f 28 3 17
+f 29 10 5
+f 29 5 18
+f 31 18 11
+f 32 15 26
+f 36 12 20
+f 36 35 12
+f 36 22 35
+f 38 37 23
+f 38 24 14
+f 38 4 24
+f 42 40 25
+f 42 9 40
+f 42 37 9
+f 42 23 37
+f 42 41 19
+f 42 25 41
+f 43 25 6
+f 43 6 10
+f 43 10 25
+f 44 26 16
+f 44 16 8
+f 44 8 22
+f 44 32 26
+f 44 22 32
+f 45 27 8
+f 45 17 21
+f 46 22 8
+f 46 8 27
+f 46 35 22
+f 46 13 35
+f 46 21 13
+f 46 45 21
+f 46 27 45
+f 47 8 16
+f 47 45 8
+f 47 28 17
+f 47 17 45
+f 48 11 4
+f 49 19 30
+f 49 42 19
+f 49 23 42
+f 50 31 30
+f 50 30 19
+f 50 19 41
+f 51 31 11
+f 51 30 31
+f 51 48 30
+f 51 11 48
+f 52 20 6
+f 52 32 22
+f 52 36 20
+f 52 22 36
+f 53 15 32
+f 53 40 15
+f 53 6 25
+f 53 25 40
+f 53 52 6
+f 53 32 52
+f 54 33 7
+f 54 7 1
+f 54 1 2
+f 55 33 21
+f 55 21 17
+f 55 17 7
+f 55 7 33
+f 56 34 2
+f 56 2 12
+f 56 12 35
+f 57 13 21
+f 57 21 33
+f 57 33 54
+f 57 54 2
+f 57 2 34
+f 57 35 13
+f 57 56 35
+f 57 34 56
+f 58 26 9
+f 58 9 37
+f 58 39 16
+f 58 16 26
+f 59 38 14
+f 59 37 38
+f 59 14 39
+f 59 58 37
+f 59 39 58
+f 60 38 23
+f 60 30 48
+f 60 48 4
+f 60 4 38
+f 60 49 30
+f 60 23 49
+f 61 39 14
+f 61 14 24
+f 61 24 3
+f 61 3 39
+f 62 16 39
+f 62 47 16
+f 62 28 47
+f 62 39 3
+f 62 3 28
+f 63 26 15
+f 63 15 40
+f 63 40 9
+f 63 9 26
+f 64 29 18
+f 64 50 41
+f 64 18 31
+f 64 31 50
+f 64 10 29
+f 64 41 25
+f 64 25 10
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_26.obj b/apple/apple_15/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a6dd7252387743260fefb5144d48059e5266699
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_26.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.19327252 -0.38156884 0.00558136
+v -0.19442925 -0.35288983 -0.22974421
+v -0.19677667 -0.21058920 0.24395421
+v -0.29426593 -0.20498839 0.17898419
+v -0.36898614 -0.20612746 -0.14163490
+v -0.19235306 -0.33808097 0.13743592
+v -0.28993728 -0.31860912 -0.12541815
+v -0.19951656 -0.21284142 -0.23484848
+v -0.20366010 -0.27300975 0.20273242
+v -0.19317283 -0.36478089 -0.19946785
+v -0.31799665 -0.24592118 -0.22717469
+v -0.33288923 -0.26021205 0.03226248
+v -0.35388705 -0.20567291 -0.20029699
+v -0.26443390 -0.20469194 0.20626995
+v -0.19148777 -0.27762647 0.20636297
+v -0.27407706 -0.27324912 0.13282427
+v -0.19085071 -0.30701518 0.17879899
+v -0.26060319 -0.31705103 -0.21287694
+v -0.23381512 -0.36147516 -0.12560487
+v -0.31796548 -0.27576443 -0.16822473
+v -0.34151476 -0.20724481 -0.23062182
+v -0.36979101 -0.20601591 0.01998260
+v -0.31930619 -0.29044992 -0.09720093
+v -0.26120821 -0.33166214 0.04714811
+v -0.20946315 -0.20893242 0.23917232
+v -0.26054054 -0.21607693 0.20213074
+v -0.35323796 -0.20538192 0.07881522
+v -0.19316698 -0.23504748 0.23450567
+v -0.19277938 -0.36592374 0.07878768
+v -0.19310028 -0.38050599 -0.14113138
+v -0.24555790 -0.30129819 0.13201275
+v -0.23308860 -0.33158540 -0.22750078
+v -0.26110425 -0.33243942 -0.16899921
+v -0.34804645 -0.21668063 -0.19808962
+v -0.30268671 -0.27435827 -0.21274134
+v -0.30427701 -0.30349653 -0.12590606
+v -0.34764619 -0.24598330 -0.12579073
+v -0.34809815 -0.24623556 0.00442042
+v -0.30464344 -0.28927080 0.04693327
+v -0.26231673 -0.34728199 -0.03885321
+v -0.29008031 -0.21572039 0.17468412
+v -0.34773836 -0.23188913 0.04767671
+v -0.20443902 -0.23264721 0.23044072
+v -0.21887288 -0.36015071 0.04853921
+v -0.23092231 -0.33066538 0.10396880
+v -0.21906381 -0.36062933 -0.16943217
+v -0.20303631 -0.30225178 0.17422737
+v -0.20480288 -0.36003348 -0.19791210
+v -0.26264778 -0.34644973 -0.09650216
+v -0.28925580 -0.30219127 -0.18375640
+v -0.33574908 -0.21848371 -0.22821448
+v -0.34790998 -0.23130404 -0.16903184
+v -0.33189322 -0.26108296 -0.15509821
+v -0.31960794 -0.29003387 -0.02462314
+v -0.30370149 -0.25951149 0.10480568
+v -0.20513313 -0.37595407 0.00476747
+v -0.32502227 -0.20616083 0.13728667
+v -0.36339223 -0.21700796 0.01933025
+v -0.24745002 -0.34627320 0.03282759
+v -0.20412732 -0.36072230 0.07653047
+v -0.20350995 -0.33308188 0.13361312
+v -0.20446278 -0.37509336 -0.14054228
+v -0.24750160 -0.34659859 -0.15471546
+v -0.20559636 -0.34818520 -0.22793539
+f 10 2 8
+f 14 8 13
+f 15 10 8
+f 17 10 15
+f 17 15 9
+f 21 8 2
+f 21 13 8
+f 25 3 8
+f 25 8 14
+f 26 14 4
+f 27 14 13
+f 27 4 14
+f 27 13 5
+f 27 5 22
+f 28 15 8
+f 28 8 3
+f 28 3 25
+f 29 17 6
+f 30 10 17
+f 30 1 19
+f 30 29 1
+f 30 17 29
+f 32 18 11
+f 32 21 2
+f 32 11 21
+f 33 18 32
+f 34 11 20
+f 35 20 11
+f 35 11 18
+f 36 7 23
+f 37 22 5
+f 38 37 23
+f 38 22 37
+f 41 9 26
+f 41 26 4
+f 42 27 22
+f 42 38 12
+f 43 9 15
+f 43 15 28
+f 43 26 9
+f 43 14 26
+f 43 28 25
+f 43 25 14
+f 44 1 29
+f 45 31 16
+f 47 6 17
+f 47 17 9
+f 47 16 31
+f 47 41 16
+f 47 9 41
+f 48 2 10
+f 48 46 32
+f 48 10 30
+f 48 30 46
+f 49 19 40
+f 49 40 23
+f 49 23 7
+f 50 18 33
+f 50 35 18
+f 50 20 35
+f 50 33 7
+f 50 36 20
+f 50 7 36
+f 51 21 11
+f 51 11 34
+f 51 34 13
+f 51 13 21
+f 52 5 13
+f 52 13 34
+f 52 37 5
+f 52 34 20
+f 53 36 23
+f 53 20 36
+f 53 23 37
+f 53 52 20
+f 53 37 52
+f 54 38 23
+f 54 12 38
+f 54 23 40
+f 54 39 12
+f 54 40 24
+f 54 24 39
+f 55 39 24
+f 55 27 42
+f 55 42 12
+f 55 12 39
+f 55 45 16
+f 55 24 45
+f 56 40 19
+f 56 19 1
+f 56 1 44
+f 57 41 4
+f 57 4 27
+f 57 27 55
+f 57 55 16
+f 57 16 41
+f 58 42 22
+f 58 22 38
+f 58 38 42
+f 59 24 40
+f 59 56 44
+f 59 40 56
+f 60 29 6
+f 60 44 29
+f 60 45 24
+f 60 59 44
+f 60 24 59
+f 61 31 45
+f 61 47 31
+f 61 6 47
+f 61 60 6
+f 61 45 60
+f 62 46 30
+f 62 30 19
+f 62 19 46
+f 63 46 19
+f 63 33 32
+f 63 32 46
+f 63 19 49
+f 63 49 7
+f 63 7 33
+f 64 48 32
+f 64 32 2
+f 64 2 48
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_27.obj b/apple/apple_15/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..216e0a6980aac2df06dd445d43f3d753872883bd
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_27.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.37375703 -0.22802966 -0.16598525
+v 0.40216255 -0.14617432 -0.18394187
+v 0.42127446 -0.07520235 -0.15614949
+v 0.39096753 0.18090615 -0.15898222
+v 0.37813629 0.12910738 -0.24953826
+v 0.34593799 0.12049192 -0.15909090
+v 0.40475405 -0.16126143 -0.15493418
+v 0.35210621 -0.21634102 -0.23808282
+v 0.40374156 -0.08911983 -0.21315858
+v 0.42206412 0.04397220 -0.15585654
+v 0.38471301 0.17816700 -0.18700106
+v 0.38722763 -0.18949406 -0.18385477
+v 0.38554308 -0.20992987 -0.15755485
+v 0.41812051 -0.07432510 -0.16970013
+v 0.38655915 -0.14625156 -0.22580631
+v 0.40354602 0.07336110 -0.21338536
+v 0.40445748 0.14613490 -0.15534434
+v 0.40139440 -0.16079678 -0.16916573
+v 0.37133229 -0.20289798 -0.21135682
+v 0.39388444 -0.19231158 -0.15579984
+v 0.41883943 0.04408651 -0.16996660
+v 0.39362619 0.17629843 -0.15615279
+v 0.38782527 0.12977451 -0.22720982
+v 0.37111878 -0.18917774 -0.22603693
+v 0.40161932 0.13039583 -0.18388657
+v 0.38786169 0.17329292 -0.18378112
+v 0.38474317 0.13387735 -0.23191086
+v 0.36232405 -0.20639077 -0.22831072
+v 0.40173589 0.14488392 -0.16884320
+f 7 2 3
+f 8 6 5
+f 8 1 6
+f 10 7 3
+f 11 6 4
+f 11 5 6
+f 13 6 1
+f 13 1 12
+f 14 3 2
+f 14 2 9
+f 15 8 5
+f 15 5 9
+f 15 9 2
+f 15 2 12
+f 16 9 5
+f 17 6 7
+f 17 7 10
+f 18 12 2
+f 18 2 7
+f 19 12 1
+f 20 7 6
+f 20 6 13
+f 20 13 12
+f 20 18 7
+f 20 12 18
+f 21 10 3
+f 21 3 14
+f 21 14 9
+f 21 9 16
+f 22 4 6
+f 22 6 17
+f 23 16 5
+f 24 15 12
+f 24 12 19
+f 24 8 15
+f 25 17 10
+f 25 10 21
+f 25 21 16
+f 25 16 23
+f 26 11 4
+f 26 4 22
+f 26 25 23
+f 27 23 5
+f 27 5 11
+f 27 26 23
+f 27 11 26
+f 28 24 19
+f 28 8 24
+f 28 19 1
+f 28 1 8
+f 29 26 22
+f 29 22 17
+f 29 17 25
+f 29 25 26
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_28.obj b/apple/apple_15/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..404e2ece8016fca8c896c11c722c585c466a158c
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_28.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.26223545 -0.01685204 0.26292905
+v 0.26768627 -0.01607046 0.26029147
+v 0.23617625 0.17787779 0.25685593
+v 0.05920888 0.22518237 0.25995412
+v 0.09119004 -0.01695514 0.26047776
+v 0.20531837 0.13454372 0.27837444
+v 0.09743763 -0.01926276 0.26466161
+v 0.04476446 0.15106579 0.26046661
+v 0.16112828 0.21966622 0.26258022
+v 0.26113190 0.08850030 0.26172597
+v 0.20673030 -0.01765620 0.28057667
+v 0.12114548 0.14967430 0.27889588
+v 0.21808669 0.18825128 0.26043769
+v 0.16328296 0.22458464 0.26027090
+v 0.26674108 0.08940300 0.25888660
+v 0.24543605 0.14684410 0.26198322
+v 0.13681969 -0.01939391 0.27947889
+v 0.04767947 0.19542428 0.26208999
+v 0.13500382 0.16358299 0.27874035
+v 0.17721840 0.16257095 0.27724522
+v 0.22171062 0.19270974 0.25711447
+v 0.23161065 0.17398077 0.26025342
+v 0.25129424 0.14930507 0.25827073
+v 0.06193689 0.22262778 0.26118219
+v 0.04394294 0.19606464 0.26108479
+v 0.04935792 0.15165978 0.26217351
+f 5 3 2
+f 7 5 2
+f 7 2 1
+f 8 4 3
+f 8 3 5
+f 8 5 7
+f 10 1 2
+f 11 10 6
+f 11 1 10
+f 14 9 13
+f 15 10 2
+f 15 2 3
+f 16 6 10
+f 16 10 15
+f 17 7 1
+f 17 1 11
+f 17 11 12
+f 17 8 7
+f 19 12 11
+f 19 11 6
+f 20 13 9
+f 20 6 13
+f 20 19 6
+f 20 9 19
+f 21 3 4
+f 21 4 14
+f 21 14 13
+f 21 13 3
+f 22 13 6
+f 22 6 16
+f 22 16 3
+f 22 3 13
+f 23 16 15
+f 23 15 3
+f 23 3 16
+f 24 18 12
+f 24 12 19
+f 24 19 9
+f 24 14 4
+f 24 9 14
+f 25 4 8
+f 25 24 4
+f 25 18 24
+f 26 17 12
+f 26 12 18
+f 26 8 17
+f 26 25 8
+f 26 18 25
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_29.obj b/apple/apple_15/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3987147c3d9308a67cd4a80e1de9c0017a500cdf
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.30557717 -0.01587172 -0.09848484
+v -0.30557717 -0.01587172 -0.23484848
+v -0.30557717 0.18109798 -0.09848484
+v -0.38882979 0.19218727 -0.10310970
+v -0.39551773 -0.01815704 -0.24663466
+v -0.33973037 0.20029769 -0.25297144
+v -0.36618323 -0.01587172 -0.09848484
+v -0.36155140 0.17872740 -0.23256944
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 6 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_3.obj b/apple/apple_15/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b5682a2c1a58c4f39a477bb2a15e25291268843
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_3.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.24939049 -0.36510160 0.00954459
+v 0.22955247 -0.33451042 0.13666741
+v -0.22524733 -0.27255535 0.18722254
+v -0.19951656 -0.01587172 0.15909092
+v 0.23987739 -0.01587172 0.00757577
+v 0.23987739 -0.01587172 0.15909092
+v -0.19951656 -0.24314445 0.00757577
+v -0.08153061 -0.36343557 0.16813176
+v 0.23220263 -0.32349477 0.15234755
+v -0.19951656 -0.01587172 0.00757577
+v -0.07830444 -0.34920506 0.00757577
+v 0.21664784 -0.33469464 0.15007422
+f 6 4 3
+f 6 5 4
+f 6 1 5
+f 9 2 1
+f 9 1 6
+f 9 6 3
+f 9 3 8
+f 10 7 3
+f 10 3 4
+f 10 4 5
+f 10 5 7
+f 11 7 5
+f 11 5 1
+f 11 1 8
+f 11 8 3
+f 11 3 7
+f 12 8 1
+f 12 1 2
+f 12 9 8
+f 12 2 9
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_30.obj b/apple/apple_15/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa9bad4d74fac5c010a5421e43ae16ec1441f8f3
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.24738124 -0.36339274 -0.10117251
+v 0.23307069 -0.33551562 -0.22902138
+v 0.23987739 -0.24314445 -0.09848484
+v -0.07830444 -0.24314445 -0.09848484
+v -0.08436025 -0.37918971 -0.24772152
+v -0.07830444 -0.24314445 -0.23484848
+v -0.07830444 -0.34920506 -0.09848484
+v 0.23987739 -0.24314445 -0.23484848
+f 5 2 1
+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 1 2
+f 8 3 1
+f 8 6 3
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_31.obj b/apple/apple_15/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed508cf86c78e7e18b6b602908f49e3f2d633fbb
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.23987739 -0.24314445 0.00757577
+v 0.23987739 -0.24314445 -0.23484848
+v 0.23987739 0.19624950 0.00757577
+v -0.19951656 0.19624950 0.00757577
+v -0.19951656 -0.24314445 -0.23484848
+v -0.19951656 0.19624950 -0.23484848
+v -0.19951656 -0.24314445 0.00757577
+v 0.23987739 0.19624950 -0.23484848
+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/apple/apple_15/collision/model_normalized_collision_4.obj b/apple/apple_15/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45ac5151d8eef3824d2de8b6555408b73329a020
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_4.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.19951656 0.18109798 -0.09848484
+v -0.07830444 0.30231011 -0.15909090
+v -0.07830444 0.30231011 -0.09848484
+v -0.07805649 0.42227751 -0.09837623
+v -0.36590738 0.17429011 -0.22820517
+v -0.07652717 0.41606958 -0.15825275
+v -0.17715663 0.39169384 -0.09669818
+v -0.19951656 0.18109798 -0.23484848
+v -0.12005399 0.41148724 -0.09721540
+v -0.39542460 0.18052485 -0.09831108
+v -0.23360515 0.33113990 -0.22739999
+v -0.11841800 0.40563300 -0.15701963
+v -0.38424512 0.17564089 -0.17086074
+v -0.38347015 0.20394095 -0.09705098
+v -0.19383093 0.35288406 -0.23085796
+v -0.17564716 0.38941239 -0.12641698
+v -0.31824224 0.27239259 -0.18451213
+v -0.37799427 0.20168957 -0.14061043
+v -0.33386561 0.23026096 -0.22657506
+v -0.16143739 0.39048141 -0.15571984
+v -0.27781167 0.33208499 -0.09736155
+v -0.36692461 0.23302149 -0.09741433
+v -0.28876540 0.28619274 -0.22586463
+v -0.34745287 0.22802956 -0.19733332
+v -0.21938382 0.35929918 -0.16918966
+v -0.27718387 0.33103800 -0.11089308
+v -0.36251713 0.22896617 -0.13917417
+v -0.37928290 0.18697578 -0.16979046
+v -0.36084550 0.18682236 -0.22535783
+v -0.20527324 0.35896634 -0.19864011
+v -0.23342005 0.36011713 -0.12530972
+v -0.27665036 0.31466838 -0.18379461
+v -0.20619312 0.34690072 -0.22840909
+v -0.23234718 0.34336916 -0.19798016
+v -0.23534039 0.36181671 -0.09712294
+v -0.24749326 0.34551995 -0.15463018
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 9 7 3
+f 9 3 4
+f 12 9 4
+f 12 4 6
+f 13 5 1
+f 13 1 10
+f 14 10 1
+f 14 1 7
+f 15 8 5
+f 15 6 8
+f 15 12 6
+f 16 7 9
+f 16 9 12
+f 18 13 10
+f 18 10 14
+f 19 15 5
+f 20 16 12
+f 20 12 15
+f 22 18 14
+f 22 14 21
+f 23 11 15
+f 23 15 19
+f 23 19 17
+f 24 17 19
+f 25 16 20
+f 26 22 21
+f 26 17 22
+f 27 22 17
+f 27 17 24
+f 27 18 22
+f 28 13 18
+f 28 27 24
+f 28 18 27
+f 28 5 13
+f 29 24 19
+f 29 19 5
+f 29 28 24
+f 29 5 28
+f 30 25 20
+f 30 20 15
+f 31 7 16
+f 31 16 25
+f 31 26 21
+f 32 23 17
+f 32 17 26
+f 32 11 23
+f 33 30 15
+f 33 15 11
+f 34 25 30
+f 34 11 32
+f 34 33 11
+f 34 30 33
+f 35 31 21
+f 35 7 31
+f 35 21 14
+f 35 14 7
+f 36 32 26
+f 36 26 31
+f 36 34 32
+f 36 31 25
+f 36 25 34
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_5.obj b/apple/apple_15/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2284d66747ae9ac169795a3a7a13870fc9f7eb36
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.20957435 0.19624950 0.14393941
+v 0.22472587 0.19624950 -0.23484848
+v 0.22083894 0.37088724 0.00683462
+v -0.07558915 0.42165310 -0.02444240
+v -0.19951656 0.19624950 -0.23484848
+v 0.08307156 0.38998588 -0.22871883
+v -0.07495849 0.36667666 0.13704525
+v 0.22472587 0.19624950 0.00757577
+v 0.21900451 0.33641699 -0.23038629
+v 0.07014877 0.42156508 -0.09698339
+v -0.19383093 0.35288406 -0.23085796
+v 0.20293698 0.33697370 0.13830173
+v -0.19951656 0.19624950 0.14393941
+v -0.04602380 0.42116958 -0.15586465
+v 0.18559418 0.37313991 -0.16887416
+v -0.19041233 0.35904439 0.07525553
+v 0.08621770 0.40525157 0.07818832
+v 0.01173053 0.42137822 -0.15591415
+v -0.17715663 0.39169384 -0.09669818
+v -0.10384981 0.39098169 -0.22851253
+v 0.17140429 0.35999421 -0.22809844
+v 0.11305025 0.40515929 -0.14027545
+v 0.21597706 0.37470443 -0.06721567
+v -0.08934284 0.40390404 0.04630904
+v -0.19138353 0.32903023 0.13210516
+v -0.19020331 0.37352075 0.03236954
+v 0.02651798 0.42189451 0.02009434
+v 0.18558891 0.37392493 0.07742690
+v 0.14236357 0.40448499 0.00570757
+v -0.08883048 0.42114419 -0.08236797
+v -0.14694933 0.38996345 -0.18467410
+v 0.03995779 0.40430595 -0.21456437
+v 0.20021508 0.35808363 -0.19714125
+v 0.14274032 0.38867058 -0.16966546
+v 0.05480179 0.42122499 -0.12625766
+v 0.17186824 0.38985189 -0.11089415
+v -0.11787630 0.37376582 0.10387791
+v -0.02895320 0.40498338 0.07727428
+v -0.19119795 0.37397923 -0.16967111
+v -0.13361915 0.40542519 -0.01000075
+v -0.16166490 0.38935973 0.01819050
+v 0.14308449 0.39061090 0.07794832
+v 0.20020580 0.37459242 0.04903531
+v 0.12859056 0.40544272 0.03466126
+v 0.21539010 0.37492894 -0.00867852
+v -0.14697170 0.37587777 -0.22814481
+v -0.13256041 0.40495773 -0.12691613
+v -0.10447138 0.40394360 -0.18497910
+v -0.06055239 0.40473781 -0.21341729
+v 0.20138922 0.34645389 -0.22817416
+v 0.21382663 0.35946799 -0.16892073
+v 0.03998674 0.42101233 -0.14093033
+v 0.14239843 0.40464051 -0.08118823
+v -0.10351401 0.36095049 0.13338147
+v -0.16068380 0.35921841 0.10340453
+v -0.03101732 0.42040556 0.01912088
+v -0.07419875 0.37682025 0.12005509
+v -0.08956811 0.42136965 -0.05336338
+v -0.11887924 0.40404735 0.01826276
+v -0.17689272 0.39024663 -0.02515405
+v 0.17187726 0.38985751 0.03486904
+v 0.07077229 0.42168248 -0.06893055
+v -0.17501097 0.37360417 -0.19967626
+v -0.07483444 0.42055529 -0.12717205
+f 5 2 1
+f 8 1 2
+f 8 2 3
+f 8 3 1
+f 9 3 2
+f 11 2 5
+f 11 9 2
+f 11 6 9
+f 12 1 3
+f 13 5 1
+f 13 12 7
+f 13 1 12
+f 13 11 5
+f 17 7 12
+f 18 14 4
+f 20 6 11
+f 21 9 6
+f 23 3 9
+f 25 13 7
+f 26 11 13
+f 26 25 16
+f 26 13 25
+f 27 18 4
+f 32 6 20
+f 32 22 6
+f 33 21 15
+f 34 21 6
+f 34 15 21
+f 34 6 22
+f 35 18 10
+f 35 10 22
+f 35 22 32
+f 36 34 22
+f 36 15 34
+f 38 7 17
+f 38 17 27
+f 38 24 37
+f 39 26 19
+f 39 11 26
+f 39 19 31
+f 41 26 16
+f 42 17 12
+f 42 12 28
+f 43 28 12
+f 43 12 3
+f 44 27 17
+f 44 17 42
+f 45 3 23
+f 46 31 20
+f 46 20 11
+f 47 31 19
+f 47 19 30
+f 48 20 31
+f 48 31 47
+f 49 32 20
+f 49 14 18
+f 49 18 32
+f 49 48 14
+f 49 20 48
+f 50 33 9
+f 50 9 21
+f 50 21 33
+f 51 23 9
+f 51 9 33
+f 51 33 15
+f 51 36 23
+f 51 15 36
+f 52 35 32
+f 52 32 18
+f 52 18 35
+f 53 23 36
+f 53 45 23
+f 53 29 45
+f 53 36 22
+f 53 22 10
+f 54 25 7
+f 55 16 25
+f 55 54 37
+f 55 25 54
+f 55 41 16
+f 56 38 27
+f 56 27 4
+f 56 4 24
+f 56 24 38
+f 57 38 37
+f 57 7 38
+f 57 54 7
+f 57 37 54
+f 58 30 19
+f 58 19 40
+f 58 40 4
+f 58 4 14
+f 58 14 30
+f 59 24 4
+f 59 4 40
+f 59 40 41
+f 59 37 24
+f 59 55 37
+f 59 41 55
+f 60 41 40
+f 60 40 19
+f 60 19 26
+f 60 26 41
+f 61 43 3
+f 61 29 44
+f 61 44 42
+f 61 42 28
+f 61 28 43
+f 61 45 29
+f 61 3 45
+f 62 44 29
+f 62 27 44
+f 62 10 18
+f 62 18 27
+f 62 53 10
+f 62 29 53
+f 63 39 31
+f 63 31 46
+f 63 46 11
+f 63 11 39
+f 64 48 47
+f 64 47 30
+f 64 30 14
+f 64 14 48
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_6.obj b/apple/apple_15/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c04267cd550eba839cd3e4df3563f48e2b317da
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_6.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.30553695 -0.21281366 0.15905416
+v -0.32453564 -0.22490497 -0.24381172
+v -0.30557717 -0.01587172 -0.23484848
+v -0.28180350 0.32232663 0.02046641
+v -0.42443627 0.08688956 -0.00977643
+v -0.28252074 0.32399511 -0.12752865
+v -0.40856301 -0.13100222 -0.05338076
+v -0.32075149 0.17368011 0.17207128
+v -0.39192904 0.10028553 -0.22738180
+v -0.28198133 0.27871778 0.12268417
+v -0.39348499 0.18686297 -0.02426201
+v -0.36447678 -0.20290926 0.04792001
+v -0.39324986 -0.01553700 0.12063441
+v -0.36155140 0.17872740 -0.23256944
+v -0.42410307 -0.01474410 -0.15605513
+v -0.28339729 0.26507080 0.13800070
+v -0.34890755 0.25915237 -0.03877342
+v -0.37764940 0.14381871 0.10429749
+v -0.40753151 0.14384576 -0.12528796
+v -0.37840083 -0.18839030 -0.14173383
+v -0.36117662 -0.11663457 0.14824473
+v -0.42469230 -0.02881122 0.01921870
+v -0.28633327 0.31322208 -0.15785040
+v -0.39175495 -0.08724839 -0.22715450
+v -0.29098670 0.31504803 0.01862607
+v -0.31849950 0.27423162 0.06159292
+v -0.39307897 0.15933426 0.04789655
+v -0.33274326 0.22981783 0.10389341
+v -0.37870518 0.08655152 0.13408499
+v -0.42436071 0.10144480 -0.06760513
+v -0.42451712 0.05735317 -0.14159761
+v -0.39230415 0.15798568 -0.16990916
+v -0.39384519 0.18677558 -0.08290959
+v -0.37795725 -0.18981926 0.01883751
+v -0.36392739 -0.20384124 -0.16977278
+v -0.40835575 -0.11633353 -0.12568188
+v -0.34670265 -0.18701413 0.11936905
+v -0.40883098 0.05819631 0.07681113
+v -0.39209375 -0.10244286 0.09182461
+v -0.42340264 -0.07287069 -0.09742267
+v -0.33388586 0.27241257 -0.12580367
+v -0.40864747 0.01416195 -0.21316655
+v -0.29028694 0.31689961 -0.12553382
+v -0.36266687 0.22990736 0.01944667
+v -0.33399315 0.27312872 0.00527460
+v -0.28249753 0.30840221 0.06435106
+v -0.40811845 0.14343949 0.00437942
+v -0.33366528 0.20160421 0.13287517
+v -0.30307376 0.25893353 0.11871341
+v -0.37723014 0.18589779 0.06271310
+v -0.36258054 0.14322470 0.13277871
+v -0.36325440 0.11514564 0.14672584
+v -0.40667341 0.10029287 -0.18407991
+v -0.42386570 0.08733814 -0.11044702
+v -0.37856507 0.14390725 -0.22746604
+v -0.39293455 0.17255760 -0.14017024
+v -0.36108940 -0.17368081 -0.22652457
+v -0.40814397 -0.13099719 -0.08209557
+v -0.39247296 -0.13009288 -0.18386060
+v -0.35015515 -0.20271884 0.09180123
+v -0.34674311 -0.17245199 0.13324395
+v -0.40824633 -0.04275925 0.07768168
+v -0.42401085 0.05785725 0.01946369
+v -0.39346220 0.02837583 0.12011799
+f 1 2 3
+f 6 1 3
+f 10 6 4
+f 10 1 6
+f 12 2 1
+f 14 3 2
+f 14 2 9
+f 16 8 1
+f 16 1 10
+f 21 1 8
+f 23 6 3
+f 23 3 14
+f 24 9 2
+f 25 4 6
+f 29 13 21
+f 31 15 22
+f 31 22 5
+f 31 5 30
+f 33 11 17
+f 33 30 11
+f 33 19 30
+f 34 7 20
+f 35 2 12
+f 35 34 20
+f 35 12 34
+f 38 29 18
+f 38 18 27
+f 39 21 13
+f 39 22 7
+f 39 7 34
+f 39 34 12
+f 40 22 15
+f 40 7 22
+f 40 15 36
+f 41 33 17
+f 41 23 14
+f 42 24 15
+f 42 9 24
+f 42 15 31
+f 43 25 6
+f 43 17 25
+f 43 41 17
+f 43 6 23
+f 43 23 41
+f 44 17 11
+f 45 26 25
+f 45 25 17
+f 45 44 26
+f 45 17 44
+f 46 26 10
+f 46 10 4
+f 46 4 25
+f 46 25 26
+f 47 27 11
+f 47 30 5
+f 47 11 30
+f 48 8 16
+f 49 16 10
+f 49 10 26
+f 49 26 28
+f 49 48 16
+f 49 28 48
+f 50 27 18
+f 50 48 28
+f 50 18 48
+f 50 28 26
+f 50 26 44
+f 50 44 11
+f 50 11 27
+f 51 18 29
+f 51 48 18
+f 51 8 48
+f 52 29 21
+f 52 21 8
+f 52 51 29
+f 52 8 51
+f 53 42 31
+f 53 9 42
+f 53 19 32
+f 54 31 30
+f 54 30 19
+f 54 53 31
+f 54 19 53
+f 55 32 14
+f 55 14 9
+f 55 53 32
+f 55 9 53
+f 56 32 19
+f 56 19 33
+f 56 33 41
+f 56 41 14
+f 56 14 32
+f 57 24 2
+f 57 2 35
+f 58 36 20
+f 58 20 7
+f 58 40 36
+f 58 7 40
+f 59 20 36
+f 59 24 57
+f 59 57 35
+f 59 35 20
+f 59 36 15
+f 59 15 24
+f 60 12 1
+f 60 1 37
+f 60 39 12
+f 60 37 39
+f 61 37 1
+f 61 1 21
+f 61 39 37
+f 61 21 39
+f 62 38 22
+f 62 13 38
+f 62 39 13
+f 62 22 39
+f 63 5 22
+f 63 22 38
+f 63 47 5
+f 63 38 27
+f 63 27 47
+f 64 38 13
+f 64 13 29
+f 64 29 38
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_7.obj b/apple/apple_15/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..655d962660c604ee0b39f53ea56499dc61771e06
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_7.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.07546227 -0.40863020 0.06379649
+v -0.08436025 -0.37918971 -0.24772152
+v -0.07830444 -0.24314445 0.15909092
+v -0.22524733 -0.27255535 0.18722254
+v -0.19171986 -0.37811255 -0.15524316
+v -0.19951656 -0.24314445 -0.23484848
+v -0.08153061 -0.36343557 0.16813176
+v -0.07830444 -0.24314445 -0.23484848
+v -0.07739680 -0.41938246 -0.09782072
+v -0.19018012 -0.37511351 0.04855144
+v -0.19922719 -0.34861088 -0.23459192
+v -0.11988457 -0.39381991 -0.18498151
+v -0.18948786 -0.33307378 0.14766838
+v -0.14712931 -0.38976882 0.06326545
+v -0.17650256 -0.39150416 -0.01019100
+v -0.13445523 -0.40776224 -0.09751277
+v -0.13361726 -0.39074364 -0.18361825
+v -0.08916576 -0.40617890 0.06314270
+v -0.16140281 -0.39042185 0.03434583
+v -0.17654287 -0.39062757 -0.12496551
+v -0.16253133 -0.38983484 -0.15464953
+v -0.13315797 -0.40706777 -0.00969831
+v -0.10368388 -0.40576018 0.04918560
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 3 1
+f 8 6 3
+f 8 2 6
+f 9 8 1
+f 9 2 8
+f 10 4 5
+f 11 5 4
+f 11 4 6
+f 11 6 2
+f 12 2 9
+f 13 7 4
+f 13 4 10
+f 14 13 10
+f 14 7 13
+f 15 10 5
+f 16 12 9
+f 17 11 2
+f 17 2 12
+f 18 1 7
+f 18 7 14
+f 19 14 10
+f 19 10 15
+f 20 16 15
+f 20 15 5
+f 21 5 11
+f 21 11 17
+f 21 20 5
+f 21 16 20
+f 21 17 12
+f 21 12 16
+f 22 15 16
+f 22 16 9
+f 22 9 1
+f 22 19 15
+f 22 14 19
+f 23 22 1
+f 23 1 18
+f 23 18 14
+f 23 14 22
\ No newline at end of file
diff --git a/apple/apple_15/collision/model_normalized_collision_8.obj b/apple/apple_15/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0451bf0cbe5af2e79e8cccce171e0ff8167355d
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_8.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.07685862 -0.37224831 0.15485098
+v 0.36458575 -0.13333857 0.15215458
+v 0.16136310 -0.20663481 0.27664841
+v -0.19881796 -0.01604493 0.27384060
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diff --git a/apple/apple_15/collision/model_normalized_collision_9.obj b/apple/apple_15/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7004a4475dd005ebab738e99ebf34358d33d2f7f
--- /dev/null
+++ b/apple/apple_15/collision/model_normalized_collision_9.obj
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diff --git a/apple/apple_15/model.xml b/apple/apple_15/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e086c541c0bb758fb75907f04183db3ccbf233db
--- /dev/null
+++ b/apple/apple_15/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="apple_69">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="apple_u1_v1" 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_u1_v1"/>
+        <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="-9.198630000000125e-05 -9.87755999999987e-05 -0.0343740733" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-9.198630000000125e-05 -9.87755999999987e-05 0.0348929217" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0295444884 0.029559425700000003 0.0002594242000000008" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/apple/apple_15/visual/material.mtl b/apple/apple_15/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/apple/apple_15/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/apple/apple_17/collision/model_normalized_collision_0.obj b/apple/apple_17/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c58212ab340b3ef2d275da0376479b611f3138fc
--- /dev/null
+++ b/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
+v 0.26193568 -0.14224473 0.34898128
+v -0.23219337 -0.26187724 0.32759645
+v 0.09726579 -0.29151885 0.34686882
+v 0.31585752 -0.25712443 0.26507904
+v 0.15399759 -0.36992393 0.27713790
+v 0.20888461 -0.29758900 0.31920793
+v 0.35482020 -0.16560515 0.28745207
+v 0.31100317 -0.23803709 0.28702996
+v 0.24671805 -0.18673270 0.34640993
+v 0.37976574 -0.14198052 0.26914004
+v 0.02268993 -0.40115414 0.27365612
+v 0.34551383 -0.14071993 0.30938072
+v -0.18673226 -0.24671766 0.34640995
+v -0.12417783 -0.34053355 0.31986396
+v 0.13857764 -0.31586732 0.33120386
+v 0.02229989 -0.30651207 0.34688622
+v 0.21098270 -0.33998656 0.27639432
+v 0.15609659 -0.37669837 0.26689883
+v 0.37120300 -0.15118240 0.27721009
+v 0.32433109 -0.23655855 0.27427562
+v 0.31034854 -0.25265784 0.27531802
+v 0.28601382 -0.19689082 0.32972015
+v 0.26162288 -0.15723147 0.34744101
+v -0.06722190 -0.39114109 0.28184259
+v 0.30040481 -0.16886711 0.33074278
+v 0.33952296 -0.16552841 0.30245455
+v -0.09731322 -0.29150926 0.34689116
+v -0.23167923 -0.20191320 0.34687200
+v -0.07847463 -0.35484750 0.31907373
+v -0.13865462 -0.31572874 0.33106353
+v -0.15226455 -0.32795415 0.32060615
+v -0.12392082 -0.36997096 0.28874426
+v 0.14188869 -0.27651997 0.34607160
+v 0.19683981 -0.28617755 0.32987482
+v 0.07833558 -0.35508098 0.31923918
+v 0.16547812 -0.35504579 0.28757792
+v -0.22795304 -0.25664737 0.33169943
+v -0.09529347 -0.33016063 0.33126658
+v 0.05137869 -0.38570410 0.28983230
+v -0.14193151 -0.27649315 0.34605821
+v -0.15118203 -0.37120263 0.27721009
+v -0.07834614 -0.36956622 0.30351388
+v 0.12370591 -0.36996057 0.28867877
+v 0.09517135 -0.33021376 0.33129139
+v 0.10833904 -0.38441703 0.27666045
+f 8 5 2
+f 8 1 5
+f 9 5 4
+f 9 2 5
+f 9 4 6
+f 12 6 4
+f 14 1 8
+f 16 9 6
+f 19 11 6
+f 19 6 12
+f 20 12 4
+f 20 4 5
+f 21 3 19
+f 21 19 12
+f 22 14 8
+f 24 7 15
+f 26 15 7
+f 26 25 15
+f 27 19 3
+f 28 2 9
+f 28 9 16
+f 28 16 6
+f 28 6 18
+f 29 5 1
+f 30 18 6
+f 30 6 11
+f 33 13 24
+f 34 21 12
+f 34 12 10
+f 35 14 22
+f 35 7 24
+f 35 23 14
+f 36 23 1
+f 36 1 14
+f 36 14 23
+f 37 25 2
+f 37 30 25
+f 37 18 30
+f 37 28 18
+f 37 2 28
+f 38 25 26
+f 38 8 2
+f 38 2 25
+f 39 26 7
+f 39 38 26
+f 39 22 8
+f 39 8 38
+f 39 35 22
+f 39 7 35
+f 40 11 27
+f 40 24 15
+f 41 27 11
+f 41 11 19
+f 41 19 27
+f 42 29 17
+f 42 5 29
+f 43 30 11
+f 43 15 30
+f 43 40 15
+f 43 11 40
+f 44 30 15
+f 44 15 25
+f 44 25 30
+f 45 10 12
+f 45 12 31
+f 46 31 12
+f 46 12 20
+f 49 32 48
+f 50 42 17
+f 51 3 21
+f 51 21 33
+f 52 33 24
+f 52 51 33
+f 52 3 51
+f 52 24 40
+f 52 40 27
+f 52 27 3
+f 53 13 33
+f 53 34 10
+f 53 10 47
+f 54 35 24
+f 54 24 13
+f 54 23 35
+f 55 46 20
+f 55 31 46
+f 55 49 48
+f 55 20 49
+f 56 47 10
+f 56 10 45
+f 56 45 48
+f 56 48 32
+f 56 32 47
+f 57 47 17
+f 57 17 29
+f 57 53 47
+f 57 29 1
+f 58 48 45
+f 58 45 31
+f 58 55 48
+f 58 31 55
+f 59 49 20
+f 59 20 5
+f 59 5 42
+f 59 42 50
+f 59 50 32
+f 59 32 49
+f 60 50 17
+f 60 17 47
+f 60 47 32
+f 60 32 50
+f 61 23 54
+f 61 54 13
+f 61 13 53
+f 62 53 33
+f 62 33 21
+f 62 21 34
+f 62 34 53
+f 63 1 23
+f 63 23 61
+f 63 57 1
+f 63 61 53
+f 63 53 57
\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_1.obj b/apple/apple_17/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a19f39b51010a982ef3e1297f5ff9c9081015d26
--- /dev/null
+++ b/apple/apple_17/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.09665017 -0.47486218 0.10329609
+v 0.24790843 -0.39765668 -0.19441896
+v 0.23484885 -0.26515151 0.16784693
+v -0.23484810 -0.26515151 0.16784693
+v -0.24708151 -0.36761310 -0.25383608
+v -0.08157265 -0.45824381 0.15968568
+v 0.23300036 -0.39810574 0.16619065
+v -0.02101642 -0.47393422 -0.17483973
+v 0.13969344 -0.25731959 -0.42675986
+v -0.22438586 -0.42711326 0.10265043
+v 0.19473397 -0.45917523 0.01424835
+v 0.08131004 -0.45790532 0.15953054
+v -0.22783906 -0.40336441 0.16142571
+v -0.08179887 -0.49099181 0.01464635
+v 0.22883127 -0.25790716 -0.38289939
+v -0.06668874 -0.38537846 -0.33345961
+v -0.22896449 -0.25789488 -0.38297839
+v 0.19438183 -0.44337406 0.10287960
+v 0.22417101 -0.42727477 0.10265912
+v 0.09666976 -0.47504947 -0.14676197
+v 0.02078853 -0.47386628 0.13171788
+v -0.18016866 -0.42946214 0.15939583
+v -0.19476489 -0.45871132 -0.05730266
+v -0.18281937 -0.25704316 -0.40964189
+v 0.15338104 -0.38308565 -0.30363749
+v -0.16878281 -0.41441827 -0.24630827
+v 0.18339458 -0.45790904 0.05764030
+v 0.18092600 -0.42956386 0.15955255
+v 0.22429168 -0.42749767 -0.14580497
+v 0.02081253 -0.48924744 -0.11626291
+v -0.00594956 -0.48999936 0.07332779
+v -0.22440099 -0.41199090 0.14569789
+v -0.09343155 -0.47540450 0.10329609
+v -0.22450387 -0.42733756 -0.14579629
+v -0.09348620 -0.47558806 -0.14674283
+v 0.18278673 -0.25719689 -0.40976721
+v -0.03667338 -0.29757885 -0.42139379
+v -0.16573180 -0.35506071 -0.33170739
+v 0.22441025 -0.36711033 -0.27460117
+v 0.16820817 -0.42749280 -0.21738448
+v 0.03598318 -0.44397584 -0.24631793
+v -0.09300238 -0.42850432 -0.26090705
+v 0.15299860 -0.45760868 0.10303075
+v 0.08156239 -0.49062342 0.01460692
+v 0.20906480 -0.44250977 0.07237558
+v 0.10753894 -0.45759234 0.14626224
+v 0.13800883 -0.44297937 0.15928854
+v 0.19433365 -0.42813407 0.14600508
+v 0.18346972 -0.45815156 -0.10078638
+v 0.02082676 -0.47423177 -0.17492634
+v 0.02078618 -0.48899498 0.07311704
+v -0.19440544 -0.44287706 0.10279198
+v -0.10768049 -0.45721236 0.14616143
+v -0.03627972 -0.49029328 0.05823676
+v -0.02098260 -0.47356837 0.13163129
+v -0.22457244 -0.41231630 -0.18890664
+v -0.08181081 -0.49112075 -0.05775349
+v -0.02100100 -0.48891822 -0.11619969
+v -0.18383501 -0.45854935 -0.10088562
+v 0.13734689 -0.32609703 -0.37570651
+v -0.08129107 -0.25827366 -0.44155221
+v -0.19584046 -0.33954031 -0.33135117
+v -0.13628487 -0.32638238 -0.37556844
+v 0.24546333 -0.39314683 -0.20687565
+f 7 2 3
+f 7 3 4
+f 12 7 6
+f 13 7 4
+f 13 6 7
+f 13 4 5
+f 13 5 10
+f 15 3 2
+f 17 5 4
+f 19 2 7
+f 21 12 6
+f 21 1 12
+f 22 6 13
+f 24 17 4
+f 24 4 3
+f 29 19 11
+f 29 2 19
+f 32 22 13
+f 32 13 10
+f 34 23 10
+f 34 10 5
+f 36 9 24
+f 36 24 3
+f 36 3 15
+f 40 2 29
+f 40 25 39
+f 41 16 25
+f 41 40 20
+f 41 25 40
+f 42 35 26
+f 42 8 35
+f 42 41 8
+f 42 16 41
+f 42 38 16
+f 42 26 38
+f 43 27 18
+f 43 1 27
+f 43 18 28
+f 44 27 1
+f 44 11 27
+f 44 30 20
+f 45 19 18
+f 45 18 27
+f 45 27 11
+f 45 11 19
+f 46 12 1
+f 46 43 28
+f 46 1 43
+f 47 28 7
+f 47 7 12
+f 47 46 28
+f 47 12 46
+f 48 19 7
+f 48 7 28
+f 48 28 18
+f 48 18 19
+f 49 29 11
+f 49 40 29
+f 49 20 40
+f 49 44 20
+f 49 11 44
+f 50 30 8
+f 50 20 30
+f 50 41 20
+f 50 8 41
+f 51 1 21
+f 51 21 31
+f 51 44 1
+f 51 31 44
+f 52 32 10
+f 52 22 32
+f 52 10 23
+f 52 23 14
+f 52 14 33
+f 53 33 6
+f 53 6 22
+f 53 52 33
+f 53 22 52
+f 54 33 14
+f 54 31 33
+f 54 44 31
+f 54 14 44
+f 55 33 31
+f 55 31 21
+f 55 21 6
+f 55 6 33
+f 56 34 5
+f 56 5 26
+f 56 26 34
+f 57 14 23
+f 57 44 14
+f 57 30 44
+f 58 35 8
+f 58 8 30
+f 58 57 35
+f 58 30 57
+f 59 23 34
+f 59 34 26
+f 59 26 35
+f 59 57 23
+f 59 35 57
+f 60 9 36
+f 60 37 9
+f 60 25 16
+f 60 16 37
+f 60 36 15
+f 60 39 25
+f 60 15 39
+f 61 24 9
+f 61 9 37
+f 62 5 17
+f 62 17 24
+f 62 38 26
+f 62 26 5
+f 63 37 16
+f 63 16 38
+f 63 61 37
+f 63 24 61
+f 63 62 24
+f 63 38 62
+f 64 39 15
+f 64 15 2
+f 64 40 39
+f 64 2 40
\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_10.obj b/apple/apple_17/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47d820adae95e376f6c2ef975a36cef2b292e52a
--- /dev/null
+++ b/apple/apple_17/collision/model_normalized_collision_10.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.30849313 -0.15879278 -0.38066364
+v 0.26795893 -0.13743508 -0.42027464
+v 0.28030340 -0.00757576 -0.34730457
+v -0.01381231 -0.00481384 -0.36862709
+v -0.02278026 -0.14451616 -0.43733438
+v 0.25485053 -0.00662287 -0.45148321
+v -0.02272690 -0.14393939 -0.33215306
+v 0.15883355 -0.14373042 -0.46024267
+v 0.01378121 -0.00492007 -0.36862524
+v 0.18088982 -0.00819057 -0.45384117
+v 0.26967306 -0.08017736 -0.43510748
+v 0.27264769 -0.00686760 -0.44070632
+v 0.02272765 -0.14393939 -0.33215306
+v 0.02333887 -0.14978894 -0.44043524
+v -0.02423917 -0.00804429 -0.37142013
+v 0.21137983 -0.13943220 -0.45292373
+v 0.25410156 -0.03685667 -0.45024488
+v -0.02547716 -0.12290028 -0.42354499
+v 0.25481996 -0.12334401 -0.43413692
+v 0.23931605 -0.09531280 -0.45016615
+v 0.22496099 -0.12357796 -0.45011480
+f 7 3 4
+f 9 6 4
+f 9 4 3
+f 9 3 6
+f 10 4 6
+f 10 8 5
+f 10 6 8
+f 11 1 2
+f 12 6 3
+f 12 3 1
+f 12 1 11
+f 13 7 1
+f 13 1 3
+f 13 3 7
+f 14 7 5
+f 14 1 7
+f 14 8 1
+f 14 5 8
+f 15 7 4
+f 15 10 5
+f 15 4 10
+f 16 2 1
+f 16 1 8
+f 16 8 6
+f 17 12 11
+f 17 6 12
+f 18 15 5
+f 18 5 7
+f 18 7 15
+f 19 11 2
+f 19 2 16
+f 20 17 11
+f 20 16 6
+f 20 6 17
+f 20 11 19
+f 21 20 19
+f 21 19 16
+f 21 16 20
\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_11.obj b/apple/apple_17/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b286e432c56d9133e2b6dcf1f376461b4d97470
--- /dev/null
+++ b/apple/apple_17/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.39851656 0.23322257 -0.20948406
+v 0.38889454 0.22800591 -0.23511276
+v 0.17010289 0.43302478 -0.20472878
+v -0.12411719 0.44704809 -0.20420176
+v -0.23484810 0.23484848 -0.21094094
+v -0.09600080 0.25713563 -0.43954818
+v 0.38777813 0.25770366 -0.20426740
+v 0.18002622 0.26874897 -0.40393846
+v 0.03621002 0.39862070 -0.31960019
+v -0.23110088 0.23033735 -0.40177088
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\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_12.obj b/apple/apple_17/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..414fa66e2bb2436e7987bec0b28d925b1f26edba
--- /dev/null
+++ b/apple/apple_17/collision/model_normalized_collision_12.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23421899 0.20403536 0.34613709
+v -0.23484810 0.20454545 -0.21094094
+v -0.22550934 0.32966636 0.27893560
+v -0.22842320 0.43511913 0.05902940
+v -0.44836433 0.19729707 -0.11685154
+v -0.22785300 0.40376456 -0.20467315
+v -0.22984179 0.24397309 0.33680829
+v -0.27333729 0.19889798 0.33495025
+v -0.39981366 0.26663898 0.11561781
+v -0.35518240 0.34306411 -0.10065974
+v -0.41946832 0.19803843 -0.20497961
+v -0.28082441 0.25328964 0.30232683
+v -0.26536626 0.38353403 0.15786402
+v -0.41905528 0.19782080 0.16168625
+v -0.27018123 0.41314949 -0.10053711
+v -0.34242278 0.35479463 0.05742126
+v -0.41324544 0.27051713 0.05749308
+v -0.33910039 0.32715811 -0.18897181
+v -0.35770241 0.19742744 0.26333082
+v -0.24090108 0.26934977 0.32060615
+v -0.22763072 0.40335436 0.16137986
+v -0.31201444 0.30921299 0.21657258
+v -0.22854421 0.43534233 -0.10217525
+v -0.31175295 0.38465608 -0.07235933
+v -0.27006021 0.41292628 0.05739130
+v -0.41347005 0.27063553 -0.10063867
+v -0.38436341 0.31185135 0.02924863
+v -0.36866011 0.31140389 0.10257989
+v -0.44813994 0.19717887 0.07370592
+v -0.38342316 0.26563442 -0.20099421
+v -0.26968312 0.39847031 -0.15889069
+v -0.30290471 0.19980522 0.32060615
+v -0.23011053 0.27459970 0.32234688
+v -0.25304331 0.28087856 0.30222330
+v -0.25164071 0.37009893 0.20162177
+v -0.32433079 0.23655854 0.27427612
+v -0.36965543 0.25160502 0.20142015
+v -0.24039202 0.42924873 -0.10075759
+v -0.34258501 0.35498993 -0.10056730
+v -0.35498518 0.34290420 0.05751402
+v -0.26947614 0.39816464 0.11568115
+v -0.31167012 0.38455642 0.02925218
+v -0.36885698 0.31156369 -0.14572558
+v -0.40009889 0.26687038 -0.15882676
+v -0.38446393 0.31193274 -0.07235577
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+v -0.38394801 0.25326339 0.17389673
+v -0.32389394 0.28165912 0.23150499
+v -0.24027100 0.42902552 0.05761178
+v -0.28048435 0.39864504 -0.13039174
+f 6 3 2
+f 7 1 2
+f 8 2 1
+f 8 1 7
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+f 23 4 3
+f 23 3 6
+f 27 26 17
+f 28 17 9
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+f 63 4 38
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+f 63 15 25
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\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_13.obj b/apple/apple_17/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..920ccbaec41192341bb53bc5f8223ffd2e37460c
--- /dev/null
+++ b/apple/apple_17/collision/model_normalized_collision_13.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.24397339 0.22984220 0.33680825
+v 0.25000037 0.23484848 0.19814996
+v 0.24567403 0.37815287 0.19418648
+v -0.09630410 0.43993262 0.19500366
+v -0.23484810 0.23484848 0.19814996
+v 0.07847541 0.35484744 0.31907358
+v 0.22802234 0.38855940 0.19189597
+v 0.20892800 0.29732351 0.31904710
+v -0.23185852 0.23124943 0.34198748
+v -0.03645694 0.44851705 0.19230832
+v 0.14193235 0.27649317 0.34605818
+v 0.23803749 0.31100305 0.28703014
+v -0.07833494 0.35508114 0.31923902
+v -0.23818269 0.37736270 0.20201448
+v 0.09284758 0.42797987 0.21751086
+v 0.13865557 0.31572874 0.33106346
+v 0.18710410 0.23202388 0.34897653
+v 0.24114783 0.26938461 0.32060615
+v 0.15350953 0.38271361 0.26032273
+v -0.08147327 0.41402113 0.24636153
+v 0.02234807 0.30650263 0.34686596
+v -0.20888393 0.29758926 0.31920814
+v 0.12451433 0.43257339 0.19173664
+v 0.12417863 0.34053356 0.31986389
+v 0.19689105 0.28601343 0.32972032
+v -0.18707099 0.23205247 0.34898333
+v 0.18673302 0.24671773 0.34640998
+v 0.21035442 0.35348012 0.26002463
+v 0.16439989 0.39798573 0.23194072
+v 0.07990492 0.41455033 0.24650313
+v -0.03592558 0.44343173 0.20292172
+v -0.13815130 0.39798654 0.24521010
+v 0.09529425 0.33016061 0.33126645
+v 0.09731403 0.29150950 0.34689074
+v -0.22472906 0.28327275 0.32018996
+v -0.13857695 0.31586744 0.33120390
+v 0.03661229 0.44842527 0.19227579
+v 0.12392157 0.36997096 0.28874426
+v 0.16560577 0.35481995 0.28745194
+v 0.24195668 0.24331854 0.33250614
+v 0.24010856 0.36759039 0.21673195
+v 0.16857667 0.41391096 0.20290987
+v -0.02089378 0.39912389 0.27684164
+v 0.13841225 0.39804780 0.24530321
+v -0.09271738 0.42835646 0.21768943
+v -0.21007188 0.35346001 0.25992054
+v -0.12370546 0.36996082 0.28867905
+v -0.19683906 0.28617767 0.32987506
+v -0.14188799 0.27651996 0.34607165
+v -0.02229913 0.30651207 0.34688623
+v 0.00591933 0.42905907 0.23366891
+v 0.03614201 0.44334117 0.20288344
+v 0.06665530 0.38500885 0.28921724
+v 0.16552878 0.33952259 0.30245455
+v 0.23655899 0.32433104 0.27427584
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+v 0.17035125 0.41870989 0.19231043
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+v -0.05137780 0.38570438 0.28983220
+v -0.15320165 0.38250816 0.26012480
+v -0.22627764 0.35540457 0.24630107
+v -0.16527590 0.32437136 0.31749876
+v -0.22782507 0.25669675 0.33162910
+f 1 2 3
+f 5 2 1
+f 7 3 2
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+f 9 5 1
+f 10 7 5
+f 10 5 4
+f 14 4 5
+f 14 5 9
+f 18 12 8
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+f 23 7 10
+f 24 16 8
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+f 53 6 38
+f 53 43 6
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+f 55 41 28
+f 55 12 3
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+f 56 29 28
+f 56 28 41
+f 56 42 29
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+f 57 42 3
+f 57 3 7
+f 57 7 23
+f 58 23 15
+f 58 15 42
+f 58 57 23
+f 58 42 57
+f 59 42 41
+f 59 41 3
+f 59 3 42
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+f 60 47 13
+f 60 20 47
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+f 61 20 32
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+f 62 22 46
+f 62 14 35
+f 62 61 14
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+f 63 22 36
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+f 63 61 46
+f 63 46 22
+f 64 48 35
+f 64 35 9
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\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_14.obj b/apple/apple_17/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2687efff19d0689b6427764c812ebfeb32aa0141
--- /dev/null
+++ b/apple/apple_17/collision/model_normalized_collision_14.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.09848522 -0.00757576 -0.33215306
+v 0.10528939 0.02483533 -0.41224933
+v 0.09848522 0.09848485 -0.33215306
+v -0.05364745 0.16108394 -0.44877813
+v -0.02423917 -0.00804429 -0.37142013
+v 0.09261558 0.14795126 -0.45074372
+v 0.09917795 -0.00763985 -0.40673174
+v -0.02272690 0.09848485 -0.33215306
+v 0.10500629 0.07359889 -0.42534530
+v 0.06876538 0.16019773 -0.45061479
+v 0.07663554 -0.00835788 -0.39352464
+v -0.05586219 0.13792936 -0.43883803
+v -0.05814820 0.10792504 -0.42191340
+f 1 2 3
+f 7 2 1
+f 7 4 6
+f 8 5 1
+f 8 1 3
+f 8 3 4
+f 9 6 3
+f 9 3 2
+f 9 7 6
+f 9 2 7
+f 10 6 4
+f 10 4 3
+f 10 3 6
+f 11 7 1
+f 11 1 5
+f 11 5 7
+f 12 7 5
+f 12 4 7
+f 13 8 4
+f 13 4 12
+f 13 12 5
+f 13 5 8
\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_15.obj b/apple/apple_17/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a1826556f0990d0bfd514b410b7681229a7b249
--- /dev/null
+++ b/apple/apple_17/collision/model_normalized_collision_15.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.38853162 -0.25628614 0.16110111
+v 0.47558817 -0.09348654 -0.14674304
+v 0.46412031 -0.00635902 0.16220593
+v -0.23484810 -0.00757576 0.16784693
+v -0.24365449 -0.27601285 -0.35925066
+v -0.23484810 -0.00757576 -0.34730457
+v -0.23484810 -0.26515151 0.16784693
+v 0.45830562 -0.18376298 0.05773989
+v 0.27731058 -0.26272500 -0.34401290
+v 0.40756115 -0.00673351 -0.31066742
+v 0.45913576 -0.00589793 -0.21831339
+v 0.49099146 -0.08179918 0.01464624
+v 0.44294452 -0.13824617 0.15930387
+v 0.40007155 -0.25640729 0.13168650
+v 0.41420513 -0.25587086 -0.13111159
+v 0.28030340 -0.00757576 -0.34730457
+v 0.39846974 -0.16465410 -0.27533664
+v 0.47483433 -0.00594854 0.13202810
+v 0.42960366 -0.00596937 -0.27706479
+v 0.45871109 -0.19476511 -0.05730259
+v 0.49025177 -0.00597318 -0.11647353
+v 0.42946201 -0.18016878 0.15939545
+v 0.47311181 -0.12305439 0.07281776
+v 0.38329357 -0.15368114 -0.30383549
+v 0.37008044 -0.25194900 -0.24481616
+v 0.42804888 -0.19457594 -0.18911161
+v 0.44338812 -0.09292328 -0.23289852
+v 0.45824349 -0.08157296 0.15968542
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\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_16.obj b/apple/apple_17/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b73539bea7e02a47f918ba600e053d198946cbc1
--- /dev/null
+++ b/apple/apple_17/collision/model_normalized_collision_16.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v -0.15864717 -0.37037066 0.27324874
+v -0.15226436 -0.35825680 0.29096581
+v -0.37565118 -0.01120611 0.30550241
+v -0.24046282 0.24160781 0.33378135
+v -0.15936483 0.23517869 0.35199750
+v -0.33735728 0.20267422 0.28542824
+v -0.33008886 -0.24101238 0.26416482
+v -0.14382166 -0.00598072 0.32648597
+v -0.23205206 -0.18707138 0.34898327
+v -0.31572835 0.13865512 0.33106357
+v -0.16372125 0.24042322 0.35093028
+v -0.23803641 -0.31100283 0.28703034
+v -0.18450029 -0.36192530 0.26663665
+v -0.15460667 -0.30209650 0.33388148
+v -0.32437090 -0.16527624 0.31749850
+v -0.32795377 0.15226493 0.32060615
+v -0.30651169 -0.02229951 0.34688622
+v -0.27649281 0.14193196 0.34605822
+v -0.24102455 -0.32983974 0.26403674
+v -0.18119425 -0.35565083 0.27687572
+v -0.19190880 -0.13087721 0.34851120
+v -0.15218757 -0.34295956 0.30596834
+v -0.29758835 -0.20888419 0.31920822
+v -0.33016026 0.09529384 0.33126658
+v -0.28601321 0.19689079 0.32972038
+v -0.27651959 -0.14188836 0.34607165
+v -0.33021339 -0.09517097 0.33129139
+v -0.23185852 0.23124943 0.34198748
+v -0.29150913 0.09731367 0.34689077
+v -0.23165243 0.20195442 0.34689562
+v -0.16560487 -0.35481982 0.28745212
+v -0.23655792 -0.32433085 0.27427585
+v -0.20892732 -0.29732360 0.31904748
+v -0.32463335 -0.23648071 0.27440392
+v -0.30650226 0.02234769 0.34686597
+v -0.31216420 0.18223176 0.32060615
+v -0.29151847 -0.09726541 0.34686882
+v -0.28617706 -0.19683947 0.32987502
+v -0.25622906 0.22188114 0.33422773
+v -0.24671734 0.18673268 0.34641002
+v -0.20191280 0.23167963 0.34687204
+v -0.16886683 -0.30040450 0.33074277
+v -0.16552815 -0.33952261 0.30245461
+v -0.25328907 -0.28082454 0.30232710
+v -0.33068859 0.19916053 0.29376199
+v -0.31586695 -0.13857727 0.33120386
+v -0.24675475 -0.18669855 0.34644159
+v -0.28087767 -0.25304362 0.30222348
+v -0.31121317 -0.23791864 0.28710921
+v -0.19689057 -0.28601359 0.32972020
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+f 8 2 1
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+f 11 6 4
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+f 19 12 7
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+f 28 11 4
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+f 31 1 2
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+f 43 31 2
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+f 45 4 6
+f 45 6 36
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+f 46 27 15
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+f 47 14 9
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+f 49 7 12
+f 49 12 44
+f 49 44 48
+f 49 48 23
+f 49 23 34
+f 50 47 38
+f 50 33 42
+f 50 42 14
+f 50 14 47
+f 50 38 23
+f 50 23 33
\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_17.obj b/apple/apple_17/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..807ae9180f7628c445e250d2cce23f9ba7dd1f3c
--- /dev/null
+++ b/apple/apple_17/collision/model_normalized_collision_17.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.02272690 -0.14393939 -0.33215306
+v -0.02327028 -0.14981300 -0.44039723
+v -0.02595088 0.26570436 -0.44383966
+v -0.25711555 0.26165527 -0.36192623
+v -0.23484810 -0.14393939 -0.34730457
+v -0.22501491 -0.12345657 -0.45009991
+v -0.09848447 0.23484848 -0.33215306
+v -0.02268880 0.23448381 -0.45937346
+v -0.09848447 -0.14393939 -0.33215306
+v -0.22921398 -0.14088475 -0.44281287
+v -0.02272690 0.09848485 -0.33215306
+v -0.23484810 -0.00757576 -0.33215306
+v -0.10272837 -0.14917364 -0.45370239
+v -0.22496040 0.12357804 -0.45011510
+v -0.21130805 -0.13939140 -0.45280557
+v -0.16723241 0.22640997 -0.43530296
+v -0.22685956 0.22523139 -0.40698865
+v -0.12345610 0.22501526 -0.45009997
+v -0.22629133 0.16730463 -0.43522752
+v -0.15145938 0.21051001 -0.44885236
+v -0.21037887 0.15153614 -0.44876609
+f 7 3 4
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+f 9 2 1
+f 9 1 7
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+f 11 3 7
+f 11 8 3
+f 11 1 8
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+f 12 4 5
+f 12 9 7
+f 12 5 9
+f 13 8 2
+f 13 2 5
+f 13 5 10
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+f 16 4 3
+f 17 4 16
+f 18 16 3
+f 18 3 8
+f 19 17 16
+f 19 14 4
+f 19 4 17
+f 20 18 8
+f 20 8 14
+f 20 16 18
+f 20 19 16
+f 21 20 14
+f 21 14 19
+f 21 19 20
\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_18.obj b/apple/apple_17/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9b2e568fcb55c135ee8780d741f5aa615af8be3
--- /dev/null
+++ b/apple/apple_17/collision/model_normalized_collision_18.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.32570270 -0.15906180 0.31930560
+v 0.45077597 -0.00652620 0.19328403
+v 0.35508094 0.07833531 0.31923888
+v 0.27459998 0.23011090 0.32234675
+v 0.28030340 -0.00757576 0.19814996
+v 0.38848422 0.22778334 0.19181952
+v 0.27705542 -0.09752062 0.35005824
+v 0.38500873 -0.06665489 0.28921711
+v 0.37976574 -0.14198052 0.26914004
+v 0.42835683 0.09271775 0.21768943
+v 0.35504635 0.16547758 0.28757802
+v 0.28030340 0.23484848 0.19814996
+v 0.44851726 0.03645729 0.19230847
+v 0.35484765 -0.07847499 0.31907374
+v 0.27705979 0.09747988 0.35002495
+v 0.28030340 -0.14393939 0.27390753
+v 0.27345419 0.19885611 0.33505399
+v 0.38429566 -0.10852427 0.27661692
+v 0.39912385 0.02089429 0.27684138
+v 0.35540482 0.22627811 0.24630101
+v 0.39698893 0.16720556 0.23202253
+v 0.41836020 0.17007251 0.19213298
+v 0.31572917 -0.13865522 0.33106324
+v 0.30650297 -0.02234769 0.34686580
+v 0.34053378 -0.12417821 0.31986405
+v 0.27941674 -0.14347221 0.34529950
+v 0.31586784 0.13857722 0.33120388
+v 0.42905916 -0.00591909 0.23366844
+v 0.36997117 -0.12392131 0.28874416
+v 0.41402146 0.08147381 0.24636152
+v 0.39895752 -0.02108909 0.27674017
+v 0.29758932 0.20888422 0.31920788
+v 0.35346035 0.21007224 0.25992020
+v 0.38408415 0.22539776 0.20234872
+v 0.43268760 0.12436262 0.19176453
+v 0.41351345 0.16857072 0.20271595
+v 0.33016105 -0.09529389 0.33126621
+v 0.32795448 -0.15226482 0.32060615
+v 0.31999365 -0.15605365 0.32382178
+v 0.29150979 -0.09731363 0.34689067
+v 0.29151919 0.09726544 0.34686877
+v 0.32437171 0.16527606 0.31749863
+v 0.44547108 -0.00603567 0.20406462
+v 0.36956626 -0.07834647 0.30351379
+v 0.37296689 -0.13996217 0.27937902
+v 0.38570460 0.05137831 0.28983206
+v 0.39798665 0.13815141 0.24520988
+v 0.36996112 0.12370565 0.28867861
+v 0.42820825 0.02076688 0.23318425
+v 0.28327288 0.22472940 0.32018979
+v 0.28617787 0.19683942 0.32987481
+v 0.38253791 0.19425644 0.23168025
+v 0.42791829 0.12288490 0.20228431
+v 0.30651235 0.02229950 0.34688615
+v 0.33021401 0.09517109 0.33129122
+v 0.44343217 0.03592596 0.20292144
+v 0.33433132 -0.15562483 0.31263696
+v 0.38250817 0.15320171 0.26012448
+f 9 5 2
+f 12 6 5
+f 12 4 6
+f 13 2 5
+f 13 5 6
+f 16 7 5
+f 16 9 1
+f 16 5 9
+f 17 5 7
+f 17 12 5
+f 17 4 12
+f 17 7 15
+f 18 9 2
+f 20 6 4
+f 24 14 3
+f 26 16 1
+f 26 7 16
+f 28 8 18
+f 29 18 8
+f 29 14 25
+f 31 19 14
+f 31 14 8
+f 31 28 19
+f 31 8 28
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+f 34 6 20
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+f 36 22 6
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+f 39 26 1
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+f 44 14 29
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+f 46 14 19
+f 47 30 10
+f 47 10 21
+f 48 46 30
+f 48 3 46
+f 48 42 3
+f 48 11 42
+f 49 30 19
+f 49 19 28
+f 49 28 43
+f 50 32 20
+f 50 20 4
+f 51 17 27
+f 51 27 32
+f 51 32 50
+f 51 50 4
+f 51 4 17
+f 52 34 20
+f 52 20 21
+f 52 21 34
+f 53 36 10
+f 53 10 35
+f 53 35 22
+f 53 22 36
+f 54 41 15
+f 54 24 3
+f 54 15 7
+f 54 7 24
+f 55 3 27
+f 55 27 41
+f 55 54 3
+f 55 41 54
+f 56 43 2
+f 56 2 13
+f 56 49 43
+f 56 13 10
+f 56 10 30
+f 56 30 49
+f 57 45 25
+f 57 25 38
+f 57 38 1
+f 57 1 9
+f 57 9 45
+f 58 47 21
+f 58 21 11
+f 58 11 48
+f 58 48 30
+f 58 30 47
\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_19.obj b/apple/apple_17/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39651cf4bb73124e1bd10a013b9c44c27343ee7c
--- /dev/null
+++ b/apple/apple_17/collision/model_normalized_collision_19.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.37215246 -0.26080148 0.18519305
+v -0.33512155 -0.23004132 0.26869649
+v -0.45908428 -0.00567533 0.17518850
+v -0.37510555 0.22256394 0.21950095
+v -0.35606022 0.20454545 0.12239239
+v -0.36239148 -0.00665416 0.32060615
+v -0.42791757 -0.12288491 0.20228423
+v -0.35606022 -0.00757576 0.12239239
+v -0.44794638 0.17003434 0.11777550
+v -0.41455054 0.07990453 0.24650323
+v -0.33089365 0.16896547 0.30912327
+v -0.39698861 -0.16720493 0.23202283
+v -0.46192404 -0.12403237 0.11737536
+v -0.41402069 -0.08147366 0.24636151
+v -0.34090871 -0.00757576 0.16784693
+v -0.43535109 0.19842373 0.11829185
+v -0.45824344 0.08157303 0.15968568
+v -0.42733080 0.16841216 0.17424980
+v -0.33735728 0.20267422 0.28542824
+v -0.35484713 0.07847500 0.31907373
+v -0.33432479 -0.12674789 0.32320295
+v -0.35540422 -0.22627811 0.24630082
+v -0.45790494 -0.08130966 0.15953054
+v -0.42813327 -0.19433332 0.14600527
+v -0.42905877 0.00591910 0.23366897
+v -0.42835605 -0.09271774 0.21768931
+v -0.33274785 -0.21527251 0.28262911
+v -0.47958014 -0.00623372 0.11836027
+v -0.39798536 0.16439951 0.23194072
+v -0.44294043 0.09279065 0.18960530
+v -0.45721198 0.10768086 0.14616143
+v -0.42772367 0.19440480 0.14590286
+v -0.38500847 0.06665491 0.28921726
+v -0.35508060 -0.07833521 0.31923918
+v -0.33437586 0.12684840 0.32333106
+v -0.38408347 -0.22539787 0.20234891
+v -0.45759200 -0.10753853 0.14626215
+v -0.42704651 -0.16806957 0.17409110
+v -0.41587167 -0.22620314 0.13188019
+v -0.39912345 -0.02089417 0.27684163
+v -0.39798599 -0.13815162 0.24521007
+v -0.44339191 -0.09268181 0.18977619
+v -0.33099740 -0.16886888 0.30916473
+v -0.34193080 -0.22718813 0.26277497
+v -0.35504542 -0.16547775 0.28757792
+v -0.47356800 0.02098298 0.13163129
+v -0.47529287 -0.00578575 0.13216585
+v -0.46171032 0.12416786 0.11732354
+v -0.38234506 0.19444500 0.23163553
+v -0.38271330 0.15350901 0.26032273
+v -0.42779235 0.12309470 0.20225148
+v -0.44334073 0.03614163 0.20288370
+v -0.44381389 0.16880750 0.13158099
+v -0.39895730 0.02108911 0.27674054
+v -0.38253743 -0.19425650 0.23168025
+v -0.41208213 -0.22414861 0.14568574
+v -0.45681371 -0.13183805 0.12561031
+v -0.43192291 -0.19638785 0.13219966
+v -0.40690748 -0.23777219 0.13945928
+v -0.42820779 -0.02076691 0.23318470
+v -0.38570398 -0.05137818 0.28983220
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+v -0.38250774 -0.15320175 0.26012435
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\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_2.obj b/apple/apple_17/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b0ec5b596a30d4ac71160df130af52185f79b25
--- /dev/null
+++ b/apple/apple_17/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.25000037 0.23484848 0.19814996
+v 0.25000037 0.23484848 -0.21094094
+v 0.24065559 0.42923451 -0.10078021
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+v -0.22414834 0.41208271 0.14568598
+v -0.23484810 0.23484848 -0.21094094
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+v -0.10616969 0.39601652 0.26159146
+v 0.24042424 0.39849241 -0.20216803
+v 0.08161653 0.45870860 -0.20297906
+v -0.23206975 0.36608766 0.22523303
+v -0.19479506 0.45928908 -0.05735565
+v 0.24053723 0.42900987 0.05763454
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+v -0.16806924 0.42704701 0.17409105
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+v -0.22417028 0.42727480 0.10265896
+v -0.21649904 0.36531450 0.23989872
+v -0.09666900 0.47504947 -0.14676197
+v 0.24057229 0.41392465 0.11607698
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+v 0.18376355 0.45830591 0.05773974
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+v -0.22539764 0.38408393 0.20234915
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\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_20.obj b/apple/apple_17/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af9d868aeb3f5feaa79527903411d61a2f05c3d1
--- /dev/null
+++ b/apple/apple_17/collision/model_normalized_collision_20.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.32966661 0.22550948 0.27893523
+v 0.43534230 0.22854432 -0.10217516
+v 0.39816435 0.26947639 0.11568079
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+v 0.25000037 0.23484848 -0.21094094
+v 0.34306415 0.35518253 -0.10065947
+v 0.32385399 0.32674180 0.17352980
+v 0.41966176 0.22825742 0.11807439
+v 0.40376468 0.22785335 -0.20467306
+v 0.25433186 0.23844641 0.32860210
+v 0.38455636 0.31167014 0.02925212
+v 0.24241814 0.40227657 -0.19071074
+v 0.37009891 0.25164076 0.20162176
+v 0.43511913 0.22842332 0.05902941
+v 0.39847007 0.26968348 -0.15889081
+v 0.28907116 0.22954578 0.31185597
+v 0.24144408 0.28490157 0.30707400
+v 0.41314936 0.27018125 -0.10053698
+v 0.31185150 0.38436367 0.02924861
+v 0.33851538 0.34148613 0.11527028
+v 0.24570901 0.39337076 -0.20700950
+v 0.30921312 0.31201442 0.21657233
+v 0.38353363 0.26536615 0.15786388
+v 0.37226720 0.22720568 0.21959551
+v 0.40335415 0.22763071 0.16137978
+v 0.41292614 0.27006023 0.05739133
+v 0.41387720 0.24027271 0.11601976
+v 0.41998491 0.22843272 -0.16128344
+v 0.31530980 0.22616971 0.29192558
+v 0.24102561 0.32983999 0.26403684
+v 0.25329006 0.28082466 0.30232678
+v 0.38465602 0.31175296 -0.07235927
+v 0.39864499 0.28048437 -0.13039163
+v 0.42924868 0.24039209 -0.10075749
+v 0.34290423 0.35498529 0.05751392
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\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_21.obj b/apple/apple_17/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8755497d3a6395d49fa7d11aa901190ba052b5fe
--- /dev/null
+++ b/apple/apple_17/collision/model_normalized_collision_21.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22854523 -0.43500763 0.05902114
+v -0.22584889 -0.32980978 -0.32225560
+v -0.26558504 -0.26037996 0.31004708
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+v -0.41314880 -0.27018143 -0.10053719
+v -0.28004968 -0.23463835 -0.36217512
+v -0.25160451 -0.36965587 0.20142013
+v -0.22993434 -0.33484873 0.26850337
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+v -0.25362236 -0.25044348 -0.37285677
+v -0.33512155 -0.23004132 0.26869649
+v -0.43534166 -0.22854442 -0.10217528
+v -0.37051865 -0.25199003 -0.24501794
+v -0.35479414 -0.34242319 0.05742146
+v -0.22802170 -0.38855960 0.19189617
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+v -0.27143974 -0.25778931 -0.35261252
+v -0.22651555 -0.31548067 -0.33600122
+v -0.29998762 -0.22602849 -0.35066300
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+v -0.39846998 -0.26968336 -0.15889052
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+v -0.26663861 -0.39981403 0.11561781
+v -0.31193244 -0.38446420 -0.07235600
+v -0.43511847 -0.22842342 0.05902943
+v -0.22783906 -0.40336441 0.16142571
+v -0.22927749 -0.36063989 0.23700348
+v -0.24060642 -0.38368770 -0.23263840
+v -0.22866357 -0.43523222 -0.10216680
+v -0.23819299 -0.31119594 -0.33128853
+v -0.37274725 -0.22746633 -0.26299173
+v -0.34007009 -0.25186915 -0.28745139
+v -0.25211498 -0.32483077 0.25956989
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+v -0.41998452 -0.22843292 -0.16128328
+v -0.24020599 -0.39807963 0.15887465
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\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_22.obj b/apple/apple_17/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1f4cc3d913d825ab1c56c561272cd53586f840a
--- /dev/null
+++ b/apple/apple_17/collision/model_normalized_collision_22.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.17495248 -0.23879168 -0.42467303
+v 0.15145979 -0.21050982 -0.44885227
+v 0.17188480 0.25062726 -0.41887536
+v 0.11071828 0.25806562 -0.43596779
+v 0.11273991 -0.24598958 -0.44200350
+v 0.16417890 -0.08601391 -0.45587437
+v 0.16263589 0.23922019 -0.43029798
+v 0.09830730 -0.21936879 -0.45920773
+v 0.10445089 0.24617073 -0.44413362
+v 0.10408757 -0.13553202 -0.44924189
+v 0.16181853 0.03872385 -0.44708831
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 1 2
+f 6 3 1
+f 7 4 3
+f 7 3 6
+f 8 6 2
+f 8 2 5
+f 9 4 7
+f 9 6 8
+f 10 8 5
+f 10 5 4
+f 10 9 8
+f 10 4 9
+f 11 9 7
+f 11 7 6
+f 11 6 9
\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_23.obj b/apple/apple_17/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92b2afe70d698163dfcb042e9f66c709c46aaf68
--- /dev/null
+++ b/apple/apple_17/collision/model_normalized_collision_23.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.45077597 -0.00652620 0.19328403
+v 0.49025177 -0.00597318 -0.11647353
+v 0.44251013 0.20906433 0.07237557
+v 0.28030340 0.23484848 0.19814996
+v 0.28030340 -0.00757576 -0.30185003
+v 0.38848422 0.22778334 0.19181952
+v 0.49062309 0.08156195 0.01460685
+v 0.28030340 -0.00757576 0.19814996
+v 0.30467127 0.25509001 -0.32379253
+v 0.45759223 0.10753842 0.14626177
+v 0.48999902 -0.00594985 0.07332766
+v 0.41962239 -0.00644767 -0.29336629
+v 0.44359704 0.19450213 -0.14602513
+v 0.42749774 0.22429131 -0.14580463
+v 0.44339244 0.09268179 0.18977640
+v 0.42813377 0.19433309 0.14600517
+v 0.47623684 0.12377231 0.05832054
+v 0.47386614 0.02078825 0.13171773
+v 0.47504913 0.09666932 -0.14676180
+v 0.39749415 0.16741842 -0.27542114
+v 0.42727501 0.22417038 0.10265890
+v 0.45928944 0.19479535 -0.05735550
+v 0.42704697 0.16806948 0.17409119
+v 0.44337449 0.19438131 0.10287944
+v 0.48899466 0.02078574 0.07311692
+v 0.47483433 -0.00594854 0.13202810
+v 0.45908465 0.00567527 0.17518860
+v 0.45790505 0.08130959 0.15953058
+v 0.49075192 0.08157538 -0.05771399
+v 0.45913576 -0.00589793 -0.21831339
+v 0.41462268 0.08153657 -0.28987426
+v 0.39895368 0.22524502 -0.21748742
+v 0.42749285 0.16820753 -0.21738423
+v 0.41208253 0.22414832 0.14568560
+v 0.44273316 0.20918528 -0.11552112
+v 0.45917560 0.19473360 0.01424835
+v 0.45815185 0.18346947 -0.10078610
+v 0.41508828 0.18032339 0.19002271
+v 0.45780703 0.12275654 0.13118057
+v 0.45867105 -0.00585492 0.17502035
+v 0.48924710 0.02081207 -0.11626278
+v 0.47520055 -0.00598250 -0.17523694
+v 0.39856443 0.13833066 -0.28872266
+v 0.44397595 0.03598293 -0.24631749
+v 0.41240591 0.22432374 -0.18889452
+v 0.35593678 0.22656652 -0.28981398
+v 0.45794343 0.10764719 -0.18947107
+v 0.44383849 0.09281989 -0.23306973
+v 0.39854329 0.22502238 0.17419416
+v 0.47373851 0.13814975 0.04465502
+v 0.45790931 0.18339432 0.05764056
+v 0.45785086 0.15307315 -0.14617624
+v 0.47386218 0.13818806 -0.08776229
+v 0.47423182 0.02082635 -0.17492653
+v 0.42960366 -0.00596937 -0.27706479
+v 0.42845705 0.19450845 -0.18921404
+v 0.36711057 0.22441008 -0.27460099
+v 0.38328429 0.17950959 -0.28748526
+v 0.42844066 0.12304660 -0.24568052
+v 0.44182046 0.12249764 -0.21701596
+v 0.42887927 0.09287978 -0.26108516
+v 0.45836946 0.08135813 -0.20282397
+v 0.47363813 0.12296711 -0.11600934
+v 0.42875213 0.02082372 -0.27658063
+f 6 4 1
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 9 4 6
+f 11 1 2
+f 12 5 9
+f 12 2 1
+f 12 1 5
+f 21 14 9
+f 21 9 6
+f 22 14 21
+f 23 15 10
+f 24 3 21
+f 25 11 7
+f 25 7 17
+f 25 18 11
+f 25 17 10
+f 25 10 18
+f 26 1 11
+f 26 11 18
+f 27 15 1
+f 27 26 18
+f 28 18 10
+f 28 10 15
+f 28 27 18
+f 28 15 27
+f 29 11 2
+f 29 7 11
+f 31 12 9
+f 33 20 32
+f 34 21 6
+f 34 24 21
+f 34 16 24
+f 35 13 14
+f 35 14 22
+f 36 29 22
+f 36 7 29
+f 36 22 21
+f 36 21 3
+f 37 35 22
+f 37 13 35
+f 38 23 16
+f 38 15 23
+f 38 6 1
+f 38 1 15
+f 39 10 17
+f 39 17 24
+f 39 24 16
+f 39 23 10
+f 39 16 23
+f 40 27 1
+f 40 1 26
+f 40 26 27
+f 41 29 2
+f 41 19 29
+f 42 2 12
+f 42 12 30
+f 43 31 9
+f 45 14 13
+f 45 32 9
+f 45 9 14
+f 49 34 6
+f 49 16 34
+f 49 38 16
+f 49 6 38
+f 50 17 7
+f 50 7 36
+f 51 36 3
+f 51 3 24
+f 51 50 36
+f 51 24 17
+f 51 17 50
+f 52 13 37
+f 52 19 47
+f 52 47 33
+f 53 37 22
+f 53 22 29
+f 54 19 41
+f 54 41 2
+f 54 2 42
+f 54 42 30
+f 55 44 30
+f 55 30 12
+f 56 33 32
+f 56 32 45
+f 56 45 13
+f 56 52 33
+f 56 13 52
+f 57 32 20
+f 57 46 9
+f 57 9 32
+f 58 43 9
+f 58 9 46
+f 58 20 43
+f 58 57 20
+f 58 46 57
+f 59 20 33
+f 59 33 48
+f 60 48 33
+f 60 33 47
+f 60 47 48
+f 61 48 44
+f 61 44 31
+f 61 59 48
+f 61 31 43
+f 61 43 20
+f 61 20 59
+f 62 48 47
+f 62 47 19
+f 62 19 54
+f 62 44 48
+f 62 54 30
+f 62 30 44
+f 63 52 37
+f 63 19 52
+f 63 37 53
+f 63 53 29
+f 63 29 19
+f 64 55 12
+f 64 12 31
+f 64 31 44
+f 64 44 55
\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_24.obj b/apple/apple_17/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13176bac66793c5c912e511d705e8ff2999cb32c
--- /dev/null
+++ b/apple/apple_17/collision/model_normalized_collision_24.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.27649351 -0.14193196 0.34605803
+v 0.28030340 -0.14393939 0.27390753
+v 0.30420625 0.25470343 0.28027931
+v 0.24959788 0.26465510 0.31878405
+v 0.15909128 -0.14393939 0.27390753
+v 0.27652034 0.14188831 0.34607160
+v 0.17684219 -0.14604692 0.34812916
+v 0.15909128 0.23484848 0.25875602
+v 0.27143750 0.21233245 0.33075187
+v 0.15936143 0.23518166 0.35200785
+v 0.28030340 -0.00757576 0.25875602
+v 0.26934993 0.24090143 0.32060615
+v 0.15977520 -0.14449390 0.34527451
+v 0.20195481 0.23165283 0.34689557
+v 0.15909128 -0.00757576 0.25875602
+v 0.26043829 0.26123614 0.31381977
+v 0.25669702 0.22782548 0.33162901
+v 0.24571812 0.25986993 0.32335597
+v 0.24675543 0.18669854 0.34644155
+v 0.27475473 0.24539096 0.31283787
+v 0.25571666 0.25731408 0.32060615
+f 1 2 3
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 8 4 3
+f 9 6 3
+f 10 7 1
+f 10 1 6
+f 10 4 8
+f 10 8 5
+f 11 8 3
+f 11 3 2
+f 11 2 5
+f 12 9 3
+f 13 10 5
+f 13 5 7
+f 13 7 10
+f 15 11 5
+f 15 5 8
+f 15 8 11
+f 16 3 4
+f 17 9 12
+f 18 4 10
+f 18 10 14
+f 18 14 17
+f 19 14 10
+f 19 10 6
+f 19 17 14
+f 19 6 9
+f 19 9 17
+f 20 16 12
+f 20 12 3
+f 20 3 16
+f 21 16 4
+f 21 12 16
+f 21 4 18
+f 21 18 17
+f 21 17 12
\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_25.obj b/apple/apple_17/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cbda4dc43e5317dd4e224e8a5b465250c27f891
--- /dev/null
+++ b/apple/apple_17/collision/model_normalized_collision_25.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.09553055 -0.46579860 -0.17692494
+v 0.11378928 -0.45090932 -0.20272169
+v -0.09848447 -0.38636363 -0.18063791
+v 0.09466102 -0.46155897 -0.19071854
+v -0.10932232 -0.42286883 -0.26227867
+v 0.10652172 -0.42745251 -0.25624305
+v -0.19658522 -0.43186284 -0.17530634
+v -0.08161578 -0.45870860 -0.20297906
+v -0.19582616 -0.39857211 -0.24886636
+v 0.09282039 -0.44383801 -0.23306979
+v 0.02073728 -0.45822408 -0.21791328
+v -0.16854451 -0.42777864 -0.21754282
+v -0.09497860 -0.46546355 -0.17679160
+v -0.20720786 -0.42017284 -0.19257018
+v 0.08135850 -0.45836901 -0.20282397
+v -0.02094052 -0.45796039 -0.21780970
+v -0.09292312 -0.44338831 -0.23289876
+v -0.18056884 -0.41506999 -0.23315902
+v -0.20227877 -0.42751699 -0.17911992
+v -0.19457580 -0.42804930 -0.18911186
+v -0.09375180 -0.46133121 -0.19059719
+v -0.20026935 -0.42370339 -0.19292548
+f 1 2 3
+f 2 1 4
+f 6 3 2
+f 7 1 3
+f 9 6 5
+f 9 3 6
+f 10 6 2
+f 10 2 4
+f 11 4 1
+f 11 5 6
+f 11 6 10
+f 13 1 7
+f 13 7 12
+f 13 11 1
+f 14 3 9
+f 15 11 10
+f 15 10 4
+f 15 4 11
+f 16 5 11
+f 16 13 8
+f 16 11 13
+f 17 12 5
+f 17 16 8
+f 17 5 16
+f 18 9 5
+f 18 5 12
+f 18 14 9
+f 19 7 3
+f 19 3 14
+f 20 12 7
+f 20 19 14
+f 20 7 19
+f 21 13 12
+f 21 12 17
+f 21 17 8
+f 21 8 13
+f 22 18 12
+f 22 12 20
+f 22 20 14
+f 22 14 18
\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_26.obj b/apple/apple_17/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78573df203fa46d631344fe44708717c1d4b8608
--- /dev/null
+++ b/apple/apple_17/collision/model_normalized_collision_26.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v -0.23484810 -0.23484848 0.16784693
+v -0.23484810 -0.23484848 -0.24124397
+v -0.23484810 -0.00757576 -0.24124397
+v -0.45462480 -0.01154196 0.18414631
+v -0.45928866 -0.19479541 -0.05735550
+v -0.23484810 -0.00757576 0.16784693
+v -0.39810565 -0.23300020 0.16619082
+v -0.45163000 -0.00647959 -0.23673919
+v -0.38889373 -0.22800577 -0.23511270
+v -0.43622264 -0.13484719 0.17659044
+v -0.49075027 -0.00581771 -0.11657202
+v -0.42749747 -0.22429158 -0.14580502
+v -0.49062305 -0.08156202 0.01460692
+v -0.45790867 -0.18339420 0.05764030
+v -0.47529287 -0.00578575 0.13216585
+v -0.45954868 -0.00572384 -0.21848189
+v -0.42727440 -0.22417064 0.10265912
+v -0.47504909 -0.09666939 -0.14676197
+v -0.45917485 -0.19473360 0.01424835
+v -0.49049779 -0.00579135 0.07342614
+v -0.47486180 -0.09664979 0.10329609
+v -0.44354281 -0.16848613 0.13147097
+v -0.44359675 -0.19450239 -0.14602551
+v -0.47565866 -0.00582399 -0.17537472
+v -0.44383787 -0.09282004 -0.23306959
+v -0.49075187 -0.08157546 -0.05771406
+v -0.47373818 -0.13814973 0.04465506
+v -0.44250940 -0.20906442 0.07237558
+v -0.47386591 -0.02078816 0.13171788
+v -0.48899461 -0.02078580 0.07311704
+v -0.44337368 -0.19438145 0.10287960
+v -0.44273255 -0.20918537 -0.11552143
+v -0.45815118 -0.18346935 -0.10078638
+v -0.41240529 -0.22432363 -0.18889439
+v -0.45836930 -0.08135818 -0.20282395
+v -0.41549790 -0.18054582 -0.23331580
+v -0.48924707 -0.02081215 -0.11626291
+v -0.47339543 -0.12289202 0.07286360
+v -0.47387230 -0.06624337 0.11656837
+v -0.41587167 -0.22620314 0.13188019
+v -0.45760831 -0.15299822 0.10303075
+v -0.45785075 -0.15307334 -0.14617639
+v -0.47386185 -0.13818805 -0.08776233
+v -0.45794317 -0.10764734 -0.18947114
+v -0.47423808 -0.06628159 -0.15977728
+v -0.39895294 -0.22524486 -0.21748738
+v -0.42845662 -0.19450845 -0.18921400
+v -0.45802120 -0.13797464 0.11609961
+v -0.47363801 -0.12296729 -0.11600949
+v -0.42749250 -0.16820765 -0.21738439
+v -0.44182011 -0.12249788 -0.21701593
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 8 3 2
+f 9 2 7
+f 9 8 2
+f 10 7 1
+f 10 1 4
+f 12 9 7
+f 15 4 6
+f 16 3 8
+f 16 15 6
+f 16 6 3
+f 17 12 7
+f 17 5 12
+f 19 5 17
+f 20 16 11
+f 20 15 16
+f 21 10 4
+f 21 15 20
+f 22 7 10
+f 22 10 21
+f 24 18 11
+f 24 11 16
+f 26 20 11
+f 26 13 20
+f 26 19 13
+f 26 5 19
+f 27 19 14
+f 27 13 19
+f 28 19 17
+f 28 14 19
+f 29 4 15
+f 29 15 21
+f 30 21 20
+f 30 20 13
+f 30 13 21
+f 31 7 22
+f 31 28 17
+f 31 14 28
+f 32 23 12
+f 32 12 5
+f 33 32 5
+f 33 23 32
+f 34 9 12
+f 34 12 23
+f 35 16 8
+f 35 8 25
+f 35 24 16
+f 36 25 8
+f 36 8 9
+f 37 26 11
+f 37 11 18
+f 37 18 26
+f 38 21 13
+f 38 13 27
+f 38 27 14
+f 39 29 21
+f 39 21 4
+f 39 4 29
+f 40 31 17
+f 40 17 7
+f 40 7 31
+f 41 31 22
+f 41 14 31
+f 41 38 14
+f 41 21 38
+f 42 23 33
+f 43 33 5
+f 43 5 26
+f 44 35 25
+f 44 18 35
+f 44 42 18
+f 45 35 18
+f 45 18 24
+f 45 24 35
+f 46 36 9
+f 46 9 34
+f 47 34 23
+f 47 23 42
+f 47 46 34
+f 47 36 46
+f 48 41 22
+f 48 22 21
+f 48 21 41
+f 49 42 33
+f 49 18 42
+f 49 33 43
+f 49 43 26
+f 49 26 18
+f 50 25 36
+f 50 36 47
+f 50 47 42
+f 50 42 44
+f 51 50 44
+f 51 44 25
+f 51 25 50
\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_27.obj b/apple/apple_17/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10b4006d651995ced05feb8b87e38a9f81105479
--- /dev/null
+++ b/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
+v -0.25622906 0.22188114 0.33422773
+v -0.36815426 -0.01042273 0.31383621
+v -0.39385987 0.22446227 -0.22918746
+v -0.35606022 -0.00757576 -0.21094094
+v -0.38117042 0.21777614 0.21382766
+v -0.33735728 0.20267422 0.28542824
+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 6 2
+f 7 2 5
+f 7 5 6
+f 8 6 5
+f 8 4 6
+f 9 8 5
+f 9 5 4
+f 9 4 8
\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_28.obj b/apple/apple_17/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cdfce097b028696376330fad00a3e7cec902205
--- /dev/null
+++ b/apple/apple_17/collision/model_normalized_collision_28.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.38034534 -0.14215256 -0.31265283
+v 0.41462315 -0.00738671 -0.30042829
+v 0.28030340 -0.00757576 -0.30185003
+v 0.30467127 0.25509001 -0.32379253
+v 0.27191015 0.11103577 -0.42691681
+v 0.36022694 0.21374098 -0.29319428
+v 0.31341944 -0.06451879 -0.40651492
+v 0.27460321 0.23011358 -0.36984949
+v 0.40724775 0.09556637 -0.29501966
+v 0.34869827 0.23085667 -0.29604880
+v 0.35378347 0.09308463 -0.36201894
+v 0.38537895 -0.06668911 -0.33345936
+v 0.28030340 -0.14393939 -0.31700154
+v 0.27233470 0.21307768 -0.38191355
+v 0.38986053 0.15547984 -0.29339824
+v 0.29539727 0.19629961 -0.37464642
+v 0.29756196 0.03651582 -0.42135175
+v 0.38520308 0.06647726 -0.33329231
+v 0.39167435 -0.11071465 -0.30989083
+v 0.32638246 -0.13628500 -0.37556821
+v 0.27212194 -0.11082873 -0.42705682
+v 0.40047330 0.09346737 -0.30525870
+v 0.28426321 0.22555203 -0.36517758
+v 0.34246345 0.22747637 -0.30628777
+v 0.28320900 0.20952476 -0.37609216
+v 0.32609695 0.13734721 -0.37570620
+v 0.27211947 0.15465390 -0.41109358
+v 0.31197456 0.07906264 -0.40451046
+v 0.39866697 0.03599789 -0.31961743
+v 0.40568317 -0.03686275 -0.30936090
+v 0.37354647 -0.14013410 -0.32289190
+v 0.35363168 -0.09326550 -0.36193957
+v 0.27445508 -0.14085791 -0.41456336
+v 0.29817302 -0.12223670 -0.40499388
+v 0.29757894 -0.03667373 -0.42139343
+v 0.38308599 0.15338088 -0.30363710
+v 0.35529140 0.16561071 -0.33183200
+v 0.29719026 0.12463096 -0.40500471
+v 0.39862111 -0.03620948 -0.31959988
+v 0.38487542 -0.10869622 -0.32012995
+v 0.35363626 -0.13872141 -0.34679213
+v 0.32622513 -0.07897389 -0.39187396
+v 0.28513637 -0.13850254 -0.40806720
+v 0.33919518 0.13871368 -0.36252270
+v 0.33956919 0.19560433 -0.33127737
+v 0.35399212 0.21036068 -0.30343326
+v 0.28285711 0.15226086 -0.40463850
+f 1 2 3
+f 8 3 4
+f 9 3 2
+f 10 4 3
+f 10 3 6
+f 13 1 3
+f 14 3 8
+f 14 13 3
+f 15 6 3
+f 15 3 9
+f 18 12 7
+f 18 7 17
+f 19 2 1
+f 21 5 17
+f 21 14 5
+f 21 13 14
+f 22 15 9
+f 22 18 11
+f 22 9 18
+f 23 8 4
+f 24 4 10
+f 24 23 4
+f 24 16 23
+f 25 16 14
+f 25 14 8
+f 25 23 16
+f 25 8 23
+f 27 5 14
+f 27 14 16
+f 28 17 5
+f 28 18 17
+f 28 11 18
+f 28 26 11
+f 29 18 9
+f 29 9 2
+f 29 12 18
+f 30 19 12
+f 30 2 19
+f 31 19 1
+f 33 1 13
+f 33 13 21
+f 34 21 7
+f 34 33 21
+f 35 21 17
+f 35 17 7
+f 35 7 21
+f 36 15 22
+f 37 6 15
+f 37 15 36
+f 38 5 27
+f 38 28 5
+f 38 26 28
+f 39 29 2
+f 39 12 29
+f 39 30 12
+f 39 2 30
+f 40 12 19
+f 40 19 31
+f 40 32 12
+f 41 31 1
+f 41 20 32
+f 41 40 31
+f 41 32 40
+f 41 33 20
+f 41 1 33
+f 42 32 20
+f 42 7 12
+f 42 12 32
+f 42 34 7
+f 42 20 34
+f 43 34 20
+f 43 20 33
+f 43 33 34
+f 44 36 22
+f 44 22 11
+f 44 37 36
+f 44 11 26
+f 44 26 16
+f 45 16 24
+f 45 44 16
+f 45 37 44
+f 46 6 37
+f 46 24 10
+f 46 10 6
+f 46 45 24
+f 46 37 45
+f 47 38 27
+f 47 27 16
+f 47 16 26
+f 47 26 38
\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_29.obj b/apple/apple_17/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a6c9f6e57753993a69cee432d52e66f17af8d10
--- /dev/null
+++ b/apple/apple_17/collision/model_normalized_collision_29.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.03318177 0.00829385 0.45865070
+v 0.03661235 0.01261868 0.41438371
+v 0.04567206 0.03402284 0.45444128
+v 0.03328642 0.04380958 0.45560925
+v -0.00800164 0.00591085 0.30241258
+v 0.04247722 0.01321017 0.45672947
+v 0.01137663 -0.00117790 0.30593985
+v 0.01163940 0.03110381 0.45341834
+v 0.00944544 0.00585870 0.42309680
+v 0.03670103 0.00651967 0.42878543
+v 0.01004653 0.01171458 0.30492284
+v 0.01601558 0.01476374 0.46087320
+v -0.00304021 0.01358737 0.30307734
+v -0.00560257 0.00041055 0.31706852
+v 0.03866859 0.00946297 0.45326942
+v 0.01676421 0.00697458 0.44841150
+v 0.04149111 0.03952022 0.45464838
+v 0.01708589 0.03912448 0.45862602
+v 0.01017391 0.01520107 0.44874710
+v -0.00702039 0.00062151 0.30296243
+v 0.02618178 0.00841046 0.45977190
+v -0.00618052 0.00568232 0.31712914
+f 1 3 4
+f 6 2 3
+f 6 3 1
+f 7 3 2
+f 10 7 2
+f 10 2 6
+f 11 7 5
+f 11 3 7
+f 13 5 8
+f 13 11 5
+f 13 4 11
+f 14 7 9
+f 15 10 6
+f 15 6 1
+f 15 1 10
+f 16 9 7
+f 16 7 10
+f 16 10 1
+f 17 11 4
+f 17 4 3
+f 17 3 11
+f 18 8 12
+f 18 13 8
+f 18 4 13
+f 19 12 8
+f 19 16 12
+f 19 9 16
+f 19 14 9
+f 19 8 5
+f 20 14 5
+f 20 5 7
+f 20 7 14
+f 21 16 1
+f 21 12 16
+f 21 18 12
+f 21 1 4
+f 21 4 18
+f 22 19 5
+f 22 5 14
+f 22 14 19
\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_3.obj b/apple/apple_17/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a54dd4380346e72dfa752053dc0d3b1e890690f9
--- /dev/null
+++ b/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
+v -0.35606022 -0.00757576 -0.21094094
+v -0.35606022 0.20454545 0.12239239
+v -0.43535109 0.19842373 0.11829185
+v -0.49075027 -0.00581771 -0.11657202
+v -0.39385987 0.22446227 -0.22918746
+v -0.47958014 -0.00623372 0.11836027
+v -0.45871093 0.19476541 -0.05730266
+v -0.46499172 -0.00629257 -0.20566762
+v -0.45859637 0.19470497 0.01419551
+v -0.47558829 0.09348676 -0.14674322
+v -0.47540410 0.09343206 0.10329609
+v -0.44310118 0.19452393 -0.14593789
+v -0.45870822 0.08161615 -0.20297906
+v -0.47565866 -0.00582399 -0.17537472
+v -0.47406175 0.06648331 0.11663438
+v -0.45830556 0.18376314 0.05774003
+v -0.49099143 0.08179925 0.01464635
+v -0.45854904 0.18383525 -0.10088563
+v -0.42987480 0.18038673 -0.20268909
+v -0.47442801 0.06651719 -0.15984343
+v -0.47393428 0.02101698 -0.17484013
+v -0.45794375 0.13820116 0.11609670
+v -0.44287719 0.19440591 0.10279237
+v -0.49049779 -0.00579135 0.07342614
+v -0.49112038 0.08181118 -0.05775349
+v -0.47361235 0.13835469 0.04464901
+v -0.45793033 0.15334853 -0.14620816
+v -0.42804892 0.19457617 -0.18911186
+v -0.44339193 0.13837922 -0.20259751
+v -0.48891785 0.02100138 -0.11619969
+v -0.45768738 0.15327657 0.10306273
+v -0.48999899 0.00594993 0.07332779
+v -0.47373653 0.13839156 -0.08775615
+v -0.47311187 0.12305458 0.07281793
+v -0.41946832 0.19803843 -0.20497961
+v -0.45756423 0.10778549 -0.18937043
+v -0.44504156 0.18125533 0.11646627
+v -0.49029291 0.03628009 0.05823676
+v -0.47335524 0.12312684 -0.11596380
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 2 1
+f 9 6 2
+f 9 7 5
+f 9 2 7
+f 10 4 6
+f 10 6 8
+f 13 8 6
+f 14 6 9
+f 15 9 5
+f 16 12 7
+f 16 7 4
+f 18 10 8
+f 19 8 13
+f 21 11 14
+f 22 14 9
+f 22 9 15
+f 22 21 14
+f 22 15 5
+f 23 16 4
+f 23 12 16
+f 24 4 10
+f 24 10 17
+f 25 5 7
+f 26 25 18
+f 26 5 25
+f 26 18 8
+f 27 17 10
+f 27 10 18
+f 28 19 13
+f 28 11 19
+f 28 13 20
+f 29 20 13
+f 29 13 6
+f 30 20 6
+f 30 6 14
+f 30 28 20
+f 31 11 21
+f 31 26 11
+f 31 5 26
+f 31 22 5
+f 31 21 22
+f 32 17 12
+f 33 25 7
+f 33 7 12
+f 34 26 8
+f 34 8 19
+f 35 27 18
+f 35 18 12
+f 35 12 17
+f 35 17 27
+f 36 29 6
+f 36 6 20
+f 36 20 29
+f 37 30 14
+f 37 14 11
+f 37 11 28
+f 37 28 30
+f 38 24 17
+f 38 17 32
+f 38 4 24
+f 38 23 4
+f 38 32 12
+f 38 12 23
+f 39 33 12
+f 39 12 18
+f 39 18 25
+f 39 25 33
+f 40 34 19
+f 40 19 11
+f 40 11 26
+f 40 26 34
\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_30.obj b/apple/apple_17/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4fe871f7967dfb0be648f1812c777cd20777ea8
--- /dev/null
+++ b/apple/apple_17/collision/model_normalized_collision_30.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.45547954 -0.14196754 0.12022895
+v 0.47707963 -0.10908082 0.07366423
+v 0.47387283 0.06624349 0.11656831
+v 0.45568142 0.15709550 0.10513563
+v 0.46424993 0.15975035 0.06224201
+v 0.45546659 0.14187742 0.12021691
+v 0.47406178 -0.06648323 0.11663415
+v 0.46557154 -0.14496360 0.07767384
+v 0.48968435 0.03759246 0.06122285
+v 0.47486253 0.09664992 0.10329609
+v 0.47540394 -0.09343183 0.10329609
+v 0.46613203 0.15563899 0.05940104
+v 0.46735777 -0.14099578 0.07482255
+v 0.48815362 0.04059881 0.06713932
+v 0.45760905 0.15299822 0.10303075
+v 0.45794376 -0.13820099 0.11609647
+v 0.47623684 0.12377231 0.05832054
+v 0.47466625 0.10813417 0.08828731
+f 5 1 4
+f 6 4 1
+f 7 6 1
+f 7 3 6
+f 8 1 5
+f 10 6 3
+f 10 4 6
+f 11 7 1
+f 11 9 7
+f 11 2 9
+f 12 8 5
+f 13 9 2
+f 13 8 12
+f 13 11 8
+f 13 2 11
+f 14 3 7
+f 14 7 9
+f 14 10 3
+f 14 9 10
+f 15 5 4
+f 15 4 10
+f 16 11 1
+f 16 1 8
+f 16 8 11
+f 17 10 9
+f 17 13 12
+f 17 9 13
+f 18 15 10
+f 18 10 17
+f 18 5 15
+f 18 17 12
+f 18 12 5
\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_31.obj b/apple/apple_17/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a1762fba5f5fd35bd97e3a563364cb649b69549
--- /dev/null
+++ b/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
+v 0.28030340 -0.00757576 -0.33215306
+v 0.30420625 0.25470343 0.28027931
+v -0.23484810 0.23484848 0.25875602
+v -0.23484810 -0.00757576 -0.33215306
+v -0.23484810 -0.00757576 0.25875602
+v -0.25711555 0.26165527 -0.36192623
+v 0.29156247 0.24420100 -0.34465782
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 2 5
+f 7 4 3
+f 7 6 4
+f 7 5 6
+f 8 7 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_4.obj b/apple/apple_17/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04ab599b47281f283d4b2ff23b3f452c55c65765
--- /dev/null
+++ b/apple/apple_17/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.10995068 -0.45022461 0.16252792
+v 0.44993684 -0.11001900 0.16241883
+v 0.02290031 -0.38801618 0.29056185
+v -0.37565118 -0.01120611 0.30550241
+v -0.34090871 -0.00757576 0.16784693
+v 0.40695863 -0.00667770 0.26715429
+v -0.22783906 -0.40336441 0.16142571
+v 0.32483116 -0.25211537 0.25957020
+v 0.46167448 -0.00753440 0.16765518
+v -0.09279032 -0.44294081 0.18960531
+v -0.22617111 -0.34287666 0.26292241
+v -0.37215246 -0.26080148 0.18519305
+v 0.43257717 -0.16996951 0.16143513
+v 0.21007275 -0.35345969 0.25992041
+v 0.35348026 -0.21035374 0.26002438
+v 0.41455080 -0.07990458 0.24650290
+v 0.44547108 -0.00603567 0.20406462
+v -0.00635882 -0.46412061 0.16220598
+v -0.11131734 -0.37855363 0.28341609
+v -0.16439904 -0.39798591 0.23194063
+v -0.33512155 -0.23004132 0.26869649
+v -0.24010788 -0.36759052 0.21673155
+v 0.13815173 -0.39798609 0.24520985
+v 0.22763108 -0.40335400 0.16137965
+v 0.38271398 -0.15350916 0.26032273
+v 0.38853162 -0.25628614 0.16110111
+v 0.42779250 -0.12309451 0.20225146
+v 0.41901988 -0.00639184 0.24985316
+v 0.44294055 -0.09279045 0.18960513
+v -0.11001882 -0.44993721 0.16241922
+v 0.08147420 -0.41402102 0.24636151
+v -0.00591857 -0.42905910 0.23366895
+v -0.15350879 -0.38271361 0.26032273
+v -0.19444443 -0.38234543 0.23163533
+v -0.22528801 -0.39852284 0.17424011
+v 0.15320199 -0.38250769 0.26012439
+v 0.22627853 -0.35540438 0.24630099
+v 0.16968964 -0.43227444 0.16127671
+v 0.39962989 -0.09342700 0.26159742
+v 0.36759033 -0.24010797 0.21673166
+v 0.39798594 -0.16439924 0.23194090
+v 0.44334125 -0.03614146 0.20288356
+v 0.42797984 -0.09284708 0.21751093
+v 0.42733094 -0.16841203 0.17424954
+v -0.16996928 -0.43257741 0.16143547
+v 0.09268223 -0.44339228 0.18977619
+v -0.03614126 -0.44334117 0.20288344
+v -0.07990417 -0.41455033 0.24650313
+v 0.02089467 -0.39912341 0.27684137
+v -0.21035338 -0.35347991 0.26002457
+v 0.09328879 -0.39989544 0.26174593
+v 0.16720541 -0.39698865 0.23202234
+v 0.22539800 -0.38408369 0.20234848
+v 0.00624443 -0.46452768 0.16237421
+v 0.36965551 -0.25160447 0.20141991
+v 0.38234545 -0.19444462 0.23163560
+v 0.39804818 -0.13841188 0.24530321
+v 0.38394818 -0.25326273 0.17389636
+v -0.16841180 -0.42733123 0.17424992
+v 0.09271812 -0.42835643 0.21768931
+v 0.03592633 -0.44343173 0.20292169
+v -0.13841150 -0.39804780 0.24530321
+v -0.12309440 -0.42779281 0.20225144
+v -0.02108890 -0.39895755 0.27674013
+f 6 4 3
+f 6 5 4
+f 9 2 5
+f 12 4 5
+f 12 5 7
+f 13 7 5
+f 13 5 2
+f 14 8 3
+f 15 3 8
+f 17 9 5
+f 19 3 4
+f 21 4 12
+f 21 19 4
+f 21 11 19
+f 22 12 7
+f 22 21 12
+f 22 11 21
+f 25 6 3
+f 25 3 15
+f 26 7 13
+f 28 17 5
+f 28 5 6
+f 28 6 16
+f 28 16 17
+f 29 2 9
+f 29 13 2
+f 30 18 10
+f 33 19 11
+f 34 22 20
+f 34 11 22
+f 35 22 7
+f 35 20 22
+f 36 14 3
+f 37 8 14
+f 38 26 24
+f 38 7 26
+f 39 25 16
+f 39 16 6
+f 39 6 25
+f 40 15 8
+f 41 25 15
+f 42 17 16
+f 42 16 29
+f 42 29 9
+f 42 9 17
+f 43 29 16
+f 43 27 29
+f 44 29 27
+f 44 13 29
+f 44 27 41
+f 44 41 40
+f 44 26 13
+f 45 18 30
+f 45 38 18
+f 45 7 38
+f 46 1 38
+f 47 10 18
+f 48 47 32
+f 48 10 47
+f 49 32 31
+f 49 31 3
+f 50 33 11
+f 50 20 33
+f 50 34 20
+f 50 11 34
+f 51 31 23
+f 51 23 36
+f 51 36 3
+f 51 3 31
+f 52 37 14
+f 52 14 36
+f 52 36 23
+f 52 46 38
+f 53 24 26
+f 53 37 52
+f 53 52 38
+f 53 38 24
+f 54 38 1
+f 54 18 38
+f 54 1 46
+f 54 47 18
+f 54 32 47
+f 55 53 26
+f 55 37 53
+f 55 40 8
+f 55 8 37
+f 56 41 15
+f 56 15 40
+f 56 40 41
+f 57 16 25
+f 57 25 41
+f 57 43 16
+f 57 41 27
+f 57 27 43
+f 58 44 40
+f 58 26 44
+f 58 55 26
+f 58 40 55
+f 59 20 35
+f 59 35 7
+f 59 7 45
+f 59 45 30
+f 59 30 10
+f 60 23 31
+f 60 52 23
+f 60 46 52
+f 61 31 32
+f 61 54 46
+f 61 32 54
+f 61 60 31
+f 61 46 60
+f 62 33 20
+f 62 48 19
+f 62 19 33
+f 63 10 48
+f 63 59 10
+f 63 20 59
+f 63 62 20
+f 63 48 62
+f 64 3 19
+f 64 19 48
+f 64 49 3
+f 64 48 32
+f 64 32 49
\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_5.obj b/apple/apple_17/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41af034ece0328bd16f9d83cc4f606ce153f4d02
--- /dev/null
+++ b/apple/apple_17/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23080028 -0.30561369 -0.34181358
+v -0.22608759 -0.29980133 -0.35057219
+v -0.23484810 -0.23484848 -0.24124397
+v -0.23322226 0.39851636 -0.20948414
+v -0.44388551 0.03619202 -0.24627979
+v -0.22800554 0.38889437 -0.23511283
+v -0.38308527 -0.15338067 -0.30363749
+v -0.46499172 -0.00629257 -0.20566762
+v -0.23484810 -0.00757576 -0.21094094
+v -0.38892248 0.25654473 -0.20439650
+v -0.29539661 -0.19629966 -0.37464669
+v -0.38889373 -0.22800577 -0.23511270
+v -0.41462244 -0.08153664 -0.28987462
+v -0.22828871 0.15377258 -0.43946133
+v -0.31431869 0.34229022 -0.20329566
+v -0.44688809 0.12426563 -0.20415499
+v -0.26713472 -0.26936475 -0.34783115
+v -0.36710986 -0.22440992 -0.27460114
+v -0.42995185 -0.00579765 -0.27724733
+v -0.43313298 -0.12450081 -0.23505769
+v -0.31197407 -0.07906272 -0.40451081
+v -0.22602805 0.29998805 -0.35066317
+v -0.25509483 0.38296684 -0.21708176
+v -0.25770320 0.38777783 -0.20426741
+v -0.46340969 0.02144488 -0.20499526
+v -0.34235720 0.31464721 -0.20340705
+v -0.35363594 0.13872148 -0.34679250
+v -0.22773449 -0.24122634 -0.39608521
+v -0.25329929 -0.26568556 -0.36153027
+v -0.39749373 -0.16741774 -0.27542085
+v -0.33956883 -0.19560454 -0.33127759
+v -0.24247772 -0.30132896 -0.33710089
+v -0.44397547 -0.03598281 -0.24631793
+v -0.45954868 -0.00572384 -0.21848189
+v -0.41880544 -0.17021062 -0.23542615
+v -0.35378309 -0.09308470 -0.36201925
+v -0.22797846 -0.09602060 -0.45645978
+v -0.25186870 0.34007038 -0.28745156
+v -0.25198995 0.37051937 -0.24501796
+v -0.44338794 0.09292349 -0.23289876
+v -0.38537809 0.06668912 -0.33345961
+v -0.29618313 0.19537126 -0.37477955
+v -0.26568374 -0.25300795 -0.36137115
+v -0.38456405 -0.22565835 -0.24574494
+v -0.42887864 -0.09287959 -0.26108551
+v -0.39856365 -0.13833042 -0.28872300
+v -0.38328320 -0.17950950 -0.28748535
+v -0.45796029 0.02094077 -0.21780953
+v -0.38520266 -0.06647747 -0.33329262
+v -0.33919477 -0.13871378 -0.36252291
+v -0.22832812 0.09504943 -0.45638252
+v -0.22800964 -0.15431629 -0.43956779
+v -0.29624559 0.32362170 -0.25913336
+v -0.22747604 0.34246316 -0.30628807
+v -0.24024599 0.38352512 -0.23250449
+v -0.39846942 0.16465440 -0.27533693
+v -0.41514517 0.08001928 -0.29001875
+v -0.22754788 0.24121164 -0.39594955
+v -0.29817263 0.12223681 -0.40499436
+v -0.23765819 -0.23974848 -0.39111366
+v -0.41403510 -0.16873261 -0.24611206
+v -0.35529105 -0.16561092 -0.33183222
+v -0.39866667 -0.03599813 -0.31961741
+v -0.29874209 -0.00633617 -0.42287821
+f 1 2 3
+f 6 3 2
+f 9 6 4
+f 9 3 6
+f 12 1 3
+f 12 9 8
+f 12 3 9
+f 22 6 2
+f 24 15 9
+f 24 9 4
+f 24 4 23
+f 25 8 9
+f 25 9 15
+f 25 15 16
+f 26 16 15
+f 26 10 16
+f 29 2 1
+f 29 28 2
+f 31 11 17
+f 31 17 18
+f 32 18 17
+f 32 1 12
+f 32 29 1
+f 32 17 29
+f 33 19 13
+f 34 5 19
+f 34 8 25
+f 34 33 8
+f 34 19 33
+f 35 12 8
+f 35 8 20
+f 37 22 2
+f 39 24 23
+f 39 15 24
+f 40 25 16
+f 43 29 17
+f 43 17 11
+f 44 30 18
+f 44 32 12
+f 44 18 32
+f 45 33 13
+f 45 20 8
+f 45 8 33
+f 46 13 7
+f 46 7 30
+f 46 45 13
+f 46 30 45
+f 47 30 7
+f 47 31 18
+f 47 18 30
+f 48 34 25
+f 48 5 34
+f 48 40 5
+f 48 25 40
+f 49 36 7
+f 49 7 13
+f 49 21 36
+f 50 7 36
+f 50 11 31
+f 50 36 21
+f 50 21 11
+f 51 14 22
+f 51 22 37
+f 52 37 2
+f 52 2 28
+f 52 11 21
+f 52 21 37
+f 53 26 15
+f 53 39 38
+f 53 15 39
+f 53 10 26
+f 53 38 22
+f 53 22 42
+f 54 6 22
+f 54 22 38
+f 54 39 6
+f 54 38 39
+f 55 39 23
+f 55 6 39
+f 55 23 4
+f 55 4 6
+f 56 40 16
+f 56 16 10
+f 56 42 27
+f 56 53 42
+f 56 10 53
+f 57 41 19
+f 57 19 5
+f 57 5 40
+f 57 40 56
+f 57 56 27
+f 57 27 41
+f 58 42 22
+f 58 22 14
+f 58 14 42
+f 59 42 14
+f 59 27 42
+f 59 14 51
+f 59 41 27
+f 60 43 11
+f 60 28 29
+f 60 29 43
+f 60 52 28
+f 60 11 52
+f 61 30 44
+f 61 45 30
+f 61 35 20
+f 61 20 45
+f 61 44 12
+f 61 12 35
+f 62 47 7
+f 62 31 47
+f 62 50 31
+f 62 7 50
+f 63 49 13
+f 63 13 19
+f 63 19 41
+f 64 21 49
+f 64 41 59
+f 64 59 51
+f 64 51 37
+f 64 37 21
+f 64 63 41
+f 64 49 63
\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_6.obj b/apple/apple_17/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea4d3f87a87d88c264e02867d2fb73a0e354f559
--- /dev/null
+++ b/apple/apple_17/collision/model_normalized_collision_6.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.28940625 -0.27253205 -0.32511878
+v 0.38034534 -0.14215256 -0.31265283
+v 0.31632729 -0.25750519 -0.30859199
+v -0.23484810 -0.14393939 -0.34730457
+v 0.21137983 -0.13943220 -0.45292373
+v 0.37804329 -0.15470675 -0.31048706
+v -0.24365449 -0.27601285 -0.35925066
+v -0.21130805 -0.13939140 -0.45280557
+v 0.28030340 -0.14393939 -0.31700154
+v 0.33031003 -0.24140598 -0.30754965
+v 0.28513637 -0.13850254 -0.40806720
+v 0.03672203 -0.25407709 -0.45018318
+v -0.22921398 -0.14088475 -0.44281287
+v 0.37176376 -0.15141109 -0.32072560
+v 0.37354647 -0.14013410 -0.32289190
+v 0.29618347 -0.19537089 -0.37477917
+v 0.16740160 -0.25253345 -0.41976027
+v -0.03685632 -0.25410139 -0.45024491
+v -0.16688906 -0.25300542 -0.41988523
+v 0.33954042 -0.19584078 -0.33135094
+v 0.31092647 -0.16642760 -0.37520790
+v 0.32480110 -0.23693933 -0.31778864
+v 0.26874911 -0.18002580 -0.40393818
+v 0.12345714 -0.22501531 -0.45009980
+v 0.12323944 -0.25491728 -0.43419737
+v -0.22640945 -0.16723278 -0.43530280
+v -0.12334371 -0.25481989 -0.43413727
+v 0.35506075 -0.16573208 -0.33170710
+v 0.29551679 -0.23776540 -0.34585908
+v 0.23949653 -0.15355645 -0.43381697
+v 0.28278100 -0.15241301 -0.40464437
+v 0.09516625 -0.23928807 -0.45005214
+v 0.16695112 -0.19576740 -0.44972790
+v 0.15339814 -0.23949956 -0.43369880
+v -0.15153579 -0.21037927 -0.44876586
+v -0.22419834 -0.25201650 -0.39020683
+v 0.26568571 -0.25329984 -0.36153023
+v 0.24118037 -0.13929215 -0.43695068
+v 0.25201687 -0.22419871 -0.39020683
+v 0.21037949 -0.15153607 -0.44876584
+v -0.21050952 -0.15145966 -0.44885233
+v -0.15355613 -0.23949641 -0.43381723
+v -0.09531265 -0.23931585 -0.45016647
+v 0.22399569 -0.25208577 -0.39012786
+f 7 1 3
+f 7 3 4
+f 9 6 2
+f 9 2 4
+f 9 4 6
+f 10 6 4
+f 10 4 3
+f 10 3 1
+f 11 5 8
+f 12 1 7
+f 13 7 4
+f 13 4 8
+f 14 2 6
+f 15 11 8
+f 15 8 4
+f 15 4 2
+f 15 2 14
+f 18 8 5
+f 18 5 12
+f 18 12 7
+f 20 14 6
+f 20 6 10
+f 21 15 14
+f 21 11 15
+f 22 10 1
+f 22 20 10
+f 22 16 20
+f 25 17 1
+f 25 1 12
+f 26 13 8
+f 26 7 13
+f 27 18 7
+f 27 7 19
+f 28 21 14
+f 28 14 20
+f 28 20 16
+f 28 16 21
+f 29 22 1
+f 29 16 22
+f 31 21 16
+f 31 16 23
+f 31 11 21
+f 31 30 11
+f 31 23 30
+f 32 12 5
+f 32 5 24
+f 32 25 12
+f 32 24 25
+f 33 24 5
+f 33 30 17
+f 34 25 24
+f 34 17 25
+f 34 33 17
+f 34 24 33
+f 36 26 19
+f 36 19 7
+f 36 7 26
+f 37 16 29
+f 37 29 1
+f 38 30 5
+f 38 5 11
+f 38 11 30
+f 39 30 23
+f 39 17 30
+f 39 23 16
+f 39 16 37
+f 40 33 5
+f 40 5 30
+f 40 30 33
+f 41 35 26
+f 41 26 8
+f 41 8 35
+f 42 19 26
+f 42 26 35
+f 42 27 19
+f 43 35 8
+f 43 8 18
+f 43 18 27
+f 43 42 35
+f 43 27 42
+f 44 37 1
+f 44 1 17
+f 44 39 37
+f 44 17 39
\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_7.obj b/apple/apple_17/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fe5fcbaa2980f17ae32eeb89560c9e515e9dbdd
--- /dev/null
+++ b/apple/apple_17/collision/model_normalized_collision_7.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.28030340 -0.00757576 -0.33215306
+v 0.27264769 -0.00686760 -0.44070632
+v 0.29156247 0.24420100 -0.34465782
+v -0.10963251 0.34658603 -0.36433387
+v -0.09848447 0.09848485 -0.33215306
+v 0.09531334 0.23931581 -0.45016638
+v 0.09257440 -0.00702888 -0.40281821
+v 0.23949984 0.15339787 -0.43369877
+v 0.14392430 0.33933209 -0.35989373
+v -0.09602081 0.22797862 -0.45645991
+v 0.18088982 -0.00819057 -0.45384117
+v 0.09848522 -0.00757576 -0.33215306
+v 0.26971627 0.08005298 -0.43511611
+v 0.03667413 0.29757883 -0.42139379
+v 0.16730495 0.22629179 -0.43522740
+v -0.08611637 0.08510084 -0.42052719
+v 0.23928827 0.09516577 -0.45005221
+v 0.26796170 0.18135572 -0.40403767
+v 0.12223719 0.29817286 -0.40499419
+v -0.03651548 0.29756187 -0.42135212
+v 0.03685690 0.25410147 -0.45024498
+v 0.25208611 0.22399532 -0.39012778
+v 0.25485053 -0.00662287 -0.45148321
+v 0.25491746 0.12323912 -0.43419716
+v 0.21051020 0.15145941 -0.44885227
+v 0.26805743 0.13730004 -0.42030463
+v 0.08017782 0.26967298 -0.43510768
+v 0.12334449 0.25481980 -0.43413717
+v -0.09532819 0.30041937 -0.40935142
+v -0.03672130 0.25407709 -0.45018348
+v 0.26878181 0.22527800 -0.37707794
+v 0.25407726 0.03672165 -0.45018315
+v 0.15153643 0.21037930 -0.44876587
+v 0.10961262 0.28190000 -0.42003541
+v -0.09476963 0.28346511 -0.42207654
+v -0.08005266 0.26971609 -0.43511643
+v -0.09516545 0.23928808 -0.45005253
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 9 4 3
+f 10 5 4
+f 11 2 1
+f 12 1 5
+f 12 11 1
+f 12 7 11
+f 13 3 2
+f 14 4 9
+f 16 5 10
+f 16 12 5
+f 16 7 12
+f 16 11 7
+f 16 10 11
+f 17 11 10
+f 17 10 6
+f 18 8 15
+f 19 14 9
+f 20 4 14
+f 21 6 10
+f 21 20 14
+f 22 9 3
+f 22 18 15
+f 22 19 9
+f 22 15 19
+f 23 2 11
+f 23 11 17
+f 24 17 8
+f 24 13 17
+f 25 15 8
+f 25 8 17
+f 25 17 6
+f 26 18 3
+f 26 3 13
+f 26 13 24
+f 26 24 8
+f 26 8 18
+f 27 14 19
+f 27 21 14
+f 27 6 21
+f 28 19 15
+f 28 6 27
+f 29 4 20
+f 30 21 10
+f 30 20 21
+f 31 22 3
+f 31 3 18
+f 31 18 22
+f 32 23 17
+f 32 17 13
+f 32 13 2
+f 32 2 23
+f 33 25 6
+f 33 15 25
+f 33 28 15
+f 33 6 28
+f 34 28 27
+f 34 27 19
+f 34 19 28
+f 35 10 4
+f 35 4 29
+f 36 30 10
+f 36 20 30
+f 36 35 29
+f 36 29 20
+f 37 36 10
+f 37 10 35
+f 37 35 36
\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_8.obj b/apple/apple_17/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c287cd5537c3377df4a5c7d206fca198b24345f1
--- /dev/null
+++ b/apple/apple_17/collision/model_normalized_collision_8.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.20422739 -0.43123083 0.12218378
+v 0.41946799 -0.25864393 -0.10202525
+v 0.39981382 -0.26663882 0.11561744
+v 0.23212797 -0.26187594 0.32752593
+v 0.23366686 -0.26372855 -0.37567093
+v 0.36150868 -0.25728378 0.20640101
+v 0.31167079 -0.38455613 0.02925219
+v 0.19778093 -0.41934082 0.16178545
+v 0.41924338 -0.25852558 0.05887941
+v 0.25731444 -0.25571630 -0.36712529
+v 0.32646312 -0.33866903 0.14563587
+v 0.22843312 -0.41998477 -0.16128341
+v 0.23011396 -0.27460285 -0.36984954
+v 0.40388537 -0.25841681 0.11788108
+v 0.38892322 -0.25654407 -0.20439615
+v 0.38436387 -0.31185128 0.02924859
+v 0.27070172 -0.25736664 0.30818179
+v 0.36937204 -0.28167783 0.15850460
+v 0.26947678 -0.39816457 0.11568066
+v 0.22854479 -0.43534201 -0.10217510
+v 0.22800609 -0.38889414 -0.23511281
+v 0.41324562 -0.27051683 0.05749295
+v 0.33034009 -0.25658196 0.24933111
+v 0.34172197 -0.33879818 -0.15847929
+v 0.35498582 -0.34290428 0.05751401
+v 0.24560431 -0.25985925 0.32322381
+v 0.25148281 -0.33960492 0.24393853
+v 0.33881538 -0.32692657 0.14576296
+v 0.22414877 -0.41208264 0.14568543
+v 0.22842379 -0.43511884 0.05902943
+v 0.22602871 -0.29998781 -0.35066300
+v 0.41347026 -0.27063516 -0.10063868
+v 0.26566490 -0.38389240 -0.20115705
+v 0.31175357 -0.38465576 -0.07235934
+v 0.34242356 -0.35479451 0.05742146
+v 0.36866060 -0.31140386 0.10257984
+v 0.26888927 -0.26656197 0.30320512
+v 0.25164085 -0.37009819 0.20162174
+v 0.22551002 -0.32966641 0.27893560
+v 0.34148695 -0.33851531 0.11527045
+v 0.32674233 -0.32385381 0.17352940
+v 0.27006079 -0.41292597 0.05739138
+v 0.22746668 -0.37274771 -0.26299177
+v 0.40009925 -0.26687020 -0.15882663
+v 0.32362109 -0.29658864 -0.25925276
+v 0.28048491 -0.39864459 -0.13039160
+v 0.35518304 -0.34306418 -0.10065979
+v 0.31201461 -0.30921249 0.21657244
+v 0.24090181 -0.26934959 0.32060615
+v 0.26536668 -0.38353321 0.15786365
+v 0.23011129 -0.27459964 0.32234676
+v 0.23972025 -0.36740222 0.21653912
+v 0.23791916 -0.31121354 0.28710928
+v 0.31114633 -0.36877325 0.10256416
+v 0.35345044 -0.28105328 0.18838445
+v 0.24039260 -0.42924843 -0.10075740
+v 0.25199029 -0.37051911 -0.24501794
+v 0.38317556 -0.28058487 -0.17326578
+v 0.40421055 -0.25858822 -0.16109016
+v 0.33810688 -0.31120061 -0.21622109
+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
+f 10 5 4
+f 13 8 4
+f 13 4 5
+f 13 5 10
+f 14 9 6
+f 14 6 3
+f 15 9 2
+f 15 6 9
+f 18 3 6
+f 20 1 12
+f 21 12 1
+f 21 1 8
+f 22 14 3
+f 22 9 14
+f 23 15 10
+f 23 6 15
+f 23 10 17
+f 25 16 22
+f 26 17 10
+f 26 10 4
+f 28 3 18
+f 29 8 1
+f 29 1 19
+f 30 19 1
+f 30 1 20
+f 31 8 13
+f 31 13 10
+f 32 22 16
+f 32 2 9
+f 32 9 22
+f 33 12 21
+f 35 7 25
+f 36 25 22
+f 36 22 3
+f 36 3 28
+f 37 23 17
+f 40 28 11
+f 40 36 28
+f 40 25 36
+f 40 35 25
+f 40 11 19
+f 41 28 18
+f 41 11 28
+f 42 19 30
+f 42 7 35
+f 42 34 7
+f 43 21 8
+f 43 8 31
+f 47 16 25
+f 47 25 7
+f 47 7 34
+f 47 44 32
+f 47 24 44
+f 47 46 24
+f 47 34 46
+f 48 23 37
+f 48 27 38
+f 48 38 41
+f 48 6 23
+f 49 37 17
+f 49 17 26
+f 49 26 4
+f 50 19 11
+f 50 41 38
+f 50 11 41
+f 50 29 19
+f 50 38 8
+f 50 8 29
+f 51 4 8
+f 51 8 39
+f 51 49 4
+f 51 39 49
+f 52 38 27
+f 52 27 39
+f 52 39 8
+f 52 8 38
+f 53 39 27
+f 53 49 39
+f 53 37 49
+f 53 48 37
+f 53 27 48
+f 54 40 19
+f 54 35 40
+f 54 42 35
+f 54 19 42
+f 55 41 18
+f 55 18 6
+f 55 48 41
+f 55 6 48
+f 56 42 30
+f 56 30 20
+f 56 34 42
+f 56 46 34
+f 57 33 21
+f 57 21 43
+f 58 44 24
+f 58 24 15
+f 58 15 44
+f 59 44 15
+f 59 15 2
+f 59 2 32
+f 59 32 44
+f 60 45 15
+f 60 15 24
+f 60 24 33
+f 60 57 45
+f 60 33 57
+f 61 10 15
+f 61 15 45
+f 62 31 10
+f 62 61 45
+f 62 10 61
+f 62 45 57
+f 62 57 43
+f 62 43 31
+f 63 12 33
+f 63 33 24
+f 63 24 46
+f 63 46 56
+f 63 56 20
+f 63 20 12
+f 64 47 32
+f 64 32 16
+f 64 16 47
\ No newline at end of file
diff --git a/apple/apple_17/collision/model_normalized_collision_9.obj b/apple/apple_17/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e24148cf9ed8183e49f922c40ffdf3b86f920ea3
--- /dev/null
+++ b/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
\ No newline at end of file
diff --git a/apple/apple_17/model.xml b/apple/apple_17/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ac579c0d1019316bf8dfb09fb046e62a5962ae02
--- /dev/null
+++ b/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>
diff --git a/apple/apple_17/visual/material.mtl b/apple/apple_17/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b5d0f127cc1df2efd6b4835e0300358bb6dde72
--- /dev/null
+++ b/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
\ No newline at end of file
diff --git a/apple/apple_17/visual/model_normalized_0.obj b/apple/apple_17/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c361665291cc266f1afe0d55e49805d3827fc7c7
--- /dev/null
+++ b/apple/apple_17/visual/model_normalized_0.obj
@@ -0,0 +1,1594 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v 0.01317965 0.03331519 0.45975171
+v 0.01317965 0.03331519 0.45975171
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+v 0.01214815 0.02993591 0.46020617
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+v 0.01708589 0.03912448 0.45862603
+v 0.01708589 0.03912448 0.45862603
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+v 0.02978754 0.04421620 0.45613996
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diff --git a/apple/apple_17/visual/model_normalized_1.obj b/apple/apple_17/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7972f230db3c14ae0ea322e32233bd6c042d087
--- /dev/null
+++ b/apple/apple_17/visual/model_normalized_1.obj
@@ -0,0 +1,5187 @@
+# https://github.com/mikedh/trimesh
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+f 1036/1036/1036 5/5/5 6/6/6
+f 1064/1064/1064 1062/1062/1062 18/18/18
+f 1064/1064/1064 18/18/18 19/19/19
+f 1038/1038/1038 1036/1036/1036 6/6/6
+f 1038/1038/1038 6/6/6 7/7/7
+f 1066/1066/1066 1064/1064/1064 19/19/19
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+f 1040/1040/1040 1038/1038/1038 7/7/7
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+f 1074/1074/1074 1072/1072/1072 1087/1087/1087
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+f 1076/1076/1076 1074/1074/1074 23/23/23
+f 1076/1076/1076 23/23/23 24/24/24
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+f 1078/1078/1078 24/24/24 25/25/25
+f 1052/1052/1052 1050/1050/1050 13/13/13
+f 1052/1052/1052 13/13/13 14/14/14
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_0.obj b/apple/apple_18/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d726988921c7201aed3c3805e1d876b36e4465ca
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_0.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.08333333 -0.23255389 -0.35346091
+v 0.08302965 -0.23088567 -0.45369649
+v 0.01086420 0.20627864 -0.42875983
+v -0.23484849 0.20684007 -0.26255182
+v -0.23551647 -0.24847761 -0.41533941
+v 0.00757576 0.20684007 -0.26255182
+v 0.08516151 0.02547745 -0.44022036
+v 0.00923832 -0.26137702 -0.44738173
+v -0.23484849 -0.14164479 -0.26255182
+v -0.23428673 0.08148792 -0.45943745
+v 0.08812682 -0.02493407 -0.44384591
+v 0.08333333 -0.00528115 -0.35346091
+v 0.00757576 -0.23255389 -0.35346091
+v 0.00757576 -0.14164479 -0.26255182
+v -0.22470124 0.19246706 -0.41129635
+v -0.23200605 -0.09234496 -0.47317177
+v -0.17063047 0.02050999 -0.47312836
+v 0.08734096 -0.08241811 -0.46080837
+v -0.22816731 0.16576587 -0.42767001
+v -0.09671260 0.20150052 -0.42594469
+v -0.12440163 -0.24026811 -0.45579021
+v -0.21829613 0.09729682 -0.45685595
+v -0.22854149 0.02326274 -0.47373697
+v -0.06925045 -0.16950432 -0.47432672
+v -0.21197448 0.18141845 -0.42546200
+v -0.18346911 -0.24132815 -0.44063945
+v -0.20044811 0.15706429 -0.44181817
+v 0.08250997 -0.21287953 -0.45888030
+v -0.12805474 -0.16924669 -0.47243524
+v -0.00953180 -0.24197915 -0.45546572
+v -0.22583941 -0.23729060 -0.42720863
+v -0.16981933 -0.21064809 -0.45574664
+v -0.22804424 -0.15081970 -0.45625127
+v -0.18591424 -0.13793600 -0.47098648
+f 6 3 4
+f 7 3 6
+f 8 2 1
+f 9 4 5
+f 9 6 4
+f 10 5 4
+f 12 7 6
+f 12 6 1
+f 12 11 7
+f 12 1 11
+f 13 8 1
+f 13 5 8
+f 13 9 5
+f 13 1 9
+f 14 9 1
+f 14 1 6
+f 14 6 9
+f 16 5 10
+f 18 11 1
+f 18 1 2
+f 18 7 11
+f 18 17 3
+f 18 3 7
+f 19 10 4
+f 19 4 15
+f 20 15 4
+f 20 4 3
+f 23 16 10
+f 23 10 22
+f 23 22 3
+f 23 3 17
+f 24 17 18
+f 24 23 17
+f 24 16 23
+f 25 19 15
+f 25 15 20
+f 26 21 8
+f 26 8 5
+f 27 20 3
+f 27 3 22
+f 27 25 20
+f 27 22 10
+f 27 10 19
+f 27 19 25
+f 28 24 18
+f 28 18 2
+f 29 24 21
+f 29 16 24
+f 30 8 21
+f 30 21 24
+f 30 24 28
+f 30 28 2
+f 30 2 8
+f 31 26 5
+f 32 21 26
+f 33 31 5
+f 33 5 16
+f 33 16 32
+f 33 32 26
+f 33 26 31
+f 34 29 21
+f 34 21 32
+f 34 32 16
+f 34 16 29
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_1.obj b/apple/apple_18/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90934fd127b71ddf7e912b150d6e902144c45ae1
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_1.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.23443287 0.34927560 0.18252011
+v 0.21969697 0.32805219 -0.09588514
+v 0.16852480 0.43011086 -0.07727548
+v -0.09359515 0.43046258 0.11156279
+v -0.09723997 0.32280721 0.26085412
+v -0.09848485 0.32805219 -0.06558212
+v 0.10933910 0.43005868 0.12616527
+v 0.21633043 0.41017793 -0.09432094
+v 0.00766151 0.32668700 0.26516989
+v -0.09635266 0.43532641 -0.06319712
+v 0.00757576 0.32805219 -0.09588514
+v 0.21110198 0.41461590 0.05310423
+v 0.15233982 0.40089224 0.16667755
+v -0.00728280 0.40194874 0.19502561
+v 0.00820624 0.44300476 -0.09435970
+v -0.20053952 0.39688080 0.10844614
+v 0.18345575 0.43079724 -0.01951660
+v 0.18447338 0.36355994 0.19817695
+v 0.16789181 0.41562829 0.12235478
+v -0.03567002 0.43028771 0.13812264
+v -0.08027164 0.35950750 0.23630485
+v 0.12458035 0.41433736 0.15358401
+v 0.15399200 0.43145710 -0.09253089
+v -0.06536128 0.44655283 0.03895314
+v -0.19686608 0.38797416 0.13694219
+v 0.21203612 0.41504129 -0.07701156
+v 0.16693262 0.43053568 0.06584532
+v 0.18083072 0.37134788 0.19153782
+v 0.21182398 0.38838290 0.13806601
+v 0.06623187 0.43005671 0.13768079
+v -0.06496773 0.34481356 0.24994408
+v -0.09377878 0.40005782 0.17989074
+v 0.00760682 0.40265339 0.19417526
+v 0.15012724 0.41494491 0.13787556
+v 0.19793257 0.41765016 -0.09267224
+v 0.11031190 0.44556509 -0.06233301
+v -0.04982677 0.44601326 -0.04688740
+v -0.02182673 0.44725873 0.08238172
+v -0.15376405 0.41819446 0.09671645
+v -0.09625818 0.33272943 0.25355584
+v 0.18340075 0.43117994 0.00846248
+v 0.19529372 0.41577594 0.08125217
+v 0.21035786 0.40045124 0.11151099
+v 0.21419830 0.37764707 0.15576975
+v -0.06694801 0.38693077 0.20804748
+v -0.05134175 0.41547894 0.16548348
+v -0.07949391 0.37179788 0.22257404
+v -0.13895156 0.41493193 0.12658953
+v 0.00690865 0.34603419 0.25341533
+v 0.06709094 0.44719127 -0.07793857
+v -0.02091019 0.44661559 -0.06210260
+v -0.06523985 0.44681384 -0.00416233
+v -0.05026100 0.44616902 0.06912244
+v 0.08077160 0.44537955 0.08018625
+v -0.18527006 0.40703307 0.09791879
+v 0.11004935 0.44712806 0.03879462
+v -0.09418414 0.41502064 0.15333410
+v 0.02344384 0.44703999 -0.07781776
+v -0.18061143 0.40122771 0.12428825
+f 8 1 2
+f 9 5 2
+f 9 2 1
+f 11 2 5
+f 11 5 6
+f 12 1 8
+f 15 8 2
+f 15 2 11
+f 15 11 6
+f 15 6 10
+f 16 10 6
+f 18 9 1
+f 23 8 15
+f 25 16 6
+f 25 6 5
+f 26 12 8
+f 26 3 17
+f 27 7 19
+f 28 18 1
+f 29 19 13
+f 30 22 7
+f 31 21 5
+f 31 5 9
+f 33 13 22
+f 33 22 30
+f 33 30 20
+f 33 20 14
+f 34 19 7
+f 34 7 22
+f 34 22 13
+f 34 13 19
+f 35 23 3
+f 35 8 23
+f 35 26 8
+f 35 3 26
+f 36 17 3
+f 36 3 23
+f 38 4 20
+f 38 20 30
+f 39 4 24
+f 40 25 5
+f 40 5 21
+f 40 21 25
+f 41 26 17
+f 41 12 26
+f 41 27 12
+f 42 27 19
+f 42 12 27
+f 43 29 1
+f 43 1 12
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+f 43 42 19
+f 43 19 29
+f 44 28 1
+f 44 1 29
+f 44 29 13
+f 44 13 28
+f 45 21 14
+f 46 14 20
+f 46 45 14
+f 46 32 45
+f 47 32 25
+f 47 25 21
+f 47 45 32
+f 47 21 45
+f 48 25 32
+f 48 4 39
+f 49 28 13
+f 49 13 33
+f 49 18 28
+f 49 9 18
+f 49 31 9
+f 49 21 31
+f 49 33 14
+f 49 14 21
+f 50 36 23
+f 50 23 15
+f 51 15 10
+f 51 10 37
+f 52 37 10
+f 52 51 37
+f 52 24 38
+f 52 39 24
+f 52 10 39
+f 53 38 24
+f 53 24 4
+f 53 4 38
+f 54 38 30
+f 54 30 7
+f 54 7 27
+f 55 39 10
+f 55 10 16
+f 55 48 39
+f 56 41 17
+f 56 17 36
+f 56 36 50
+f 56 50 38
+f 56 38 54
+f 56 54 27
+f 56 27 41
+f 57 46 20
+f 57 20 4
+f 57 4 48
+f 57 48 32
+f 57 32 46
+f 58 50 15
+f 58 15 51
+f 58 51 52
+f 58 52 38
+f 58 38 50
+f 59 55 16
+f 59 16 25
+f 59 25 48
+f 59 48 55
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_10.obj b/apple/apple_18/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c21addc39ae504f0a37b95df4fb173f0c536562
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_10.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.06405374 -0.37192760 -0.33048060
+v 0.14788490 -0.33436807 -0.34467271
+v 0.00757576 -0.24770540 -0.33830940
+v -0.23067794 -0.24288410 -0.42127402
+v 0.00649807 -0.30012282 -0.42825211
+v -0.24276767 -0.32641873 -0.33080817
+v 0.14042275 -0.34415457 -0.33263625
+v 0.06370308 -0.32289220 -0.39895914
+v 0.00688046 -0.24566993 -0.45269399
+v -0.25810997 -0.28101623 -0.37263836
+v -0.10921593 -0.36527233 -0.35504176
+v 0.10768763 -0.35025325 -0.34259554
+v 0.10967816 -0.35636404 -0.33100878
+v 0.14090949 -0.31473913 -0.37712535
+v -0.12468263 -0.26923344 -0.44156845
+v -0.21408821 -0.24093984 -0.43116292
+v -0.24784246 -0.31999925 -0.33580643
+v -0.15341981 -0.37090696 -0.33004844
+v 0.01926822 -0.36594012 -0.35744737
+v 0.00646507 -0.26994359 -0.44344530
+v 0.04775725 -0.35163902 -0.36944487
+v 0.13758178 -0.32158981 -0.37000902
+v -0.03691156 -0.32357129 -0.41390748
+v -0.15638155 -0.24191414 -0.44767296
+v -0.22624672 -0.26531073 -0.40981955
+v -0.19603906 -0.33613531 -0.35368128
+v 0.06188463 -0.36554788 -0.34151848
+v 0.10708596 -0.32107351 -0.38474340
+v -0.13906699 -0.32196256 -0.39846485
+v -0.05196112 -0.33822432 -0.39850864
+v -0.02473963 -0.32374287 -0.41320328
+v -0.15485202 -0.25394318 -0.44211449
+v -0.22457204 -0.32091050 -0.35384438
+v -0.12425991 -0.29458368 -0.42608134
+v -0.12432315 -0.35053746 -0.37115736
+v -0.16612060 -0.33699678 -0.36974534
+v -0.00964311 -0.33848799 -0.39761412
+v -0.23933135 -0.32148697 -0.34108421
+v -0.13844356 -0.30800510 -0.41137329
+v -0.21150024 -0.25075711 -0.42588450
+v -0.15103564 -0.36494066 -0.34050012
+v -0.24427214 -0.31426743 -0.34681603
+f 7 2 3
+f 10 3 4
+f 13 6 1
+f 13 1 12
+f 13 12 2
+f 13 2 7
+f 13 7 3
+f 13 3 6
+f 14 9 3
+f 14 3 2
+f 16 4 3
+f 17 6 3
+f 17 3 10
+f 18 1 6
+f 19 18 11
+f 19 1 18
+f 20 14 8
+f 20 8 5
+f 20 9 14
+f 20 15 9
+f 20 5 15
+f 21 1 19
+f 22 14 2
+f 22 2 12
+f 22 12 21
+f 23 15 5
+f 24 16 3
+f 24 3 9
+f 24 9 15
+f 25 10 4
+f 25 4 16
+f 26 18 6
+f 27 21 12
+f 27 12 1
+f 27 1 21
+f 28 22 21
+f 28 21 8
+f 28 8 14
+f 28 14 22
+f 30 19 11
+f 31 23 5
+f 31 5 8
+f 32 24 15
+f 32 16 24
+f 33 10 25
+f 34 15 23
+f 34 23 30
+f 34 32 15
+f 35 30 11
+f 35 29 30
+f 36 25 29
+f 36 33 25
+f 36 26 33
+f 36 29 35
+f 37 31 8
+f 37 8 21
+f 37 21 19
+f 37 19 30
+f 37 30 23
+f 37 23 31
+f 38 6 17
+f 38 33 26
+f 38 26 6
+f 39 29 25
+f 39 34 30
+f 39 30 29
+f 40 25 16
+f 40 16 32
+f 40 32 34
+f 40 39 25
+f 40 34 39
+f 41 35 11
+f 41 11 18
+f 41 36 35
+f 41 18 26
+f 41 26 36
+f 42 38 17
+f 42 17 10
+f 42 10 33
+f 42 33 38
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_11.obj b/apple/apple_18/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6d4b7a5036dece57e408914eb80b969252ed860
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_11.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.27786796 -0.24718614 -0.36615711
+v 0.25515787 -0.20171401 -0.42700719
+v 0.28361596 0.21385658 -0.37399584
+v 0.08333333 0.19168855 -0.33830940
+v 0.08333333 -0.23255389 -0.35346091
+v 0.11431261 0.17261094 -0.45787363
+v 0.14393940 0.19168855 -0.33830940
+v 0.26357361 -0.07891627 -0.47218645
+v 0.08302965 -0.23088567 -0.45369649
+v 0.08616452 0.18971241 -0.44822940
+v 0.14393940 -0.00528115 -0.33830940
+v 0.25526176 -0.14454470 -0.46006424
+v 0.23993534 0.06627638 -0.47388396
+v 0.20005415 -0.21954357 -0.44261444
+v 0.08250997 -0.21287953 -0.45888030
+v 0.22716971 0.18419114 -0.44018249
+v 0.08333333 -0.00528115 -0.33830940
+v 0.25413465 0.03561428 -0.47290074
+v 0.25416583 -0.21790581 -0.41329163
+v 0.22566570 -0.20215989 -0.44274368
+v 0.18700840 -0.15472564 -0.47260088
+v 0.11665218 -0.13981414 -0.47359467
+v 0.19914044 0.16823605 -0.45507408
+v 0.25295603 0.15131449 -0.44200785
+v 0.22914253 -0.17675202 -0.45502400
+v 0.17128542 -0.20906009 -0.45500197
+v 0.23173585 -0.12308755 -0.47269465
+v 0.15971146 -0.15386117 -0.47236822
+v 0.20509334 0.05429715 -0.47346957
+v 0.23539427 0.06945261 -0.47353224
+v 0.25174632 0.18004415 -0.42606550
+v 0.24584937 -0.10577849 -0.47211065
+v 0.14910010 -0.05611978 -0.47298741
+f 7 1 3
+f 7 3 4
+f 8 3 1
+f 9 1 5
+f 10 4 3
+f 11 5 1
+f 11 1 7
+f 11 7 4
+f 12 8 1
+f 12 1 2
+f 14 1 9
+f 15 9 5
+f 15 4 10
+f 16 10 3
+f 17 11 4
+f 17 5 11
+f 17 15 5
+f 17 4 15
+f 18 3 8
+f 18 8 13
+f 19 14 2
+f 19 2 1
+f 19 1 14
+f 20 12 2
+f 20 2 14
+f 21 9 15
+f 22 15 10
+f 22 10 6
+f 23 6 10
+f 23 10 16
+f 24 3 18
+f 24 18 13
+f 24 23 16
+f 24 13 23
+f 25 20 14
+f 25 12 20
+f 25 21 12
+f 26 14 9
+f 26 9 21
+f 26 25 14
+f 26 21 25
+f 27 12 21
+f 27 13 8
+f 27 22 13
+f 27 21 22
+f 28 22 21
+f 28 21 15
+f 28 15 22
+f 29 13 22
+f 30 23 13
+f 30 6 23
+f 30 29 6
+f 30 13 29
+f 31 24 16
+f 31 16 3
+f 31 3 24
+f 32 27 8
+f 32 8 12
+f 32 12 27
+f 33 29 22
+f 33 22 6
+f 33 6 29
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_12.obj b/apple/apple_18/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..672f099a775b20436fd847eb082726a2f105fe3f
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_12.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.26973716 -0.33208714 -0.23565095
+v 0.44746414 -0.12101016 -0.22728031
+v 0.46838229 -0.00478920 -0.21411374
+v 0.26013177 0.34920398 -0.21247254
+v 0.25887116 -0.00652741 -0.47710080
+v 0.26515153 -0.00528115 -0.21709727
+v 0.32933274 -0.29576716 -0.22671837
+v 0.38365273 -0.04893854 -0.37059359
+v 0.27168267 0.34369677 -0.20993662
+v 0.25691738 -0.28052334 -0.34457241
+v 0.37267836 -0.25056217 -0.22611974
+v 0.30400991 -0.31418437 -0.22811955
+v 0.44207770 -0.07581720 -0.26798302
+v 0.46372014 0.05373261 -0.21246066
+v 0.25746298 0.18500992 -0.41871997
+v 0.25954215 -0.31396748 -0.28786556
+v 0.27210853 -0.13428190 -0.45726630
+v 0.43168276 -0.16343797 -0.22672403
+v 0.34031508 -0.23306092 -0.31025972
+v 0.41447353 0.00775712 -0.32665569
+v 0.46333819 -0.02016183 -0.22802007
+v 0.27066379 0.29573637 -0.29357868
+v 0.25743291 0.34428388 -0.22513759
+v 0.25612982 -0.19304023 -0.43362843
+v 0.29757452 -0.30703978 -0.25424148
+v 0.31064915 -0.10149852 -0.44283791
+v 0.41261679 -0.14669629 -0.28195470
+v 0.32678563 -0.27580348 -0.26788684
+v 0.39840494 -0.18906235 -0.26760857
+v 0.41337484 -0.04930136 -0.32667916
+v 0.36781897 0.17949553 -0.31071595
+v 0.35725657 0.05009164 -0.39707934
+v 0.45977215 0.00818628 -0.23874285
+v 0.25787561 0.29994469 -0.29711602
+v 0.26893557 0.33902550 -0.22280621
+v 0.25818283 0.06828678 -0.46226436
+v 0.25726539 0.32881160 -0.25430861
+v 0.26033421 -0.13941522 -0.46044944
+v 0.26871711 -0.27537949 -0.34095427
+v 0.27139537 -0.30849221 -0.28491614
+v 0.27035221 -0.06508942 -0.47263813
+v 0.32525913 -0.13144874 -0.41193687
+v 0.44272625 -0.12168548 -0.24051189
+v 0.35419511 -0.24722395 -0.26732123
+v 0.36929849 -0.24752573 -0.23975756
+v 0.32736139 -0.29123777 -0.23876081
+v 0.42737696 -0.16239607 -0.23761455
+v 0.39802094 -0.09024931 -0.34126312
+v 0.42693807 0.11050620 -0.26759286
+v 0.29540411 0.25155114 -0.32585194
+v 0.38408984 0.00774524 -0.37083705
+v 0.31000758 0.15264126 -0.39718177
+v 0.45895627 -0.01944195 -0.23944039
+v 0.29750282 0.05134708 -0.44116554
+v 0.29797999 0.29493573 -0.26604364
+v 0.26962306 0.32371287 -0.25138827
+v 0.26690222 -0.18856939 -0.42841447
+v 0.29602495 -0.27594804 -0.31033104
+v 0.28549424 -0.10285297 -0.45769501
+v 0.31218558 -0.00859229 -0.44155275
+v 0.26373313 -0.06397933 -0.47396960
+v 0.28388529 -0.14246408 -0.44243181
+v 0.36704051 -0.14695685 -0.35577339
+v 0.42685172 -0.10566683 -0.28273994
+f 7 3 6
+f 9 4 6
+f 11 3 7
+f 12 7 6
+f 12 6 1
+f 14 9 6
+f 14 6 3
+f 16 1 6
+f 18 2 3
+f 18 3 11
+f 21 3 2
+f 21 2 13
+f 23 10 16
+f 23 16 6
+f 23 6 4
+f 24 10 23
+f 25 12 1
+f 25 7 12
+f 29 18 11
+f 30 8 20
+f 33 14 3
+f 33 3 21
+f 35 23 4
+f 35 4 9
+f 36 24 15
+f 36 5 24
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+f 37 22 34
+f 38 24 5
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+f 40 1 16
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+f 45 29 11
+f 46 7 25
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+f 49 20 32
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+f 51 20 8
+f 51 8 26
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+f 52 50 31
+f 52 15 50
+f 52 36 15
+f 53 33 21
+f 53 21 13
+f 53 13 30
+f 53 30 20
+f 53 20 33
+f 54 5 36
+f 54 52 32
+f 54 36 52
+f 55 50 22
+f 55 31 50
+f 55 49 31
+f 55 9 49
+f 56 37 23
+f 56 23 35
+f 56 35 9
+f 56 9 55
+f 56 55 22
+f 56 22 37
+f 57 39 24
+f 57 19 39
+f 57 24 17
+f 58 39 19
+f 58 19 28
+f 58 40 39
+f 58 28 25
+f 58 25 40
+f 59 41 26
+f 59 26 17
+f 59 17 41
+f 60 26 41
+f 60 51 26
+f 60 32 51
+f 60 41 5
+f 60 54 32
+f 60 5 54
+f 61 41 38
+f 61 38 5
+f 61 5 41
+f 62 17 26
+f 62 26 42
+f 62 57 17
+f 62 42 57
+f 63 29 19
+f 63 57 42
+f 63 19 57
+f 63 27 29
+f 63 48 27
+f 63 42 26
+f 63 26 48
+f 64 43 27
+f 64 13 43
+f 64 48 13
+f 64 27 48
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_13.obj b/apple/apple_18/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..446b8f010fe202f14b91f97fd99fecc6760a9d9c
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_13.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.38830588 0.18363084 0.18153416
+v 0.44882783 0.18497328 -0.10905415
+v 0.37089981 0.29841845 0.05027909
+v 0.21404706 0.40636557 0.08231143
+v 0.26515153 0.19168855 -0.21709727
+v 0.26880623 0.35395707 -0.19239575
+v 0.26778068 0.32887235 0.17772815
+v 0.44923677 0.18499545 0.03883835
+v 0.42054680 0.18571013 -0.21284902
+v 0.37020910 0.29678253 -0.12269432
+v 0.21568008 0.39492938 -0.15338824
+v 0.35509729 0.26647548 0.15104697
+v 0.30990953 0.34130396 0.09438678
+v 0.26285199 0.18795811 0.27459295
+v 0.41446256 0.25582972 -0.00737549
+v 0.26013177 0.34920398 -0.21247254
+v 0.38562863 0.25295263 -0.19397409
+v 0.29844462 0.36970660 -0.07677159
+v 0.32578501 0.22511303 0.22157624
+v 0.41275931 0.22591045 0.09451417
+v 0.22716805 0.38876021 0.12312173
+v 0.37012919 0.28254522 0.09546698
+v 0.29659386 0.34135858 0.12082379
+v 0.30223460 0.18643232 0.25539500
+v 0.21969697 0.31290067 -0.15649121
+v 0.42978388 0.22603722 0.02278908
+v 0.42751783 0.22718904 -0.10823374
+v 0.25696183 0.35958062 -0.19514284
+v 0.31195964 0.32485798 -0.19211808
+v 0.39885882 0.22505454 -0.20971422
+v 0.28337812 0.36985760 -0.12224830
+v 0.24047124 0.39992900 -0.09209298
+v 0.29750227 0.37035568 0.02223465
+v 0.41435345 0.25562286 -0.04997252
+v 0.35636157 0.22517362 0.19181155
+v 0.25875703 0.28935928 0.22509629
+v 0.38358451 0.23886096 0.13721275
+v 0.43388786 0.18498560 0.09641686
+v 0.21419830 0.37764707 0.15576975
+v 0.32616365 0.34211737 0.05280719
+v 0.41468451 0.24163908 0.05088685
+v 0.32528429 0.29597485 0.15050666
+v 0.36834579 0.26983555 0.12276913
+v 0.26645588 0.35671029 0.13609974
+v 0.23939843 0.38582790 0.11079890
+v 0.34428422 0.18538473 0.22592705
+v 0.41426864 0.23954378 -0.13561608
+v 0.33959686 0.31156746 -0.16487120
+v 0.27168267 0.34369677 -0.20993662
+v 0.29813928 0.32662789 -0.20821773
+v 0.24067128 0.38460954 -0.15004760
+v 0.31194604 0.34087768 -0.15010366
+v 0.21484603 0.40542788 -0.12234423
+v 0.26991265 0.38479452 -0.09218006
+v 0.23882140 0.39998572 0.06505017
+v 0.33972995 0.32749981 -0.12238426
+v 0.44283617 0.19709805 -0.10816057
+v 0.28279155 0.22616455 0.24987368
+v 0.26681254 0.28389799 0.22402827
+v 0.38368255 0.19596211 0.17787328
+v 0.42830206 0.19727504 0.09442380
+v 0.21454272 0.39371020 0.12584047
+v 0.26137932 0.20072054 0.26927113
+v 0.23443287 0.34927560 0.18252011
+f 8 1 2
+f 9 2 1
+f 9 1 5
+f 16 9 5
+f 16 5 11
+f 18 3 15
+f 23 22 13
+f 24 14 5
+f 24 5 1
+f 25 11 5
+f 25 5 14
+f 26 8 2
+f 28 16 11
+f 30 9 16
+f 33 3 18
+f 34 18 15
+f 34 15 26
+f 35 12 7
+f 37 12 35
+f 38 1 8
+f 38 37 1
+f 39 25 14
+f 40 22 3
+f 40 13 22
+f 40 3 33
+f 41 22 20
+f 41 3 22
+f 41 20 8
+f 41 8 26
+f 41 26 15
+f 41 15 3
+f 42 23 7
+f 42 7 12
+f 42 12 23
+f 43 23 12
+f 43 22 23
+f 43 12 37
+f 43 37 20
+f 43 20 22
+f 44 7 23
+f 44 21 39
+f 45 23 13
+f 45 44 23
+f 45 21 44
+f 46 24 1
+f 46 19 24
+f 46 35 19
+f 46 1 35
+f 47 17 10
+f 47 34 27
+f 47 10 34
+f 47 30 17
+f 47 9 30
+f 47 27 2
+f 47 2 9
+f 48 10 17
+f 48 17 29
+f 49 28 6
+f 49 16 28
+f 50 29 17
+f 50 17 30
+f 50 30 16
+f 50 16 49
+f 50 49 6
+f 50 6 29
+f 51 28 11
+f 51 31 6
+f 51 6 28
+f 52 29 6
+f 52 6 31
+f 52 48 29
+f 53 4 32
+f 53 39 4
+f 53 11 25
+f 53 25 39
+f 53 51 11
+f 53 31 51
+f 54 18 31
+f 54 53 32
+f 54 31 53
+f 54 33 18
+f 54 32 33
+f 55 33 32
+f 55 32 4
+f 55 4 21
+f 55 21 45
+f 55 40 33
+f 55 45 13
+f 55 13 40
+f 56 34 10
+f 56 18 34
+f 56 10 48
+f 56 48 52
+f 56 52 31
+f 56 31 18
+f 57 2 27
+f 57 27 34
+f 57 34 26
+f 57 26 2
+f 58 24 19
+f 58 14 24
+f 59 35 7
+f 59 7 36
+f 59 19 35
+f 59 58 19
+f 59 36 58
+f 60 37 35
+f 60 35 1
+f 60 1 37
+f 61 38 8
+f 61 8 20
+f 61 20 37
+f 61 37 38
+f 62 39 21
+f 62 21 4
+f 62 4 39
+f 63 39 14
+f 63 58 36
+f 63 14 58
+f 64 36 7
+f 64 44 39
+f 64 7 44
+f 64 63 36
+f 64 39 63
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_14.obj b/apple/apple_18/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..621da78c89e0c26083eeb9dbec06181db8a0ddcc
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_14.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.21969697 0.31290067 -0.09588514
+v 0.27557036 0.32675354 -0.23966967
+v 0.21633043 0.41017793 -0.09432094
+v 0.00820624 0.44300476 -0.09435970
+v 0.00714824 0.33168300 -0.34075930
+v 0.19793257 0.41765016 -0.09267224
+v 0.28790143 0.35107573 -0.16942714
+v 0.22348553 0.31947450 -0.29727268
+v 0.00757576 0.32805219 -0.09588514
+v 0.09532426 0.39995779 -0.22300427
+v 0.19670291 0.39877760 -0.16507186
+v 0.14393940 0.31290067 -0.09588514
+v 0.01035625 0.40079431 -0.22286645
+v 0.12616312 0.43115732 -0.12118331
+v 0.09479818 0.34085333 -0.32678664
+v 0.19726274 0.41511206 -0.10765290
+v 0.21056392 0.36847807 -0.22262797
+v 0.25861413 0.37524183 -0.15198413
+v 0.14307106 0.32422362 -0.33554938
+v 0.00952235 0.43226676 -0.13589792
+v 0.14137706 0.43473509 -0.09338089
+v 0.13867417 0.41676276 -0.16522095
+v 0.02278813 0.37067379 -0.28263933
+v 0.21463455 0.33169675 -0.28623379
+v 0.24123795 0.36882578 -0.19272668
+v 0.14040706 0.36954291 -0.26665902
+v 0.09598071 0.43129272 -0.13625684
+v 0.14081854 0.43229771 -0.10809358
+v 0.14075393 0.39980815 -0.20777998
+v 0.09486214 0.36931136 -0.28177615
+v 0.00966177 0.34151650 -0.32681018
+v 0.23987042 0.35504007 -0.22291632
+v 0.25532747 0.37223912 -0.16568963
+v 0.25479140 0.35461981 -0.20755243
+v 0.12499385 0.35514349 -0.29571926
+v 0.15304982 0.33907568 -0.30954325
+v 0.19716476 0.34097138 -0.28296791
+v 0.11085509 0.41540071 -0.17960237
+v 0.16818922 0.38422555 -0.22267018
+v 0.01041538 0.38525641 -0.25296992
+v 0.25743291 0.34428388 -0.22513759
+v 0.14040641 0.34125538 -0.31171613
+v 0.15361621 0.35612320 -0.28278299
+v 0.14088382 0.32973146 -0.32859727
+f 6 1 3
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 9 4 5
+f 9 6 4
+f 12 8 1
+f 12 9 5
+f 12 1 6
+f 12 6 9
+f 13 5 4
+f 16 6 3
+f 18 3 7
+f 18 16 3
+f 18 11 16
+f 19 12 5
+f 19 8 12
+f 19 5 15
+f 20 13 4
+f 20 10 13
+f 21 4 6
+f 22 16 11
+f 23 13 10
+f 24 2 8
+f 24 8 19
+f 25 17 11
+f 27 20 4
+f 27 14 22
+f 27 10 20
+f 27 4 21
+f 28 21 6
+f 28 6 16
+f 28 16 22
+f 28 22 14
+f 28 27 21
+f 28 14 27
+f 29 22 11
+f 29 26 10
+f 30 23 10
+f 30 15 23
+f 30 10 26
+f 31 23 15
+f 31 15 5
+f 32 24 17
+f 32 2 24
+f 32 17 25
+f 33 25 11
+f 33 11 18
+f 33 18 7
+f 34 7 2
+f 34 32 25
+f 34 33 7
+f 34 25 33
+f 35 30 26
+f 35 15 30
+f 37 17 24
+f 37 24 19
+f 37 19 36
+f 38 27 22
+f 38 10 27
+f 38 29 10
+f 38 22 29
+f 39 29 11
+f 39 11 17
+f 39 26 29
+f 39 17 37
+f 40 31 5
+f 40 5 13
+f 40 13 23
+f 40 23 31
+f 41 34 2
+f 41 2 32
+f 41 32 34
+f 42 15 35
+f 42 35 26
+f 43 37 36
+f 43 39 37
+f 43 26 39
+f 43 42 26
+f 43 36 42
+f 44 19 15
+f 44 15 42
+f 44 42 36
+f 44 36 19
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_15.obj b/apple/apple_18/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..346d84fbe4a27d36e1af613ef14b5cd71d4b41fd
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_15.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.37732893 -0.25048929 0.15720610
+v -0.40058954 -0.26465045 -0.16935114
+v -0.35606062 0.17653703 -0.15649121
+v -0.38522324 0.21173108 0.16511631
+v -0.43916791 0.20675723 -0.06779359
+v -0.35606062 0.19168855 -0.06558212
+v -0.40534337 -0.22403533 0.13991045
+v -0.43107502 0.18338261 -0.16094361
+v -0.42319208 -0.23646726 -0.15829943
+v -0.40999489 0.18869810 0.14296121
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 6 5 4
+f 6 3 5
+f 7 2 1
+f 7 1 4
+f 8 5 3
+f 8 3 2
+f 9 7 5
+f 9 2 7
+f 9 8 2
+f 9 5 8
+f 10 7 4
+f 10 4 5
+f 10 5 7
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_16.obj b/apple/apple_18/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d40402581c00ce7e7b0ed78e6762f12c878e1ed
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_16.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.00728364 -0.42828242 -0.23188579
+v 0.29335360 -0.32050764 -0.23093359
+v 0.28813424 -0.32582685 -0.22665448
+v 0.00757576 -0.23255389 -0.23224879
+v 0.00729893 -0.23174350 -0.45680324
+v 0.26515153 -0.23255389 -0.23224879
+v 0.06480139 -0.41581658 -0.22822249
+v 0.00397741 -0.41391559 -0.27175601
+v 0.25866736 -0.22390806 -0.40466636
+v 0.00646507 -0.26994359 -0.44344530
+v 0.06186680 -0.39680525 -0.28385753
+v 0.15652875 -0.22513188 -0.44987653
+v 0.21110533 -0.31896055 -0.32659874
+v 0.06325911 -0.41206980 -0.24120750
+v 0.00593706 -0.31378333 -0.41788866
+v 0.25329480 -0.27513824 -0.35532384
+v 0.25403428 -0.31979532 -0.28296655
+v 0.19799165 -0.36783127 -0.22809766
+v 0.00501094 -0.38538669 -0.32993967
+v 0.03393936 -0.29692184 -0.42720183
+v 0.29053957 -0.31654925 -0.24432349
+v 0.15262971 -0.30485964 -0.38475887
+v 0.25367718 -0.30417851 -0.31293168
+v 0.23973287 -0.33445667 -0.27008597
+v 0.15183843 -0.36443306 -0.28333207
+v 0.03422743 -0.39555070 -0.29887152
+v 0.00649807 -0.30012282 -0.42825211
+v 0.20962755 -0.23550181 -0.42669805
+v 0.21162888 -0.28944592 -0.37044910
+v 0.10867691 -0.30967130 -0.39849630
+v 0.09202968 -0.36507075 -0.32636313
+v 0.28563637 -0.32146342 -0.23989709
+v 0.19643678 -0.36404098 -0.23981532
+v 0.21118558 -0.33386853 -0.29804997
+v 0.21293683 -0.22436097 -0.43250588
+v 0.16616378 -0.32013409 -0.35760102
+v 0.23851722 -0.30494334 -0.32600011
+v 0.23785874 -0.26205769 -0.38520617
+v 0.04920374 -0.31004796 -0.41303130
+v 0.15210304 -0.26277738 -0.42748827
+v 0.03457017 -0.38137486 -0.32751246
+v 0.15206323 -0.33434199 -0.34212668
+v 0.23805483 -0.24876397 -0.39676622
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 7 4 1
+f 8 1 4
+f 9 4 6
+f 9 6 2
+f 10 8 4
+f 10 4 5
+f 11 1 8
+f 12 5 4
+f 12 4 9
+f 12 10 5
+f 14 7 1
+f 14 1 11
+f 15 8 10
+f 18 3 7
+f 18 7 14
+f 19 8 15
+f 20 10 12
+f 21 16 9
+f 21 9 2
+f 21 2 3
+f 23 21 17
+f 23 16 21
+f 24 3 18
+f 24 17 21
+f 24 23 17
+f 24 13 23
+f 25 18 14
+f 25 14 11
+f 26 11 8
+f 26 8 19
+f 27 20 15
+f 27 15 10
+f 27 10 20
+f 31 25 11
+f 32 24 21
+f 32 21 3
+f 32 3 24
+f 33 25 24
+f 33 24 18
+f 33 18 25
+f 34 13 24
+f 34 24 25
+f 35 28 12
+f 35 12 9
+f 35 9 28
+f 36 29 13
+f 36 22 29
+f 36 31 30
+f 36 30 22
+f 37 23 13
+f 37 13 29
+f 37 29 16
+f 37 16 23
+f 38 29 22
+f 38 22 28
+f 38 9 16
+f 38 16 29
+f 39 19 15
+f 39 15 20
+f 40 28 22
+f 40 22 30
+f 40 12 28
+f 40 20 12
+f 40 39 20
+f 40 30 39
+f 41 30 31
+f 41 39 30
+f 41 19 39
+f 41 26 19
+f 41 31 11
+f 41 11 26
+f 42 34 25
+f 42 25 31
+f 42 31 36
+f 42 36 13
+f 42 13 34
+f 43 38 28
+f 43 28 9
+f 43 9 38
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_17.obj b/apple/apple_18/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b85ec71598d4a5bec6d4136f05b2d0d3353fb4e
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_17.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.15221373 -0.09039356 0.46961533
+v 0.16177635 -0.07215239 0.44640106
+v 0.15173032 -0.03424449 0.45685200
+v -0.00875558 0.05305110 0.22789904
+v 0.03903424 -0.00790447 0.24568518
+v 0.10983336 -0.04869077 0.45598915
+v 0.15873731 -0.07349620 0.47479074
+v 0.15210330 -0.08470242 0.44675976
+v 0.02294572 0.05584313 0.23470914
+v 0.00525426 0.03343481 0.27481494
+v -0.02173497 -0.00847673 0.23659628
+v 0.15988125 -0.08529070 0.46064653
+v 0.16196881 -0.04219350 0.44643765
+v 0.13010389 -0.08133339 0.48081261
+v 0.13648828 -0.03557823 0.45357315
+v 0.05280732 -0.03172844 0.36621530
+v -0.02245536 0.00899471 0.23306291
+v 0.15994920 -0.08408798 0.45849324
+v 0.15702048 -0.04426575 0.46339207
+v 0.14927116 -0.03254275 0.44692087
+v 0.13794601 -0.08267852 0.47866592
+v 0.12697646 -0.08301119 0.47271889
+v 0.13356521 -0.05553863 0.47929980
+v 0.00004192 0.03679194 0.26350011
+v 0.00713441 -0.00462016 0.23993628
+v -0.02263510 -0.00557798 0.23596164
+v 0.12015495 -0.07901680 0.44382532
+v 0.12898983 -0.06921291 0.48151055
+v 0.14129822 -0.05399184 0.47780595
+v -0.02155523 0.00609597 0.23369754
+f 8 5 2
+f 9 5 4
+f 10 9 4
+f 10 3 9
+f 11 8 1
+f 11 5 8
+f 12 7 1
+f 12 2 7
+f 12 1 8
+f 13 7 2
+f 13 2 5
+f 13 5 9
+f 15 10 6
+f 15 3 10
+f 16 6 10
+f 16 14 6
+f 16 11 14
+f 18 12 8
+f 18 8 2
+f 18 2 12
+f 19 13 3
+f 19 7 13
+f 20 13 9
+f 20 9 3
+f 20 3 13
+f 21 14 1
+f 21 1 7
+f 21 7 14
+f 22 14 11
+f 22 1 14
+f 23 15 6
+f 23 3 15
+f 24 17 10
+f 24 10 4
+f 24 4 17
+f 25 17 4
+f 25 4 5
+f 25 5 11
+f 26 16 10
+f 26 10 17
+f 26 17 11
+f 26 11 16
+f 27 22 11
+f 27 11 1
+f 27 1 22
+f 28 23 6
+f 28 6 14
+f 28 14 7
+f 29 19 3
+f 29 3 23
+f 29 7 19
+f 29 28 7
+f 29 23 28
+f 30 25 11
+f 30 11 17
+f 30 17 25
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_18.obj b/apple/apple_18/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7795131cf3921a9fec849ff30f7ea612f374ef18
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_18.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.08333333 -0.00528115 -0.33830940
+v 0.08516151 0.02547745 -0.44022036
+v 0.08326222 0.33745941 -0.33440467
+v 0.00839500 0.33659072 -0.33379336
+v 0.00471096 -0.00620332 -0.40427880
+v 0.05425560 0.24825920 -0.42954836
+v 0.08750215 0.07147114 -0.44569147
+v 0.06459592 -0.00875001 -0.42800533
+v 0.00757576 -0.00528115 -0.33830940
+v 0.02483544 0.31187580 -0.36962362
+v 0.08616452 0.18971241 -0.44822940
+v 0.00654373 0.12173904 -0.42660758
+v 0.00918197 0.32956267 -0.34425658
+v 0.08272107 0.30544788 -0.37730588
+v 0.05760353 0.18849647 -0.44128132
+v 0.01065951 0.23292046 -0.42584064
+v 0.06703107 0.31077837 -0.37149843
+v 0.00871977 0.30412251 -0.37609066
+v 0.08267879 0.33074493 -0.34396564
+v 0.02696278 0.24478362 -0.42517502
+f 1 3 4
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 9 1 4
+f 9 4 5
+f 9 8 1
+f 9 5 8
+f 11 3 7
+f 12 7 2
+f 12 5 4
+f 12 8 5
+f 12 2 8
+f 13 4 3
+f 14 6 10
+f 14 11 6
+f 14 3 11
+f 15 11 7
+f 15 7 12
+f 16 15 12
+f 16 6 11
+f 16 11 15
+f 17 14 10
+f 18 10 6
+f 18 13 10
+f 18 4 13
+f 18 16 12
+f 18 12 4
+f 19 17 10
+f 19 3 14
+f 19 14 17
+f 19 13 3
+f 19 10 13
+f 20 18 6
+f 20 6 16
+f 20 16 18
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_19.obj b/apple/apple_18/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1748b688ab8b4cec4b6e2dbac71624f91a329d8d
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_19.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.23484849 -0.23255389 0.14653910
+v -0.23484849 -0.23255389 -0.26255182
+v -0.22654392 0.31404632 -0.25470465
+v -0.22889020 0.39160959 0.06896699
+v -0.38522324 0.21173108 0.16511631
+v -0.22752847 0.37561657 0.12607216
+v -0.37732893 -0.25048929 0.15720610
+v -0.37203652 0.19077390 -0.27420369
+v -0.22659457 0.37527649 -0.12159859
+v -0.23484849 0.19168855 0.14653910
+v -0.32591259 0.32523284 0.08131430
+v -0.37404695 -0.24702474 -0.27100966
+v -0.32710974 0.29667320 -0.16383944
+v -0.29743212 0.33950204 0.10798256
+v -0.31382234 0.33947042 -0.04770598
+v -0.23884802 0.33914624 -0.19369936
+v -0.32677041 0.25088337 -0.25232174
+v -0.26883645 0.36930944 0.06711637
+v -0.32595070 0.31076472 0.12213071
+v -0.22824032 0.39044498 -0.06359079
+v -0.32707719 0.32611483 -0.07555701
+v -0.29816859 0.30965887 -0.17763951
+v -0.22705329 0.34492820 -0.19618155
+v -0.29827801 0.27930303 -0.23744642
+v -0.23945732 0.36987494 0.12373202
+v -0.31271722 0.33941317 0.06647388
+v -0.26959315 0.37087412 -0.03227676
+v -0.25348114 0.36973750 -0.08939581
+v -0.23849706 0.30865217 -0.25168244
+v -0.23985223 0.38605580 0.06777933
+v -0.23789827 0.36903816 -0.11945899
+v -0.24001835 0.38483870 -0.06109381
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 7 1 5
+f 8 3 2
+f 9 6 3
+f 10 6 5
+f 10 5 1
+f 10 1 6
+f 12 7 5
+f 12 5 8
+f 12 8 2
+f 12 2 7
+f 17 3 8
+f 17 8 13
+f 19 14 11
+f 19 11 5
+f 19 5 6
+f 20 4 6
+f 20 6 9
+f 21 13 8
+f 21 8 5
+f 21 5 11
+f 22 9 16
+f 23 16 9
+f 23 9 3
+f 24 22 16
+f 24 17 13
+f 24 13 22
+f 25 18 14
+f 25 19 6
+f 25 14 19
+f 26 11 14
+f 26 14 18
+f 26 21 11
+f 26 15 21
+f 27 26 18
+f 27 15 26
+f 27 21 15
+f 28 13 21
+f 29 23 3
+f 29 16 23
+f 29 24 16
+f 29 3 17
+f 29 17 24
+f 30 18 25
+f 30 27 18
+f 30 4 27
+f 30 25 6
+f 30 6 4
+f 31 28 9
+f 31 13 28
+f 31 22 13
+f 31 9 22
+f 32 20 9
+f 32 9 28
+f 32 27 4
+f 32 4 20
+f 32 28 21
+f 32 21 27
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_2.obj b/apple/apple_18/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf4e5deeb416dc49f1ac7afd9f765e2577289ee7
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_2.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v -0.41666668 0.07047643 -0.06558212
+v -0.34090910 0.17653703 -0.15649121
+v -0.34090910 0.17653703 -0.06558212
+v -0.33308667 0.31867828 0.08352382
+v -0.44250408 0.18177713 -0.12251821
+v -0.33230596 0.30307574 0.12601489
+v -0.46684756 0.08273437 -0.16981466
+v -0.33679920 0.29265977 -0.15442984
+v -0.38111660 0.22062059 0.16197227
+v -0.47565837 0.06632450 -0.15198540
+v -0.38658211 0.28249471 -0.01806229
+v -0.42849352 0.19371292 -0.14992279
+v -0.33291945 0.30232418 -0.13735306
+v -0.41489658 0.24164455 0.05046699
+v -0.47959908 0.08243674 0.05376362
+v -0.45871386 0.13998946 -0.13580390
+v -0.38397760 0.25208133 -0.14930516
+v -0.41602105 0.23919816 -0.07622586
+v -0.33197087 0.31700929 -0.09253999
+v -0.36992470 0.26697446 0.12233506
+v -0.38549172 0.28246627 0.00866385
+v -0.49031768 0.07010573 -0.06561782
+v -0.43873128 0.13916292 0.12804613
+v -0.47263044 0.09587769 -0.13602012
+v -0.44260036 0.16680128 -0.15004943
+v -0.37106381 0.26670340 -0.14908719
+v -0.42904581 0.21010632 -0.10715173
+v -0.42875199 0.22604859 0.00841038
+v -0.37127249 0.29748474 -0.01804043
+v -0.39965954 0.22636442 0.12414900
+v -0.34241773 0.31147020 0.08160366
+v -0.45839092 0.16727045 -0.07706640
+v -0.45857945 0.15508733 0.05272820
+v -0.34250209 0.29611078 -0.13453925
+v -0.38375817 0.26787639 -0.10596965
+v -0.42883406 0.22499797 -0.04864818
+v -0.37135365 0.29748004 -0.00580905
+v -0.39839819 0.23860715 0.10823877
+v -0.41586353 0.19968883 0.12283157
+v -0.34057193 0.29751489 0.12220765
+v -0.38366385 0.26911716 0.08092435
+v -0.47469404 0.12466667 -0.07749914
+v -0.44345822 0.19768087 -0.07710890
+v -0.44310712 0.14486991 0.11505270
+v -0.44311794 0.19860291 0.02352876
+v -0.47352201 0.12471389 0.02239273
+v -0.34651036 0.28592281 -0.15170116
+v -0.35471939 0.29659930 -0.10676657
+v -0.42042604 0.18658233 0.12527831
+v -0.42732670 0.19851523 0.09509331
+v -0.47064008 0.09931507 0.07161757
+v -0.47611825 0.09672214 0.05325707
+v -0.45806974 0.16689808 0.02267672
+v -0.34144010 0.30998901 -0.09041338
+v -0.42874109 0.18396314 0.11067622
+v -0.42946962 0.21130869 0.06523230
+v -0.44963424 0.14182415 0.09725892
+v -0.44321727 0.13525703 0.12233743
+v -0.44332374 0.18327495 0.06472285
+v -0.44531250 0.15561210 0.09583261
+f 1 2 3
+f 6 3 2
+f 8 2 7
+f 9 1 3
+f 9 3 6
+f 10 7 2
+f 10 2 1
+f 13 6 2
+f 13 2 8
+f 17 8 7
+f 17 7 12
+f 19 4 6
+f 19 6 13
+f 20 9 6
+f 22 10 1
+f 22 1 15
+f 23 15 1
+f 23 1 9
+f 24 16 7
+f 24 7 10
+f 24 10 22
+f 25 12 7
+f 25 7 16
+f 25 16 5
+f 25 5 12
+f 26 8 17
+f 27 12 5
+f 27 18 17
+f 27 17 12
+f 28 21 11
+f 28 14 21
+f 29 4 19
+f 30 9 20
+f 32 5 16
+f 34 13 8
+f 35 18 11
+f 35 26 17
+f 35 17 18
+f 36 28 11
+f 36 11 18
+f 37 29 11
+f 37 11 21
+f 37 21 31
+f 37 31 4
+f 37 4 29
+f 38 30 20
+f 39 9 30
+f 40 20 6
+f 40 6 4
+f 40 4 31
+f 41 40 31
+f 41 20 40
+f 41 38 20
+f 41 14 38
+f 41 31 21
+f 41 21 14
+f 42 24 22
+f 42 32 16
+f 42 16 24
+f 43 27 5
+f 43 5 32
+f 43 28 36
+f 43 36 18
+f 43 18 27
+f 45 14 28
+f 45 43 32
+f 45 28 43
+f 46 22 15
+f 46 42 22
+f 47 34 8
+f 47 8 26
+f 47 26 34
+f 48 19 13
+f 48 13 34
+f 48 34 26
+f 48 26 35
+f 48 35 11
+f 48 11 29
+f 49 23 9
+f 49 9 39
+f 49 44 23
+f 50 39 30
+f 50 30 38
+f 52 46 15
+f 52 33 46
+f 52 51 33
+f 52 15 51
+f 53 46 33
+f 53 33 45
+f 53 45 32
+f 53 32 42
+f 53 42 46
+f 54 48 29
+f 54 29 19
+f 54 19 48
+f 55 49 39
+f 55 44 49
+f 55 39 50
+f 56 50 38
+f 56 38 14
+f 56 14 45
+f 57 51 44
+f 57 33 51
+f 58 51 15
+f 58 15 23
+f 58 23 44
+f 58 44 51
+f 59 55 50
+f 59 50 56
+f 59 56 45
+f 59 45 33
+f 60 44 55
+f 60 57 44
+f 60 33 57
+f 60 59 33
+f 60 55 59
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_20.obj b/apple/apple_18/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..505fbcb1f6d114fc4a251b9b0f8dc25c65c4a955
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_20.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.40058954 -0.26465045 -0.16935114
+v -0.37404695 -0.24702474 -0.27100966
+v -0.34090910 0.17653703 -0.15649121
+v -0.33679920 0.29265977 -0.15442984
+v -0.47896844 0.05199270 -0.15287497
+v -0.33289967 0.24291198 -0.25675657
+v -0.45825253 -0.12318834 -0.21042630
+v -0.43239925 -0.22381576 -0.15245368
+v -0.33367014 0.28927720 -0.16750746
+v -0.41311461 0.19385992 -0.19288802
+v -0.44408345 0.05262392 -0.25439718
+v -0.34651036 0.28592281 -0.15170116
+v -0.47690602 -0.10860867 -0.15313886
+v -0.42758066 -0.19167683 -0.22492704
+v -0.36339878 0.19657862 -0.27895443
+v -0.44300668 -0.12356361 -0.25341980
+v -0.47481724 -0.07796954 -0.18155896
+v -0.46021233 0.10965342 -0.16684403
+v -0.41609899 0.21127516 -0.15071716
+v -0.35540427 0.23633199 -0.23615320
+v -0.46074461 -0.16590375 -0.15275336
+v -0.39860192 -0.22236812 -0.25383458
+v -0.42806245 0.10995103 -0.25398179
+v -0.42783159 -0.16458970 -0.25344709
+v -0.47398051 0.02330964 -0.18182498
+v -0.47408121 -0.10812263 -0.16621773
+v -0.45821033 -0.09287798 -0.22556301
+v -0.45958287 0.08121079 -0.19569966
+v -0.44816636 0.15442573 -0.15188619
+v -0.35698891 0.26463212 -0.17880595
+v -0.38338599 0.19387849 -0.25211223
+v -0.34281898 0.23678272 -0.25297081
+v -0.44306608 -0.19135700 -0.18076308
+v -0.42947636 -0.22206287 -0.16679525
+v -0.45788289 -0.16464302 -0.16574942
+v -0.45804444 0.03781396 -0.22535050
+v -0.47537623 0.05110312 -0.16706109
+v -0.44354782 0.08071276 -0.23955874
+v -0.46372136 0.11094461 -0.15267953
+v -0.42811027 0.16751219 -0.19409535
+v -0.38468159 0.23702991 -0.17941826
+v -0.36908421 0.22102638 -0.23759517
+v -0.45826317 0.06572975 -0.21038521
+v -0.44448354 0.15258898 -0.16582239
+v -0.41261989 0.20890330 -0.16459071
+v -0.38465994 0.22186462 -0.20788875
+f 1 2 3
+f 6 3 2
+f 8 1 3
+f 9 4 3
+f 9 3 6
+f 12 8 3
+f 12 3 4
+f 12 4 9
+f 15 6 2
+f 16 15 2
+f 16 11 15
+f 17 13 5
+f 19 8 12
+f 20 9 6
+f 21 8 19
+f 21 19 5
+f 21 5 13
+f 22 2 1
+f 23 15 11
+f 24 7 16
+f 24 22 14
+f 24 16 2
+f 24 2 22
+f 25 17 5
+f 26 17 7
+f 26 13 17
+f 26 21 13
+f 27 16 7
+f 27 7 17
+f 27 11 16
+f 28 18 23
+f 29 5 19
+f 30 12 9
+f 30 9 20
+f 31 15 23
+f 32 20 6
+f 32 6 15
+f 32 15 20
+f 33 8 21
+f 33 24 14
+f 33 7 24
+f 34 22 1
+f 34 1 8
+f 34 8 33
+f 34 33 14
+f 34 14 22
+f 35 26 7
+f 35 21 26
+f 35 33 21
+f 35 7 33
+f 36 11 27
+f 36 27 17
+f 36 17 25
+f 37 18 28
+f 37 36 25
+f 37 25 5
+f 38 28 23
+f 38 23 11
+f 39 29 18
+f 39 5 29
+f 39 37 5
+f 39 18 37
+f 40 29 19
+f 40 19 10
+f 40 31 23
+f 40 10 31
+f 41 19 12
+f 41 12 30
+f 41 30 20
+f 42 20 15
+f 42 15 31
+f 43 37 28
+f 43 36 37
+f 43 28 38
+f 43 38 11
+f 43 11 36
+f 44 40 23
+f 44 23 18
+f 44 18 29
+f 44 29 40
+f 45 41 10
+f 45 10 19
+f 45 19 41
+f 46 41 20
+f 46 20 42
+f 46 10 41
+f 46 42 31
+f 46 31 10
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_21.obj b/apple/apple_18/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef50c11f678170ac667e09d4379c083abccc6f3e
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_21.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.24511758 0.21771822 0.26880613
+v 0.26515153 0.22199158 0.16169061
+v 0.25945808 0.34939854 0.15650605
+v 0.00714616 0.42332771 0.15559005
+v 0.00757576 0.22199158 0.16169061
+v 0.13820914 0.32932680 0.25050557
+v 0.26309962 0.22019565 0.26182693
+v 0.24220552 0.36142333 0.15474954
+v 0.00741674 0.22279331 0.29300466
+v 0.21363908 0.25974168 0.26398259
+v 0.21052982 0.32628684 0.22369942
+v 0.13969501 0.40424481 0.16720048
+v 0.00690865 0.34603419 0.25341533
+v 0.24311935 0.22776195 0.26610382
+v 0.12643214 0.27693351 0.27957586
+v 0.21117244 0.35627460 0.19160836
+v 0.21124015 0.28673779 0.25148854
+v 0.25410633 0.29973221 0.22045824
+v 0.14182351 0.40901659 0.15761396
+v 0.00688783 0.41684255 0.16707326
+v 0.00695683 0.29342478 0.28116000
+v 0.09557074 0.37330108 0.22143007
+v 0.17177638 0.21974862 0.28309190
+v 0.11110778 0.31628733 0.26443465
+v 0.25350211 0.34121667 0.17724085
+v 0.15456168 0.35676629 0.22299256
+v 0.18317881 0.32921579 0.23490994
+v 0.15124065 0.30209506 0.26262310
+v 0.25840497 0.24309631 0.25127971
+v 0.22549338 0.30071969 0.23460961
+v 0.06690953 0.42158044 0.15591085
+v 0.19656181 0.37262247 0.18149303
+v 0.00760682 0.40265339 0.19417526
+v 0.17141402 0.23410414 0.28099964
+v 0.05186152 0.29201769 0.27948137
+v 0.07986514 0.34600828 0.24896518
+v 0.23899015 0.35643871 0.16703773
+v 0.13844505 0.38646725 0.19478029
+v 0.21419830 0.37764707 0.15576975
+v 0.06661428 0.41577978 0.16866675
+v 0.09594146 0.35778285 0.23670190
+v 0.21155388 0.37235156 0.16807380
+v 0.12348384 0.40057067 0.17994483
+v 0.06546012 0.40093749 0.19357726
+f 5 2 1
+f 7 1 2
+f 7 2 3
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 9 5 1
+f 14 10 1
+f 14 1 7
+f 14 7 10
+f 15 1 10
+f 17 10 7
+f 18 7 3
+f 20 4 5
+f 21 5 9
+f 21 9 15
+f 21 20 5
+f 21 13 20
+f 23 15 9
+f 23 9 1
+f 24 13 21
+f 25 18 3
+f 25 16 11
+f 25 11 18
+f 26 11 16
+f 27 17 11
+f 27 6 17
+f 27 26 6
+f 27 11 26
+f 28 15 10
+f 28 10 17
+f 28 24 15
+f 28 17 6
+f 28 6 24
+f 29 18 17
+f 29 17 7
+f 29 7 18
+f 30 18 11
+f 30 11 17
+f 30 17 18
+f 31 8 4
+f 32 16 25
+f 32 19 12
+f 32 26 16
+f 33 20 13
+f 33 13 22
+f 33 4 20
+f 34 23 1
+f 34 1 15
+f 34 15 23
+f 35 24 21
+f 35 21 15
+f 35 15 24
+f 36 13 24
+f 36 24 6
+f 37 25 3
+f 37 3 8
+f 38 22 26
+f 38 32 12
+f 38 26 32
+f 39 31 19
+f 39 8 31
+f 39 19 32
+f 40 19 31
+f 40 31 4
+f 40 4 33
+f 41 22 13
+f 41 13 36
+f 41 26 22
+f 41 36 6
+f 41 6 26
+f 42 32 25
+f 42 25 37
+f 42 39 32
+f 42 37 8
+f 42 8 39
+f 43 12 19
+f 43 19 40
+f 43 38 12
+f 44 40 33
+f 44 33 22
+f 44 43 40
+f 44 22 38
+f 44 38 43
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_22.obj b/apple/apple_18/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3bab472989315bc6a720a0337715ee216cc53eb
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_22.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.00593618 -0.44361526 0.05237811
+v 0.00501094 -0.38538669 -0.32993967
+v 0.00717681 -0.24585093 0.30726626
+v -0.21575466 -0.24180405 0.28622581
+v -0.22558256 -0.41023977 -0.15237761
+v 0.00757576 -0.24770540 -0.33830940
+v -0.05179857 -0.35301835 0.23746972
+v -0.09716247 -0.44168931 -0.18307253
+v -0.15727219 -0.24270840 0.29952338
+v -0.25810997 -0.28101623 -0.37263836
+v 0.00597105 -0.44290763 -0.16873993
+v 0.00762287 -0.27049226 0.29732289
+v -0.22705623 -0.39446560 0.09534370
+v -0.18184390 -0.29605958 0.26380509
+v -0.13633198 -0.39472048 -0.29778567
+v -0.00869981 -0.42653905 -0.24093569
+v -0.15523991 -0.44140959 -0.10933442
+v 0.00643407 -0.42735697 0.10909802
+v -0.11268208 -0.26763831 0.29492108
+v -0.22707647 -0.41020966 0.03737681
+v -0.23338176 -0.24550983 0.27850201
+v -0.15635188 -0.25442384 0.29536706
+v -0.16815142 -0.36612067 0.19578964
+v -0.19620711 -0.40968832 -0.20987076
+v -0.12518535 -0.38009413 -0.32753314
+v -0.00928664 -0.44178815 -0.18369936
+v 0.00518449 -0.42970305 -0.22837947
+v -0.08053303 -0.41035035 -0.28414392
+v 0.00633304 -0.38396532 0.19614353
+v -0.11031046 -0.42472005 0.10850448
+v -0.08141508 -0.29944024 0.27993157
+v -0.19813938 -0.42602670 -0.12424228
+v -0.21445040 -0.25111857 0.28193355
+v -0.15566252 -0.28153884 0.27897516
+v -0.13984094 -0.35222875 0.22242639
+v -0.22645887 -0.35207213 0.18021924
+v -0.12446614 -0.42671487 -0.22647252
+v -0.22382827 -0.37939266 -0.25222264
+v -0.22550239 -0.33800583 -0.32861581
+v 0.00363392 -0.39446234 -0.31336105
+v -0.08008682 -0.39679168 -0.31300059
+v -0.09680354 -0.42570577 -0.24093314
+v 0.00727607 -0.29768460 0.28388943
+v -0.10896160 -0.38067349 0.19504060
+v -0.05088878 -0.44191345 0.06521620
+v -0.15304105 -0.42515750 0.08086347
+v -0.12555910 -0.41172228 0.13686718
+v -0.19867703 -0.42619649 0.00742748
+v -0.18224468 -0.42496819 -0.16768668
+v -0.22944035 -0.26590861 0.26628559
+v -0.12523991 -0.30888406 0.26640318
+v -0.18250522 -0.35159542 0.20749058
+v -0.15265426 -0.40984784 -0.25166547
+v -0.22515676 -0.39558828 -0.21035178
+v -0.16679058 -0.36677401 -0.32745447
+v -0.22307543 -0.34964406 -0.31200831
+v -0.02349616 -0.41105102 -0.28374146
+v -0.12381987 -0.41121747 -0.26973979
+v -0.02352463 -0.33830609 0.25272418
+v -0.00921291 -0.44203764 0.06569591
+v -0.15626174 -0.44123853 -0.00719701
+v -0.21175230 -0.40922775 0.06492838
+v -0.09582242 -0.44189788 0.05158674
+v -0.12453205 -0.39540920 0.16591124
+f 9 6 4
+f 9 3 6
+f 10 4 6
+f 10 6 2
+f 11 2 6
+f 12 6 3
+f 17 11 1
+f 17 8 11
+f 18 11 6
+f 18 6 12
+f 18 1 11
+f 19 12 3
+f 19 3 9
+f 20 13 10
+f 20 10 5
+f 21 4 10
+f 21 10 13
+f 22 9 4
+f 22 19 9
+f 25 10 2
+f 26 11 8
+f 26 8 16
+f 27 2 11
+f 27 26 16
+f 27 11 26
+f 32 20 5
+f 33 4 21
+f 33 22 4
+f 33 14 22
+f 34 22 14
+f 34 19 22
+f 34 31 19
+f 36 21 13
+f 40 2 27
+f 41 25 2
+f 41 2 40
+f 41 15 25
+f 42 16 8
+f 42 8 37
+f 43 29 18
+f 43 18 12
+f 43 12 19
+f 43 19 31
+f 44 29 7
+f 44 35 23
+f 44 7 35
+f 45 18 30
+f 47 30 18
+f 47 18 29
+f 47 29 44
+f 47 46 30
+f 47 13 46
+f 47 36 13
+f 47 23 36
+f 48 32 17
+f 48 20 32
+f 49 17 32
+f 49 24 37
+f 49 37 8
+f 49 8 17
+f 49 32 5
+f 49 5 24
+f 50 33 21
+f 50 14 33
+f 50 21 36
+f 51 34 14
+f 51 31 34
+f 51 14 35
+f 51 35 7
+f 51 7 31
+f 52 35 14
+f 52 23 35
+f 52 36 23
+f 52 50 36
+f 52 14 50
+f 53 37 24
+f 53 38 15
+f 53 24 38
+f 54 38 24
+f 54 24 5
+f 54 5 10
+f 54 10 38
+f 55 25 15
+f 55 15 38
+f 55 39 10
+f 55 10 25
+f 56 38 10
+f 56 10 39
+f 56 55 38
+f 56 39 55
+f 57 40 27
+f 57 27 16
+f 57 41 40
+f 57 28 41
+f 57 42 28
+f 57 16 42
+f 58 41 28
+f 58 15 41
+f 58 28 42
+f 58 42 37
+f 58 53 15
+f 58 37 53
+f 59 7 29
+f 59 29 43
+f 59 43 31
+f 59 31 7
+f 60 45 1
+f 60 1 18
+f 60 18 45
+f 61 17 1
+f 61 48 17
+f 61 46 48
+f 62 46 13
+f 62 13 20
+f 62 48 46
+f 62 20 48
+f 63 45 30
+f 63 30 46
+f 63 46 61
+f 63 61 1
+f 63 1 45
+f 64 47 44
+f 64 44 23
+f 64 23 47
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_23.obj b/apple/apple_18/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bbc14cc85b10acbaae430a72fc43123e20d8ec3
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_23.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 0.20684007 -0.06558212
+v 0.00781179 0.20679976 -0.42809806
+v 0.00764609 0.44830248 -0.06542270
+v -0.09635266 0.43532641 -0.06319712
+v -0.23484849 0.20684007 -0.06558212
+v -0.00533281 0.34024971 -0.32594509
+v 0.01102152 0.28322203 -0.39966326
+v -0.22906977 0.19865483 -0.40386055
+v -0.16750944 0.41635481 -0.06280175
+v -0.00519659 0.41575218 -0.17976770
+v 0.01026462 0.26047443 -0.41530180
+v 0.00952235 0.43226676 -0.13589792
+v -0.17321379 0.19990169 -0.41772005
+v -0.16647133 0.26624415 -0.36904941
+v -0.22824032 0.39044498 -0.06359079
+v -0.12360836 0.39922625 -0.16454613
+v 0.00966177 0.34151650 -0.32681018
+v -0.09553209 0.43045436 -0.09075182
+v -0.14050039 0.23181810 -0.41166735
+v -0.06374174 0.31155476 -0.35223810
+v -0.22352170 0.30894928 -0.26700042
+v -0.04885255 0.36984171 -0.26684234
+v -0.21161550 0.38439402 -0.11930226
+v 0.00973622 0.41743999 -0.18041361
+v -0.00545105 0.43071140 -0.13539998
+v -0.07962341 0.41508768 -0.14935892
+v -0.16651922 0.41438748 -0.07743956
+v -0.16761180 0.23590321 -0.39959394
+v -0.12391498 0.26888422 -0.38114692
+v -0.22421069 0.24871645 -0.35536663
+v -0.03557731 0.35495057 -0.29738835
+v -0.13798020 0.35424340 -0.25278005
+v -0.22355941 0.35502004 -0.17837755
+v -0.03494556 0.39975045 -0.20915383
+v -0.04969699 0.41493263 -0.16501913
+v -0.19655945 0.39858457 -0.09061174
+v -0.10775803 0.30901027 -0.34124424
+v -0.06405538 0.26906309 -0.39593600
+v -0.21161699 0.27972534 -0.32462780
+v -0.22556635 0.20884395 -0.39767279
+v -0.10845834 0.38463554 -0.20883947
+v -0.22518371 0.38544097 -0.09153934
+v -0.18010812 0.33898132 -0.25096911
+v -0.18046318 0.36821657 -0.19258878
+v -0.12422520 0.27947440 -0.36980292
+v -0.06359569 0.34010163 -0.31066204
+v -0.19619842 0.26397811 -0.35447863
+v -0.15426315 0.29496235 -0.33971260
+v -0.04886961 0.38408859 -0.23788305
+v -0.21096333 0.36866775 -0.16249227
+v -0.13818971 0.36931670 -0.22272313
+v -0.07873089 0.35466280 -0.28140129
+v -0.15315300 0.32420538 -0.29572715
+v -0.12278362 0.32399309 -0.31074146
+v -0.16556958 0.30927477 -0.31089533
+f 1 3 4
+f 8 1 5
+f 9 5 1
+f 9 1 4
+f 11 7 1
+f 11 1 2
+f 12 3 1
+f 12 1 7
+f 13 2 1
+f 13 1 8
+f 13 11 2
+f 15 8 5
+f 15 5 9
+f 18 4 3
+f 19 7 11
+f 19 11 13
+f 19 13 8
+f 20 17 7
+f 20 6 17
+f 21 8 15
+f 24 12 7
+f 24 7 17
+f 25 18 3
+f 25 3 12
+f 25 24 10
+f 25 12 24
+f 26 16 18
+f 27 18 16
+f 27 9 4
+f 27 4 18
+f 27 16 23
+f 27 15 9
+f 28 19 8
+f 29 28 14
+f 29 19 28
+f 30 8 21
+f 31 6 20
+f 31 17 6
+f 31 24 17
+f 31 22 24
+f 33 21 15
+f 34 24 22
+f 34 10 24
+f 35 25 10
+f 35 10 34
+f 35 26 18
+f 35 18 25
+f 36 27 23
+f 36 15 27
+f 38 29 20
+f 38 20 7
+f 38 7 19
+f 38 19 29
+f 39 30 21
+f 40 28 8
+f 40 8 30
+f 40 30 14
+f 40 14 28
+f 41 16 26
+f 41 35 34
+f 41 26 35
+f 42 33 15
+f 42 23 33
+f 42 36 23
+f 42 15 36
+f 43 21 33
+f 43 39 21
+f 44 43 33
+f 45 29 14
+f 45 14 37
+f 45 37 20
+f 45 20 29
+f 46 31 20
+f 46 20 37
+f 47 14 30
+f 47 30 39
+f 48 37 14
+f 48 47 39
+f 48 14 47
+f 49 41 34
+f 49 34 22
+f 49 22 41
+f 50 44 33
+f 50 33 23
+f 50 23 16
+f 50 16 44
+f 51 41 32
+f 51 32 43
+f 51 43 44
+f 51 44 16
+f 51 16 41
+f 52 22 31
+f 52 31 46
+f 52 41 22
+f 52 32 41
+f 52 46 37
+f 53 37 48
+f 53 32 52
+f 53 43 32
+f 54 53 52
+f 54 52 37
+f 54 37 53
+f 55 53 48
+f 55 48 39
+f 55 39 43
+f 55 43 53
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_24.obj b/apple/apple_18/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e2c9216e31c840d89f4d9f4ee6197684a8b6415
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_24.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.25746298 0.18500992 -0.41871997
+v 0.28747777 0.21765891 -0.36697762
+v 0.08333333 0.19168855 -0.33830940
+v 0.08326222 0.33745941 -0.33440467
+v 0.13816769 0.26637324 -0.41783551
+v 0.25907632 0.27366802 -0.33071926
+v 0.22581441 0.25216561 -0.38238029
+v 0.05412949 0.19092133 -0.43998595
+v 0.12622838 0.33191870 -0.33017405
+v 0.25382633 0.19700246 -0.41375419
+v 0.25495933 0.26764617 -0.34120877
+v 0.21522974 0.30132268 -0.32998196
+v 0.20159643 0.18489530 -0.44734088
+v 0.00871977 0.30412251 -0.37609066
+v 0.10980482 0.29509958 -0.38703051
+v 0.16491416 0.25494984 -0.41612806
+v 0.24241700 0.28660329 -0.32883545
+v 0.13692545 0.27992653 -0.40018714
+v 0.08489482 0.21684896 -0.44063318
+v 0.24078137 0.18368080 -0.43178217
+v 0.07188403 0.18910444 -0.44475536
+v 0.00230921 0.26594972 -0.41102184
+v 0.08267879 0.33074493 -0.34396564
+v 0.00968887 0.29668637 -0.38474199
+v 0.23760592 0.19483204 -0.42701384
+v 0.21264253 0.29473393 -0.34063413
+v 0.20013750 0.19644137 -0.44115418
+v 0.23826876 0.28053997 -0.33935866
+v 0.12574837 0.25617949 -0.42678213
+v 0.04079371 0.19829533 -0.43535191
+v 0.00964322 0.24862829 -0.41984892
+v 0.16720037 0.27985506 -0.38497997
+v 0.16931319 0.20999713 -0.44077355
+v 0.01140298 0.27267441 -0.40941006
+v 0.07249199 0.20383160 -0.44233051
+v 0.06985455 0.25465851 -0.42686364
+f 1 2 3
+f 6 3 2
+f 9 4 3
+f 10 7 2
+f 10 2 1
+f 11 6 2
+f 11 2 7
+f 14 3 4
+f 15 4 9
+f 17 6 11
+f 17 3 6
+f 17 12 9
+f 17 9 3
+f 18 9 12
+f 18 15 9
+f 18 5 15
+f 20 1 3
+f 20 10 1
+f 21 3 8
+f 21 19 13
+f 21 20 3
+f 21 13 20
+f 22 3 14
+f 23 15 14
+f 23 14 4
+f 23 4 15
+f 24 15 5
+f 24 14 15
+f 24 22 14
+f 25 16 7
+f 25 7 10
+f 25 10 20
+f 25 20 13
+f 26 7 16
+f 26 12 17
+f 27 13 5
+f 27 5 16
+f 27 25 13
+f 27 16 25
+f 28 17 11
+f 28 11 7
+f 28 26 17
+f 28 7 26
+f 29 5 13
+f 30 8 3
+f 31 21 8
+f 31 8 30
+f 31 30 3
+f 31 3 22
+f 32 26 16
+f 32 16 5
+f 32 5 18
+f 32 18 12
+f 32 12 26
+f 33 29 13
+f 33 13 19
+f 33 19 29
+f 34 24 5
+f 34 5 29
+f 34 22 24
+f 35 31 19
+f 35 19 21
+f 35 21 31
+f 36 31 22
+f 36 22 34
+f 36 19 31
+f 36 34 29
+f 36 29 19
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_25.obj b/apple/apple_18/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd5b8ff63c47f96c900d460a5ecf8ed752d13f38
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_25.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.42301152 -0.19041011 0.14953792
+v -0.44737555 -0.20365100 0.06500119
+v -0.40999489 0.18869810 0.14296121
+v -0.42091241 0.19359158 0.11851293
+v -0.47449558 0.02302585 0.11138995
+v -0.47341102 -0.09257424 0.11152024
+v -0.46306682 0.14144771 0.05342478
+v -0.45818444 0.05147424 0.13815896
+v -0.45966671 -0.13454780 0.12320025
+v -0.45590245 0.15450640 0.06315523
+v -0.48101068 -0.12426921 0.05416393
+v -0.44467773 0.10954287 0.13720248
+v -0.45927295 -0.10794532 0.13868846
+v -0.44661166 -0.17873990 0.11150314
+v -0.47611825 0.09672214 0.05325707
+v -0.45580262 -0.19186816 0.05683474
+v -0.47500792 -0.12318098 0.08161329
+v -0.42878990 0.15431968 0.13719790
+v -0.45674307 0.12383231 0.09479488
+v -0.44556976 -0.15101196 0.13993171
+v -0.46006996 0.14032524 0.06540645
+v -0.47340780 0.09595707 0.06514863
+v -0.45868775 0.08145163 0.12204318
+v -0.44257464 0.13907572 0.12092529
+v -0.44305458 -0.17660508 0.12246434
+v -0.47262629 0.08116249 0.07972472
+v -0.42585018 0.18902287 0.11312390
+v -0.43319920 -0.17952008 0.14009447
+v -0.42996094 0.16891332 0.12226629
+f 1 2 3
+f 3 2 4
+f 8 1 3
+f 10 4 2
+f 10 2 7
+f 11 6 5
+f 12 8 3
+f 13 8 5
+f 13 5 6
+f 13 6 9
+f 13 1 8
+f 14 2 1
+f 15 11 5
+f 15 7 11
+f 16 11 7
+f 16 7 2
+f 16 2 14
+f 17 9 6
+f 17 6 11
+f 17 11 16
+f 17 16 14
+f 17 14 9
+f 18 12 3
+f 18 3 4
+f 20 13 9
+f 20 1 13
+f 21 19 10
+f 21 10 7
+f 22 7 15
+f 22 21 7
+f 22 19 21
+f 23 5 8
+f 23 8 12
+f 24 12 18
+f 24 10 19
+f 24 23 12
+f 24 19 23
+f 25 14 1
+f 25 20 9
+f 25 9 14
+f 26 22 15
+f 26 15 5
+f 26 5 23
+f 26 23 19
+f 26 19 22
+f 27 18 4
+f 27 4 10
+f 27 10 24
+f 28 25 1
+f 28 1 20
+f 28 20 25
+f 29 27 24
+f 29 24 18
+f 29 18 27
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_26.obj b/apple/apple_18/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..994a842f8c7c7ca8f3034508e48016b3718501fd
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_26.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.26515153 0.22199158 0.16169061
+v 0.26515153 0.22199158 -0.23224879
+v 0.29118786 0.36858570 -0.10437937
+v 0.00757576 0.32805219 0.16169061
+v 0.00757576 0.22199158 -0.23224879
+v 0.27070644 0.33452307 0.16588975
+v 0.00757576 0.22199158 0.16169061
+v 0.00077095 0.38152165 -0.25790493
+v 0.27557036 0.32675354 -0.23966967
+v 0.15760142 0.37027844 -0.25613400
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
+f 9 3 2
+f 10 8 3
+f 10 3 9
+f 10 9 2
+f 10 2 5
+f 10 5 8
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_27.obj b/apple/apple_18/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80a7ea1d5d26907c8c4bd5edad9d74e32897b118
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_27.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.40999047 -0.22753135 0.12747933
+v -0.42319208 -0.23646726 -0.15829943
+v -0.46398264 -0.14431878 -0.17087234
+v -0.46681237 -0.12450388 0.11364159
+v -0.44381163 -0.22266865 0.02282971
+v -0.42301152 -0.19041011 0.14953792
+v -0.45924405 -0.19322171 -0.10808633
+v -0.47115357 -0.13066945 -0.16181621
+v -0.42941626 -0.21985096 0.09488751
+v -0.41131540 -0.21337659 0.14340647
+v -0.44332858 -0.20613214 -0.15128368
+v -0.44449498 -0.22317056 -0.10590081
+v -0.47370428 -0.16498184 0.00767257
+v -0.46088262 -0.13210158 0.12270599
+v -0.45883072 -0.18018485 -0.13742159
+v -0.42726993 -0.20712291 0.12207670
+v -0.43239925 -0.22381576 -0.15245368
+v -0.48448094 -0.12509420 -0.09495972
+v -0.45862820 -0.19184423 0.03767143
+v -0.47390905 -0.16580711 -0.07783688
+v -0.45838059 -0.17057993 -0.15564527
+v -0.41720365 -0.22155931 0.12283225
+v -0.43319920 -0.17952008 0.14009447
+v -0.41852859 -0.20740455 0.13875938
+v -0.47846091 -0.12377794 0.06725355
+v -0.45725351 -0.16395397 0.09544581
+v -0.47687104 -0.15107871 -0.09401914
+v -0.46362174 -0.16682964 -0.13843946
+v -0.47332027 -0.14956223 0.05296003
+v -0.45869240 -0.14937702 0.11100262
+v -0.47594882 -0.13539637 0.06647607
+v -0.47069818 -0.14698511 0.06974981
+f 5 2 1
+f 8 6 3
+f 9 5 1
+f 10 1 2
+f 10 2 3
+f 10 3 6
+f 11 3 2
+f 12 2 5
+f 12 7 11
+f 14 8 4
+f 14 6 8
+f 15 11 7
+f 17 12 11
+f 17 11 2
+f 17 2 12
+f 18 4 8
+f 19 13 5
+f 19 5 9
+f 20 7 12
+f 20 12 5
+f 20 5 13
+f 20 13 18
+f 21 8 3
+f 21 3 11
+f 21 11 15
+f 22 16 9
+f 22 9 1
+f 23 16 6
+f 23 6 14
+f 24 10 6
+f 24 6 16
+f 24 16 22
+f 24 22 1
+f 24 1 10
+f 25 18 13
+f 25 4 18
+f 26 19 9
+f 26 9 16
+f 27 7 20
+f 27 20 18
+f 27 18 8
+f 28 21 15
+f 28 8 21
+f 28 27 8
+f 28 15 7
+f 28 7 27
+f 29 13 19
+f 30 14 4
+f 30 23 14
+f 30 26 16
+f 30 16 23
+f 31 25 13
+f 31 13 29
+f 31 4 25
+f 31 30 4
+f 32 29 19
+f 32 19 26
+f 32 31 29
+f 32 26 30
+f 32 30 31
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_28.obj b/apple/apple_18/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6933ade4a2976997e3409242fd9eaa7090abcb0b
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_28.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22982304 -0.40153382 0.06707909
+v -0.22915712 -0.37382897 -0.25721734
+v -0.23833947 -0.23914542 0.28035235
+v -0.30338686 -0.22417279 0.25669050
+v -0.42894124 -0.25031692 -0.07889645
+v -0.22776693 -0.33954707 0.19720656
+v -0.31361649 -0.36680815 -0.09379642
+v -0.23484849 -0.23255389 -0.26255182
+v -0.27029548 -0.27954994 0.23466155
+v -0.22871935 -0.41626856 -0.09450718
+v -0.36972405 -0.29328005 -0.19521797
+v -0.35601874 -0.32273046 0.05275296
+v -0.23025967 -0.28289321 0.25365154
+v -0.41854574 -0.22490653 -0.19745154
+v -0.22900628 -0.41601201 -0.00693885
+v -0.22880304 -0.38718202 -0.22766189
+v -0.38570175 -0.29354241 -0.13710675
+v -0.42979700 -0.25046532 -0.03561549
+v -0.29621091 -0.33629700 0.13670373
+v -0.27066594 -0.30827303 0.20669896
+v -0.28298903 -0.25008380 0.25116094
+v -0.40331660 -0.22502648 -0.24095815
+v -0.22900732 -0.38782064 0.11076497
+v -0.27002627 -0.39629407 -0.02055182
+v -0.26889516 -0.38134229 -0.18059879
+v -0.35432243 -0.32291207 -0.15202921
+v -0.42890832 -0.23697805 -0.13656549
+v -0.31390254 -0.36683115 -0.00769683
+v -0.42022099 -0.22399306 0.11210095
+v -0.29957092 -0.36705560 0.05067562
+v -0.24051114 -0.28025535 0.25074280
+v -0.28120625 -0.32221887 0.17855859
+v -0.34959420 -0.22774766 0.21569456
+v -0.39322064 -0.22787704 -0.25854926
+v -0.39829237 -0.24951973 -0.21057557
+v -0.26962247 -0.39523250 -0.09365167
+v -0.24181297 -0.41058903 -0.00772664
+v -0.22886914 -0.40182766 -0.18407455
+v -0.31200396 -0.32355843 -0.25131923
+v -0.32691824 -0.35281214 -0.12412735
+v -0.41421500 -0.26411248 -0.10828928
+v -0.43478866 -0.22569842 -0.13895865
+v -0.41437042 -0.26525057 0.02266204
+v -0.36879052 -0.26318915 0.15287692
+v -0.34107110 -0.32112817 0.09466675
+v -0.25483164 -0.37981788 0.09509317
+v -0.32723178 -0.35173422 0.02240541
+v -0.28418017 -0.38202957 0.02236369
+v -0.23902654 -0.33584921 0.19360406
+v -0.24149423 -0.38262028 0.10826919
+v -0.29964047 -0.23497493 0.25095057
+v -0.39056263 -0.22481429 0.16875245
+v -0.39837857 -0.23555745 -0.23888620
+v -0.41251106 -0.23658096 -0.19540812
+v -0.24119024 -0.41055997 -0.09388871
+v -0.28476013 -0.38107453 -0.13771395
+v -0.25505800 -0.39627567 0.03757557
+v -0.25451748 -0.38038532 -0.21050201
+v -0.26928709 -0.35243724 -0.25448736
+v -0.34180009 -0.32204711 -0.19553619
+v -0.43474648 -0.22591296 0.06700149
+v -0.38498481 -0.29401589 0.05276889
+v -0.33965903 -0.29177379 0.15129203
+v -0.32740418 -0.32086194 0.12095471
+f 8 6 2
+f 8 4 3
+f 13 8 3
+f 13 6 8
+f 15 10 6
+f 16 2 6
+f 16 6 10
+f 18 17 7
+f 18 5 17
+f 20 6 13
+f 21 3 4
+f 22 4 8
+f 23 15 6
+f 23 1 15
+f 26 17 11
+f 27 11 17
+f 28 18 7
+f 28 7 24
+f 29 22 14
+f 29 4 22
+f 31 20 13
+f 31 9 20
+f 31 21 9
+f 31 13 3
+f 31 3 21
+f 33 20 9
+f 33 9 21
+f 34 22 8
+f 34 8 2
+f 36 24 7
+f 37 10 15
+f 38 16 10
+f 40 7 17
+f 40 17 26
+f 41 27 17
+f 41 17 5
+f 41 5 27
+f 42 27 5
+f 42 5 18
+f 42 29 14
+f 43 18 28
+f 45 12 30
+f 46 19 30
+f 47 30 12
+f 47 12 28
+f 47 28 30
+f 48 30 28
+f 48 28 24
+f 48 24 37
+f 49 6 20
+f 49 20 32
+f 49 32 23
+f 49 23 6
+f 50 32 19
+f 50 23 32
+f 50 19 46
+f 50 46 1
+f 50 1 23
+f 51 33 21
+f 51 21 4
+f 51 4 33
+f 52 33 4
+f 52 4 29
+f 52 44 33
+f 52 29 44
+f 53 14 22
+f 53 22 34
+f 53 11 35
+f 53 39 11
+f 53 34 39
+f 54 53 35
+f 54 14 53
+f 54 42 14
+f 54 27 42
+f 54 35 11
+f 54 11 27
+f 55 24 36
+f 55 37 24
+f 55 10 37
+f 55 38 10
+f 56 36 7
+f 56 55 36
+f 56 25 38
+f 56 38 55
+f 56 7 40
+f 57 37 15
+f 57 15 1
+f 57 48 37
+f 57 30 48
+f 57 46 30
+f 57 1 46
+f 58 38 25
+f 58 16 38
+f 58 25 39
+f 58 2 16
+f 59 39 34
+f 59 34 2
+f 59 58 39
+f 59 2 58
+f 60 26 11
+f 60 11 39
+f 60 39 25
+f 60 40 26
+f 60 56 40
+f 60 25 56
+f 61 42 18
+f 61 29 42
+f 61 18 43
+f 62 43 28
+f 62 28 12
+f 62 61 43
+f 62 29 61
+f 62 12 45
+f 62 45 44
+f 62 44 29
+f 63 32 20
+f 63 20 33
+f 63 33 44
+f 64 45 30
+f 64 30 19
+f 64 19 32
+f 64 32 63
+f 64 63 44
+f 64 44 45
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_29.obj b/apple/apple_18/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..887cba8b1a1aa44a0250440f49cbb91f99dfc219
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_29.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.41022030 -0.20806032 0.10580496
+v 0.46323582 -0.09296757 0.09627806
+v 0.41512402 -0.13440125 0.16756262
+v 0.40914359 0.13407248 0.18267363
+v 0.45518679 0.12844079 0.09821821
+v 0.45897238 -0.00354066 0.13663718
+v 0.39331434 -0.19628300 0.15606256
+v 0.42745287 -0.17925183 0.10764941
+v 0.42197077 -0.19613714 0.09739371
+v 0.44179211 0.14487956 0.11590258
+v 0.44223983 -0.07557396 0.15104243
+v 0.45779571 0.08060478 0.12347236
+v 0.39533273 -0.16888306 0.17244434
+v 0.45938459 -0.09136775 0.10766268
+v 0.39941210 -0.19369740 0.14941679
+v 0.46404280 0.09768242 0.09616363
+v 0.43184458 -0.17957900 0.09603739
+v 0.42923723 -0.09143512 0.16479104
+v 0.44328078 0.08066260 0.15021927
+v 0.43106311 0.12529268 0.15321128
+v 0.42743820 -0.16332959 0.12130772
+v 0.45705599 -0.07571104 0.12129409
+v 0.41416359 -0.19009248 0.12341410
+v 0.40183484 -0.16459537 0.16629170
+v 0.45931945 0.09657672 0.10955828
+v 0.45919825 0.00893359 0.13646440
+v 0.42108856 0.12708119 0.17063256
+v 0.42757704 0.11195442 0.16679435
+v 0.44566861 0.12481482 0.12458690
+v 0.41196732 -0.16333461 0.15065643
+v 0.44414108 0.11119236 0.13559157
+f 7 4 1
+f 9 1 5
+f 10 5 1
+f 10 1 4
+f 13 3 4
+f 13 4 7
+f 14 8 2
+f 14 11 3
+f 15 7 1
+f 15 13 7
+f 17 2 8
+f 17 8 9
+f 17 16 2
+f 17 9 5
+f 17 5 16
+f 18 11 6
+f 18 4 3
+f 18 3 11
+f 21 14 3
+f 21 8 14
+f 21 15 8
+f 22 14 2
+f 22 2 6
+f 22 6 11
+f 22 11 14
+f 23 9 8
+f 23 8 15
+f 23 15 1
+f 23 1 9
+f 24 15 3
+f 24 3 13
+f 24 13 15
+f 25 16 5
+f 25 12 16
+f 26 16 12
+f 26 6 2
+f 26 2 16
+f 26 12 19
+f 26 18 6
+f 27 20 10
+f 27 10 4
+f 28 19 12
+f 28 20 27
+f 28 27 4
+f 28 26 19
+f 28 4 18
+f 28 18 26
+f 29 5 10
+f 29 10 20
+f 29 25 5
+f 29 12 25
+f 30 21 3
+f 30 3 15
+f 30 15 21
+f 31 28 12
+f 31 20 28
+f 31 29 20
+f 31 12 29
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_3.obj b/apple/apple_18/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fad2686645f75fbbcc3b1ce6e371455a85e198e
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.04821033 -0.44004491 0.03626210
+v 0.47398293 -0.09012753 -0.16833531
+v 0.32759055 -0.15339349 0.24996921
+v 0.00741674 0.22279331 0.29300466
+v 0.00757576 0.22199158 -0.23224879
+v 0.42999811 0.18299255 0.11018048
+v 0.00762287 -0.27049226 0.29732289
+v 0.37171536 -0.29227960 0.00634127
+v 0.00518449 -0.42970305 -0.22837947
+v 0.47321375 -0.04885386 0.09419818
+v 0.28692874 0.18591455 0.26319024
+v 0.26515153 0.22199158 -0.23224879
+v 0.18082183 -0.32072362 0.22186198
+v 0.00643407 -0.42735697 0.10909802
+v 0.22661957 -0.38056079 -0.10987587
+v 0.48905817 0.06823625 -0.09314061
+v 0.45893283 -0.17662608 -0.02131728
+v 0.25876925 0.21640548 0.26447576
+v 0.40162542 0.09746262 0.20740222
+v 0.18934006 -0.09702558 0.31284665
+v 0.44294722 -0.13447193 -0.22574916
+v 0.18365107 -0.22312883 0.29513452
+v 0.32783720 -0.27567507 0.15068359
+v 0.00593618 -0.44361526 0.05237811
+v 0.00633304 -0.38396532 0.19614353
+v 0.13782237 -0.37945797 0.15238845
+v 0.06434873 -0.44205003 -0.06495384
+v 0.48995973 -0.07774758 -0.00679146
+v 0.48999052 0.06843161 0.00817574
+v 0.42054680 0.18571013 -0.21284902
+v 0.40187963 0.18266840 0.16513331
+v 0.18653577 0.21939198 0.28071277
+v 0.44402905 0.18224891 0.06620257
+v 0.47367131 0.05340082 0.09326335
+v 0.31672033 0.03815245 0.28007862
+v 0.41624509 -0.06344483 0.19273995
+v 0.00654165 -0.22774691 0.31296146
+v 0.24071022 -0.35074215 -0.22736309
+v 0.38478060 -0.26324028 -0.16675842
+v 0.45859759 -0.17672362 -0.09318761
+v 0.25489983 -0.26420930 0.23483921
+v 0.12553366 -0.27977100 0.28102467
+v 0.27374339 -0.09459710 0.29433029
+v 0.42847141 -0.20591781 0.06384831
+v 0.04864495 -0.42544604 0.09565392
+v 0.04927892 -0.39581460 0.16609985
+v 0.25379707 -0.33447477 0.13738446
+v 0.15153442 -0.40999019 0.02292788
+v 0.09190697 -0.42538238 -0.15261319
+v 0.00597105 -0.44290763 -0.16873993
+v 0.06416979 -0.44190157 -0.02145211
+v 0.49076725 -0.04821535 -0.10888547
+v 0.48945461 -0.00399043 0.05119346
+v 0.46382484 -0.00453701 -0.22773583
+v 0.34326363 0.16889849 0.23437894
+v 0.23392614 0.05246753 0.29601476
+v 0.24514244 0.18801911 0.27946624
+v 0.44535306 0.18285164 -0.13675061
+v 0.42717016 0.13902721 0.15113606
+v 0.45871699 0.12436467 0.09343439
+v 0.42898579 0.06677587 0.17913092
+v 0.35791560 -0.03180935 0.25163914
+v 0.00928967 -0.15950150 0.31152036
+v 0.12768108 -0.21290340 0.31039418
+f 9 4 5
+f 12 5 4
+f 12 9 5
+f 25 24 14
+f 31 6 18
+f 32 18 12
+f 32 12 4
+f 33 18 6
+f 33 12 18
+f 37 25 7
+f 37 4 9
+f 37 9 24
+f 37 24 25
+f 38 9 12
+f 39 38 21
+f 39 8 15
+f 39 15 38
+f 40 21 2
+f 40 39 21
+f 40 17 8
+f 40 8 39
+f 40 28 17
+f 41 3 22
+f 41 23 3
+f 42 41 22
+f 42 13 41
+f 42 25 13
+f 42 7 25
+f 43 22 3
+f 43 35 20
+f 44 23 8
+f 44 8 17
+f 44 10 36
+f 44 36 3
+f 44 3 23
+f 44 28 10
+f 44 17 28
+f 45 24 1
+f 45 14 24
+f 46 25 14
+f 46 45 26
+f 46 14 45
+f 46 26 13
+f 46 13 25
+f 47 13 26
+f 47 41 13
+f 47 23 41
+f 47 8 23
+f 48 27 15
+f 48 15 8
+f 48 8 47
+f 48 47 26
+f 48 45 1
+f 48 26 45
+f 49 15 27
+f 49 38 15
+f 49 9 38
+f 50 27 24
+f 50 24 9
+f 50 49 27
+f 50 9 49
+f 51 1 24
+f 51 24 27
+f 51 48 1
+f 51 27 48
+f 52 29 28
+f 52 16 29
+f 52 40 2
+f 52 28 40
+f 53 10 28
+f 53 28 29
+f 53 34 10
+f 53 29 34
+f 54 12 30
+f 54 38 12
+f 54 21 38
+f 54 2 21
+f 54 30 16
+f 54 52 2
+f 54 16 52
+f 55 31 18
+f 55 18 11
+f 55 19 31
+f 55 35 19
+f 55 11 35
+f 56 32 4
+f 56 4 20
+f 56 20 35
+f 57 11 18
+f 57 18 32
+f 57 35 11
+f 57 56 35
+f 57 32 56
+f 58 30 12
+f 58 12 33
+f 58 16 30
+f 58 33 29
+f 58 29 16
+f 59 31 19
+f 59 6 31
+f 60 33 6
+f 60 6 59
+f 60 34 29
+f 60 29 33
+f 61 19 36
+f 61 59 19
+f 61 60 59
+f 61 34 60
+f 61 36 10
+f 61 10 34
+f 62 3 36
+f 62 43 3
+f 62 35 43
+f 62 36 19
+f 62 19 35
+f 63 37 20
+f 63 20 4
+f 63 4 37
+f 64 20 37
+f 64 43 20
+f 64 22 43
+f 64 42 22
+f 64 37 7
+f 64 7 42
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_30.obj b/apple/apple_18/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47595026d989fceb9ec1ba20aa74c6873050ae69
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_30.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00741674 0.22279331 0.29300466
+v 0.00757576 0.22199158 -0.06558212
+v 0.00881990 0.35103033 0.24903243
+v 0.00805447 0.32043063 0.26849177
+v -0.09848485 0.32805219 -0.06558212
+v -0.09881647 0.22156640 0.29303651
+v 0.00757576 0.32805219 -0.06558212
+v -0.09848485 0.22199158 -0.06558212
+v 0.00695683 0.29342478 0.28116000
+v -0.09598557 0.31698079 0.26551132
+v -0.09726304 0.27609354 0.28240469
+v -0.06567359 0.28958797 0.27993155
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 5 3
+f 7 3 2
+f 7 2 5
+f 8 6 5
+f 8 5 2
+f 8 2 6
+f 9 6 1
+f 9 1 4
+f 10 4 3
+f 10 3 5
+f 11 10 5
+f 11 5 6
+f 11 6 9
+f 12 9 4
+f 12 4 10
+f 12 11 9
+f 12 10 11
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_31.obj b/apple/apple_18/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f51bcebf8ff8f87753f38a3370a422a25919eb4
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.24770540 -0.26255182
+v 0.00923832 -0.26137702 -0.44738173
+v 0.01307334 -0.13101577 -0.46293670
+v -0.23484849 -0.14164479 -0.26255182
+v -0.23484849 -0.24770540 -0.26255182
+v 0.00757576 -0.14164479 -0.26255182
+v -0.24734776 -0.15236753 -0.44862385
+v -0.23551647 -0.24847761 -0.41533941
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 3 2
+f 7 5 4
+f 7 4 3
+f 8 7 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_4.obj b/apple/apple_18/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e27e3551633ce9ce90ba7ef4561a80cbde9d5e90
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23448597 -0.36826528 -0.26221203
+v -0.22774156 -0.25464106 -0.41568051
+v -0.22907503 -0.35883700 -0.28813671
+v -0.23193807 0.30799219 -0.25980171
+v -0.44928708 0.00811699 -0.25691281
+v -0.22709080 0.25522115 -0.34393218
+v -0.22905656 0.30280364 -0.27224219
+v -0.28643003 -0.34026496 -0.25594522
+v -0.22869692 -0.34339271 -0.31677760
+v -0.38926449 0.18292985 -0.25549733
+v -0.27309852 0.02301240 -0.45629614
+v -0.22783515 0.28603847 -0.30055522
+v -0.25886553 -0.35760758 -0.25666000
+v -0.38330406 -0.17794498 -0.32740167
+v -0.31783766 0.25614520 -0.25539741
+v -0.43207086 -0.15106808 -0.25546387
+v -0.23031321 0.00462597 -0.47601777
+v -0.31160986 0.10907346 -0.41379946
+v -0.24403250 0.30249754 -0.25692512
+v -0.24101404 -0.35322790 -0.28551140
+v -0.30928167 -0.27796958 -0.32539470
+v -0.34114579 -0.13649803 -0.39753697
+v -0.27067550 0.28143718 -0.26747136
+v -0.43173319 0.09596048 -0.25564561
+v -0.41303870 -0.07753408 -0.32849860
+v -0.22896482 -0.13823128 -0.45983478
+v -0.24285528 0.08275320 -0.45865181
+v -0.25540796 0.20587438 -0.38315841
+v -0.28349102 -0.33586810 -0.26894517
+v -0.38864939 -0.23735429 -0.25650185
+v -0.24153871 -0.30888608 -0.35645291
+v -0.29618775 -0.23383200 -0.38375661
+v -0.26839219 0.23410894 -0.34053933
+v -0.27260067 0.28631908 -0.25632623
+v -0.44857236 -0.07896211 -0.25607882
+v -0.38452615 0.06356557 -0.35578582
+v -0.41388011 -0.12009624 -0.31294493
+v -0.28213915 -0.20749626 -0.41213543
+v -0.27070420 -0.07785356 -0.45682975
+v -0.24415912 0.00311623 -0.47204311
+v -0.28754064 0.06704688 -0.44157362
+v -0.22939922 0.18316971 -0.41739408
+v -0.36960895 0.14757608 -0.32493332
+v -0.25468441 -0.32117625 -0.32784202
+v -0.38307268 -0.23708907 -0.26881496
+v -0.22889858 -0.31321264 -0.36006196
+v -0.32667155 -0.23394067 -0.35418681
+v -0.26657300 -0.29192169 -0.35430312
+v -0.25398662 0.26464424 -0.30994592
+v -0.31253880 0.23422430 -0.29511385
+v -0.44379304 0.00736639 -0.26965039
+v -0.29804321 0.02258115 -0.44116707
+v -0.41222607 -0.14941522 -0.29648828
+v -0.42849562 -0.12303144 -0.28396412
+v -0.37056917 -0.13490635 -0.36948524
+v -0.22882893 -0.22704883 -0.43029193
+v -0.31256965 -0.19243956 -0.39714745
+v -0.24035304 -0.25170468 -0.41084198
+v -0.23261617 -0.08032170 -0.47500776
+v -0.28608502 -0.16597601 -0.42433423
+v -0.25448788 0.12374371 -0.44007184
+v -0.23209743 0.12432337 -0.44489373
+v -0.26695486 0.16677708 -0.41088139
+v -0.36814523 0.10821632 -0.35599001
+f 7 1 3
+f 7 4 1
+f 9 6 3
+f 9 2 6
+f 12 7 3
+f 12 3 6
+f 13 3 1
+f 16 15 10
+f 16 8 15
+f 19 13 1
+f 19 1 4
+f 19 8 13
+f 20 9 3
+f 20 3 13
+f 23 7 12
+f 23 4 7
+f 24 16 10
+f 26 17 6
+f 26 6 2
+f 29 20 13
+f 29 13 8
+f 30 8 16
+f 33 6 28
+f 34 23 15
+f 34 19 4
+f 34 4 23
+f 34 15 8
+f 34 8 19
+f 35 24 5
+f 35 16 24
+f 40 27 17
+f 40 11 27
+f 40 39 11
+f 41 27 11
+f 42 6 17
+f 42 28 6
+f 43 24 10
+f 44 9 20
+f 44 20 29
+f 44 31 9
+f 44 29 21
+f 45 30 16
+f 45 16 14
+f 45 21 29
+f 45 29 8
+f 45 8 30
+f 46 2 9
+f 46 9 31
+f 47 45 14
+f 47 21 45
+f 48 47 32
+f 48 21 47
+f 48 44 21
+f 48 31 44
+f 49 23 12
+f 49 12 6
+f 49 6 33
+f 50 15 23
+f 50 49 33
+f 50 23 49
+f 50 33 28
+f 50 28 43
+f 50 43 10
+f 50 10 15
+f 51 35 5
+f 51 25 35
+f 51 36 25
+f 51 5 24
+f 51 24 36
+f 52 25 36
+f 52 39 22
+f 52 11 39
+f 52 41 11
+f 52 36 18
+f 52 18 41
+f 53 37 14
+f 53 14 16
+f 54 35 25
+f 54 25 37
+f 54 16 35
+f 54 53 16
+f 54 37 53
+f 55 37 25
+f 55 14 37
+f 55 52 22
+f 55 25 52
+f 56 26 2
+f 57 38 32
+f 57 32 47
+f 57 55 22
+f 57 47 14
+f 57 14 55
+f 58 32 38
+f 58 48 32
+f 58 31 48
+f 58 46 31
+f 58 2 46
+f 58 56 2
+f 58 38 56
+f 59 17 26
+f 59 40 17
+f 59 39 40
+f 60 22 39
+f 60 57 22
+f 60 38 57
+f 60 56 38
+f 60 26 56
+f 60 59 26
+f 60 39 59
+f 61 41 18
+f 61 27 41
+f 62 42 17
+f 62 17 27
+f 62 61 42
+f 62 27 61
+f 63 28 42
+f 63 43 28
+f 63 18 43
+f 63 61 18
+f 63 42 61
+f 64 43 18
+f 64 18 36
+f 64 36 24
+f 64 24 43
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_5.obj b/apple/apple_18/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b10094faab6edbbfe699dc9e7620c8259244c083
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_5.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.47069818 -0.14698511 0.06974981
+v -0.35606062 -0.00528115 -0.06558212
+v -0.35606062 0.08562794 0.05563001
+v -0.47959908 0.08243674 0.05376362
+v -0.46165794 -0.08885638 -0.21772559
+v -0.35606062 -0.00528115 0.05563001
+v -0.45601659 -0.17525613 -0.15853717
+v -0.49007476 -0.06495913 -0.12255668
+v -0.45324029 0.07957929 -0.21483163
+v -0.46643161 -0.17840251 -0.09893002
+v -0.49019826 -0.07764171 0.05338708
+v -0.47445431 -0.12339015 -0.15253444
+v -0.35606062 0.08562794 -0.06558212
+v -0.48928391 0.06718950 -0.07828860
+v -0.48973920 0.02324727 -0.12235923
+v -0.49038219 0.00842450 0.05334744
+v -0.49014436 -0.10793420 0.00792556
+v -0.46596393 -0.08434972 -0.20759351
+v -0.46398264 -0.14431878 -0.17087234
+v -0.48937238 -0.10813555 -0.07861286
+v -0.48700259 0.08433523 -0.06549478
+v -0.47565837 0.06632450 -0.15198540
+v -0.47002357 -0.16954358 -0.09475100
+v -0.48101068 -0.12426921 0.05416393
+v -0.45799572 0.07322962 -0.20583892
+v -0.47350071 -0.14970128 -0.12216777
+v -0.48916526 0.06768571 0.00767600
+v -0.47687104 -0.15107871 -0.09401914
+v -0.46074461 -0.16590375 -0.15275336
+v -0.48962558 0.03745246 0.03804153
+f 1 3 4
+f 6 2 3
+f 6 3 1
+f 7 5 2
+f 7 2 6
+f 9 2 5
+f 10 7 6
+f 10 6 1
+f 13 3 2
+f 13 2 9
+f 16 11 1
+f 16 1 4
+f 16 14 15
+f 16 15 8
+f 17 16 8
+f 17 11 16
+f 18 12 8
+f 18 8 15
+f 19 5 7
+f 19 18 5
+f 19 12 18
+f 20 8 12
+f 20 17 8
+f 21 13 9
+f 21 4 3
+f 21 3 13
+f 22 15 14
+f 22 21 9
+f 22 14 21
+f 23 10 1
+f 24 1 11
+f 24 11 17
+f 24 23 1
+f 24 17 23
+f 25 18 15
+f 25 9 5
+f 25 5 18
+f 25 22 9
+f 25 15 22
+f 26 7 10
+f 26 12 19
+f 26 20 12
+f 27 4 21
+f 27 21 14
+f 27 14 16
+f 28 23 17
+f 28 17 20
+f 28 20 26
+f 28 26 10
+f 28 10 23
+f 29 26 19
+f 29 19 7
+f 29 7 26
+f 30 27 16
+f 30 16 4
+f 30 4 27
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_6.obj b/apple/apple_18/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4d32d5f9cd508611bee189ce55caacc5b5ab1bb
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_6.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.09881647 0.22156640 0.29303651
+v -0.09848485 0.22199158 -0.06558212
+v -0.09470072 0.38860955 0.19741325
+v -0.09446234 0.43379705 0.09724007
+v -0.23484849 0.22199158 -0.06558212
+v -0.09553937 0.41716428 -0.13548677
+v -0.09726304 0.27609354 0.28240469
+v -0.21680299 0.21763966 0.28367660
+v -0.22824032 0.39044498 -0.06359079
+v -0.10780723 0.40736018 -0.15404258
+v -0.13730005 0.34356384 0.23658635
+v -0.13936403 0.43116504 -0.00413512
+v -0.23320088 0.22028876 0.27833665
+v -0.16711508 0.39269604 -0.14818077
+v -0.09625818 0.33272943 0.25355584
+v -0.22412696 0.38470783 0.10845063
+v -0.09597589 0.43286349 -0.07792718
+v -0.15455617 0.40168302 -0.13512653
+v -0.13953211 0.30324712 0.26451440
+v -0.19468055 0.35588148 0.19641979
+v -0.21035096 0.40101334 0.06834949
+v -0.15413580 0.41533784 -0.09053089
+v -0.10829665 0.41472210 -0.13406369
+v -0.12353976 0.33084716 0.25001666
+v -0.22579818 0.29823688 0.23479884
+v -0.21554835 0.22958974 0.28031201
+v -0.13664295 0.35666915 0.22231853
+v -0.15123085 0.39928431 0.15392902
+v -0.18233635 0.41549868 -0.03236467
+v -0.13972234 0.43114589 0.03835411
+v -0.12402509 0.43116957 -0.04740564
+v -0.20941008 0.40003365 -0.06246989
+v -0.10861503 0.43018731 -0.07754447
+v -0.22449756 0.34010014 0.19492874
+v -0.16949648 0.25854467 0.27832595
+v -0.22834961 0.25706055 0.26258882
+v -0.15207275 0.38511612 0.17890741
+v -0.09538662 0.42035882 0.14051907
+v -0.19504009 0.39902701 0.10995784
+v -0.18214218 0.41536419 0.05358127
+v -0.12630904 0.27510572 0.27913747
+v -0.19971304 0.24323096 0.27796648
+v -0.10921424 0.38604686 0.19577250
+v -0.12363388 0.41412851 0.13868408
+v -0.12507441 0.40242577 0.16572152
+v -0.16723841 0.41385387 0.09570781
+v -0.10890325 0.43031532 0.09617465
+f 6 3 2
+f 6 4 3
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 8 1 7
+f 10 6 2
+f 13 9 5
+f 13 5 8
+f 14 10 2
+f 14 2 5
+f 14 5 9
+f 15 7 3
+f 15 3 11
+f 16 9 13
+f 17 12 4
+f 17 4 6
+f 18 10 14
+f 19 7 15
+f 21 9 16
+f 22 18 14
+f 23 6 10
+f 23 10 18
+f 23 18 22
+f 24 19 15
+f 24 15 11
+f 24 11 19
+f 25 19 11
+f 25 11 20
+f 26 13 8
+f 27 20 11
+f 27 11 3
+f 29 9 21
+f 30 4 12
+f 30 12 29
+f 31 12 17
+f 31 29 12
+f 31 22 29
+f 32 22 14
+f 32 14 9
+f 32 29 22
+f 32 9 29
+f 33 23 22
+f 33 17 6
+f 33 6 23
+f 33 31 17
+f 33 22 31
+f 34 25 20
+f 34 20 16
+f 34 16 13
+f 34 13 25
+f 35 26 8
+f 36 25 13
+f 36 13 26
+f 36 19 25
+f 37 20 27
+f 37 28 20
+f 38 3 4
+f 39 16 20
+f 39 20 28
+f 39 21 16
+f 40 30 29
+f 40 29 21
+f 41 7 19
+f 41 19 35
+f 41 35 8
+f 41 8 7
+f 42 35 19
+f 42 26 35
+f 42 36 26
+f 42 19 36
+f 43 37 27
+f 43 27 3
+f 44 38 4
+f 45 28 37
+f 45 37 43
+f 45 43 3
+f 45 3 38
+f 45 44 28
+f 45 38 44
+f 46 40 21
+f 46 21 39
+f 46 30 40
+f 46 39 28
+f 46 28 44
+f 47 4 30
+f 47 30 46
+f 47 46 44
+f 47 44 4
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_7.obj b/apple/apple_18/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7283dfc88c1fdc846409ba51a5bfafd0a9eebd42
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_7.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.26515153 -0.23255389 -0.23224879
+v 0.27786796 -0.24718614 -0.36615711
+v 0.25743291 0.34428388 -0.22513759
+v 0.00077095 0.38152165 -0.25790493
+v 0.00757576 -0.23255389 -0.35346091
+v 0.28361596 0.21385658 -0.37399584
+v 0.00757576 -0.23255389 -0.23224879
+v 0.14088382 0.32973146 -0.32859727
+v 0.00241914 -0.00468297 -0.40402710
+v 0.14356373 0.38744282 -0.23165433
+v 0.22434108 0.30981994 -0.31090518
+v 0.00714824 0.33168300 -0.34075930
+v 0.18537686 0.37664182 -0.22683037
+v 0.25435939 0.28188634 -0.32482606
+v 0.14118242 0.37600095 -0.25523358
+v 0.22833661 0.35911823 -0.22538913
+v 0.25434505 0.32348201 -0.26640756
+v 0.19792336 0.31088929 -0.32596505
+v 0.18404882 0.37136496 -0.23894219
+v 0.22605386 0.35407433 -0.23813598
+v 0.15296156 0.32741928 -0.32716467
+v 0.21091483 0.35363510 -0.25073313
+v 0.25473407 0.33936378 -0.23780265
+v 0.16802107 0.36942941 -0.25167506
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 7 5 2
+f 7 2 1
+f 9 6 2
+f 9 2 5
+f 9 7 4
+f 9 5 7
+f 10 4 7
+f 12 8 6
+f 12 6 9
+f 12 9 4
+f 13 10 7
+f 15 8 12
+f 15 12 4
+f 15 4 10
+f 16 13 7
+f 16 7 3
+f 17 14 11
+f 17 3 6
+f 17 6 14
+f 18 14 6
+f 18 11 14
+f 19 15 10
+f 19 10 13
+f 20 16 3
+f 20 19 13
+f 20 13 16
+f 21 18 6
+f 21 6 8
+f 21 8 15
+f 22 11 18
+f 22 21 19
+f 22 18 21
+f 22 19 20
+f 22 20 17
+f 22 17 11
+f 23 20 3
+f 23 3 17
+f 23 17 20
+f 24 21 15
+f 24 15 19
+f 24 19 21
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_8.obj b/apple/apple_18/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5db60213268b3ba6849c46a4891bccc386d0e92b
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_8.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.00717681 -0.24585093 0.30726626
+v 0.00757576 -0.24770540 -0.26255182
+v 0.00757576 0.22199158 -0.06558212
+v -0.23002215 0.21654530 0.28087969
+v -0.23484849 -0.24770540 -0.26255182
+v 0.00741674 0.22279331 0.29300466
+v -0.22966863 -0.23995152 0.28251267
+v -0.23484849 0.20684007 -0.26255182
+v -0.23484849 0.22199158 -0.06558212
+v -0.22123524 0.05416583 0.31219655
+v 0.00897851 -0.17367873 0.31310014
+v 0.00757576 0.20684007 -0.26255182
+v -0.23361684 0.05277705 0.31158138
+v -0.12989470 0.20542098 0.29645855
+v -0.22974516 -0.16726980 0.31242759
+v -0.23064018 -0.20945642 0.29801537
+v -0.20336572 0.18812920 0.29515068
+v 0.00654165 -0.22774691 0.31296146
+v -0.19812757 -0.23809828 0.29394961
+v -0.15791012 0.20327754 0.29513447
+v -0.23046083 0.17215357 0.29379562
+v -0.18598719 -0.20968132 0.30862311
+v -0.05178264 -0.22780033 0.31024926
+f 5 2 1
+f 7 5 1
+f 8 2 5
+f 9 6 3
+f 9 4 6
+f 9 3 8
+f 9 8 5
+f 11 1 2
+f 11 3 6
+f 11 6 10
+f 12 8 3
+f 12 2 8
+f 12 11 2
+f 12 3 11
+f 13 4 9
+f 13 9 5
+f 14 10 6
+f 14 6 4
+f 15 11 10
+f 15 10 13
+f 16 13 5
+f 16 5 7
+f 16 15 13
+f 17 13 10
+f 17 10 14
+f 18 1 11
+f 18 11 15
+f 19 16 7
+f 19 7 1
+f 20 17 14
+f 20 14 4
+f 20 4 17
+f 21 17 4
+f 21 4 13
+f 21 13 17
+f 22 15 16
+f 22 16 19
+f 22 18 15
+f 22 19 1
+f 23 22 1
+f 23 1 18
+f 23 18 22
\ No newline at end of file
diff --git a/apple/apple_18/collision/model_normalized_collision_9.obj b/apple/apple_18/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a50550271f95f8701c56c67381daf75f301be477
--- /dev/null
+++ b/apple/apple_18/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23464884 -0.26241024 0.26713779
+v -0.23484849 -0.23255389 0.14653910
+v -0.22744733 0.34513185 0.18394691
+v -0.23327011 0.37069463 0.13024144
+v -0.46407953 0.00863958 0.14059466
+v -0.22868812 0.36234576 0.15481686
+v -0.22966863 -0.23995152 0.28251267
+v -0.40534337 -0.22403533 0.13991045
+v -0.40570091 0.21525644 0.12649518
+v -0.23163494 -0.25566712 0.27302872
+v -0.31649847 0.03750011 0.29402828
+v -0.34189184 -0.19091073 0.25005521
+v -0.33932756 0.28112727 0.15177316
+v -0.46393453 -0.07852377 0.14072420
+v -0.25700401 0.35916757 0.12558491
+v -0.23116265 0.15770320 0.29690035
+v -0.39837651 0.07922559 0.22340623
+v -0.38516345 -0.22090023 0.17930566
+v -0.25982288 -0.14037261 0.31026540
+v -0.31748607 -0.16435744 0.28164531
+v -0.29636929 0.31135770 0.16505361
+v -0.41852859 -0.20740455 0.13875938
+v -0.23484849 0.19168855 0.13138759
+v -0.30097540 0.32942130 0.12535395
+v -0.24109845 0.35737949 0.15175827
+v -0.22887496 0.24510833 0.26827680
+v -0.42662193 0.13939348 0.15138245
+v -0.40079111 0.00738929 0.23847326
+v -0.33930752 0.21141748 0.22262586
+v -0.26095034 -0.25529634 0.25925406
+v -0.39833665 -0.13422411 0.22407192
+v -0.27487841 0.03562159 0.30876844
+v -0.22974516 -0.16726980 0.31242759
+v -0.31691318 -0.10733647 0.29459009
+v -0.40010268 -0.22152510 0.15363649
+v -0.38810620 0.24224810 0.12551761
+v -0.29720744 0.32626587 0.13857608
+v -0.25466052 0.35504314 0.13906738
+v -0.26805741 0.34038312 0.15208240
+v -0.30168375 0.14047179 0.27870767
+v -0.44931653 0.08275054 0.14010098
+v -0.44470430 0.00720732 0.17987941
+v -0.35726503 0.06708315 0.26568193
+v -0.37083570 0.18260584 0.20754475
+v -0.35479650 0.22716865 0.19388257
+v -0.26927261 0.28362064 0.22056270
+v -0.31434446 -0.22174764 0.25137623
+v -0.25697893 -0.24991387 0.26600681
+v -0.38425500 -0.18994976 0.20890379
+v -0.44498183 -0.13565498 0.15484851
+v -0.36989344 -0.13497748 0.25116547
+v -0.27694050 -0.09420244 0.31076779
+v -0.23361684 0.05277705 0.31158138
+v -0.24493055 -0.20783043 0.29490694
+v -0.28737541 -0.16412425 0.29544483
+v -0.37290057 -0.02158013 0.26573466
+v -0.41388149 -0.20390854 0.15119048
+v -0.26926313 0.31255654 0.19233010
+v -0.23994753 0.34014281 0.18077711
+v -0.27289803 0.18403537 0.27753246
+v -0.27400882 0.12691298 0.29320195
+v -0.43222605 0.14127747 0.13906997
+v -0.44192941 0.06442752 0.16753926
+v -0.41330485 0.06520683 0.20863225
+f 6 3 2
+f 6 2 4
+f 7 2 3
+f 8 2 1
+f 10 1 2
+f 10 2 7
+f 14 5 9
+f 22 14 9
+f 22 2 8
+f 23 15 4
+f 23 4 2
+f 23 2 22
+f 25 6 4
+f 25 3 6
+f 30 18 8
+f 30 8 1
+f 33 26 16
+f 33 7 3
+f 33 3 26
+f 35 22 8
+f 35 8 18
+f 36 23 22
+f 36 15 23
+f 36 24 15
+f 36 22 9
+f 36 13 24
+f 37 24 13
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+f 38 25 4
+f 38 4 15
+f 38 15 24
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+f 39 25 38
+f 39 38 24
+f 39 24 37
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+f 42 14 31
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+f 43 11 40
+f 43 40 29
+f 44 27 17
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+f 44 17 43
+f 44 9 27
+f 45 21 13
+f 45 13 36
+f 45 44 29
+f 45 36 9
+f 45 9 44
+f 46 29 26
+f 46 26 3
+f 46 45 29
+f 47 18 30
+f 47 20 12
+f 48 30 1
+f 48 1 10
+f 48 47 30
+f 48 20 47
+f 49 12 31
+f 49 47 12
+f 49 18 47
+f 50 31 14
+f 50 14 22
+f 50 49 31
+f 51 31 12
+f 51 12 20
+f 51 20 34
+f 52 19 33
+f 52 34 19
+f 52 32 11
+f 52 11 34
+f 53 33 16
+f 53 16 32
+f 53 52 33
+f 53 32 52
+f 54 7 33
+f 54 20 48
+f 54 48 10
+f 54 10 7
+f 55 34 20
+f 55 19 34
+f 55 20 54
+f 55 54 33
+f 55 33 19
+f 56 34 11
+f 56 51 34
+f 56 28 31
+f 56 31 51
+f 56 43 28
+f 56 11 43
+f 57 35 18
+f 57 22 35
+f 57 18 49
+f 57 50 22
+f 57 49 50
+f 58 39 21
+f 58 46 3
+f 58 21 45
+f 58 45 46
+f 59 3 25
+f 59 25 39
+f 59 58 3
+f 59 39 58
+f 60 16 26
+f 60 26 29
+f 60 29 40
+f 61 32 16
+f 61 60 40
+f 61 16 60
+f 61 40 11
+f 61 11 32
+f 62 27 9
+f 62 9 41
+f 63 17 27
+f 63 62 41
+f 63 27 62
+f 63 41 5
+f 63 5 42
+f 64 42 28
+f 64 28 17
+f 64 63 42
+f 64 17 63
\ No newline at end of file
diff --git a/apple/apple_2/collision/model_normalized_collision_0.obj b/apple/apple_2/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c18740bfb0f7421c23c00af56e1b823624a1803f
--- /dev/null
+++ b/apple/apple_2/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/apple/apple_2/collision/model_normalized_collision_1.obj b/apple/apple_2/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..759329326d82ce91cff0af4cb671d8457c946495
--- /dev/null
+++ b/apple/apple_2/collision/model_normalized_collision_1.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.14891957 -0.00757576 -0.35518929
+v 0.23964943 0.26346984 -0.39508842
+v 0.20260276 0.34635279 -0.34785079
+v 0.01247353 0.39970977 -0.35354883
+v 0.01121494 0.19024530 -0.47652907
+v 0.09828726 0.31337334 -0.42693289
+v 0.18596100 0.35941457 -0.34627109
+v 0.15105938 -0.00522456 -0.46156500
+v -0.03689487 0.03896380 -0.40802783
+v -0.06117414 0.31904958 -0.43522792
+v 0.14562569 0.23048455 -0.45843405
+v 0.10121848 0.39079401 -0.34878399
+v 0.16939920 0.29635804 -0.41454269
+v 0.01009385 -0.00369728 -0.44327389
+v 0.02583200 0.32907631 -0.42860333
+v -0.06288387 0.35391597 -0.39881409
+v 0.01290647 0.28466497 -0.45963603
+v 0.07279153 0.20561045 -0.47605419
+v 0.20492451 0.22981720 -0.43556640
+v 0.11210232 0.32525352 -0.41517360
+v 0.18237375 0.35437939 -0.35631603
+v 0.11201523 0.25535434 -0.45821574
+v 0.04034365 -0.00514319 -0.40098420
+v 0.04008901 0.35513681 -0.40051262
+v -0.06544982 0.34093039 -0.41358883
+v 0.01200909 0.23038091 -0.47728764
+v -0.05867202 0.32731264 -0.43059559
+v 0.07019211 0.29799141 -0.44299662
+v 0.20321514 0.27113305 -0.41620193
+v 0.11272469 0.28388205 -0.44138565
+v 0.19956741 0.34208366 -0.35636170
+v 0.11227599 0.35502796 -0.38487578
+v 0.05664738 0.23240639 -0.47409438
+v 0.01212971 0.39217724 -0.36185591
+v 0.09992271 0.38538470 -0.35555391
+v 0.04015558 0.34037166 -0.41603145
+v -0.03264276 0.35554581 -0.40111477
+v 0.02528538 0.28380066 -0.45899874
+v 0.17278693 0.24063840 -0.44382737
+v 0.15668272 0.28470712 -0.42609675
+v 0.07187018 0.21738258 -0.47500737
+v 0.20269621 0.24253208 -0.43046579
+f 1 2 3
+f 7 1 3
+f 8 2 1
+f 9 1 4
+f 12 4 1
+f 12 1 7
+f 14 5 8
+f 14 10 5
+f 14 9 10
+f 16 9 4
+f 18 11 8
+f 18 8 5
+f 19 2 8
+f 19 8 11
+f 20 6 15
+f 21 7 3
+f 21 13 20
+f 21 12 7
+f 23 14 8
+f 23 8 1
+f 23 1 9
+f 23 9 14
+f 25 10 9
+f 25 9 16
+f 26 5 10
+f 26 10 17
+f 26 18 5
+f 27 17 10
+f 27 15 17
+f 27 10 25
+f 27 25 16
+f 28 15 6
+f 29 2 19
+f 29 13 21
+f 30 20 13
+f 30 6 20
+f 30 28 6
+f 30 22 28
+f 31 21 3
+f 31 3 2
+f 31 29 21
+f 31 2 29
+f 32 21 20
+f 33 22 11
+f 33 26 17
+f 34 24 15
+f 34 4 24
+f 35 24 4
+f 35 4 12
+f 35 32 24
+f 35 12 21
+f 35 21 32
+f 36 20 15
+f 36 15 24
+f 36 32 20
+f 36 24 32
+f 37 27 16
+f 37 16 4
+f 37 4 34
+f 37 34 15
+f 37 15 27
+f 38 17 15
+f 38 15 28
+f 38 28 22
+f 38 33 17
+f 38 22 33
+f 39 19 11
+f 39 11 22
+f 40 13 29
+f 40 30 13
+f 40 22 30
+f 40 39 22
+f 40 29 39
+f 41 33 11
+f 41 11 18
+f 41 18 26
+f 41 26 33
+f 42 39 29
+f 42 29 19
+f 42 19 39
\ No newline at end of file
diff --git a/apple/apple_2/collision/model_normalized_collision_10.obj b/apple/apple_2/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb7f674d99baf95eb228bb6d5eb73c77c9197c76
--- /dev/null
+++ b/apple/apple_2/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/apple/apple_2/collision/model_normalized_collision_11.obj b/apple/apple_2/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03004ce0c1b10b43307a769676b9371621f55f18
--- /dev/null
+++ b/apple/apple_2/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
+v 0.27528014 0.16726595 -0.42643020
+v 0.27399438 0.09589965 -0.44231409
+v 0.31426590 0.22490540 -0.35781569
+v 0.35803262 0.12324477 -0.35856838
+v 0.37213239 0.20999104 -0.28355392
+v 0.40266928 0.10946986 -0.28669908
+v 0.37438209 -0.22709010 -0.24308849
+v 0.37136458 -0.21059274 -0.26979157
+v 0.32710181 -0.13767343 -0.38710416
+v 0.40244410 -0.15297686 -0.24269666
+v 0.37267460 -0.03468881 -0.35804989
+v 0.23459254 -0.21522459 -0.43471010
+v 0.26104040 -0.13988367 -0.44213345
+v 0.27053083 -0.16761704 -0.42922914
+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
+f 7 3 1
+f 7 6 3
+f 8 1 3
+f 9 3 6
+f 9 8 3
+f 10 9 4
+f 12 6 7
+f 13 8 9
+f 17 12 2
+f 17 6 12
+f 19 12 7
+f 21 5 13
+f 21 13 9
+f 21 9 10
+f 22 10 4
+f 22 4 14
+f 22 21 10
+f 23 14 4
+f 23 9 6
+f 23 4 9
+f 26 17 2
+f 26 15 17
+f 27 1 8
+f 28 25 26
+f 29 13 5
+f 32 30 20
+f 32 11 30
+f 32 20 29
+f 33 5 21
+f 33 29 5
+f 35 23 6
+f 35 14 23
+f 35 6 17
+f 36 25 11
+f 36 26 25
+f 36 15 26
+f 37 1 27
+f 38 37 27
+f 39 28 19
+f 39 18 28
+f 39 38 18
+f 40 2 12
+f 41 28 26
+f 41 26 2
+f 41 2 40
+f 42 29 20
+f 42 13 29
+f 43 18 30
+f 43 28 18
+f 43 25 28
+f 44 8 13
+f 45 20 30
+f 46 8 31
+f 47 16 33
+f 48 32 29
+f 48 29 33
+f 48 33 16
+f 48 16 32
+f 49 21 22
+f 49 22 14
+f 49 47 21
+f 49 34 47
+f 50 34 24
+f 50 11 32
+f 50 36 11
+f 51 35 24
+f 51 14 35
+f 51 49 14
+f 51 24 34
+f 51 34 49
+f 52 35 17
+f 52 24 35
+f 52 17 15
+f 52 15 36
+f 52 50 24
+f 52 36 50
+f 53 1 37
+f 53 19 7
+f 53 7 1
+f 54 37 38
+f 54 53 37
+f 54 19 53
+f 54 39 19
+f 54 38 39
+f 55 30 18
+f 55 18 38
+f 55 45 30
+f 55 46 45
+f 56 40 12
+f 56 12 19
+f 56 19 28
+f 56 41 40
+f 56 28 41
+f 57 43 30
+f 57 30 11
+f 57 11 25
+f 57 25 43
+f 58 44 31
+f 58 31 8
+f 58 8 44
+f 59 44 13
+f 59 13 42
+f 59 42 20
+f 59 31 44
+f 60 20 45
+f 60 59 20
+f 60 31 59
+f 60 46 31
+f 60 45 46
+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/apple/apple_2/collision/model_normalized_collision_12.obj b/apple/apple_2/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cb9ada365f3804d72393d390b77dcf6b12c524c
--- /dev/null
+++ b/apple/apple_2/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
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+v -0.26716842 -0.03490260 -0.45764165
+v -0.34834101 0.06260135 -0.38663201
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+f 49 33 34
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+f 50 48 11
+f 50 18 48
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+f 51 9 23
+f 51 23 6
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+f 53 49 34
+f 53 34 21
+f 53 21 49
\ No newline at end of file
diff --git a/apple/apple_2/collision/model_normalized_collision_13.obj b/apple/apple_2/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82cc0a26eeaaa6478eb05c6dd83a8c007c6882b4
--- /dev/null
+++ b/apple/apple_2/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 39 2 28
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+f 42 23 22
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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/apple/apple_2/collision/model_normalized_collision_14.obj b/apple/apple_2/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b558e9100bc936e9c13907ad13e272374d839bc3
--- /dev/null
+++ b/apple/apple_2/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
+v 0.35635039 0.25424879 -0.27089841
+v 0.35007531 0.22919909 -0.30280926
+v 0.24489462 0.25505063 0.29379093
+v 0.24059559 0.28118414 0.28073075
+v 0.25776036 0.41368087 0.05029908
+v 0.33077301 0.31008293 0.14954350
+v 0.35835327 0.31285731 -0.15224750
+v 0.28533533 0.39964919 0.01952898
+v 0.28522944 0.40065656 -0.12531803
+v 0.38883654 0.28400793 0.02115912
+v 0.38805477 0.26832194 0.07814262
+v 0.28552892 0.35350905 0.14903991
+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
+f 9 1 5
+f 9 2 8
+f 14 9 8
+f 14 1 9
+f 16 10 5
+f 16 5 1
+f 17 5 10
+f 19 11 2
+f 22 11 6
+f 22 6 21
+f 24 1 14
+f 25 14 8
+f 29 18 17
+f 29 17 10
+f 30 4 17
+f 30 17 18
+f 31 18 13
+f 31 7 18
+f 32 6 11
+f 32 11 19
+f 33 32 19
+f 33 6 32
+f 33 19 26
+f 34 20 8
+f 34 8 2
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+f 54 26 15
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+f 55 23 40
+f 55 52 23
+f 55 36 52
+f 56 21 6
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+f 57 22 40
+f 57 3 39
+f 58 40 25
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+f 58 57 40
+f 58 3 57
+f 59 41 18
+f 59 18 7
+f 59 7 53
+f 59 53 23
+f 59 23 41
+f 60 41 23
+f 60 30 41
+f 60 52 30
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+f 61 26 46
+f 61 48 26
+f 61 45 9
+f 61 9 48
+f 62 38 15
+f 62 15 47
+f 62 56 38
+f 62 47 17
+f 62 17 37
+f 62 37 56
+f 63 28 5
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+f 63 17 47
+f 64 47 27
+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/apple/apple_2/collision/model_normalized_collision_15.obj b/apple/apple_2/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..034289da3c554c3f1faf69a34de7c9b217e620b3
--- /dev/null
+++ b/apple/apple_2/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
+v -0.43899366 -0.05030989 -0.19906595
+v -0.42350112 -0.13787750 -0.18403349
+v -0.36401378 -0.25431937 -0.19819603
+v -0.45365918 -0.03420125 0.06432832
+v -0.45487830 -0.06490879 -0.03623102
+v -0.42293428 -0.03386562 0.16689992
+v -0.43959799 -0.00840464 0.13700925
+v -0.43797412 -0.10721075 0.06387495
+v -0.42241267 -0.08041047 -0.24276937
+v -0.44007400 -0.00874042 -0.19936015
+v -0.40856672 -0.18304461 -0.18357601
+v -0.43788887 -0.12255994 -0.12555776
+v -0.35270608 -0.25670851 -0.22932570
+v -0.45396431 -0.04957232 0.03723557
+v -0.43781476 -0.08010453 -0.18403102
+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
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 9 6 3
+f 9 4 6
+f 14 9 3
+f 14 3 2
+f 15 10 7
+f 15 7 5
+f 16 2 7
+f 16 7 10
+f 17 11 1
+f 17 1 4
+f 17 8 11
+f 20 11 8
+f 20 8 13
+f 21 14 2
+f 25 18 13
+f 25 13 8
+f 26 5 7
+f 26 7 18
+f 26 24 5
+f 26 18 24
+f 27 18 7
+f 27 13 18
+f 27 20 13
+f 27 7 1
+f 27 1 20
+f 28 20 1
+f 28 1 11
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+f 30 16 10
+f 30 10 21
+f 31 22 19
+f 31 19 9
+f 33 23 8
+f 33 8 17
+f 33 17 23
+f 34 12 23
+f 35 5 24
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+f 42 35 32
+f 43 17 4
+f 43 4 34
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+f 43 23 17
+f 44 34 4
+f 44 19 34
+f 44 4 9
+f 44 9 19
+f 45 35 24
+f 45 12 41
+f 45 32 35
+f 45 24 36
+f 45 36 23
+f 45 23 12
+f 46 14 37
+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/apple/apple_2/collision/model_normalized_collision_16.obj b/apple/apple_2/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b960182972d0925affe11f0f92b0e3cb13946157
--- /dev/null
+++ b/apple/apple_2/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
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 11 7 6
+f 14 4 3
+f 14 3 10
+f 15 10 3
+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
+f 21 1 18
+f 22 4 14
+f 23 15 3
+f 23 3 5
+f 23 5 13
+f 24 10 15
+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
+f 36 25 16
+f 36 16 11
+f 36 11 25
+f 37 18 7
+f 37 7 28
+f 37 28 12
+f 37 12 18
+f 38 30 9
+f 38 13 30
+f 39 8 21
+f 39 21 31
+f 39 31 13
+f 39 20 8
+f 39 13 20
+f 40 38 9
+f 40 33 38
+f 41 14 34
+f 41 34 24
+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/apple/apple_2/collision/model_normalized_collision_17.obj b/apple/apple_2/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23983e0688d4236776f8814f2b589ef0833e1fef
--- /dev/null
+++ b/apple/apple_2/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
+v 0.12246199 -0.07983176 0.46804364
+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
+f 10 9 1
+f 12 4 6
+f 13 6 2
+f 13 9 5
+f 13 2 9
+f 15 14 8
+f 15 10 1
+f 16 3 8
+f 16 2 6
+f 16 8 14
+f 19 5 9
+f 19 9 10
+f 19 12 5
+f 19 10 12
+f 20 11 6
+f 20 6 4
+f 20 4 11
+f 21 16 6
+f 21 3 16
+f 21 7 3
+f 22 12 6
+f 22 5 12
+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
+f 24 15 8
+f 24 8 3
+f 24 3 7
+f 25 16 14
+f 25 2 16
+f 25 23 2
+f 25 14 23
+f 26 17 9
+f 26 9 2
+f 26 2 17
+f 27 12 10
+f 27 10 18
+f 27 4 12
+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/apple/apple_2/collision/model_normalized_collision_18.obj b/apple/apple_2/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2eff4b12ef47cc4c950925ed67bd4ca5af59f90
--- /dev/null
+++ b/apple/apple_2/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
+v -0.34741159 0.22480414 -0.27217330
+v -0.28961208 0.22263444 -0.36922557
+v -0.21998114 0.22650800 -0.42980685
+v -0.30394398 0.15046008 -0.40179802
+v -0.27606735 0.10989161 -0.44372498
+v -0.33178516 0.16407004 -0.35877396
+v -0.36320245 0.10733174 -0.34551683
+v -0.37700238 0.16653496 -0.27257622
+v -0.27436900 0.22256460 -0.38428406
+v -0.22059102 0.16574932 -0.45836729
+v -0.28898315 0.17946082 -0.40007529
+v -0.25231835 0.10995942 -0.45765961
+v -0.30549332 0.12284254 -0.41411766
+v -0.33661585 0.09422577 -0.38963313
+v -0.34647799 0.15084319 -0.34378269
+v -0.28969379 0.12259047 -0.42855566
+v -0.27761345 0.09514196 -0.44560568
+v -0.33394861 0.10673872 -0.38721324
+f 6 3 4
+f 6 4 1
+f 8 5 1
+f 9 1 2
+f 10 2 1
+f 10 1 7
+f 11 7 1
+f 11 1 5
+f 13 8 1
+f 13 1 4
+f 14 6 1
+f 14 1 9
+f 14 3 6
+f 15 9 2
+f 15 2 10
+f 16 11 5
+f 16 7 11
+f 19 16 5
+f 19 5 8
+f 19 8 13
+f 21 4 3
+f 21 3 17
+f 21 17 12
+f 22 17 3
+f 22 12 17
+f 23 18 3
+f 23 3 14
+f 25 18 15
+f 26 12 22
+f 27 7 16
+f 27 16 20
+f 28 19 13
+f 28 13 4
+f 28 4 21
+f 28 21 12
+f 28 12 26
+f 28 20 16
+f 28 16 19
+f 29 22 3
+f 29 3 18
+f 29 18 22
+f 30 23 14
+f 30 14 9
+f 30 9 15
+f 30 15 18
+f 30 18 23
+f 31 22 18
+f 31 18 24
+f 31 26 22
+f 31 24 26
+f 32 25 15
+f 32 15 10
+f 32 10 25
+f 33 24 18
+f 34 10 7
+f 34 7 27
+f 35 27 20
+f 35 26 27
+f 35 28 26
+f 35 20 28
+f 36 33 18
+f 36 18 25
+f 37 25 10
+f 37 10 34
+f 37 34 33
+f 37 36 25
+f 37 33 36
+f 38 34 27
+f 38 27 26
+f 38 26 24
+f 38 24 33
+f 38 33 34
\ No newline at end of file
diff --git a/apple/apple_2/collision/model_normalized_collision_19.obj b/apple/apple_2/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d5436e95102a026479b1389fcba50f87c86481f
--- /dev/null
+++ b/apple/apple_2/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
+v 0.01363146 -0.27557517 0.37113491
+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
+v 0.11786780 -0.15974142 0.38610531
+v 0.13339317 -0.29462663 0.34034363
+v 0.01662471 -0.08451224 0.35562610
+v 0.02869444 -0.21890368 0.38603658
+v 0.01187023 -0.20386171 0.38696008
+v 0.18516185 -0.23995953 0.35181718
+v 0.18520522 -0.27030983 0.33676108
+v 0.20749921 -0.02374191 0.35529600
+v 0.10272047 -0.14458626 0.38619639
+v 0.10064061 -0.25706321 0.36865884
+v 0.10199763 -0.20211489 0.38567419
+v 0.01215429 -0.26125886 0.37627269
+v 0.13056962 -0.28839089 0.34467357
+f 8 5 2
+f 8 1 5
+f 9 2 5
+f 12 6 3
+f 12 3 7
+f 13 7 3
+f 14 8 2
+f 15 9 5
+f 15 5 4
+f 16 6 12
+f 16 14 2
+f 16 12 7
+f 17 3 6
+f 17 6 9
+f 17 9 15
+f 18 10 5
+f 18 5 1
+f 18 1 13
+f 19 11 4
+f 19 4 5
+f 19 5 11
+f 21 11 5
+f 21 20 3
+f 22 7 13
+f 22 16 7
+f 22 14 16
+f 23 13 1
+f 23 1 8
+f 23 8 14
+f 23 22 13
+f 23 14 22
+f 24 9 6
+f 24 6 16
+f 24 16 2
+f 24 2 9
+f 25 17 15
+f 25 15 4
+f 25 4 11
+f 25 11 21
+f 25 21 3
+f 25 3 17
+f 27 13 3
+f 27 3 20
+f 27 26 13
+f 28 21 5
+f 28 5 10
+f 28 20 21
+f 28 27 20
+f 28 10 26
+f 28 26 27
+f 29 18 13
+f 29 13 26
+f 29 26 10
+f 29 10 18
\ No newline at end of file
diff --git a/apple/apple_2/collision/model_normalized_collision_2.obj b/apple/apple_2/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f666f1758c2cc88312f2528835f7a421422732f1
--- /dev/null
+++ b/apple/apple_2/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
+v -0.25049254 -0.25857286 0.28641219
+v -0.34751757 -0.26292296 -0.23253027
+v -0.36963561 -0.25828622 -0.17031024
+v -0.04620173 -0.39828763 0.26907670
+v 0.34242771 -0.31356966 0.10822625
+v 0.10086811 -0.45767641 -0.22767928
+v 0.36461583 -0.25726437 -0.22954748
+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
+v 0.37602734 -0.25929643 0.10865240
+v 0.27283605 -0.39946304 -0.09560628
+v -0.35583161 -0.25866562 -0.21554556
+v 0.18661129 -0.42736590 -0.22808950
+v -0.32318275 -0.25750357 0.19759276
+v 0.06861421 -0.45937731 0.15209319
+v 0.08412577 -0.36957922 0.29601104
+v 0.27137947 -0.33792887 0.19592926
+v 0.05604320 -0.25954848 0.37436694
+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
+v 0.31932796 -0.25816652 0.22648944
+v 0.39330468 -0.25906035 -0.09590322
+v 0.22770940 -0.43031408 0.03580829
+v 0.32928303 -0.32415854 -0.19850811
+v -0.33523839 -0.28501379 -0.22874178
+v 0.14063926 -0.47350359 -0.08092497
+v -0.21715773 -0.41522592 0.12270469
+v 0.14026317 -0.45820027 0.09468618
+v 0.15461600 -0.35452553 0.28281043
+v 0.04103986 -0.42784303 0.22683599
+v -0.05884497 -0.32889524 0.33799424
+v -0.16227022 -0.25983893 0.34425312
+v -0.01585446 -0.49155143 0.05068070
+v -0.16072581 -0.43027990 -0.22858121
+v -0.33318514 -0.32877894 0.02113504
+v 0.37238843 -0.28330022 0.06571514
+v 0.35797004 -0.31407333 0.03554122
+v 0.25506142 -0.28028166 0.28134543
+v 0.31158649 -0.29782255 0.19632924
+v 0.39347132 -0.25976277 0.02148157
+v 0.28678328 -0.36792034 0.10971614
+v 0.35747130 -0.28279209 -0.19884587
+v 0.34312677 -0.32904887 -0.13815068
+v 0.25654440 -0.38229608 -0.22635523
+v -0.36335323 -0.26976639 -0.16867338
+v 0.14088828 -0.45771942 -0.18504479
+v 0.04227606 -0.49019508 -0.12520201
+v 0.14079951 -0.47358544 -0.00803431
+v 0.20180465 -0.44348873 -0.12449943
+v -0.27374859 -0.34164156 0.17841545
+v -0.19067078 -0.38266176 0.22350540
+v -0.24724098 -0.41455295 0.03488407
+v 0.11369113 -0.45715671 0.12429520
+v 0.11255057 -0.38273344 0.26752613
+v 0.16988536 -0.29690064 0.32720063
+v 0.19853175 -0.35242583 0.25331974
+v 0.08335685 -0.44261688 0.18168875
+f 11 10 6
+f 11 3 10
+f 17 10 5
+f 17 6 10
+f 18 9 5
+f 18 5 10
+f 19 4 3
+f 19 3 11
+f 23 3 4
+f 28 15 10
+f 28 10 3
+f 29 2 10
+f 29 10 15
+f 32 17 5
+f 37 21 7
+f 38 7 21
+f 38 24 7
+f 38 13 24
+f 38 23 13
+f 38 21 23
+f 39 23 4
+f 39 13 23
+f 39 24 13
+f 39 4 24
+f 40 14 25
+f 40 34 14
+f 40 37 7
+f 40 20 37
+f 40 1 20
+f 41 25 14
+f 41 14 26
+f 41 26 32
+f 41 9 25
+f 41 32 5
+f 41 5 9
+f 42 11 6
+f 43 27 15
+f 43 15 8
+f 44 30 16
+f 44 43 8
+f 44 27 43
+f 45 28 3
+f 46 22 8
+f 46 8 15
+f 46 15 28
+f 46 45 22
+f 46 28 45
+f 47 29 15
+f 47 15 27
+f 47 27 29
+f 48 8 22
+f 48 22 12
+f 48 35 30
+f 48 12 35
+f 48 44 8
+f 48 30 44
+f 49 31 10
+f 49 10 2
+f 50 2 29
+f 50 29 27
+f 50 27 44
+f 50 44 16
+f 50 49 2
+f 50 31 49
+f 51 18 10
+f 51 10 31
+f 51 50 16
+f 51 31 50
+f 52 6 17
+f 52 17 32
+f 52 32 26
+f 52 42 6
+f 52 26 42
+f 53 9 18
+f 54 25 9
+f 54 53 33
+f 54 9 53
+f 54 40 25
+f 55 54 33
+f 55 1 40
+f 55 40 54
+f 55 35 1
+f 55 30 35
+f 56 16 30
+f 56 55 33
+f 56 30 55
+f 56 51 16
+f 56 18 51
+f 56 53 18
+f 56 33 53
+f 57 19 11
+f 57 11 42
+f 57 4 19
+f 58 7 24
+f 58 57 34
+f 58 24 4
+f 58 4 57
+f 58 40 7
+f 58 34 40
+f 59 26 14
+f 59 14 34
+f 59 42 26
+f 59 57 42
+f 59 34 57
+f 60 20 1
+f 60 1 35
+f 60 35 12
+f 61 36 21
+f 61 12 36
+f 61 37 12
+f 61 21 37
+f 62 23 21
+f 62 21 36
+f 62 3 23
+f 62 45 3
+f 63 36 12
+f 63 12 22
+f 63 22 45
+f 63 62 36
+f 63 45 62
+f 64 37 20
+f 64 12 37
+f 64 60 12
+f 64 20 60
\ No newline at end of file
diff --git a/apple/apple_2/collision/model_normalized_collision_20.obj b/apple/apple_2/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e72d3ff66a03b74add9513937769992076dcbf1c
--- /dev/null
+++ b/apple/apple_2/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
+v 0.01160912 0.46266468 0.16818296
+v 0.01290647 0.28466497 -0.45963603
+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
+v -0.04768086 0.28408849 -0.45874027
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+v -0.38425897 0.22863873 -0.14149080
+v -0.31697195 0.29703546 -0.22562543
+v -0.29346735 0.22546543 -0.36197288
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+v -0.20546607 0.23965189 -0.43065521
+v -0.04656377 0.44430089 -0.27012387
+v -0.00114209 0.47461459 -0.19898348
+v -0.01670831 0.48989591 -0.12528987
+v 0.01162540 0.41416398 -0.32988539
+v -0.21749710 0.38206082 0.16566042
+v -0.10139567 0.44360905 0.16676987
+v -0.14767382 0.45905315 0.06644926
+v -0.33595345 0.31040860 0.05205549
+v -0.10470737 0.26900651 -0.45689011
+v -0.18947035 0.41284498 -0.21150584
+v -0.13240695 0.45794559 -0.16822908
+v -0.20333611 0.42833142 -0.11024498
+v -0.15785834 0.45954205 0.02100797
+v -0.36202791 0.23983369 -0.21347636
+v -0.33331117 0.31284963 -0.11022125
+v -0.32355748 0.22565436 -0.31673010
+v -0.28967457 0.29419505 -0.28626669
+v -0.16006052 0.35676441 -0.35559823
+v -0.24588051 0.23758953 -0.39920596
+v -0.20957885 0.22853828 -0.43431188
+v -0.07282137 0.45734971 -0.22678463
+v -0.08726019 0.39654451 -0.34407731
+v 0.01105652 0.47461960 -0.19913231
+f 7 1 3
+f 8 1 2
+f 8 3 1
+f 12 1 7
+f 13 2 1
+f 13 1 9
+f 14 9 1
+f 14 1 12
+f 19 11 7
+f 19 7 3
+f 19 3 11
+f 20 11 3
+f 20 4 11
+f 23 8 2
+f 23 2 13
+f 23 22 8
+f 23 13 22
+f 27 17 3
+f 27 10 17
+f 27 3 8
+f 30 17 4
+f 30 4 20
+f 30 20 3
+f 30 3 17
+f 31 11 4
+f 31 4 21
+f 32 7 11
+f 32 31 21
+f 32 11 31
+f 34 22 13
+f 34 13 9
+f 35 16 8
+f 35 8 22
+f 37 25 14
+f 37 14 5
+f 39 9 14
+f 40 29 16
+f 43 18 42
+f 44 28 10
+f 44 10 27
+f 44 43 28
+f 44 27 43
+f 45 8 16
+f 45 16 29
+f 45 27 8
+f 45 18 27
+f 45 42 18
+f 45 29 42
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+f 47 7 32
+f 47 46 12
+f 47 32 21
+f 48 21 4
+f 48 4 17
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+f 48 46 47
+f 49 33 24
+f 49 5 14
+f 49 46 33
+f 49 14 12
+f 49 12 46
+f 49 37 5
+f 50 35 22
+f 50 16 35
+f 50 41 16
+f 50 9 41
+f 50 34 9
+f 50 22 34
+f 51 38 24
+f 52 51 36
+f 52 6 51
+f 52 36 10
+f 52 10 28
+f 53 24 33
+f 53 51 24
+f 53 36 51
+f 54 17 10
+f 54 10 36
+f 54 48 17
+f 54 36 53
+f 54 53 33
+f 54 33 48
+f 55 38 15
+f 55 15 25
+f 55 25 37
+f 56 24 38
+f 56 49 24
+f 56 37 49
+f 56 55 37
+f 56 38 55
+f 57 25 15
+f 57 39 14
+f 57 14 25
+f 58 26 39
+f 58 51 26
+f 58 38 51
+f 58 39 57
+f 58 57 15
+f 58 15 38
+f 59 6 40
+f 59 51 6
+f 59 26 51
+f 59 40 16
+f 59 41 26
+f 59 16 41
+f 60 39 26
+f 60 26 41
+f 61 41 9
+f 61 9 39
+f 61 60 41
+f 61 39 60
+f 62 42 6
+f 62 43 42
+f 62 28 43
+f 62 52 28
+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/apple/apple_2/collision/model_normalized_collision_21.obj b/apple/apple_2/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa3c6ddb9ef6fca7a751b12e34df93888396bf8c
--- /dev/null
+++ b/apple/apple_2/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
+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
+f 34 20 21
+f 34 28 10
+f 34 21 17
+f 34 17 28
+f 35 21 6
+f 35 6 17
+f 35 17 21
+f 36 4 13
+f 37 22 20
+f 39 6 24
+f 39 27 6
+f 39 23 27
+f 39 15 23
+f 40 25 16
+f 40 16 11
+f 41 25 7
+f 41 16 25
+f 41 26 11
+f 41 11 16
+f 42 7 3
+f 42 41 7
+f 42 26 41
+f 43 26 17
+f 43 17 27
+f 43 27 11
+f 43 11 26
+f 44 27 23
+f 44 11 27
+f 45 28 26
+f 45 3 28
+f 46 8 18
+f 46 18 29
+f 47 29 12
+f 47 38 24
+f 48 15 18
+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/apple/apple_2/collision/model_normalized_collision_22.obj b/apple/apple_2/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc4f1ee4158877e12ab7c840c61a248aa743e3d6
--- /dev/null
+++ b/apple/apple_2/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/apple/apple_2/collision/model_normalized_collision_23.obj b/apple/apple_2/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5ad0840de044eadf7f8ee29d9c6a8b51d68677d
--- /dev/null
+++ b/apple/apple_2/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/apple/apple_2/collision/model_normalized_collision_24.obj b/apple/apple_2/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..534f990a1b15cf3ee785a1d1d4f85de72de67fbc
--- /dev/null
+++ b/apple/apple_2/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/apple/apple_2/collision/model_normalized_collision_25.obj b/apple/apple_2/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de11f5062c6f2df45fcfe704dcb6b33582958578
--- /dev/null
+++ b/apple/apple_2/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/apple/apple_2/collision/model_normalized_collision_26.obj b/apple/apple_2/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf221320fc605c0c54e5cee64d568a554cd054d2
--- /dev/null
+++ b/apple/apple_2/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/apple/apple_2/collision/model_normalized_collision_27.obj b/apple/apple_2/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e4021c33d56f6b735cda4fa9ce5bd73a9a8cc44
--- /dev/null
+++ b/apple/apple_2/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/apple/apple_2/collision/model_normalized_collision_28.obj b/apple/apple_2/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..771efbbaf8c234f1cc45173486dc5ee61b8cc1cf
--- /dev/null
+++ b/apple/apple_2/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/apple/apple_2/collision/model_normalized_collision_29.obj b/apple/apple_2/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbc5262869839daf5140ce7e33f023e184997c78
--- /dev/null
+++ b/apple/apple_2/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/apple/apple_2/collision/model_normalized_collision_3.obj b/apple/apple_2/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c74da403aee9f948eb1a07a4a93170ec97d9420f
--- /dev/null
+++ b/apple/apple_2/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/apple/apple_2/collision/model_normalized_collision_30.obj b/apple/apple_2/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8c06f6ad2b6ba27eddc859da1e3b4c91434c2bf
--- /dev/null
+++ b/apple/apple_2/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/apple/apple_2/collision/model_normalized_collision_31.obj b/apple/apple_2/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a4f176dfe5e175d0ac0124214d2b5096dfd559c
--- /dev/null
+++ b/apple/apple_2/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/apple/apple_2/collision/model_normalized_collision_4.obj b/apple/apple_2/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b18e3157b5b3260f3e1f945e70ff46143415c649
--- /dev/null
+++ b/apple/apple_2/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
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+f 62 48 20
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+f 63 48 35
+f 63 35 25
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+f 64 17 49
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\ No newline at end of file
diff --git a/apple/apple_2/collision/model_normalized_collision_5.obj b/apple/apple_2/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f18f91c2ceedaa1f69c8bc8604aa27ba5bcf6fcf
--- /dev/null
+++ b/apple/apple_2/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
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+f 23 1 7
+f 23 7 18
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+f 24 19 14
+f 25 7 15
+f 25 15 19
+f 25 24 7
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+f 29 22 18
+f 29 18 14
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+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/apple/apple_2/collision/model_normalized_collision_6.obj b/apple/apple_2/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98657b9a6ebc02934797d3cd4582ab72026309de
--- /dev/null
+++ b/apple/apple_2/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
+f 11 8 1
+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
+f 18 15 9
+f 18 9 10
+f 18 10 4
+f 20 8 11
+f 21 12 7
+f 21 1 12
+f 22 7 12
+f 24 1 21
+f 24 14 11
+f 24 11 1
+f 26 16 8
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+f 26 8 20
+f 27 3 18
+f 28 19 6
+f 28 6 4
+f 28 4 19
+f 29 6 19
+f 30 4 20
+f 30 20 11
+f 31 12 2
+f 32 22 31
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+f 32 2 13
+f 32 7 22
+f 34 24 21
+f 34 21 7
+f 35 7 23
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+f 36 16 26
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+f 37 4 6
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+f 39 29 14
+f 39 6 29
+f 39 37 6
+f 39 14 38
+f 40 11 14
+f 40 14 29
+f 41 19 4
+f 41 4 30
+f 41 30 11
+f 41 11 40
+f 41 40 29
+f 41 29 19
+f 42 31 22
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+f 43 32 13
+f 43 23 32
+f 44 32 23
+f 44 23 7
+f 44 7 32
+f 45 33 18
+f 45 18 3
+f 45 3 33
+f 46 13 18
+f 47 14 24
+f 47 24 34
+f 47 25 14
+f 47 35 25
+f 48 3 25
+f 48 25 35
+f 49 33 3
+f 49 48 35
+f 49 3 48
+f 49 23 33
+f 50 34 7
+f 50 7 35
+f 50 47 34
+f 50 35 47
+f 51 38 25
+f 51 25 3
+f 51 3 38
+f 52 27 37
+f 52 37 39
+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/apple/apple_2/collision/model_normalized_collision_7.obj b/apple/apple_2/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f52577b8c69854c96d1e65a89b62077b4a1efc98
--- /dev/null
+++ b/apple/apple_2/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
+f 23 5 14
+f 23 1 9
+f 26 10 18
+f 30 20 12
+f 30 12 6
+f 31 6 11
+f 31 11 18
+f 33 4 7
+f 33 7 19
+f 34 20 15
+f 36 7 1
+f 37 22 20
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+f 38 21 36
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+f 39 25 10
+f 39 10 17
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+f 42 10 26
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+f 43 18 11
+f 43 11 32
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+f 43 3 26
+f 44 27 17
+f 44 3 27
+f 44 17 10
+f 44 10 42
+f 44 42 26
+f 44 26 3
+f 45 19 7
+f 45 7 27
+f 45 27 3
+f 45 3 19
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+f 46 38 13
+f 46 21 38
+f 47 28 7
+f 47 46 28
+f 47 21 46
+f 47 36 21
+f 47 7 36
+f 48 27 7
+f 48 7 28
+f 49 28 29
+f 49 48 28
+f 49 17 27
+f 49 27 48
+f 49 39 17
+f 49 29 39
+f 50 18 10
+f 50 31 18
+f 50 30 31
+f 51 10 25
+f 51 50 10
+f 51 30 50
+f 52 25 15
+f 52 15 20
+f 52 20 30
+f 52 51 25
+f 52 30 51
+f 53 31 30
+f 53 30 6
+f 53 6 31
+f 54 32 19
+f 54 19 3
+f 54 3 32
+f 55 33 19
+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
+f 57 2 34
+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
+f 61 58 35
+f 61 20 58
+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/apple/apple_2/collision/model_normalized_collision_8.obj b/apple/apple_2/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..696fd66063790c8ae04ddff8759f1c779af6996f
--- /dev/null
+++ b/apple/apple_2/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/apple/apple_2/collision/model_normalized_collision_9.obj b/apple/apple_2/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..922ac26736beae9403afb945de3e4ec099a216c5
--- /dev/null
+++ b/apple/apple_2/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
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\ No newline at end of file
diff --git a/apple/apple_2/model.xml b/apple/apple_2/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2eb2e69f32244db7abf7d0830eb7f91c777fbc57
--- /dev/null
+++ b/apple/apple_2/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="apple_15">
+  <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="Material_35.006" 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_35.006"/>
+        <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="-0.000267088125 2.6863874999998737e-05 -0.03586759275000001" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.000267088125 2.6863874999998737e-05 0.03606653175000001" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03372566625000001 0.036920085 9.94694999999997e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/apple/apple_2/visual/material.mtl b/apple/apple_2/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/apple/apple_2/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/apple/apple_2/visual/model_normalized_0.obj b/apple/apple_2/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5fcb57f970199fa066fc75ddd5e362080ac7836
--- /dev/null
+++ b/apple/apple_2/visual/model_normalized_0.obj
@@ -0,0 +1,4255 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.42576993 -0.11665889 -0.20353135
+v 0.43832199 -0.12260524 -0.13077832
+v 0.41172682 -0.20682240 -0.13986601
+v 0.39854517 -0.19928763 -0.21031557
+v 0.41043170 -0.11267823 -0.25715621
+v 0.38344856 -0.19315801 -0.26121298
+v 0.37232511 -0.25583938 -0.21193746
+v 0.35721602 -0.24990711 -0.26198571
+v 0.38543268 -0.26326573 -0.14163840
+v 0.38387059 -0.10224037 -0.32351150
+v 0.35535530 -0.18227872 -0.32725733
+v 0.33269197 -0.23351696 -0.32829090
+v 0.34442868 -0.08601112 -0.38697023
+v 0.31499236 -0.16337174 -0.39201427
+v 0.29250798 -0.21480973 -0.39326240
+v 0.27503133 -0.14379271 -0.43465038
+v 0.29908654 -0.06305774 -0.43374400
+v 0.25207467 -0.19450585 -0.43480875
+v 0.19866912 -0.04316266 -0.47141145
+v 0.17908777 -0.09996314 -0.47500100
+v 0.10784398 -0.07384759 -0.45834488
+v 0.12353743 -0.01421141 -0.45617141
+v 0.13884403 -0.14948326 -0.47848762
+v 0.08470010 -0.10937898 -0.46268931
+v 0.01275859 -0.02066906 -0.42001896
+v 0.03853206 -0.03446032 -0.40364073
+v 0.00498971 -0.05445420 -0.39660925
+v -0.00885455 -0.03147265 -0.41529980
+v 0.04137206 0.01149981 -0.39947612
+v 0.02070746 -0.00037596 -0.43858279
+v -0.00544109 -0.01431117 -0.44224098
+v 0.01072376 -0.00026752 -0.44743441
+v -0.01095301 -0.02659665 -0.44077670
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\ No newline at end of file
diff --git a/apple/apple_21/.DS_Store b/apple/apple_21/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..eac6efa9549078958e8eb2579f01fc57404ec38f
Binary files /dev/null and b/apple/apple_21/.DS_Store differ
diff --git a/apple/apple_21/collision/model_normalized_collision_0.obj b/apple/apple_21/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa707b6556e5c6cb5e362ac1ca96ab74797176db
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_0.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.29055641 -0.29438421 0.26054984
+v 0.25146374 -0.26310010 0.33496142
+v 0.00397194 -0.29886704 0.39426092
+v -0.00711154 0.03153984 0.24031090
+v 0.27921681 -0.01691744 0.39622928
+v 0.00757576 -0.27347013 0.24293443
+v 0.14005685 -0.26622300 0.40010379
+v 0.26061921 -0.15105197 0.38677858
+v 0.26515151 -0.01589437 0.24293443
+v 0.00257580 -0.00304280 0.37362357
+v 0.19418308 -0.26138440 0.37679396
+v 0.14371458 -0.15209533 0.43919958
+v 0.24991892 -0.24677822 0.34852909
+v 0.23867004 -0.25996735 0.34892094
+v 0.19635236 -0.20668336 0.40514436
+v 0.14033498 -0.20782356 0.42773355
+v 0.18339656 -0.15009767 0.42584995
+v 0.23561977 -0.24871304 0.36102827
+v 0.15400232 -0.24944669 0.40627774
+v 0.13973061 -0.25098063 0.40947202
+v 0.24343746 -0.14925811 0.39673320
+v 0.18144066 -0.17656124 0.42086983
+v 0.25236751 -0.18976750 0.37720234
+v 0.16672128 -0.26117694 0.39305376
+v 0.15224505 -0.20691076 0.42329746
+v 0.24056433 -0.17787862 0.39116822
+v 0.22220335 -0.20500532 0.39254121
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\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_1.obj b/apple/apple_21/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e32c860ee3f17c36d6b1a061af5f0caa414d682c
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.00968951 -0.47446758 0.11906896
+v 0.01064786 -0.44092024 -0.22242640
+v 0.01166834 -0.00958750 0.38803383
+v -0.23339671 -0.00311112 0.41366977
+v -0.22770384 -0.40710694 -0.10197497
+v -0.23484849 -0.00074286 -0.22676254
+v 0.00986472 -0.27883316 0.40780453
+v 0.01230093 -0.05556397 0.42648473
+v -0.06435110 -0.46814192 -0.04308758
+v 0.00757576 -0.00074286 -0.22676254
+v -0.23003836 -0.36957703 -0.22305157
+v -0.22312825 -0.34656741 0.26125110
+v 0.01059177 -0.47053890 -0.11808343
+v 0.00989830 -0.20791352 0.44024208
+v -0.21051251 -0.42085755 0.07406611
+v -0.22550611 -0.37745940 0.20359717
+v -0.13827682 -0.40563614 -0.22074304
+v -0.00600093 -0.34785967 0.34963146
+v -0.22835490 -0.17399307 0.40687934
+v 0.01079061 -0.45496371 -0.17653036
+v 0.01139810 -0.08155880 0.43817474
+v -0.13723401 -0.45210806 0.04379105
+v -0.22550806 -0.40564644 0.11716270
+v -0.18379288 -0.39181171 -0.22134545
+v -0.10815292 -0.45158967 -0.08611822
+v 0.00907328 -0.34867062 0.35034401
+v -0.10817046 -0.40565498 0.23274406
+v -0.22532795 -0.27448397 0.34540152
+v -0.22771311 -0.11904019 0.42208862
+v -0.02014885 -0.24775946 0.42147926
+v -0.09345818 -0.43573183 -0.16013750
+v -0.06375726 -0.46773891 0.07418509
+v -0.21158969 -0.42175205 -0.04326831
+v -0.15158543 -0.43557281 0.11715543
+v -0.22632789 -0.39260967 -0.16062934
+v -0.04917910 -0.46764138 -0.07146866
+v -0.16784073 -0.41958758 -0.14490463
+v -0.12287116 -0.45212938 -0.05824096
+v 0.00946771 -0.33601087 0.36360724
+v -0.13803896 -0.36075086 0.29054903
+v -0.15175269 -0.37650621 0.26073475
+v -0.22652448 -0.23060602 0.37804688
+v -0.18530804 -0.16180582 0.42117148
+v -0.23148389 -0.04961119 0.42168035
+v 0.00971394 -0.24956233 0.42462513
+v -0.01856804 -0.43526603 -0.22058146
+v -0.04810337 -0.45038435 -0.14557637
+v -0.13766859 -0.45221421 0.03106854
+v -0.16690084 -0.43569907 0.08890385
+v -0.10880656 -0.45213238 0.10186402
+v -0.13835247 -0.40522699 0.21736692
+v -0.21186584 -0.40496684 0.14713945
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+v -0.00399147 -0.46770273 -0.11759006
+v -0.19750828 -0.40493091 -0.16069296
+v -0.16801515 -0.43601680 -0.07329512
+v -0.13861113 -0.27430303 0.37702789
+v -0.12290545 -0.37595968 0.27543716
+v -0.22288682 -0.31726381 0.30294424
+v -0.19661511 -0.37484864 0.23242167
+v -0.15443557 -0.21766129 0.40680135
+v -0.03353322 -0.19202285 0.43787962
+v -0.01939614 -0.20663089 0.43574674
+v -0.21632531 -0.03446684 0.42164210
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\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_10.obj b/apple/apple_21/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..864471d9a4ea3ffb2cec48590b7df2c446ac6b51
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_10.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.14209590 -0.46510211 0.12023627
+v 0.25568908 -0.39884692 0.11781913
+v 0.13809325 -0.36273638 0.32070629
+v 0.00899043 -0.26742042 0.41427796
+v 0.00757576 -0.27347013 0.12172231
+v 0.25738125 -0.26758328 0.32587693
+v 0.00830523 -0.43694463 0.22603907
+v 0.16243331 -0.42189937 0.21947745
+v 0.19534871 -0.44109801 0.11715183
+v 0.09723536 -0.26695612 0.41275277
+v 0.22710364 -0.26424000 0.35373874
+v 0.26515151 -0.27347013 0.12172231
+v 0.00917168 -0.36278995 0.33428555
+v 0.00757576 -0.39468225 0.12172231
+v 0.06889002 -0.44356040 0.22102797
+v 0.25054176 -0.33178639 0.26197525
+v 0.24116218 -0.41134880 0.11733021
+v 0.16816139 -0.45283259 0.13197189
+v 0.18191028 -0.26474188 0.38169879
+v 0.20616800 -0.33293721 0.30457602
+v 0.00855113 -0.40736557 0.27584662
+v 0.05030215 -0.30612547 0.39287264
+v 0.16937869 -0.45635722 0.11780165
+v 0.13864014 -0.45404805 0.16219417
+v 0.09416368 -0.40829872 0.27571096
+v 0.17812084 -0.43782320 0.16149960
+v 0.22209888 -0.39032152 0.20388440
+v 0.13520114 -0.31919908 0.36329224
+v 0.25406064 -0.27838989 0.32113026
+v 0.14955809 -0.39432843 0.27521779
+v 0.00843374 -0.42409606 0.24896977
+v 0.00961824 -0.31968232 0.37738207
+v 0.09361848 -0.43632617 0.23112817
+v 0.15246863 -0.44995562 0.16095018
+v 0.06928464 -0.43702535 0.23241548
+v 0.05409016 -0.37782249 0.32089064
+v 0.23908656 -0.40814617 0.13145020
+v 0.25072552 -0.39308372 0.14607473
+v 0.12061703 -0.29051233 0.39035361
+v 0.16488280 -0.30298968 0.36215409
+v 0.09454065 -0.33257261 0.36365934
+v 0.20748049 -0.30402333 0.33265620
+v 0.16388348 -0.34766802 0.31962664
+v 0.20719002 -0.37583169 0.24666656
+v 0.00986472 -0.27883316 0.40780453
+v 0.13838436 -0.40558682 0.26188256
+v 0.07929375 -0.37704377 0.31978985
+v 0.09641794 -0.27812740 0.40677366
+v 0.17855280 -0.27597753 0.37597825
+v 0.08018427 -0.32042061 0.37689521
+v 0.22283099 -0.27429947 0.34799699
+v 0.17775942 -0.37692103 0.27398705
+v 0.03984935 -0.30515865 0.39325829
+f 11 5 4
+f 12 6 2
+f 12 11 6
+f 12 5 11
+f 14 1 7
+f 14 5 9
+f 14 7 4
+f 14 4 5
+f 15 7 1
+f 16 2 6
+f 17 9 5
+f 17 12 2
+f 17 5 12
+f 19 11 4
+f 19 4 10
+f 21 13 4
+f 21 4 7
+f 22 10 4
+f 23 14 9
+f 23 1 14
+f 23 18 1
+f 23 9 18
+f 24 15 1
+f 26 18 9
+f 27 8 26
+f 29 6 11
+f 29 20 16
+f 29 16 6
+f 30 3 25
+f 31 21 7
+f 31 7 15
+f 32 4 13
+f 32 13 22
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+f 34 24 1
+f 34 1 18
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+f 34 26 8
+f 34 8 24
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+f 38 16 27
+f 38 37 2
+f 38 27 37
+f 40 28 3
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+f 43 30 20
+f 43 3 30
+f 43 20 42
+f 43 42 40
+f 43 40 3
+f 44 16 20
+f 44 27 16
+f 44 30 8
+f 44 8 27
+f 45 22 4
+f 45 4 32
+f 46 33 8
+f 46 8 30
+f 46 30 25
+f 46 25 33
+f 47 36 25
+f 47 25 3
+f 47 41 36
+f 47 3 41
+f 48 39 19
+f 48 19 10
+f 48 10 22
+f 48 41 39
+f 49 40 11
+f 49 11 19
+f 49 19 39
+f 49 39 28
+f 49 28 40
+f 50 22 36
+f 50 36 41
+f 50 48 22
+f 50 41 48
+f 51 42 29
+f 51 29 11
+f 51 11 40
+f 51 40 42
+f 52 44 20
+f 52 20 30
+f 52 30 44
+f 53 45 32
+f 53 32 22
+f 53 22 45
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_11.obj b/apple/apple_21/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42a68470478b804c41d3f90fe787776903177517
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_11.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.29429944 -0.01700261 0.38778824
+v 0.26515151 -0.01589437 -0.24191405
+v 0.26974127 0.23012889 -0.24574877
+v 0.01005407 0.22862294 0.33942009
+v 0.01015245 -0.02147223 0.40172743
+v 0.00757576 0.22652987 -0.24191405
+v 0.26319919 0.22434994 0.33026551
+v 0.04115904 -0.02418171 0.41322446
+v 0.00757576 -0.01589437 -0.24191405
+v 0.04225666 0.22945554 0.34900679
+v 0.28312972 0.09725800 0.38133297
+v 0.18723656 0.02785180 0.42392708
+v 0.20218295 -0.01658587 0.42389415
+v 0.13871044 0.08636394 0.40665790
+v 0.11486107 -0.02015258 0.42577958
+v 0.21872545 -0.01623419 0.42038414
+v 0.08564344 0.22431952 0.36124113
+v 0.21476118 0.10108662 0.40627970
+v 0.21518817 0.21893948 0.35988701
+v 0.20059485 0.01302680 0.42214005
+v 0.19144199 0.11488496 0.40616324
+v 0.21501271 0.14423838 0.39155934
+v 0.19980850 0.11386185 0.40650790
+v 0.19967237 0.15738091 0.39015902
+v 0.17725653 0.15939138 0.39018478
+f 1 2 3
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+f 9 6 3
+f 9 3 2
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+f 9 8 5
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+f 10 7 3
+f 10 4 8
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+f 15 8 1
+f 15 1 13
+f 15 14 8
+f 15 12 14
+f 16 13 1
+f 16 1 11
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+f 17 10 8
+f 17 8 14
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+f 19 7 10
+f 19 10 17
+f 19 11 7
+f 20 18 12
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+f 22 18 11
+f 22 11 19
+f 23 21 12
+f 23 12 18
+f 23 18 22
+f 24 23 22
+f 24 22 19
+f 25 24 19
+f 25 19 17
+f 25 17 21
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+f 25 23 24
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_12.obj b/apple/apple_21/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36337d74ff268e33dfedcc5e4110c90a337fbf73
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_12.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.25938671 -0.35751261 0.20926590
+v 0.43234614 -0.10233084 0.20530768
+v 0.25824105 -0.16311478 0.38512649
+v 0.25824549 0.21881871 0.33633842
+v 0.26515151 0.22652987 0.21263140
+v 0.35572438 0.07164405 0.33225523
+v 0.25613718 -0.35357836 0.22085572
+v 0.26904777 -0.35097277 0.20606056
+v 0.37117826 -0.04463318 0.31861574
+v 0.25833514 0.08752073 0.39713008
+v 0.37450445 0.20381937 0.20673098
+v 0.26628190 -0.34757929 0.21700817
+v 0.33845024 -0.17382720 0.30278234
+v 0.42788823 0.06797791 0.23313181
+v 0.29957487 0.12753916 0.36061650
+v 0.28315572 -0.04339277 0.39168229
+v 0.25583644 -0.25126140 0.33944460
+v 0.36317769 0.22010508 0.20863298
+v 0.40240297 -0.17568299 0.20445840
+v 0.31031733 -0.14592619 0.34640445
+v 0.36841499 -0.12973173 0.28997666
+v 0.39968435 -0.01336599 0.28960017
+v 0.38388367 0.14265828 0.26014267
+v 0.43501719 0.08575842 0.20649110
+v 0.29961270 0.08582975 0.37467552
+v 0.25860231 0.13094350 0.38292336
+v 0.32785889 -0.03061021 0.36217591
+v 0.25734690 -0.10370440 0.39697822
+v 0.25653232 -0.32378649 0.26659319
+v 0.32785543 -0.29203229 0.20555219
+v 0.28089372 -0.20264359 0.34877419
+v 0.32407821 -0.14448262 0.33344194
+v 0.38340126 -0.14453783 0.26031778
+v 0.42803125 -0.07133658 0.23093594
+v 0.41413750 0.05823755 0.26117867
+v 0.38304318 0.16931974 0.23376202
+v 0.35460416 0.11220300 0.31891469
+v 0.32463899 0.21519320 0.27694706
+v 0.41871482 0.13078856 0.20589988
+v 0.32500573 0.11198110 0.34707612
+v 0.28618702 0.02875304 0.39130918
+v 0.27069405 0.21580063 0.33138472
+v 0.28467692 0.11277215 0.37548159
+v 0.39901659 -0.00235861 0.29150804
+v 0.32567099 -0.10177977 0.34717099
+v 0.29837651 -0.07368450 0.37651255
+v 0.27945868 -0.31737890 0.24677542
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+v 0.28020150 -0.17630599 0.36177108
+v 0.30891631 -0.20451167 0.31862868
+v 0.36843199 -0.09992740 0.30313134
+v 0.42670172 -0.10060450 0.21763238
+v 0.35315352 -0.18822473 0.27440657
+v 0.41273011 -0.05648715 0.26088709
+v 0.39766533 0.08284608 0.27796201
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+v 0.35355849 0.21527752 0.23415104
+v 0.39941446 0.15494449 0.21921619
+v 0.27011811 0.08621337 0.39096711
+v 0.32713573 0.04155173 0.36298709
+v 0.27046534 0.12859495 0.37713582
+v 0.34083325 -0.04462886 0.34887668
+v 0.28054739 -0.13130492 0.37713030
+v 0.26848320 -0.10211004 0.39048418
+f 7 5 1
+f 7 4 5
+f 8 1 5
+f 11 8 5
+f 12 7 1
+f 12 1 8
+f 17 10 4
+f 17 4 7
+f 18 11 5
+f 18 5 4
+f 19 8 11
+f 26 4 10
+f 28 17 3
+f 28 10 17
+f 29 17 7
+f 29 7 12
+f 30 12 8
+f 30 8 19
+f 31 3 17
+f 32 13 21
+f 32 20 31
+f 34 24 14
+f 34 2 24
+f 34 21 33
+f 38 18 4
+f 39 14 24
+f 39 19 11
+f 39 24 2
+f 39 2 19
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+f 51 32 21
+f 51 45 32
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+f 54 21 34
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+f 55 23 37
+f 55 37 6
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+f 56 40 37
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+f 56 15 40
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+f 57 11 18
+f 57 38 23
+f 57 23 36
+f 58 36 23
+f 58 23 39
+f 58 39 11
+f 58 11 36
+f 59 41 25
+f 59 10 41
+f 59 43 10
+f 59 25 43
+f 60 41 27
+f 60 6 25
+f 60 25 41
+f 60 44 6
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+f 61 26 43
+f 62 45 9
+f 62 9 27
+f 62 27 46
+f 63 20 45
+f 63 49 20
+f 63 3 49
+f 63 62 46
+f 63 45 62
+f 64 46 16
+f 64 16 28
+f 64 63 46
+f 64 28 3
+f 64 3 63
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_13.obj b/apple/apple_21/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76612c6a16321bab704ddb9bd42151d93319c469
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_13.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.12321291 -0.43987407 -0.22118673
+v 0.25844087 -0.14677284 -0.45110537
+v 0.26515151 -0.01589437 -0.22676254
+v 0.00757576 -0.01589437 -0.22676254
+v 0.01351583 -0.32523964 -0.41884009
+v 0.15267330 -0.01963357 -0.45292637
+v 0.22426524 -0.38202411 -0.22075934
+v 0.01064786 -0.44092024 -0.22242640
+v 0.25512242 -0.02137321 -0.45263383
+v 0.00967431 -0.00506501 -0.41532175
+v 0.17617999 -0.13255693 -0.46636222
+v 0.25672685 -0.35430285 -0.22198377
+v 0.13196243 -0.36344947 -0.38125818
+v 0.00494607 -0.03699508 -0.43430991
+v 0.07844989 -0.34270023 -0.42038910
+v 0.24573139 -0.06318204 -0.46699902
+v 0.19023533 -0.36188988 -0.32409866
+v 0.09352248 -0.40859453 -0.33782538
+v 0.01185032 -0.40659824 -0.32662770
+v 0.04094031 -0.27261022 -0.43640958
+v 0.16583502 -0.05039165 -0.46722443
+v 0.22883784 -0.13130653 -0.46481158
+v 0.11876340 -0.33781036 -0.40764004
+v 0.23507062 -0.34679010 -0.27862132
+v 0.15165717 -0.41957317 -0.25001282
+v 0.24907334 -0.25910949 -0.37924523
+v 0.10622832 -0.43615111 -0.25096037
+v 0.10526001 -0.37564555 -0.38124856
+v 0.13618204 -0.39158855 -0.33607568
+v 0.01321987 -0.36377328 -0.39167381
+v 0.02660657 -0.43561096 -0.25078347
+v 0.05447199 -0.34105938 -0.41997362
+v 0.17706104 -0.03600603 -0.46515432
+v 0.15237041 -0.07779509 -0.46584016
+v 0.24416132 -0.11644722 -0.46444249
+v 0.10639166 -0.36508733 -0.39068823
+v 0.19096372 -0.37564800 -0.29360719
+v 0.18079520 -0.41283963 -0.22205586
+v 0.20546389 -0.31730796 -0.36438367
+v 0.24797319 -0.31848243 -0.30856117
+v 0.24568002 -0.18651909 -0.43460030
+v 0.10583510 -0.42112788 -0.29481373
+v 0.01325903 -0.37692865 -0.37942591
+v 0.02741552 -0.40624846 -0.33642552
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+v 0.02836152 -0.35102672 -0.40853589
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+v 0.04137701 -0.26171507 -0.43701698
+v 0.15395296 -0.11656881 -0.46413601
+v 0.14677149 -0.39206960 -0.32424284
+v 0.17824991 -0.40926252 -0.23549406
+v 0.22281061 -0.29128514 -0.37455270
+v 0.25062107 -0.34699932 -0.24918793
+v 0.23510576 -0.33167998 -0.30894494
+v 0.25428957 -0.17261086 -0.43819158
+v 0.14824341 -0.33650535 -0.39039778
+v 0.23450968 -0.28873335 -0.36443398
+f 7 3 4
+f 7 4 1
+f 8 1 4
+f 9 3 2
+f 10 4 3
+f 10 9 6
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+f 12 2 3
+f 12 3 7
+f 14 8 4
+f 14 4 10
+f 14 10 6
+f 16 9 2
+f 19 8 14
+f 20 5 14
+f 20 11 15
+f 21 16 11
+f 22 15 11
+f 22 2 15
+f 22 11 16
+f 23 15 2
+f 24 12 7
+f 26 2 12
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+f 27 25 1
+f 29 13 17
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+f 29 18 28
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+f 33 14 6
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+f 46 15 43
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+f 47 6 9
+f 47 9 16
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+f 48 34 20
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+f 48 14 34
+f 49 34 11
+f 49 11 20
+f 49 20 34
+f 50 29 17
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+f 50 42 18
+f 50 18 29
+f 51 37 7
+f 51 7 38
+f 51 50 37
+f 51 38 25
+f 51 25 50
+f 52 39 13
+f 52 41 26
+f 53 40 12
+f 53 12 24
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+f 54 17 39
+f 54 53 24
+f 54 40 53
+f 55 41 2
+f 55 2 26
+f 55 26 41
+f 56 13 23
+f 56 23 41
+f 56 52 13
+f 56 41 52
+f 57 52 26
+f 57 26 40
+f 57 40 54
+f 57 54 39
+f 57 39 52
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_14.obj b/apple/apple_21/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f141037b1294083baa571e0ffbfa6c0a96550297
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_14.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.24436386 -0.34854980 0.23742256
+v -0.22633752 -0.32184790 0.29472818
+v -0.39634616 -0.14379539 0.26363485
+v -0.42781407 0.21546946 0.23322877
+v -0.23484849 0.21137836 0.22778292
+v -0.27280250 -0.00109133 0.40755955
+v -0.40252820 -0.17629873 0.22121202
+v -0.26637011 -0.20346129 0.37751407
+v -0.41595717 0.08988245 0.29283738
+v -0.23372201 0.20716528 0.36652104
+v -0.29920693 -0.32142304 0.21932107
+v -0.43255265 -0.08787620 0.22163948
+v -0.34218736 -0.07467643 0.36277830
+v -0.33107758 0.19050272 0.34506540
+v -0.23176720 -0.16318362 0.41062582
+v -0.28281733 -0.28561642 0.29045584
+v -0.43881999 -0.05924996 0.22433759
+v -0.33075770 0.04154242 0.37575963
+v -0.33805660 -0.18898216 0.32093282
+v -0.28961068 0.20241396 0.36148402
+v -0.40200365 0.18858449 0.28920594
+v -0.22746967 -0.24736133 0.36476989
+v -0.23259862 0.02589000 0.40757715
+v -0.29730427 -0.10253627 0.39151854
+v -0.29516573 -0.31693727 0.23147271
+v -0.23782603 -0.31658502 0.29093549
+v -0.42298091 0.09000812 0.28242553
+v -0.41338419 -0.08753607 0.26274683
+v -0.35430570 -0.13041226 0.33267646
+v -0.28094325 -0.23182037 0.34679094
+v -0.35271926 -0.23111622 0.26329386
+v -0.34430971 0.20270409 0.33324071
+v -0.32933926 0.13166792 0.36275515
+v -0.25578855 -0.21388669 0.37599958
+v -0.26374459 0.16128839 0.37623290
+v -0.24283961 -0.16006680 0.40829274
+v -0.32666696 -0.05947641 0.37749057
+v -0.42738822 -0.08652366 0.23459031
+v -0.39871088 -0.02840274 0.30532594
+v -0.35294679 -0.15855241 0.32074542
+v -0.38322383 -0.10121134 0.30686699
+v -0.32450718 -0.13061202 0.36346647
+v -0.30954807 -0.21470880 0.33372943
+v -0.26919943 -0.25678979 0.33447274
+v -0.36765909 -0.17349095 0.29012744
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+v -0.31587267 0.08760489 0.37636381
+v -0.30095018 0.19060498 0.36055778
+v -0.34349016 0.16203440 0.34617656
+v -0.23428151 0.16210725 0.37830005
+v -0.29866164 -0.16011094 0.37463182
+v -0.27294098 -0.10465493 0.40632776
+v -0.25622011 -0.18890249 0.38960838
+v -0.43354597 -0.05845395 0.23709122
+v -0.41443969 0.01618386 0.29092227
+v -0.39824743 -0.11632375 0.27648126
+v -0.36861191 -0.07257269 0.33422943
+v -0.32507005 -0.23016443 0.30377529
+v -0.24053650 -0.24403801 0.36064996
+v -0.35236115 -0.20272037 0.29029483
+v -0.39754179 -0.17409011 0.23404609
+v -0.37297203 -0.23424166 0.22133282
+v -0.34150472 -0.27314978 0.23199241
+f 5 2 1
+f 10 5 4
+f 10 2 5
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+f 12 4 5
+f 12 11 7
+f 12 5 11
+f 12 7 3
+f 17 4 12
+f 18 9 13
+f 20 10 4
+f 22 2 10
+f 23 6 15
+f 23 22 10
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+f 25 11 1
+f 25 1 16
+f 26 16 1
+f 26 1 2
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+f 27 21 4
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+f 35 20 6
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+f 54 34 15
+f 54 15 36
+f 54 8 34
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+f 54 36 52
+f 55 38 28
+f 55 17 38
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+f 56 55 39
+f 56 27 55
+f 56 39 13
+f 56 13 9
+f 57 41 28
+f 57 40 41
+f 57 45 40
+f 57 3 45
+f 57 38 3
+f 57 28 38
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+f 58 29 13
+f 58 13 39
+f 58 39 41
+f 59 43 19
+f 59 16 44
+f 59 44 30
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+f 60 44 22
+f 60 22 34
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+f 61 45 31
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+f 61 59 19
+f 61 31 59
+f 62 45 3
+f 62 3 7
+f 62 31 45
+f 63 7 11
+f 63 11 46
+f 63 62 7
+f 63 31 62
+f 64 46 25
+f 64 25 16
+f 64 16 59
+f 64 59 31
+f 64 63 46
+f 64 31 63
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_15.obj b/apple/apple_21/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42875d84c6015282dd33fe4c0c797f7a727a8901
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_15.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.15089714 -0.28563390 0.38086032
+v 0.23676658 -0.16006093 0.39761684
+v 0.01059698 -0.22157580 0.43578583
+v 0.00257580 -0.00304280 0.37362357
+v 0.20218295 -0.01658587 0.42389415
+v 0.00397194 -0.29886704 0.39426092
+v 0.12552369 -0.19235821 0.43587717
+v 0.24142648 -0.01734083 0.41281694
+v 0.01139810 -0.08155880 0.43817474
+v 0.13973061 -0.25098063 0.40947202
+v 0.21872545 -0.01623419 0.42038414
+v 0.16599522 -0.13413573 0.43572926
+v 0.05806544 -0.02914486 0.42149399
+v 0.08315493 -0.22288071 0.43709658
+v 0.14005685 -0.26622300 0.40010379
+v 0.13885915 -0.22091124 0.42275030
+v 0.21121271 -0.10454208 0.42038794
+v 0.17085934 -0.09379079 0.43707722
+v 0.08432233 -0.05257422 0.43647793
+v 0.01323420 -0.02814342 0.40746194
+v 0.00971394 -0.24956233 0.42462513
+v 0.12392497 -0.26499167 0.40709709
+v 0.12328716 -0.23547474 0.42133052
+v 0.13764444 -0.17882753 0.43581790
+v 0.19625975 -0.14927338 0.42048751
+v 0.21578141 -0.03241549 0.42229760
+v 0.02500356 -0.06714711 0.43641011
+v 0.14169726 -0.04967505 0.43734537
+v 0.09520874 -0.24940198 0.42249290
+v 0.21325192 -0.14931182 0.41211509
+v 0.02793809 -0.04315068 0.42275901
+v 0.00899043 -0.26742042 0.41427796
+f 2 1 4
+f 6 4 1
+f 8 2 4
+f 9 6 3
+f 9 4 6
+f 11 8 4
+f 11 4 5
+f 13 5 4
+f 14 9 3
+f 15 1 2
+f 15 2 10
+f 16 10 2
+f 16 7 14
+f 17 2 8
+f 18 11 5
+f 18 9 14
+f 18 12 17
+f 19 5 13
+f 20 13 4
+f 20 4 9
+f 21 14 3
+f 21 3 6
+f 22 6 1
+f 22 1 15
+f 22 15 10
+f 23 16 14
+f 23 10 16
+f 24 7 16
+f 24 12 18
+f 24 18 14
+f 24 14 7
+f 25 17 12
+f 25 12 24
+f 25 24 16
+f 25 16 2
+f 26 8 11
+f 26 11 18
+f 26 18 17
+f 26 17 8
+f 27 19 13
+f 27 9 19
+f 27 20 9
+f 28 18 5
+f 28 5 19
+f 28 19 9
+f 28 9 18
+f 29 14 21
+f 29 6 22
+f 29 23 14
+f 29 22 10
+f 29 10 23
+f 30 25 2
+f 30 2 17
+f 30 17 25
+f 31 27 13
+f 31 13 20
+f 31 20 27
+f 32 29 21
+f 32 21 6
+f 32 6 29
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_16.obj b/apple/apple_21/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94b260110cc91e72dc96cc8389a97dcb77e3dbf6
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_16.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.10789397 -0.48404171 0.08828475
+v 0.26489788 -0.39438030 -0.10547341
+v 0.26267490 -0.39180666 0.12070073
+v 0.00061464 -0.42514379 0.24442375
+v 0.00757576 -0.39468225 -0.15100496
+v 0.14982372 -0.41523064 0.23981093
+v 0.22275184 -0.43673631 0.05748866
+v 0.12119056 -0.46617837 -0.14501258
+v 0.01083480 -0.48258151 -0.04318990
+v 0.09373016 -0.46859120 0.16211412
+v 0.25073467 -0.40824395 0.10291237
+v 0.16289358 -0.44334097 -0.16612445
+v 0.13705957 -0.48152573 -0.02790289
+v 0.00929242 -0.46212162 -0.14882276
+v 0.12305359 -0.43501631 0.21844329
+v 0.17796144 -0.45272776 0.11596478
+v 0.01057743 -0.48351210 0.05917499
+v 0.22294455 -0.43702412 -0.04298939
+v 0.12169152 -0.48209238 -0.07193806
+v 0.02667675 -0.46645391 -0.14598443
+v 0.01010302 -0.44078513 0.21976095
+v 0.15235858 -0.46601107 0.10289590
+v 0.23761230 -0.42113842 0.08770441
+v 0.13726235 -0.44997545 0.17396620
+v 0.22374291 -0.42300124 0.11620320
+v 0.02557321 -0.48440608 0.07442723
+v 0.13730248 -0.48225293 0.01490285
+v 0.20730865 -0.43689493 -0.10170986
+v 0.13608573 -0.46523508 -0.12944305
+v 0.02615188 -0.48183281 -0.07148528
+v 0.01094615 -0.46785444 0.14779455
+v 0.19323881 -0.45287801 0.07267451
+v 0.13877716 -0.43709802 0.20427101
+v 0.25568908 -0.39884692 0.11781913
+v 0.05356175 -0.48354976 0.08918217
+v 0.16712180 -0.46688982 -0.05771387
+v 0.16720143 -0.46603167 0.07296157
+v 0.25052210 -0.40756889 -0.10110854
+v 0.19309688 -0.45288761 -0.07119443
+v 0.01129894 -0.46726573 -0.13097325
+v 0.01140730 -0.45304612 0.19080459
+v 0.14068698 -0.42877920 0.22113474
+v 0.06891630 -0.46749300 0.16253439
+v 0.12234024 -0.48199056 0.07274827
+f 5 3 2
+f 5 4 3
+f 6 3 4
+f 11 2 3
+f 12 5 2
+f 14 9 4
+f 14 4 5
+f 14 5 12
+f 15 6 4
+f 17 4 9
+f 18 11 7
+f 18 2 11
+f 20 14 12
+f 20 12 8
+f 20 8 19
+f 21 15 4
+f 21 10 15
+f 22 10 1
+f 23 7 11
+f 24 22 16
+f 24 10 22
+f 25 6 16
+f 25 23 11
+f 25 16 23
+f 26 17 9
+f 26 19 1
+f 26 9 19
+f 27 19 13
+f 27 1 19
+f 29 19 8
+f 29 8 12
+f 30 20 19
+f 30 19 9
+f 31 4 17
+f 31 17 26
+f 32 23 16
+f 32 7 23
+f 32 18 7
+f 33 15 10
+f 33 10 24
+f 33 24 16
+f 34 25 11
+f 34 11 3
+f 34 3 6
+f 34 6 25
+f 35 26 1
+f 35 1 10
+f 35 31 26
+f 36 27 13
+f 36 32 27
+f 36 18 32
+f 36 13 19
+f 36 19 29
+f 37 27 32
+f 37 32 16
+f 37 16 22
+f 38 28 12
+f 38 12 2
+f 38 2 18
+f 39 29 12
+f 39 12 28
+f 39 36 29
+f 39 18 36
+f 39 38 18
+f 39 28 38
+f 40 30 9
+f 40 9 14
+f 40 14 20
+f 40 20 30
+f 41 21 4
+f 41 4 31
+f 42 6 15
+f 42 15 33
+f 42 33 16
+f 42 16 6
+f 43 35 10
+f 43 31 35
+f 43 41 31
+f 43 10 21
+f 43 21 41
+f 44 37 22
+f 44 22 1
+f 44 1 27
+f 44 27 37
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_17.obj b/apple/apple_21/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faf454076f296b0217cda63ed28dc9c51aa7a3f6
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_17.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.26515151 -0.01589437 -0.24191405
+v 0.29026217 0.00161592 -0.41995161
+v 0.26974127 0.23012889 -0.24574877
+v 0.14393939 0.22652987 -0.24191405
+v 0.11271300 -0.01199491 -0.42032198
+v 0.13541320 0.21704743 -0.38109764
+v 0.14393939 -0.01589437 -0.24191405
+v 0.25540809 0.09546296 -0.38130121
+v 0.14391488 0.09016303 -0.43882190
+v 0.25280742 0.21707596 -0.27582023
+v 0.22892026 0.08305020 -0.41188894
+v 0.13746911 0.14626858 -0.42730722
+v 0.14621910 0.21293649 -0.37662017
+v 0.13644185 0.17309855 -0.41225776
+v 0.17516763 0.18331400 -0.37668498
+v 0.14809256 0.16957124 -0.40709716
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 9 2 5
+f 10 3 8
+f 11 8 2
+f 12 9 5
+f 12 11 2
+f 12 2 9
+f 13 6 3
+f 13 3 10
+f 14 12 5
+f 14 5 6
+f 14 11 12
+f 15 13 10
+f 15 10 8
+f 15 8 11
+f 15 11 13
+f 16 13 11
+f 16 11 14
+f 16 14 6
+f 16 6 13
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_18.obj b/apple/apple_21/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a38af49b393b107d21e29f7fd1ce3861b0b5103
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_18.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.47437511 -0.01090606 0.14968350
+v -0.42666650 -0.00228283 -0.21725738
+v -0.41262246 0.25399129 -0.08851290
+v -0.43297316 0.26976587 0.01225156
+v -0.49116658 0.11732368 -0.02600471
+v -0.45143477 0.21339441 0.18394259
+v -0.49057214 0.00168653 0.01678306
+v -0.44395477 0.11385032 -0.17184970
+v -0.47285360 0.18786587 -0.02486949
+v -0.48928022 0.13344514 0.11861080
+v -0.40663873 0.15937747 -0.20457653
+v -0.47500466 0.01535874 -0.10021152
+v -0.46049368 0.00041740 -0.14479607
+v -0.44479454 0.24386040 -0.02370821
+v -0.45958463 0.12959926 -0.12853878
+v -0.47367005 0.20487699 0.11833521
+v -0.46942033 0.16423079 0.17877522
+v -0.49015884 0.06102727 0.11922741
+v -0.40745231 0.19035345 -0.17479296
+v -0.42821017 0.11409112 -0.19940974
+v -0.49063607 0.03169396 -0.02780071
+v -0.47612558 0.00182462 -0.08683423
+v -0.44330633 0.07328837 -0.18676669
+v -0.47314264 0.13210369 -0.08533615
+v -0.44260807 0.15840697 -0.14201182
+v -0.45483323 0.23244883 0.14829891
+v -0.46029208 0.23332700 0.01804051
+v -0.48938976 0.16136329 0.03232252
+v -0.46302506 0.17051970 0.18937227
+v -0.47347625 0.18946709 0.14567977
+v -0.49004903 0.01756825 0.09007420
+v -0.49023143 0.16099544 0.09025204
+v -0.49051303 0.01655794 -0.01263473
+v -0.44324443 0.01621239 -0.18829503
+v -0.45819385 0.10280280 -0.14335209
+v -0.44447110 0.21388755 -0.08175343
+v -0.41389162 0.15422117 -0.19903573
+v -0.45860976 0.23249930 0.00312468
+v -0.45111665 0.24830088 0.01806851
+v -0.48958814 0.14692619 0.00337522
+v -0.47282130 0.20240682 0.00360855
+v -0.45800028 0.20450285 0.17587414
+v -0.48965822 0.00248719 0.05974118
+v -0.47963301 0.00087282 0.13440851
+v -0.43439811 0.00119316 -0.20451253
+v -0.47349206 0.10234380 -0.09948207
+v -0.42913475 0.24351165 -0.06896828
+v -0.41465538 0.18528698 -0.16917299
+v -0.48969885 0.03219737 0.10323442
+f 6 3 4
+f 11 6 1
+f 11 1 2
+f 13 2 1
+f 14 4 3
+f 18 17 10
+f 18 1 17
+f 18 5 7
+f 19 3 6
+f 19 6 11
+f 20 11 2
+f 21 7 5
+f 21 5 12
+f 22 13 1
+f 22 1 7
+f 22 12 13
+f 22 21 12
+f 23 20 2
+f 23 8 20
+f 24 5 9
+f 25 8 15
+f 26 6 4
+f 29 17 1
+f 29 1 6
+f 30 10 17
+f 30 26 16
+f 31 18 7
+f 32 18 10
+f 32 5 18
+f 32 28 5
+f 32 16 28
+f 32 30 16
+f 32 10 30
+f 33 22 7
+f 33 7 21
+f 33 21 22
+f 34 13 23
+f 35 15 8
+f 35 8 23
+f 35 23 13
+f 36 24 9
+f 36 15 24
+f 36 25 15
+f 37 20 8
+f 37 8 25
+f 37 11 20
+f 37 19 11
+f 38 36 9
+f 38 14 36
+f 39 26 4
+f 39 38 27
+f 39 4 14
+f 39 14 38
+f 39 27 16
+f 39 16 26
+f 40 9 5
+f 40 5 28
+f 41 40 28
+f 41 9 40
+f 41 38 9
+f 41 27 38
+f 41 28 16
+f 41 16 27
+f 42 29 6
+f 42 17 29
+f 42 30 17
+f 42 6 26
+f 42 26 30
+f 43 31 7
+f 43 7 1
+f 43 1 31
+f 44 31 1
+f 44 1 18
+f 45 34 23
+f 45 23 2
+f 45 2 13
+f 45 13 34
+f 46 24 15
+f 46 15 35
+f 46 5 24
+f 46 12 5
+f 46 35 13
+f 46 13 12
+f 47 36 14
+f 47 14 3
+f 47 3 36
+f 48 36 3
+f 48 3 19
+f 48 25 36
+f 48 37 25
+f 48 19 37
+f 49 44 18
+f 49 18 31
+f 49 31 44
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_19.obj b/apple/apple_21/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3c00d75f05d2200e30103e71a57faa7dd7264a7
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_19.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.14301597 -0.46804828 -0.10510826
+v 0.29690416 -0.30227314 -0.24205611
+v 0.26515151 -0.27347013 -0.10555041
+v 0.00757576 -0.27347013 -0.10555041
+v 0.01064786 -0.44092024 -0.22242640
+v 0.00757576 -0.27347013 -0.22676254
+v 0.22496154 -0.42497876 -0.10205030
+v 0.13679350 -0.43553062 -0.21961558
+v 0.00929242 -0.46212162 -0.14882276
+v 0.00757576 -0.39468225 -0.10555041
+v 0.25770999 -0.40097460 -0.10329097
+v 0.18182273 -0.45085100 -0.11707965
+v 0.05257728 -0.45218500 -0.20615028
+v 0.18274344 -0.45321580 -0.10236599
+v 0.22260473 -0.39140676 -0.20377815
+v 0.12201177 -0.45170457 -0.18968239
+v 0.22326224 -0.42293429 -0.11711003
+v 0.04163048 -0.45244715 -0.20618207
+v 0.19134802 -0.40634402 -0.21953868
+v 0.25087656 -0.39305472 -0.14451930
+v 0.15105954 -0.44991777 -0.15982174
+v 0.17681676 -0.42237164 -0.20472668
+v 0.01164409 -0.45085514 -0.19041352
+v 0.25014253 -0.36157916 -0.21824891
+v 0.15124470 -0.43524816 -0.20498425
+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 10 9 1
+f 10 4 6
+f 10 6 9
+f 11 2 3
+f 11 3 7
+f 13 5 8
+f 14 7 4
+f 14 4 10
+f 14 10 1
+f 14 12 7
+f 14 1 12
+f 16 13 8
+f 16 1 13
+f 17 11 7
+f 17 7 12
+f 18 13 1
+f 18 1 9
+f 18 5 13
+f 19 8 2
+f 20 2 11
+f 20 17 15
+f 20 11 17
+f 21 12 1
+f 21 1 16
+f 22 17 12
+f 22 15 17
+f 22 19 15
+f 22 8 19
+f 23 18 9
+f 23 9 5
+f 23 5 18
+f 24 19 2
+f 24 15 19
+f 24 20 15
+f 24 2 20
+f 25 21 16
+f 25 16 8
+f 25 12 21
+f 25 22 12
+f 25 8 22
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_2.obj b/apple/apple_21/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16115f8c2cb90d1f5c6081705b3ceb3c03fd184c
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.00874608 -0.00327209 0.37746341
+v 0.00757576 -0.00074286 -0.22676254
+v 0.00729319 0.48363990 -0.04200726
+v -0.06653920 0.48229971 0.08881639
+v -0.23484849 -0.00074286 -0.22676254
+v 0.00817220 0.36492738 0.31713740
+v -0.14978977 -0.00878187 0.41144213
+v 0.00986338 0.41153324 -0.21902944
+v 0.00574924 0.45108435 0.21795402
+v -0.15248313 0.10765634 0.47172189
+v 0.00998856 0.42289430 -0.20148616
+v -0.22451503 0.35998340 -0.16844934
+v 0.00710225 0.42413788 0.26084304
+v 0.00569350 0.48353156 0.11899562
+v -0.15147760 0.07068844 0.46892448
+v 0.00854275 0.32677976 0.33526454
+v 0.01277465 0.00317311 0.37114799
+v -0.22752717 0.32033556 -0.21582208
+v -0.06149580 0.42066474 -0.18424357
+v -0.19779714 0.43618456 -0.01086103
+v -0.23339671 -0.00311112 0.41366977
+v -0.21585499 0.33554922 0.30097421
+v -0.05136661 0.46494394 0.17641992
+v -0.14325921 0.09699033 0.46981830
+v -0.15111135 0.37532944 -0.19911335
+v 0.00693079 0.45335835 -0.14373700
+v -0.06419762 0.48224221 0.01724829
+v -0.18124604 0.41864499 -0.09852681
+v -0.16274519 0.06862528 0.46807384
+v -0.23332750 0.22084131 0.36204632
+v -0.05026897 0.37991458 0.30069848
+v -0.22610546 0.42065087 0.14932941
+v -0.02121176 0.48196416 0.11884953
+v -0.03631869 0.46613703 0.17678781
+v -0.11001979 0.42185975 0.24452110
+v -0.14321400 0.08305542 0.46872672
+v -0.15712691 0.10168908 0.47207509
+v -0.21023303 0.34705213 -0.19746879
+v -0.09144032 0.38939726 -0.21389157
+v 0.00682899 0.46928831 -0.10071853
+v -0.01938290 0.43528289 -0.17224484
+v -0.12351948 0.46548810 0.01740368
+v -0.22447507 0.40353675 -0.08330166
+v -0.16609854 0.39007991 -0.16850279
+v -0.23428151 0.16210725 0.37830005
+v -0.23090715 0.30635138 0.31722040
+v -0.13990456 0.37899105 0.28607255
+v -0.00696737 0.36466483 0.31680304
+v -0.06558117 0.39583897 0.28659401
+v -0.15279416 0.45019150 0.14770295
+v -0.07888357 0.46532860 0.16140668
+v -0.02085899 0.45039151 0.21790857
+v -0.22740407 0.37722901 0.24877249
+v -0.15629462 0.11076643 0.46933189
+v -0.21068380 0.33265513 -0.21329389
+v -0.03444878 0.40555757 -0.21516774
+v -0.06300934 0.46537207 -0.08345710
+v -0.21109795 0.43541805 0.06090530
+v -0.21048007 0.42002816 -0.05595008
+v -0.22529743 0.41944891 -0.02559755
+v -0.10731591 0.43494884 -0.12643638
+v -0.10672076 0.40460737 -0.18344311
+v -0.17593516 0.11203770 0.45491536
+v -0.03585953 0.42228207 0.25963740
+f 7 5 2
+f 7 2 1
+f 8 2 5
+f 13 11 3
+f 13 6 11
+f 14 3 4
+f 14 13 3
+f 14 9 13
+f 15 7 1
+f 16 6 10
+f 17 1 2
+f 17 2 8
+f 17 8 11
+f 17 16 1
+f 17 11 6
+f 17 6 16
+f 18 8 5
+f 19 11 8
+f 21 5 7
+f 24 16 10
+f 24 1 16
+f 27 4 3
+f 29 21 7
+f 29 7 15
+f 30 18 5
+f 33 14 4
+f 34 9 14
+f 34 33 23
+f 34 14 33
+f 36 24 15
+f 36 15 1
+f 36 1 24
+f 37 24 10
+f 37 15 24
+f 37 29 15
+f 37 21 29
+f 38 18 12
+f 39 8 18
+f 40 3 11
+f 40 11 26
+f 41 26 11
+f 41 11 19
+f 42 4 27
+f 43 28 12
+f 43 12 18
+f 44 12 28
+f 44 38 12
+f 44 25 38
+f 45 30 5
+f 45 5 21
+f 46 18 30
+f 48 10 6
+f 49 6 13
+f 49 47 31
+f 49 35 47
+f 49 48 6
+f 49 31 48
+f 51 33 4
+f 51 23 33
+f 51 4 50
+f 51 50 35
+f 51 35 23
+f 52 34 23
+f 52 9 34
+f 52 23 35
+f 52 13 9
+f 53 47 35
+f 53 22 47
+f 53 46 22
+f 53 32 46
+f 53 50 32
+f 53 35 50
+f 54 37 10
+f 54 46 30
+f 54 22 46
+f 54 47 22
+f 54 31 47
+f 54 48 31
+f 54 10 48
+f 55 38 25
+f 55 18 38
+f 55 39 18
+f 55 25 39
+f 56 39 19
+f 56 19 8
+f 56 8 39
+f 57 40 26
+f 57 27 3
+f 57 3 40
+f 57 42 27
+f 57 20 42
+f 57 41 19
+f 57 26 41
+f 58 42 20
+f 58 32 50
+f 58 50 4
+f 58 4 42
+f 59 28 43
+f 59 57 28
+f 59 20 57
+f 60 43 18
+f 60 32 58
+f 60 59 43
+f 60 58 20
+f 60 20 59
+f 60 46 32
+f 60 18 46
+f 61 44 28
+f 61 57 19
+f 61 28 57
+f 62 39 25
+f 62 25 44
+f 62 19 39
+f 62 61 19
+f 62 44 61
+f 63 30 45
+f 63 54 30
+f 63 37 54
+f 63 45 21
+f 63 21 37
+f 64 49 13
+f 64 35 49
+f 64 52 35
+f 64 13 52
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_20.obj b/apple/apple_21/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c52599e31b9b826f66390bf99def4c0fd496833f
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_20.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.23484849 -0.00074286 0.22778292
+v -0.23484849 -0.00074286 -0.21161102
+v -0.23484849 0.21137836 0.22778292
+v -0.42781407 0.21546946 0.23322877
+v -0.47437511 -0.01090606 0.14968350
+v -0.23484849 0.19622684 -0.21161102
+v -0.44121364 -0.00462999 0.24163287
+v -0.45953857 0.23247111 0.00965581
+v -0.23484849 0.21137836 0.01566171
+v -0.42666650 -0.00228283 -0.21725738
+v -0.38907324 0.18810464 -0.20288315
+v -0.40148243 0.17116290 -0.20095944
+v -0.40183235 0.18677119 -0.18597086
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 4 3
+f 8 5 4
+f 9 8 3
+f 9 3 6
+f 9 6 8
+f 10 6 2
+f 10 2 5
+f 10 5 8
+f 11 8 6
+f 11 6 10
+f 12 11 10
+f 12 10 8
+f 13 12 8
+f 13 8 11
+f 13 11 12
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_21.obj b/apple/apple_21/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ab0040e7aceceb1c212d0445b8cc8794cb6b7bd
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_21.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23202724 -0.37369267 -0.20943446
+v -0.22501531 -0.29747322 -0.37331786
+v -0.22752717 0.32033556 -0.21582208
+v -0.23127894 0.32661552 -0.20627694
+v -0.43501828 0.05875908 -0.20543377
+v -0.22804948 -0.36546139 -0.23666868
+v -0.38808562 -0.16171763 -0.20444088
+v -0.22770226 0.02612690 -0.44368224
+v -0.36892618 0.17018691 -0.24297597
+v -0.22543383 -0.32381501 -0.32725922
+v -0.30756601 -0.11659426 -0.36505985
+v -0.24287053 0.32284764 -0.20250647
+v -0.22670422 0.26052515 -0.27415289
+v -0.36966865 0.09852125 -0.28869188
+v -0.32901714 -0.28191372 -0.20590505
+v -0.41219222 -0.04191505 -0.23134113
+v -0.30687855 -0.20446539 -0.32040362
+v -0.22584201 -0.23921922 -0.41682808
+v -0.38907324 0.18810464 -0.20288315
+v -0.23856913 0.31696953 -0.21216496
+v -0.23954400 0.10878959 -0.39241649
+v -0.37021975 0.04130987 -0.30347685
+v -0.29767860 -0.32385912 -0.20500807
+v -0.41905999 -0.07353030 -0.20520640
+v -0.32432201 -0.27926532 -0.21880376
+v -0.26517639 -0.05997993 -0.42369126
+v -0.27795940 -0.20623482 -0.36467361
+v -0.22717143 0.06785756 -0.42523845
+v -0.30225107 0.27744385 -0.20236178
+v -0.41955803 0.13145239 -0.20363696
+v -0.31250721 0.19833850 -0.27100650
+v -0.32512745 0.12664844 -0.31610863
+v -0.40021091 0.07056878 -0.25933495
+v -0.42802569 0.00217451 -0.21606589
+v -0.36782273 -0.02759206 -0.30457802
+v -0.29395917 0.01148626 -0.39294738
+v -0.27756124 -0.32010098 -0.24712725
+v -0.26849765 -0.35049115 -0.20531001
+v -0.33647940 -0.17478212 -0.29099893
+v -0.27618998 -0.26261939 -0.32183784
+v -0.30922344 -0.29054764 -0.23247418
+v -0.27736801 -0.14558842 -0.39444742
+v -0.22703182 -0.10519182 -0.44226353
+v -0.24773165 -0.25193967 -0.38064733
+v -0.22713509 0.17110938 -0.35108353
+v -0.38401531 0.18529947 -0.21262253
+v -0.28260117 0.27098965 -0.22687507
+v -0.43439811 0.00119316 -0.20451253
+v -0.39949830 0.14026824 -0.22797195
+v -0.28160495 0.15294802 -0.33023437
+v -0.34235479 0.16780683 -0.27086815
+v -0.26770705 0.07895431 -0.39161454
+v -0.41351694 0.09899785 -0.23004925
+v -0.42887940 0.05819195 -0.21741233
+v -0.36818148 -0.07167145 -0.29085499
+v -0.29477037 -0.05965635 -0.39348624
+v -0.35431808 0.05630332 -0.31796878
+v -0.26609738 -0.01766776 -0.42297796
+v -0.23461355 -0.31730626 -0.32372998
+v -0.24460078 -0.36835801 -0.20744557
+v -0.26542758 -0.33145325 -0.24796890
+v -0.39720175 -0.09972367 -0.23084989
+v -0.33710406 -0.11702077 -0.32084610
+v -0.27775133 -0.27495651 -0.30691376
+f 1 3 4
+f 6 3 1
+f 10 3 6
+f 12 1 4
+f 13 10 2
+f 13 3 10
+f 20 12 4
+f 20 4 3
+f 20 3 13
+f 23 7 15
+f 23 19 7
+f 25 15 7
+f 25 7 17
+f 28 13 2
+f 28 2 18
+f 29 23 12
+f 29 19 23
+f 30 7 19
+f 31 9 29
+f 32 14 9
+f 33 14 22
+f 35 16 34
+f 38 12 23
+f 39 17 7
+f 39 27 17
+f 40 25 17
+f 41 23 15
+f 41 15 25
+f 41 37 23
+f 41 2 37
+f 42 26 18
+f 42 27 11
+f 42 18 27
+f 43 26 8
+f 43 18 26
+f 43 28 18
+f 43 8 28
+f 44 27 18
+f 44 18 2
+f 44 40 17
+f 44 17 27
+f 45 28 21
+f 45 13 28
+f 45 31 13
+f 46 29 9
+f 46 19 29
+f 47 29 12
+f 47 12 20
+f 47 31 29
+f 47 20 13
+f 47 13 31
+f 48 30 5
+f 48 24 7
+f 48 7 30
+f 48 34 16
+f 48 16 24
+f 49 9 14
+f 49 46 9
+f 49 30 19
+f 49 19 46
+f 50 32 31
+f 50 21 32
+f 50 45 21
+f 50 31 45
+f 51 32 9
+f 51 9 31
+f 51 31 32
+f 52 32 21
+f 52 21 28
+f 52 28 8
+f 52 8 36
+f 52 36 14
+f 52 14 32
+f 53 5 30
+f 53 30 49
+f 53 49 14
+f 53 14 33
+f 54 33 22
+f 54 35 34
+f 54 22 35
+f 54 53 33
+f 54 5 53
+f 54 48 5
+f 54 34 48
+f 55 35 11
+f 55 16 35
+f 56 11 35
+f 56 42 11
+f 56 26 42
+f 56 35 22
+f 56 22 36
+f 57 36 22
+f 57 22 14
+f 57 14 36
+f 58 36 8
+f 58 8 26
+f 58 56 36
+f 58 26 56
+f 59 37 2
+f 59 2 10
+f 60 6 1
+f 60 1 12
+f 60 12 38
+f 60 38 10
+f 60 10 6
+f 61 38 23
+f 61 23 37
+f 61 10 38
+f 61 59 10
+f 61 37 59
+f 62 39 7
+f 62 7 24
+f 62 24 16
+f 62 16 55
+f 63 11 27
+f 63 27 39
+f 63 55 11
+f 63 62 55
+f 63 39 62
+f 64 25 40
+f 64 41 25
+f 64 2 41
+f 64 44 2
+f 64 40 44
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_22.obj b/apple/apple_21/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d30faf4a223de7215408a4a73fd0a2ff7f3c4187
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_22.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.33032748 0.21833636 0.26574394
+v 0.39153687 0.21903017 -0.02742549
+v 0.20570232 0.40600512 0.10433109
+v 0.00569350 0.48353156 0.11899562
+v 0.00911820 0.22012365 -0.41601413
+v 0.10750389 0.40512655 0.25865398
+v 0.38436283 0.22921304 0.13333381
+v 0.10856235 0.21706104 -0.39750624
+v 0.26494342 0.31587368 0.23100258
+v 0.12075341 0.44970950 0.14810181
+v 0.01005407 0.22862294 0.33942009
+v 0.39138301 0.21921757 0.13402101
+v 0.32485943 0.30300087 0.00256001
+v 0.31378943 0.21718532 -0.20369031
+v 0.05125439 0.43553745 -0.17282339
+v 0.19532178 0.30473010 0.31483618
+v 0.31038086 0.31571415 0.11901174
+v 0.30862945 0.28816839 0.20438817
+v 0.06340805 0.45272830 0.20425037
+v 0.17887308 0.39049718 0.21759696
+v 0.18687972 0.22093351 0.36519814
+v 0.00574924 0.45108435 0.21795402
+v 0.35455571 0.27215202 0.01778901
+v 0.37482694 0.21816181 -0.08601306
+v 0.08160832 0.37570764 -0.25946673
+v 0.00693079 0.45335835 -0.14373700
+v 0.14690524 0.43560542 -0.08559759
+v 0.30373335 0.22037013 0.29638875
+v 0.26505929 0.34591988 0.16246460
+v 0.28049807 0.34676789 0.01789670
+v 0.30756840 0.27213257 0.23405910
+v 0.35311944 0.25686781 0.16062387
+v 0.07555427 0.46497323 0.15978347
+v 0.14738444 0.43639613 0.14803436
+v 0.16342281 0.37451822 0.26149825
+v 0.10648223 0.43547492 0.20535795
+v 0.03574194 0.36521221 0.31697287
+v 0.10091623 0.22414226 0.36349781
+v 0.05167542 0.42164947 0.25964984
+v 0.38451247 0.22890213 -0.02575896
+v 0.35421843 0.27194360 0.10381850
+v 0.06624501 0.22682405 -0.40742977
+v 0.14500273 0.33144384 -0.27374603
+v 0.01089526 0.39250294 -0.24472687
+v 0.08987038 0.42003166 -0.18571743
+v 0.24949904 0.33048879 -0.14099579
+v 0.07748032 0.46541128 -0.08479591
+v 0.23603047 0.33114248 0.24676393
+v 0.27332701 0.21977926 0.32599039
+v 0.28092654 0.34650028 0.08933436
+v 0.32432023 0.30246215 0.11919150
+v 0.27964229 0.31548506 0.20454942
+v 0.23622721 0.35975552 0.19027671
+v 0.20752620 0.40641039 -0.01232202
+v 0.32486006 0.22815671 0.26180249
+v 0.37710206 0.21969292 0.17940003
+v 0.14978486 0.34587103 0.30430612
+v 0.16283241 0.40532256 0.20593495
+v 0.00817220 0.36492738 0.31713740
+v 0.06158325 0.43668783 0.23294891
+v 0.32344292 0.28689676 -0.07053245
+v 0.36824863 0.22854178 -0.08351221
+v 0.06727483 0.21862163 -0.41425134
+v 0.01011388 0.22966152 -0.40858581
+f 14 1 8
+f 21 8 1
+f 21 5 8
+f 22 4 5
+f 22 5 11
+f 22 19 4
+f 23 12 2
+f 23 7 12
+f 24 12 1
+f 24 1 14
+f 24 2 12
+f 26 5 4
+f 31 18 9
+f 33 4 19
+f 36 19 6
+f 36 35 20
+f 36 6 35
+f 36 33 19
+f 36 10 33
+f 36 34 10
+f 38 11 5
+f 38 5 21
+f 40 23 2
+f 40 13 23
+f 41 7 23
+f 41 23 13
+f 43 14 8
+f 43 42 25
+f 43 8 42
+f 44 5 26
+f 44 26 15
+f 44 15 25
+f 45 25 15
+f 45 43 25
+f 45 27 43
+f 46 43 27
+f 46 14 43
+f 47 15 26
+f 47 26 4
+f 47 4 33
+f 47 33 10
+f 47 10 27
+f 47 45 15
+f 47 27 45
+f 48 16 28
+f 48 35 16
+f 48 20 35
+f 48 31 9
+f 48 28 31
+f 49 21 1
+f 49 1 28
+f 49 28 16
+f 49 16 21
+f 50 29 17
+f 50 3 29
+f 50 13 30
+f 51 29 18
+f 51 17 29
+f 51 18 32
+f 51 32 7
+f 51 7 41
+f 51 50 17
+f 51 41 13
+f 51 13 50
+f 52 9 18
+f 52 18 29
+f 53 52 29
+f 53 9 52
+f 53 48 9
+f 53 20 48
+f 53 34 20
+f 53 29 3
+f 53 3 34
+f 54 50 30
+f 54 3 50
+f 54 34 3
+f 54 27 10
+f 54 10 34
+f 54 46 27
+f 54 30 13
+f 55 31 28
+f 55 28 1
+f 55 1 31
+f 56 32 18
+f 56 18 31
+f 56 31 1
+f 56 1 12
+f 56 12 7
+f 56 7 32
+f 57 35 6
+f 57 16 35
+f 57 39 37
+f 57 6 39
+f 57 37 21
+f 57 21 16
+f 58 36 20
+f 58 20 34
+f 58 34 36
+f 59 22 11
+f 59 11 38
+f 59 38 21
+f 59 21 37
+f 59 39 22
+f 59 37 39
+f 60 39 6
+f 60 6 19
+f 60 19 22
+f 60 22 39
+f 61 13 40
+f 61 54 13
+f 61 46 54
+f 62 40 2
+f 62 2 24
+f 62 61 40
+f 62 46 61
+f 62 24 14
+f 62 14 46
+f 63 42 8
+f 63 8 5
+f 64 25 42
+f 64 44 25
+f 64 5 44
+f 64 63 5
+f 64 42 63
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_23.obj b/apple/apple_21/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..234e65baa140d7a0960cf9c47fe54daf7a3fd7e6
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_23.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.41953115 -0.12289384 0.22894482
+v -0.42277068 -0.11898957 0.22411305
+v -0.43322594 -0.12786429 0.18700097
+v -0.45483323 0.23244883 0.14829891
+v -0.41121418 0.09006868 0.29986112
+v -0.40942457 0.20751206 0.26741334
+v -0.43084198 -0.11666896 0.20608965
+v -0.44461301 -0.01276686 0.23313000
+v -0.40979806 -0.04485601 0.28443293
+v -0.45846164 0.16186804 0.20411952
+v -0.42838175 -0.05802853 0.24767687
+v -0.47437511 -0.01090606 0.14968350
+v -0.40818341 0.13436720 0.29595805
+v -0.44394424 0.06137316 0.24921903
+v -0.44556081 0.20530067 0.20454114
+v -0.42937860 -0.10219645 0.22028694
+v -0.42808373 -0.01290368 0.26258158
+v -0.44578888 -0.08741314 0.19069560
+v -0.48180367 0.16401198 0.13426363
+v -0.47963301 0.00087282 0.13440851
+v -0.44356551 0.11870045 0.24801053
+v -0.47335735 0.04618125 0.17611221
+v -0.42914190 0.19015568 0.24673034
+v -0.41421436 0.20538347 0.26202452
+v -0.41388902 -0.04269597 0.27806248
+v -0.44884639 -0.08766489 0.17882470
+v -0.45798362 -0.04203751 0.18908353
+v -0.46193937 0.19140547 0.17692490
+v -0.43842227 -0.11890476 0.17991651
+v -0.46374796 0.21895403 0.14293951
+v -0.41501329 0.13313750 0.28852007
+v -0.41595717 0.08988245 0.29283738
+v -0.45803277 0.00174900 0.20562061
+v -0.47386175 0.00232466 0.16249347
+v -0.47365270 0.13398382 0.17541012
+v -0.42866884 0.16074743 0.26139231
+v -0.47475643 0.16272564 0.16252800
+v -0.45752774 0.19057479 0.18881726
+v -0.45523314 0.20826827 0.17983819
+v -0.40918063 0.17895791 0.28354367
+f 6 1 3
+f 6 3 4
+f 7 1 2
+f 7 3 1
+f 9 1 6
+f 11 1 9
+f 13 9 6
+f 13 5 9
+f 16 2 1
+f 16 1 11
+f 16 7 2
+f 17 8 11
+f 17 14 8
+f 17 9 5
+f 17 5 14
+f 18 3 7
+f 18 7 16
+f 22 19 20
+f 23 15 10
+f 24 6 4
+f 24 4 15
+f 24 15 23
+f 25 17 11
+f 25 11 9
+f 25 9 17
+f 26 12 20
+f 27 26 18
+f 27 12 26
+f 27 11 8
+f 27 18 16
+f 27 16 11
+f 29 20 4
+f 29 4 3
+f 29 26 20
+f 29 3 18
+f 29 18 26
+f 30 20 19
+f 30 4 20
+f 31 21 5
+f 31 5 13
+f 32 21 14
+f 32 14 5
+f 32 5 21
+f 33 8 14
+f 33 14 22
+f 33 27 8
+f 34 22 20
+f 34 20 12
+f 34 12 27
+f 34 33 22
+f 34 27 33
+f 35 19 22
+f 35 21 10
+f 35 22 14
+f 35 14 21
+f 36 23 10
+f 36 10 21
+f 36 21 31
+f 37 35 10
+f 37 19 35
+f 37 30 19
+f 37 28 30
+f 38 10 15
+f 38 37 10
+f 38 28 37
+f 39 30 28
+f 39 15 4
+f 39 4 30
+f 39 38 15
+f 39 28 38
+f 40 31 13
+f 40 13 6
+f 40 36 31
+f 40 6 24
+f 40 24 23
+f 40 23 36
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_24.obj b/apple/apple_21/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e726176d941991321cea77a083a373dfc7aa1a8
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_24.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.26330244 -0.34701603 -0.22576007
+v 0.41957303 -0.13414363 -0.22099597
+v 0.31449650 0.20273637 -0.21747502
+v 0.27521442 0.23442062 -0.23517004
+v 0.25984283 -0.13275517 -0.45483745
+v 0.30089796 0.21907967 -0.21875583
+v 0.32769891 -0.27799916 -0.22014771
+v 0.25856538 0.22148578 -0.26605550
+v 0.35228955 -0.03743949 -0.36643529
+v 0.27131478 -0.34106845 -0.22226040
+v 0.30821091 0.03374372 -0.38018741
+v 0.40498551 0.06842189 -0.21865271
+v 0.33995365 -0.15694955 -0.36807696
+v 0.25578353 -0.32538930 -0.28222568
+v 0.30879520 0.18281704 -0.24329171
+v 0.26756220 0.21677211 -0.26029755
+v 0.29902458 -0.05210814 -0.43553115
+v 0.35954204 0.14239032 -0.21774598
+v 0.41523641 -0.00606095 -0.24650076
+v 0.33736761 0.00553358 -0.36491798
+v 0.37246119 -0.21886730 -0.22081666
+v 0.35275089 -0.11669505 -0.36868664
+v 0.25535432 0.15717322 -0.32307183
+v 0.25727264 -0.33980377 -0.25279406
+v 0.25722240 -0.29657544 -0.32861797
+v 0.27829888 -0.30307266 -0.27882750
+v 0.35368990 0.12293255 -0.24359408
+v 0.42090802 0.02602354 -0.22019827
+v 0.29381810 -0.00841281 -0.42296711
+v 0.39694366 -0.14569560 -0.26311346
+v 0.41420427 -0.10237216 -0.24907443
+v 0.32476764 -0.05248259 -0.40957835
+v 0.29821842 -0.11570813 -0.43522558
+v 0.25660762 -0.18848330 -0.42643884
+v 0.26723675 0.04832224 -0.40917312
+v 0.33799713 -0.19871480 -0.32322921
+v 0.29306887 -0.30301658 -0.24861883
+v 0.26382263 -0.31881724 -0.27868307
+v 0.32262603 0.04863890 -0.34916718
+v 0.39805049 0.04935626 -0.24414099
+v 0.41469737 0.02400003 -0.23162162
+v 0.30851294 -0.00841988 -0.40742801
+v 0.39725693 -0.15661958 -0.24855288
+v 0.35209853 -0.14672376 -0.35331785
+v 0.39720223 -0.11693049 -0.27797074
+v 0.33758925 -0.02306664 -0.38065277
+v 0.32325651 -0.11542952 -0.41016802
+v 0.25718011 -0.03540062 -0.45603002
+v 0.30805532 -0.15519593 -0.40957092
+v 0.25734670 0.05228245 -0.41415922
+v 0.28037409 0.03419571 -0.40780393
+v 0.32308754 -0.18521221 -0.36430453
+v 0.30779798 -0.25894317 -0.29254635
+v 0.35263737 -0.19915402 -0.29398832
+v 0.39914331 0.06512456 -0.22974819
+v 0.35178716 -0.00730621 -0.35096936
+v 0.26856499 -0.03745831 -0.44981323
+v 0.26747294 -0.18574773 -0.42060346
+v 0.28222569 -0.14498007 -0.43518488
+v 0.27808650 -0.27513617 -0.32365828
+v 0.33734018 -0.22934952 -0.27876989
+v 0.26538013 -0.28993521 -0.32463064
+f 6 4 1
+f 8 1 4
+f 10 6 1
+f 10 3 6
+f 10 7 3
+f 12 7 2
+f 15 6 3
+f 15 4 6
+f 16 11 8
+f 16 8 4
+f 16 15 11
+f 16 4 15
+f 18 3 7
+f 18 7 12
+f 21 2 7
+f 22 9 19
+f 23 14 8
+f 24 1 8
+f 24 8 14
+f 24 10 1
+f 27 15 3
+f 27 3 18
+f 27 18 12
+f 28 12 2
+f 31 22 19
+f 31 28 2
+f 31 19 28
+f 32 9 22
+f 32 17 29
+f 33 5 17
+f 34 14 23
+f 34 25 14
+f 35 8 11
+f 37 26 7
+f 37 7 10
+f 37 10 26
+f 38 24 14
+f 38 14 25
+f 38 25 26
+f 38 26 10
+f 38 10 24
+f 39 20 11
+f 39 11 15
+f 39 15 27
+f 40 12 28
+f 41 28 19
+f 41 19 9
+f 41 40 28
+f 42 29 11
+f 42 11 20
+f 42 32 29
+f 43 30 2
+f 43 2 21
+f 44 30 13
+f 44 13 22
+f 44 22 30
+f 45 30 22
+f 45 22 31
+f 45 31 2
+f 45 2 30
+f 46 9 32
+f 46 42 20
+f 46 32 42
+f 47 22 13
+f 47 32 22
+f 47 33 17
+f 47 17 32
+f 48 34 23
+f 48 5 34
+f 48 17 5
+f 49 47 13
+f 49 33 47
+f 50 23 8
+f 50 8 35
+f 50 48 23
+f 50 29 48
+f 51 35 11
+f 51 11 29
+f 51 50 35
+f 51 29 50
+f 52 13 36
+f 52 49 13
+f 52 25 49
+f 53 7 26
+f 54 36 13
+f 54 13 30
+f 54 30 43
+f 54 43 21
+f 54 53 36
+f 55 39 27
+f 55 27 12
+f 55 20 39
+f 55 40 20
+f 55 12 40
+f 56 20 40
+f 56 46 20
+f 56 9 46
+f 56 41 9
+f 56 40 41
+f 57 48 29
+f 57 29 17
+f 57 17 48
+f 58 49 25
+f 58 25 34
+f 59 5 33
+f 59 33 49
+f 59 49 58
+f 59 58 34
+f 59 34 5
+f 60 52 36
+f 60 25 52
+f 60 36 53
+f 61 21 7
+f 61 7 53
+f 61 54 21
+f 61 53 54
+f 62 60 53
+f 62 53 26
+f 62 26 25
+f 62 25 60
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_25.obj b/apple/apple_21/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..756aab80e6e6e36cbab70f7fd9760142d46dfc19
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_25.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.25568908 -0.39884692 0.11781913
+v 0.42103458 -0.00963411 -0.23919902
+v 0.43673626 -0.01552765 0.23085506
+v 0.26515151 -0.01589437 0.21263140
+v 0.26515151 -0.01589437 -0.22676254
+v 0.25938671 -0.35751261 0.20926590
+v 0.38367189 -0.27530467 -0.08562971
+v 0.25605222 -0.36869232 0.19216770
+v 0.38464879 -0.27647933 0.08830691
+v 0.25672685 -0.35430285 -0.22198377
+v 0.26635312 -0.40870717 -0.00070152
+v 0.35323406 -0.29124851 0.15998059
+v 0.38440630 -0.20160586 -0.21944533
+v 0.25617452 -0.36898979 -0.19157300
+v 0.30943985 -0.36315849 0.07296723
+v 0.28146015 -0.36273519 0.16052975
+v 0.38257895 -0.21590751 0.20310394
+v 0.38328078 -0.25942400 -0.12839436
+v 0.25689134 -0.41532535 -0.02867783
+v 0.28102179 -0.39357704 0.04527112
+v 0.35483900 -0.31780381 0.07281399
+v 0.30912621 -0.34784376 0.13118757
+v 0.26904777 -0.35097277 0.20606056
+v 0.38437683 -0.24652834 0.15917211
+v 0.35302127 -0.26183864 0.20347895
+v 0.32360352 -0.30302304 -0.18759148
+v 0.25750913 -0.41637708 0.00014291
+v 0.29548153 -0.36157612 -0.12879086
+v 0.36890080 -0.30608997 -0.04292119
+v 0.26482404 -0.39186110 0.11533735
+v 0.36771941 -0.29058243 0.11580737
+v 0.36880659 -0.30628512 0.05787642
+v 0.33970960 -0.28906656 0.18861247
+v 0.35398215 -0.24575173 -0.21847158
+v 0.26569229 -0.40789863 -0.02782060
+v 0.25770999 -0.40097460 -0.10329097
+v 0.26614663 -0.34775653 -0.21905670
+v 0.35290508 -0.30503174 -0.11557967
+v 0.33897770 -0.31777344 0.13049473
+v 0.38379581 -0.26093375 0.13125231
+v 0.38224646 -0.21533613 -0.20337009
+v 0.35300612 -0.27448352 -0.17375221
+v 0.30943545 -0.36439705 -0.07110567
+v 0.26566211 -0.36233910 -0.18848992
+v 0.32341857 -0.31792383 -0.15865017
+v 0.29364217 -0.31867689 -0.21826548
+v 0.33947376 -0.33326252 -0.07038975
+v 0.26682382 -0.39378670 -0.10145777
+v 0.30835143 -0.34830478 -0.12838335
+f 3 2 4
+f 5 4 2
+f 6 3 4
+f 7 2 3
+f 8 4 5
+f 8 6 4
+f 9 7 3
+f 10 5 2
+f 13 10 2
+f 14 8 5
+f 14 5 10
+f 14 1 8
+f 16 8 1
+f 18 13 2
+f 18 2 7
+f 19 1 14
+f 22 12 16
+f 22 15 21
+f 23 16 12
+f 23 6 8
+f 23 8 16
+f 24 9 3
+f 24 3 17
+f 25 17 3
+f 25 3 6
+f 25 6 23
+f 25 24 17
+f 25 12 24
+f 27 1 19
+f 27 20 1
+f 27 11 20
+f 29 7 9
+f 30 20 15
+f 30 1 20
+f 30 15 22
+f 30 22 16
+f 30 16 1
+f 32 21 15
+f 32 15 20
+f 32 20 11
+f 32 11 29
+f 32 29 9
+f 32 31 21
+f 32 9 31
+f 33 25 23
+f 33 23 12
+f 33 12 25
+f 34 10 13
+f 35 27 19
+f 35 11 27
+f 36 19 14
+f 36 14 28
+f 37 14 10
+f 38 18 7
+f 38 7 29
+f 39 22 21
+f 39 21 31
+f 39 31 12
+f 39 12 22
+f 40 24 12
+f 40 12 31
+f 40 31 9
+f 40 9 24
+f 41 34 13
+f 41 13 18
+f 42 26 34
+f 42 38 26
+f 42 18 38
+f 42 41 18
+f 42 34 41
+f 43 29 11
+f 43 11 35
+f 43 35 19
+f 43 19 36
+f 44 37 28
+f 44 28 14
+f 44 14 37
+f 45 37 26
+f 45 28 37
+f 45 26 38
+f 46 34 26
+f 46 26 37
+f 46 37 10
+f 46 10 34
+f 47 38 29
+f 47 29 43
+f 48 43 36
+f 48 36 28
+f 48 28 43
+f 49 45 38
+f 49 28 45
+f 49 38 47
+f 49 47 43
+f 49 43 28
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_26.obj b/apple/apple_21/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64ec59a4e3c55eeae1260b69c90bfcac23e8b789
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_26.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.23676658 -0.16006093 0.39761684
+v 0.27406515 -0.15591336 0.37438905
+v 0.28933635 0.09970629 0.37734549
+v 0.21666411 0.26814350 0.32811025
+v 0.21969697 0.09016624 0.33384352
+v 0.21578128 0.08685659 0.40919838
+v 0.23812219 -0.11723853 0.40554191
+v 0.25832831 0.23507864 0.32616242
+v 0.25408819 0.15539374 0.37542585
+v 0.21325192 -0.14931182 0.41211509
+v 0.25410296 -0.14931801 0.39090123
+v 0.24478939 0.07054801 0.40525116
+v 0.22936289 0.26503729 0.32347364
+v 0.21576114 0.17417550 0.37874684
+v 0.21202750 0.26227156 0.33449680
+v 0.22540535 -0.14794133 0.40623643
+v 0.25592177 0.11334402 0.39158822
+v 0.23015473 0.17284680 0.37572298
+v 0.25522741 0.23060028 0.33080720
+v 0.22977529 0.08581732 0.40576543
+v 0.24452733 0.12850681 0.38934185
+v 0.22472629 0.25916534 0.32986019
+f 5 2 1
+f 8 3 2
+f 8 2 5
+f 9 3 8
+f 10 5 1
+f 11 1 2
+f 11 2 3
+f 11 3 7
+f 12 7 3
+f 12 10 7
+f 12 6 10
+f 13 8 5
+f 13 5 4
+f 15 4 5
+f 15 5 10
+f 15 10 6
+f 15 6 14
+f 15 13 4
+f 16 10 1
+f 16 1 11
+f 16 11 7
+f 16 7 10
+f 17 12 3
+f 17 3 9
+f 18 15 14
+f 18 9 15
+f 19 9 8
+f 19 8 13
+f 20 17 6
+f 20 6 12
+f 20 12 17
+f 21 14 6
+f 21 6 17
+f 21 18 14
+f 21 17 9
+f 21 9 18
+f 22 15 9
+f 22 9 19
+f 22 19 13
+f 22 13 15
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_27.obj b/apple/apple_21/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8b9739daba878606a6c62c4fff2ea4ad2aa4fbd
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_27.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.19911311 0.38598130 0.19464007
+v 0.20422847 0.39278907 0.16706969
+v 0.03641275 0.47025021 0.16257810
+v -0.10250950 0.45640752 0.17238885
+v -0.10528815 0.43940286 0.21400661
+v -0.03656463 0.47048777 0.16282870
+v 0.13700791 0.43934422 0.16171976
+v -0.10854753 0.45274376 0.18020820
+v 0.14381091 0.41712937 0.20629680
+v 0.19772000 0.39828557 0.16477663
+v -0.03714389 0.46048980 0.19486994
+v 0.07661863 0.45243947 0.19109809
+v 0.19383781 0.39128996 0.19119565
+v -0.10030125 0.44694234 0.20189232
+v 0.12141626 0.43496059 0.19065263
+v 0.09348652 0.45666085 0.16242634
+v 0.03574084 0.46586268 0.17595149
+v 0.18038907 0.41022408 0.16401023
+v 0.13468523 0.43533594 0.17528977
+f 5 2 1
+f 7 6 3
+f 8 4 2
+f 8 2 5
+f 9 5 1
+f 10 2 4
+f 10 4 6
+f 10 6 7
+f 11 3 6
+f 11 6 4
+f 11 4 8
+f 12 11 5
+f 12 5 9
+f 13 9 1
+f 13 7 9
+f 13 1 2
+f 13 2 10
+f 14 11 8
+f 14 8 5
+f 14 5 11
+f 15 12 9
+f 16 7 3
+f 16 3 12
+f 16 12 15
+f 17 12 3
+f 17 3 11
+f 17 11 12
+f 18 13 10
+f 18 10 7
+f 18 7 13
+f 19 15 9
+f 19 9 7
+f 19 16 15
+f 19 7 16
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_28.obj b/apple/apple_21/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35d7cf18c2e8314813b7a9016fca03bfcec5fc0e
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.29055641 -0.29438421 0.26054984
+v 0.29690416 -0.30227314 -0.24205611
+v 0.26515151 -0.01589437 -0.22676254
+v -0.00711154 0.03153984 0.24031090
+v 0.00757576 -0.27347013 0.24293443
+v 0.26515151 -0.01589437 0.24293443
+v 0.00757576 -0.27347013 -0.22676254
+v 0.00757576 -0.01589437 -0.22676254
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 2 5
+f 7 5 4
+f 8 3 2
+f 8 2 7
+f 8 7 4
+f 8 4 3
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_29.obj b/apple/apple_21/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..562a47aeb38d2accde6cbe0116d15f3aded640d9
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26267490 -0.39180666 0.12070073
+v 0.26489788 -0.39438030 -0.10547341
+v 0.26515151 -0.27347013 -0.10555041
+v 0.00757576 -0.27347013 0.12172231
+v 0.00757576 -0.39468225 0.12172231
+v 0.00757576 -0.27347013 -0.10555041
+v 0.26515151 -0.27347013 0.12172231
+v 0.00757576 -0.39468225 -0.10555041
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 7 1 2
+f 7 2 3
+f 8 6 3
+f 8 3 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_3.obj b/apple/apple_21/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3240ade6e8281ab95b04a6432a7ec257cb29a48a
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_3.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.26133922 -0.01797701 -0.44774309
+v 0.29026217 0.00161592 -0.41995161
+v -0.09848485 -0.00074286 -0.34797466
+v 0.00116409 0.25776213 -0.38093205
+v 0.10360725 0.17204990 -0.43440876
+v 0.15056225 0.23349265 -0.35667825
+v 0.14393939 -0.01589437 -0.34797466
+v 0.25480257 0.01966273 -0.43390565
+v -0.09848282 0.09089199 -0.44755110
+v -0.11110288 0.21911656 -0.37376113
+v 0.09151988 0.21410656 -0.40751838
+v 0.01477490 -0.02480030 -0.40050012
+v 0.25959019 0.08476456 -0.38660794
+v 0.24337128 -0.00784973 -0.45331013
+v 0.01109169 0.17134034 -0.45152166
+v 0.11869948 0.21531001 -0.39398971
+v -0.07387943 0.00463272 -0.43435473
+v 0.25307837 0.06328817 -0.40892388
+v -0.00349965 0.11690730 -0.46724704
+v 0.06331635 0.13300235 -0.46577337
+v 0.07610930 0.18362754 -0.43781058
+v -0.03162432 0.18629775 -0.43474623
+v 0.15267330 -0.01963357 -0.45292637
+v 0.11743321 0.19933480 -0.40644948
+v 0.13541320 0.21704743 -0.38109764
+v 0.02469815 0.06435471 -0.46625178
+v 0.07695687 0.15704240 -0.45149506
+v 0.01155307 0.13214515 -0.46766128
+v 0.05225837 0.17091344 -0.45087084
+v 0.03607547 0.21291066 -0.42218799
+v -0.09153517 0.17210300 -0.42119592
+v 0.24695947 -0.01891171 -0.45632390
+v -0.00233929 0.07843908 -0.46469093
+v -0.03150058 0.15612922 -0.45082950
+v 0.08026303 0.09372333 -0.46683670
+v 0.01086962 0.21284949 -0.42240189
+v -0.09167674 0.14190857 -0.43644826
+v -0.07482729 0.18253673 -0.42149213
+v -0.07603689 0.15642431 -0.43518678
+v -0.04737337 0.14474703 -0.45138753
+v -0.09201560 0.18581487 -0.41050509
+f 7 1 2
+f 7 6 3
+f 8 2 1
+f 10 6 4
+f 10 3 6
+f 10 9 3
+f 11 4 6
+f 12 7 3
+f 12 1 7
+f 13 7 2
+f 13 6 7
+f 14 8 1
+f 14 5 8
+f 16 11 6
+f 16 5 11
+f 17 12 3
+f 17 3 9
+f 18 13 2
+f 18 2 8
+f 18 8 5
+f 18 6 13
+f 21 11 5
+f 22 10 4
+f 23 12 17
+f 24 18 5
+f 24 5 16
+f 25 16 6
+f 25 6 18
+f 25 24 16
+f 25 18 24
+f 26 23 17
+f 27 5 14
+f 27 21 5
+f 28 26 19
+f 29 28 15
+f 29 20 28
+f 29 27 20
+f 29 21 27
+f 30 4 11
+f 30 11 21
+f 30 21 29
+f 30 29 15
+f 32 14 1
+f 32 1 12
+f 32 12 23
+f 32 23 26
+f 32 27 14
+f 32 20 27
+f 33 26 17
+f 33 17 9
+f 33 9 19
+f 33 19 26
+f 34 22 15
+f 34 15 28
+f 35 28 20
+f 35 26 28
+f 35 32 26
+f 35 20 32
+f 36 22 4
+f 36 4 30
+f 36 30 15
+f 36 15 22
+f 37 9 10
+f 37 10 31
+f 38 10 22
+f 39 38 22
+f 39 31 38
+f 39 37 31
+f 40 34 28
+f 40 28 19
+f 40 19 9
+f 40 9 37
+f 40 37 39
+f 40 39 22
+f 40 22 34
+f 41 38 31
+f 41 31 10
+f 41 10 38
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_30.obj b/apple/apple_21/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86d6c11643f2f72189216f5cf6f0690036c4c796
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.14393939 -0.01589437 -0.24191405
+v 0.14393939 -0.01589437 -0.34797466
+v 0.15056225 0.23349265 -0.35667825
+v 0.00116409 0.25776213 -0.38093205
+v -0.00329109 -0.00939030 -0.40359467
+v 0.00757576 0.22652987 -0.24191405
+v 0.01477490 -0.02480030 -0.40050012
+v 0.14393939 0.22652987 -0.24191405
+v 0.00757576 -0.01589437 -0.24191405
+f 1 2 3
+f 5 4 3
+f 6 4 5
+f 7 2 1
+f 7 5 3
+f 7 3 2
+f 8 6 1
+f 8 1 3
+f 8 3 4
+f 8 4 6
+f 9 6 5
+f 9 1 6
+f 9 7 1
+f 9 5 7
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_31.obj b/apple/apple_21/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96788c62c8a8a0b4ee5b86047fbf0e77e9b4e928
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.43673626 -0.01552765 0.23085506
+v 0.40151515 -0.01589437 -0.01464132
+v 0.39363467 0.22054323 -0.01378998
+v 0.26515151 0.22652987 0.21263140
+v 0.26515151 -0.01589437 0.21263140
+v 0.36866493 0.21524880 0.20382558
+v 0.26515151 -0.01589437 -0.01464132
+v 0.38304248 0.21289322 0.17648765
+v 0.26515151 0.22652987 -0.01464132
+v 0.38631568 0.18655388 0.20508398
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 7 2 5
+f 7 5 4
+f 8 1 3
+f 8 3 6
+f 9 3 2
+f 9 2 7
+f 9 7 4
+f 9 4 3
+f 10 8 6
+f 10 6 1
+f 10 1 8
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_4.obj b/apple/apple_21/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ccfeeddffece1edbf17dfad82330459c628861d
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_4.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.40151515 -0.01589437 -0.01464132
+v 0.42103458 -0.00963411 -0.23919902
+v 0.46431451 0.11530913 -0.01299548
+v 0.26515151 0.22652987 -0.01464132
+v 0.26515151 -0.01589437 -0.22676254
+v 0.27521442 0.23442062 -0.23517004
+v 0.43051458 0.17022547 -0.01077818
+v 0.47446372 0.08907880 -0.01436313
+v 0.26515151 -0.01589437 -0.01464132
+v 0.38398694 0.15311147 -0.17014655
+v 0.39363467 0.22054323 -0.01378998
+v 0.38092077 0.08709429 -0.23813526
+v 0.45732256 0.09805401 -0.08523199
+v 0.36837544 0.21306204 -0.11305461
+v 0.35439134 0.15384238 -0.21376644
+v 0.46202075 0.08412309 -0.08683571
+v 0.38765735 0.08234492 -0.23229306
+v 0.45939363 0.11361882 -0.05535398
+v 0.33905783 0.21274883 -0.17035419
+v 0.42781067 0.13814624 -0.09874172
+v 0.37617097 0.09956413 -0.23483830
+v 0.38435702 0.21408434 -0.06872447
+v 0.38390340 0.18308846 -0.12755516
+v 0.30937227 0.21395544 -0.21324883
+v 0.35291311 0.18285108 -0.18480724
+v 0.44310191 0.12308681 -0.08363986
+v 0.38290759 0.09481404 -0.22899667
+v 0.42812706 0.16865123 -0.02536918
+v 0.41267762 0.16799846 -0.08397548
+v 0.42800942 0.15297012 -0.06888447
+f 5 2 1
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 8 1 2
+f 8 3 1
+f 9 5 1
+f 9 4 5
+f 9 7 4
+f 9 1 7
+f 11 6 4
+f 11 4 7
+f 12 2 6
+f 14 6 11
+f 16 8 2
+f 16 2 13
+f 17 10 13
+f 17 13 2
+f 17 2 12
+f 18 3 8
+f 18 16 13
+f 18 8 16
+f 18 7 3
+f 19 6 14
+f 20 13 10
+f 21 12 6
+f 21 6 15
+f 21 15 10
+f 22 14 11
+f 23 19 14
+f 23 10 19
+f 23 20 10
+f 24 15 6
+f 24 6 19
+f 25 19 10
+f 25 10 15
+f 25 24 19
+f 25 15 24
+f 26 20 18
+f 26 18 13
+f 26 13 20
+f 27 21 10
+f 27 10 17
+f 27 17 12
+f 27 12 21
+f 28 22 11
+f 28 11 7
+f 28 7 18
+f 29 14 22
+f 29 23 14
+f 29 20 23
+f 29 18 20
+f 30 28 18
+f 30 22 28
+f 30 29 22
+f 30 18 29
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_5.obj b/apple/apple_21/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfe0b63125a0e095813a3e94011111a195524806
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22877985 -0.41208883 0.07486213
+v -0.22832010 -0.38148534 -0.19222468
+v -0.23484849 -0.00074286 0.22778292
+v -0.44121364 -0.00462999 0.24163287
+v -0.39870183 -0.26220716 -0.01243681
+v -0.43439811 0.00119316 -0.20451253
+v -0.23370162 -0.33233324 0.27206455
+v -0.22666970 -0.35193866 0.24980035
+v -0.31144578 -0.36381128 -0.05628649
+v -0.23484849 -0.00074286 -0.21161102
+v -0.47689219 0.00199254 0.14857766
+v -0.32399151 -0.29110152 -0.20351630
+v -0.38343810 -0.23111884 0.20392455
+v -0.22797325 -0.39620163 -0.14669399
+v -0.22841493 -0.33945033 0.26665783
+v -0.46766139 0.00045550 0.17881419
+v -0.47612558 0.00182462 -0.08683423
+v -0.33832565 -0.32140936 -0.11444928
+v -0.23202724 -0.37369267 -0.20943446
+v -0.39777596 -0.18934535 0.21900341
+v -0.34228625 -0.30412271 0.18715747
+v -0.23934530 -0.40681791 -0.07282457
+v -0.45863927 -0.11571814 -0.01288501
+v -0.35382650 -0.32196903 -0.05557979
+v -0.38166905 -0.23292243 -0.14386150
+v -0.28100212 -0.34737711 -0.18874566
+v -0.26902627 -0.37515007 -0.14692424
+v -0.36694746 -0.24537784 0.21843107
+v -0.24537447 -0.32704655 0.26850691
+v -0.42277068 -0.11898957 0.22411305
+v -0.27134840 -0.37649951 0.14552472
+v -0.38454599 -0.27843986 0.11713234
+v -0.22883375 -0.41134577 -0.07400394
+v -0.29912101 -0.37695927 0.04457845
+v -0.47456625 -0.05695010 0.08961395
+v -0.34004347 -0.33280385 -0.07169114
+v -0.33877870 -0.29082863 -0.17303895
+v -0.44248749 -0.14460832 -0.05642564
+v -0.39727699 -0.14404000 -0.20125870
+v -0.38385023 -0.27689817 -0.05750279
+v -0.25234457 -0.36446441 -0.20477544
+v -0.24072035 -0.37592376 -0.19043999
+v -0.29570015 -0.36256989 -0.11535729
+v -0.28449177 -0.37569392 -0.10158332
+v -0.25384418 -0.39024864 -0.11661015
+v -0.36746982 -0.27516934 0.17611218
+v -0.28392139 -0.34683640 0.20094762
+v -0.45878174 -0.05579520 0.17744797
+v -0.22849359 -0.39692991 0.14741201
+v -0.36929974 -0.30520027 0.08793558
+v -0.41326747 -0.23581014 0.05992482
+v -0.41291845 -0.18876180 0.17601411
+v -0.24121101 -0.40630782 0.07423203
+v -0.29958683 -0.37647109 -0.02886779
+v -0.47372739 -0.05729009 -0.02774888
+v -0.39678695 -0.18851993 -0.15874074
+v -0.32254159 -0.32068452 -0.15948394
+v -0.42850100 -0.18980998 -0.02656828
+v -0.41224927 -0.10044549 -0.20237613
+v -0.36834913 -0.30696919 -0.02714844
+v -0.41162439 -0.20396878 -0.08527915
+v -0.36755824 -0.29088051 -0.08565391
+v -0.30889878 -0.32075204 -0.18784856
+v -0.28043814 -0.36179152 -0.15809024
+f 7 3 4
+f 10 8 2
+f 10 3 8
+f 11 3 10
+f 14 8 1
+f 14 2 8
+f 15 8 3
+f 15 3 7
+f 16 4 3
+f 16 3 11
+f 17 11 10
+f 17 10 6
+f 19 10 2
+f 19 12 6
+f 19 6 10
+f 28 20 13
+f 29 7 4
+f 29 20 28
+f 29 28 21
+f 29 15 7
+f 29 8 15
+f 30 29 4
+f 30 20 29
+f 33 22 14
+f 33 14 1
+f 33 1 22
+f 35 11 17
+f 36 24 18
+f 36 9 24
+f 41 12 19
+f 42 2 14
+f 42 14 27
+f 42 27 41
+f 42 41 19
+f 42 19 2
+f 43 36 18
+f 43 9 36
+f 44 43 27
+f 44 9 43
+f 45 27 14
+f 45 14 22
+f 45 44 27
+f 45 22 44
+f 46 28 13
+f 46 21 28
+f 46 32 21
+f 46 13 32
+f 47 29 21
+f 47 8 29
+f 47 21 31
+f 48 30 4
+f 48 4 16
+f 48 16 11
+f 48 11 35
+f 49 1 8
+f 49 47 31
+f 49 8 47
+f 50 24 34
+f 50 21 32
+f 50 34 31
+f 50 31 21
+f 51 50 32
+f 51 5 50
+f 51 35 23
+f 52 32 13
+f 52 13 20
+f 52 20 30
+f 52 30 48
+f 52 51 32
+f 52 48 35
+f 52 35 51
+f 53 34 22
+f 53 22 1
+f 53 31 34
+f 53 49 31
+f 53 1 49
+f 54 22 34
+f 54 44 22
+f 54 9 44
+f 54 34 24
+f 54 24 9
+f 55 35 17
+f 55 23 35
+f 55 38 23
+f 55 17 38
+f 56 37 25
+f 56 12 37
+f 56 39 12
+f 57 18 37
+f 57 43 18
+f 57 37 12
+f 58 23 38
+f 58 51 23
+f 58 5 51
+f 59 6 12
+f 59 12 39
+f 59 17 6
+f 59 38 17
+f 59 56 38
+f 59 39 56
+f 60 40 24
+f 60 5 40
+f 60 50 5
+f 60 24 50
+f 61 25 40
+f 61 56 25
+f 61 38 56
+f 61 58 38
+f 61 40 5
+f 61 5 58
+f 62 18 24
+f 62 24 40
+f 62 37 18
+f 62 40 25
+f 62 25 37
+f 63 41 26
+f 63 12 41
+f 63 57 12
+f 63 26 57
+f 64 41 27
+f 64 26 41
+f 64 57 26
+f 64 27 43
+f 64 43 57
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_6.obj b/apple/apple_21/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52b8034913af0bae13b10a8f59c7b771c2c41e9e
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_6.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.00968951 -0.47446758 0.11906896
+v 0.01031783 -0.47116101 0.13343175
+v -0.10293340 -0.45728933 0.07851928
+v -0.09848485 -0.25831861 0.22778292
+v 0.00757576 -0.25831861 0.22778292
+v -0.11034377 -0.29018704 0.37261838
+v -0.04954271 -0.46723766 0.10219288
+v 0.00757576 -0.37953073 0.12172231
+v 0.00757576 -0.25831861 0.33384352
+v -0.03565853 -0.47348957 0.07476453
+v -0.09368495 -0.39326434 0.26233452
+v -0.09848485 -0.37953073 0.12172231
+v 0.00845912 -0.37026443 0.32570158
+v 0.01140730 -0.45304612 0.19080459
+v -0.05032391 -0.47083986 0.07443539
+v -0.09334580 -0.43524796 0.17496191
+v -0.09568655 -0.45965026 0.07485148
+v -0.09379667 -0.35003485 0.32140275
+v 0.00843374 -0.42409606 0.24896977
+v -0.04360767 -0.47136264 0.08014654
+v -0.09367870 -0.45222203 0.11703859
+v -0.07822191 -0.42133604 0.21815034
+v -0.04888175 -0.45160701 0.15994926
+v -0.04930806 -0.36349564 0.32015863
+v -0.09344317 -0.36410476 0.30531317
+v 0.00839105 -0.39510594 0.29305669
+v -0.07814577 -0.40590448 0.24830989
+v -0.01826262 -0.43575118 0.21710998
+v -0.01862631 -0.46603587 0.13174707
+v -0.01867364 -0.39175758 0.29115656
+v -0.00345960 -0.42212464 0.24824609
+v -0.00312939 -0.45025502 0.18973343
+v -0.06444322 -0.39187299 0.27642488
+f 6 4 3
+f 7 1 2
+f 8 5 2
+f 8 2 1
+f 8 4 5
+f 9 5 4
+f 9 4 6
+f 10 1 7
+f 10 8 1
+f 11 6 3
+f 12 3 4
+f 12 4 8
+f 13 9 6
+f 14 2 5
+f 14 5 9
+f 14 9 13
+f 15 8 10
+f 16 11 3
+f 17 12 8
+f 17 3 12
+f 17 8 15
+f 17 15 7
+f 17 7 3
+f 20 15 10
+f 20 10 7
+f 20 7 15
+f 21 16 3
+f 21 3 7
+f 22 11 16
+f 23 2 14
+f 23 21 7
+f 23 16 21
+f 24 13 6
+f 24 6 18
+f 25 18 6
+f 25 6 11
+f 25 24 18
+f 26 19 14
+f 26 14 13
+f 27 11 22
+f 28 14 19
+f 28 27 22
+f 28 22 16
+f 28 16 23
+f 29 23 7
+f 29 7 2
+f 29 2 23
+f 30 26 13
+f 30 13 24
+f 30 24 25
+f 30 19 26
+f 31 28 19
+f 31 27 28
+f 32 28 23
+f 32 23 14
+f 32 14 28
+f 33 30 25
+f 33 25 11
+f 33 11 27
+f 33 27 31
+f 33 31 19
+f 33 19 30
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_7.obj b/apple/apple_21/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c7fb4cb22ed1f08692031485386e6cbac7346dd
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23372201 0.20716528 0.36652104
+v -0.23484849 0.19622684 -0.21161102
+v -0.22707641 0.33473256 -0.19999698
+v -0.22901914 0.41087947 0.17814377
+v -0.47188380 0.20891205 0.01651346
+v -0.22821061 0.39381435 0.21953514
+v -0.41970912 0.18813930 -0.15892947
+v -0.32718686 0.36078713 -0.01078680
+v -0.22869193 0.42591451 0.03205868
+v -0.41470222 0.23025885 0.24488698
+v -0.23484849 0.19622684 0.01566171
+v -0.40311688 0.20414461 0.27749220
+v -0.38907324 0.18810464 -0.20288315
+v -0.41269808 0.25854989 -0.08148233
+v -0.22889428 0.42637081 0.09099224
+v -0.22810876 0.39537798 -0.10093926
+v -0.37210611 0.31526387 0.18970529
+v -0.24876804 0.20677077 0.36532461
+v -0.46209423 0.20596338 0.16209366
+v -0.33124687 0.28634165 0.28739000
+v -0.44384574 0.20326536 -0.09856303
+v -0.42889878 0.27280357 0.00428933
+v -0.38610665 0.22694706 -0.16972892
+v -0.26879129 0.40549628 0.03239752
+v -0.31230768 0.34421999 -0.09560055
+v -0.26925694 0.37434007 0.21636479
+v -0.31358002 0.37561859 0.11825793
+v -0.35912617 0.20518190 0.32062191
+v -0.23090715 0.30635138 0.31722040
+v -0.45241253 0.19237856 -0.08686913
+v -0.43066237 0.20539355 0.23496781
+v -0.41479594 0.27368195 0.18886478
+v -0.37115940 0.24292064 0.28923325
+v -0.35655380 0.33019523 -0.03845898
+v -0.46029208 0.23332700 0.01804051
+v -0.38394283 0.20017746 -0.19918647
+v -0.41293139 0.22904600 -0.12453832
+v -0.24099583 0.42002343 0.03263475
+v -0.26824256 0.39100089 -0.05370644
+v -0.36950084 0.28585372 -0.11127442
+v -0.24032731 0.36113833 -0.15412005
+v -0.25321116 0.38897433 0.20525795
+v -0.24218737 0.36369192 0.26012930
+v -0.32888708 0.32891593 0.23063216
+v -0.25587223 0.40442555 0.16017298
+v -0.26925598 0.40549434 0.09069085
+v -0.35829975 0.34606341 0.06250619
+v -0.31524701 0.24471001 0.33178981
+v -0.23332750 0.22084131 0.36204632
+v -0.44813995 0.19068501 -0.10046726
+v -0.42912131 0.24509800 0.20256348
+v -0.38637713 0.27283485 0.24397309
+v -0.39892957 0.21706067 0.27412475
+v -0.37031315 0.30143857 -0.08267375
+v -0.44578901 0.25912282 0.11995251
+v -0.46544692 0.22022647 0.00882811
+v -0.42874437 0.25833909 -0.03854415
+v -0.29732939 0.28688605 -0.19691333
+v -0.41409425 0.19954069 -0.15557837
+v -0.28352093 0.39041218 -0.01057068
+v -0.26760220 0.37510979 -0.09805914
+v -0.32577857 0.34478149 -0.06855309
+v -0.25563078 0.40435836 -0.02561087
+v -0.36997104 0.25630905 -0.15383788
+f 1 2 3
+f 11 2 1
+f 13 3 2
+f 13 11 7
+f 13 2 11
+f 15 4 6
+f 15 6 9
+f 16 9 6
+f 16 6 3
+f 18 11 1
+f 18 7 11
+f 28 12 7
+f 28 7 18
+f 29 3 6
+f 30 19 5
+f 31 12 10
+f 33 12 28
+f 36 13 7
+f 36 7 23
+f 37 21 14
+f 37 7 21
+f 38 15 9
+f 40 37 14
+f 41 16 3
+f 42 6 4
+f 43 42 26
+f 43 6 42
+f 43 29 6
+f 43 20 29
+f 44 26 17
+f 44 43 26
+f 44 20 43
+f 45 4 15
+f 45 42 4
+f 45 27 17
+f 45 17 26
+f 45 26 42
+f 46 38 24
+f 46 15 38
+f 46 45 15
+f 46 27 45
+f 47 24 8
+f 47 17 27
+f 47 34 22
+f 47 8 34
+f 47 46 24
+f 47 27 46
+f 48 28 18
+f 48 33 28
+f 48 20 33
+f 48 29 20
+f 49 18 1
+f 49 1 3
+f 49 3 29
+f 49 48 18
+f 49 29 48
+f 50 7 12
+f 50 12 31
+f 50 31 19
+f 50 19 30
+f 50 30 21
+f 50 21 7
+f 51 31 10
+f 51 19 31
+f 52 17 32
+f 52 44 17
+f 52 20 44
+f 52 33 20
+f 52 10 33
+f 52 51 10
+f 52 32 51
+f 53 33 10
+f 53 10 12
+f 53 12 33
+f 54 22 34
+f 54 40 14
+f 54 25 40
+f 55 22 35
+f 55 47 22
+f 55 32 17
+f 55 17 47
+f 55 51 32
+f 55 19 51
+f 55 35 5
+f 55 5 19
+f 56 30 5
+f 56 5 35
+f 56 21 30
+f 57 35 22
+f 57 14 21
+f 57 56 35
+f 57 21 56
+f 57 54 14
+f 57 22 54
+f 58 36 23
+f 58 3 13
+f 58 13 36
+f 58 41 3
+f 58 25 41
+f 59 37 23
+f 59 23 7
+f 59 7 37
+f 60 39 8
+f 60 8 24
+f 61 39 16
+f 61 41 25
+f 61 16 41
+f 62 34 8
+f 62 8 39
+f 62 54 34
+f 62 25 54
+f 62 61 25
+f 62 39 61
+f 63 24 38
+f 63 38 9
+f 63 9 16
+f 63 16 39
+f 63 60 24
+f 63 39 60
+f 64 23 37
+f 64 37 40
+f 64 58 23
+f 64 40 25
+f 64 25 58
\ No newline at end of file
diff --git a/apple/apple_21/collision/model_normalized_collision_8.obj b/apple/apple_21/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ba13cc23b274b85fdb305ee2ec5334af3639c14
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_8.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.00779808 -0.43909700 -0.22644862
+v 0.01169893 -0.34078625 -0.41135596
+v 0.01089526 0.39250294 -0.24472687
+v -0.06375523 0.39643991 -0.21867479
+v -0.23003836 -0.36957703 -0.22305157
+v -0.17350621 0.01337334 -0.46789917
+v 0.00786878 0.40684731 -0.22555991
+v 0.01100530 -0.42285018 -0.28096688
+v -0.04962808 -0.42675086 -0.22256557
+v 0.00941590 0.20373572 -0.42967604
+v -0.23172970 0.31221852 -0.22210204
+v -0.19074177 -0.26760185 -0.43631557
+v -0.06108617 0.39082445 -0.22724596
+v 0.01197191 -0.31238488 -0.42404976
+v -0.19800243 0.33686436 -0.21711795
+v -0.10840989 -0.37649402 -0.34151273
+v -0.22426880 0.12260959 -0.39135922
+v -0.03439446 0.28642182 -0.34657636
+v 0.01143940 -0.38141697 -0.37067263
+v 0.01011388 0.22966152 -0.40858581
+v -0.07355145 -0.21251562 -0.46650210
+v -0.13867910 0.36702124 -0.21731143
+v -0.21213016 -0.37902407 -0.22092481
+v -0.00363933 -0.42029519 -0.28002070
+v -0.18997792 -0.33335032 -0.36966849
+v -0.19623133 0.07840713 -0.43474990
+v -0.22217162 -0.23763377 -0.42225622
+v -0.03418511 0.36105099 -0.27165894
+v -0.08990939 0.21171787 -0.39135101
+v -0.03394622 -0.39159303 -0.33680521
+v -0.13582758 -0.33018028 -0.41122519
+v -0.13118463 0.00953446 -0.46647214
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diff --git a/apple/apple_21/collision/model_normalized_collision_9.obj b/apple/apple_21/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d3b349e32a009f23bad5f14c7a34f9ad0e55770
--- /dev/null
+++ b/apple/apple_21/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
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diff --git a/apple/apple_21/model.xml b/apple/apple_21/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d3c49f66ce1238d326c9a9929f1bf8b47b9a13b5
--- /dev/null
+++ b/apple/apple_21/model.xml
@@ -0,0 +1,84 @@
+<mujoco model="apple_17">
+  <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_01" texture="image0" specular="0.5" shininess="0.359999993"/>
+    <material name="apple_02" 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_02"/>
+        <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_01"/>
+        <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"/>
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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_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="-2.329564999999978e-05 -2.6816300000000186e-05 -0.0327529419" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-2.329564999999978e-05 -2.6816300000000186e-05 0.0330452563" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03433506930000001 0.033854793 0.0001461572" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/apple/apple_21/visual/material.mtl b/apple/apple_21/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..842b70538fc6029daec10eabd1278717f12035ab
--- /dev/null
+++ b/apple/apple_21/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/apple/apple_21/visual/model_normalized_0.obj b/apple/apple_21/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..984868a7d61754c5c7e13fa808542fa8299c52c9
--- /dev/null
+++ b/apple/apple_21/visual/model_normalized_0.obj
@@ -0,0 +1,2035 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/apple/apple_21/visual/model_normalized_1.obj b/apple/apple_21/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec3ffee44fd15ad62781b33739a1aeb50a4b287b
--- /dev/null
+++ b/apple/apple_21/visual/model_normalized_1.obj
@@ -0,0 +1,7341 @@
+# https://github.com/mikedh/trimesh
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diff --git a/apple/apple_22/collision/model_normalized_collision_0.obj b/apple/apple_22/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11fb93b06e1a5e54963d7e30add4fb06ecd914c0
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
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+f 64 40 5
+f 64 5 29
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\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_1.obj b/apple/apple_22/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9168106509982bc44cb94d30b5231c569f230ea8
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.21895844 -0.40241010 0.11208755
+v -0.22070309 -0.34455486 -0.24612020
+v -0.22565038 0.19042896 0.18939391
+v -0.41061972 0.18326102 0.18325259
+v -0.46497099 -0.12117629 -0.05209499
+v -0.36603098 0.20243895 -0.25807519
+v -0.22246565 -0.37907628 0.18644479
+v -0.22565038 0.19042896 -0.25000001
+v -0.32993753 -0.32389251 -0.06421095
+v -0.46525442 0.10803842 -0.07968262
+v -0.41826451 -0.10587903 -0.24206477
+v -0.21971429 -0.38882625 0.16874545
+v -0.44995524 -0.09141394 0.18179606
+v -0.21934070 -0.35682292 -0.21474874
+v -0.43539165 0.17930758 -0.09491811
+v -0.35994053 -0.22277098 -0.24268403
+v -0.43376732 0.06714986 -0.22734482
+v -0.33047287 -0.32493488 0.11117968
+v -0.48036990 -0.01961923 0.09602021
+v -0.31599550 -0.30947203 -0.16661881
+v -0.21926031 -0.40278506 -0.03696745
+v -0.21891371 -0.38668460 -0.12620018
+v -0.44831890 0.16820167 0.06541858
+v -0.43511336 0.17954519 0.12612952
+v -0.40261072 -0.15092324 -0.24202283
+v -0.38953909 -0.25280672 -0.09482452
+v -0.43442689 0.00650450 -0.24266537
+v -0.42018277 0.17912403 -0.16660243
+v -0.24716839 -0.38323317 0.15095576
+v -0.37664844 -0.24981853 0.18135251
+v -0.48044628 -0.01956668 -0.07979367
+v -0.46393302 -0.12094704 0.08071548
+v -0.44908493 0.08215378 0.18079214
+v -0.24366308 -0.36806404 -0.15185568
+v -0.30105278 -0.29452313 -0.22732615
+v -0.30358926 -0.35281092 0.02407095
+v -0.44952070 0.16854654 -0.00672472
+v -0.48075941 0.06709451 0.05061831
+v -0.44880470 -0.10573228 -0.16656004
+v -0.42099284 -0.17760251 -0.16711600
+v -0.39183025 -0.26469576 -0.00641002
+v -0.32998259 -0.30878355 -0.12482758
+v -0.37578350 -0.24805965 -0.16622737
+v -0.41741146 0.10766432 -0.24191643
+v -0.43464086 -0.00456668 -0.24275022
+v -0.44979342 0.08239574 -0.18223287
+v -0.43421431 0.15361872 -0.15562202
+v -0.42008033 -0.17776298 0.18155255
+v -0.28798472 -0.33750706 0.18067460
+v -0.48132775 -0.06518404 0.05069676
+v -0.46492553 0.00590045 0.16641147
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+v -0.22896057 -0.35307482 -0.21259737
+v -0.28824798 -0.33653940 -0.15134372
+v -0.24681221 -0.38176056 -0.07982200
+v -0.27443562 -0.30805629 -0.24305765
+v -0.30332364 -0.35268928 0.06581299
+v -0.25787271 -0.38307531 0.09616949
+v -0.44872303 0.15298368 -0.07940232
+v -0.48126891 0.03683858 -0.06470035
+v -0.46462662 0.12307546 -0.03702566
+v -0.44823436 -0.09061270 -0.18132318
+v -0.46433994 -0.08005956 -0.12505973
+v -0.38911462 -0.17684288 -0.24206082
+f 6 4 3
+f 8 6 3
+f 8 2 6
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+f 13 7 3
+f 13 3 4
+f 14 2 8
+f 16 6 2
+f 22 14 8
+f 22 8 3
+f 22 3 1
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+f 24 4 6
+f 24 6 15
+f 25 11 6
+f 25 6 16
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+f 29 1 12
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+f 54 42 20
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+f 55 36 9
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+f 59 47 10
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+f 61 60 38
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+f 61 59 10
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+f 61 38 23
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+f 62 11 25
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+f 62 45 11
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+f 63 5 31
+f 63 62 39
+f 63 31 62
+f 64 40 25
+f 64 25 16
+f 64 16 40
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_10.obj b/apple/apple_22/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..815a2a6af5be45ecae92fd3f3c20d6ceff88fc0d
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_10.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.38778642 -0.21461975 0.21576425
+v 0.44579146 -0.08276851 -0.16063796
+v 0.45654735 -0.12315415 0.15214351
+v 0.39036847 -0.12624076 0.25889704
+v 0.37107887 -0.19852275 -0.24401821
+v 0.47653250 -0.08621944 0.00426585
+v 0.40619977 -0.15238162 0.23943197
+v 0.38720921 -0.15456828 0.25461629
+v 0.38041021 -0.08229830 0.00757574
+v 0.41422144 -0.12437673 0.23954184
+v 0.43795699 -0.17852300 -0.06454220
+v 0.43910665 -0.17918572 0.15065101
+v 0.38876767 -0.18492764 0.24175230
+v 0.39947446 -0.13353553 -0.24606287
+v 0.39954354 -0.12450065 0.25169939
+v 0.45616079 -0.12280983 -0.06512858
+v 0.41536298 -0.23752655 0.00440322
+v 0.39383097 -0.17961723 0.23979066
+v 0.43674906 -0.16716210 0.16510961
+v 0.45236200 -0.16698961 0.08113629
+v 0.37585219 -0.18592261 -0.24707812
+v 0.42289033 -0.17867290 -0.13733407
+v 0.45236132 -0.15190269 -0.03618491
+v 0.37413236 -0.21530703 -0.21740907
+v 0.42321098 -0.20908865 0.15028289
+v 0.45296884 -0.13719163 0.15046051
+v 0.40689264 -0.13715061 -0.22851152
+v 0.40700445 -0.20858351 -0.13706646
+v 0.43651437 -0.16716689 -0.09486770
+v 0.45280811 -0.16719922 0.02438123
+v 0.39059532 -0.17760782 -0.22751669
+v 0.43702940 -0.19319864 0.11125430
+v 0.45197259 -0.15201525 0.12628026
+v 0.41071059 -0.12315698 -0.22978677
+v 0.43740507 -0.13712983 -0.13759694
+v 0.42189266 -0.20833300 -0.06435976
+v 0.43815377 -0.19369488 -0.00585521
+v 0.37730005 -0.19374942 -0.23829348
+v 0.38207337 -0.18114929 -0.24135339
+v 0.44126212 -0.12316539 -0.13890076
+v 0.43550125 -0.09925347 -0.17771367
+f 8 5 1
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+f 14 9 2
+f 15 9 4
+f 15 6 9
+f 15 10 6
+f 15 4 10
+f 16 2 6
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+f 24 1 5
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+f 25 1 17
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+f 28 17 24
+f 29 11 22
+f 29 23 11
+f 29 16 23
+f 30 23 6
+f 30 6 20
+f 30 20 17
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+f 31 27 22
+f 31 28 24
+f 31 22 28
+f 32 20 12
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+f 32 25 17
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+f 33 20 3
+f 33 3 26
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+f 33 12 20
+f 34 27 14
+f 34 14 2
+f 35 22 27
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+f 36 17 28
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+f 37 36 11
+f 37 17 36
+f 38 31 24
+f 38 24 5
+f 38 5 21
+f 39 21 14
+f 39 14 31
+f 39 38 21
+f 39 31 38
+f 40 2 16
+f 40 16 35
+f 40 35 27
+f 41 34 2
+f 41 2 40
+f 41 40 27
+f 41 27 34
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_11.obj b/apple/apple_22/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..527a04f20dd41329b5ac76f5ae326604d368d43f
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_11.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.01612893 -0.24606795 0.36959058
+v 0.01677386 -0.24896496 0.18939391
+v 0.01704357 0.44512466 0.18816212
+v -0.08531559 0.43445065 0.18337277
+v -0.22565038 -0.24896496 0.18939391
+v -0.08643947 0.25516237 0.36808762
+v 0.01796987 0.35785246 0.31207000
+v -0.20385663 0.38951007 0.18314386
+v -0.21999229 -0.15083873 0.38510302
+v 0.01806209 0.43424893 0.21381361
+v 0.01661393 0.26369406 0.37105789
+v -0.14402140 0.38735598 0.24970413
+v -0.22180735 -0.24056330 0.34109001
+v -0.22158157 0.37935659 0.18556845
+v -0.06848987 0.41358489 0.24144038
+v -0.04323266 0.31583125 0.33846793
+v -0.05802773 0.17291230 0.38514889
+v -0.17365072 0.40485225 0.18323525
+v -0.07367783 -0.24603029 0.36894926
+v -0.22405045 0.02165723 0.38472280
+v -0.04214640 0.42952326 0.21183660
+v -0.14426383 0.39829170 0.22628607
+v 0.01786202 0.42092365 0.24492622
+v 0.01740110 0.31690746 0.34007492
+v -0.12971386 0.31656562 0.32244701
+v -0.10419939 -0.14050475 0.38562942
+v -0.21691293 0.35497743 0.24178509
+v -0.15992053 -0.22297930 0.36704378
+v -0.21817683 0.15341496 0.36999221
+v -0.01227754 0.37125588 0.29536181
+v 0.01803459 0.38737654 0.28102629
+v -0.08635016 0.33096284 0.32253598
+v -0.18091030 -0.15577883 0.38445234
+v -0.17116676 0.39997572 0.19604947
+v -0.19950098 0.31248206 0.29346637
+v -0.19047858 -0.20801777 0.36739723
+v -0.17557698 -0.23919848 0.35379617
+v -0.13271633 0.14314530 0.38364693
+v -0.14307810 0.22692726 0.36805706
+v -0.21701579 0.19791955 0.35230750
+v 0.00293781 0.38671780 0.28039991
+v -0.01231199 0.35654876 0.31093299
+v -0.09967816 0.40097316 0.24868159
+v -0.09991857 0.34085842 0.30990535
+v -0.17217281 0.31067918 0.30882496
+v -0.20310665 0.35760832 0.24962043
+v -0.21869748 -0.22428757 0.35095609
+v -0.14786558 0.12791852 0.38351501
+v -0.14478625 0.25556792 0.35225779
+v -0.07316933 0.17273577 0.38432233
+v -0.21484749 0.28229578 0.30891294
+v -0.18627667 0.19753264 0.36650424
+v -0.14185637 0.32580376 0.30879666
+v -0.18823091 0.28713676 0.32179196
+f 3 2 4
+f 5 2 1
+f 7 1 2
+f 8 4 2
+f 8 2 5
+f 10 2 3
+f 14 8 5
+f 16 6 11
+f 17 1 11
+f 17 11 6
+f 18 4 8
+f 18 8 14
+f 19 13 5
+f 19 5 1
+f 19 1 9
+f 20 13 9
+f 20 14 5
+f 20 5 13
+f 21 10 3
+f 21 3 4
+f 21 4 15
+f 22 15 4
+f 22 4 18
+f 23 21 15
+f 23 10 21
+f 24 16 11
+f 24 7 16
+f 24 11 1
+f 24 1 7
+f 26 1 17
+f 26 20 9
+f 26 17 20
+f 27 18 14
+f 28 19 9
+f 29 14 20
+f 30 23 15
+f 31 10 23
+f 31 7 2
+f 31 2 10
+f 32 25 6
+f 32 6 16
+f 33 26 9
+f 33 9 1
+f 33 1 26
+f 34 27 12
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+f 43 22 12
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+f 44 43 12
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+f 46 12 27
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+f 46 45 12
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+f 47 36 9
+f 47 9 13
+f 47 13 36
+f 48 38 29
+f 48 29 20
+f 48 20 38
+f 49 39 6
+f 49 6 25
+f 50 39 38
+f 50 38 17
+f 50 17 6
+f 50 6 39
+f 51 35 27
+f 51 27 40
+f 52 40 29
+f 52 29 39
+f 53 45 25
+f 53 25 12
+f 53 12 45
+f 54 45 35
+f 54 35 51
+f 54 25 45
+f 54 49 25
+f 54 51 40
+f 54 40 52
+f 54 52 39
+f 54 39 49
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_12.obj b/apple/apple_22/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e469681e3485d5dd8e2b7578df803f15bcda2a25
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_12.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.24404657 0.19042896 -0.23484849
+v 0.23692182 0.18494273 -0.40827836
+v 0.23921883 0.34806344 -0.23145838
+v -0.08511236 0.40240394 -0.22952751
+v -0.22565038 0.22073199 -0.23484849
+v 0.04486014 0.28005938 -0.41692358
+v 0.22142473 0.35827098 -0.22960271
+v 0.01677386 0.19042896 -0.23484849
+v 0.20502594 0.29551899 -0.33956210
+v -0.21761529 0.21188944 -0.40461928
+v -0.20401783 0.35852766 -0.22974885
+v 0.10241966 0.40050400 -0.23960311
+v 0.16217080 0.18317758 -0.44819459
+v 0.23006889 0.30975772 -0.29794325
+v -0.10045708 0.30977361 -0.37068297
+v 0.16340339 0.38650896 -0.22922728
+v -0.22190237 0.34922373 -0.23193868
+v 0.08774235 0.34210546 -0.34196303
+v 0.01684288 0.18990890 -0.47540879
+v 0.17441585 0.23461863 -0.41485668
+v 0.23256067 0.22201544 -0.38514940
+v 0.17394592 0.36962877 -0.25351387
+v -0.15703226 0.36963563 -0.25372662
+v -0.17342454 0.37306472 -0.22952045
+v 0.10362594 0.40438109 -0.23018065
+v -0.19969290 0.28029003 -0.35714119
+v -0.04255664 0.35390300 -0.33022144
+v 0.11817447 0.18483127 -0.46657575
+v -0.09841522 0.25282346 -0.43153957
+v 0.21794939 0.19729303 -0.41631544
+v 0.14767118 0.32483416 -0.33996946
+v 0.20157375 0.26648081 -0.36898854
+v 0.18834237 0.32282332 -0.31320509
+v 0.21964593 0.35493668 -0.23866323
+v 0.16231328 0.38302460 -0.23819579
+v -0.17147018 0.36892761 -0.24313417
+v -0.01215881 0.39982247 -0.25481639
+v -0.21427804 0.27983694 -0.34400670
+v -0.14295069 0.31022038 -0.35447561
+v 0.02986980 0.29546960 -0.40211194
+v -0.08415675 0.39852186 -0.24143813
+v 0.10348529 0.20775016 -0.45895239
+v 0.01542006 0.21275782 -0.46456447
+v -0.16153554 0.21520590 -0.43539568
+v 0.22267005 0.18599658 -0.41778989
+v 0.14433816 0.21016204 -0.44192241
+v 0.23300550 0.19707860 -0.40366751
+v 0.14446245 0.25040614 -0.41551380
+v 0.21670898 0.23632157 -0.38415175
+v 0.23388100 0.33813171 -0.25270202
+v 0.13183582 0.33734141 -0.32887804
+v -0.21846574 0.34116703 -0.25490649
+v 0.04505341 0.39915697 -0.25438018
+v -0.21492618 0.22189957 -0.39906556
+v -0.14289336 0.27978051 -0.38464044
+v -0.06970724 0.33977884 -0.34567743
+v 0.06006063 0.35344747 -0.32990136
+v -0.04038181 0.28071612 -0.41728762
+v -0.05723231 0.24039629 -0.44311007
+v 0.07301864 0.23859147 -0.44321193
+v -0.10199906 0.21445622 -0.44815961
+v -0.15603212 0.22298584 -0.43200475
+v 0.11581453 0.19714798 -0.46115854
+v 0.10270292 0.26614847 -0.41740827
+f 1 2 3
+f 7 1 3
+f 8 1 7
+f 10 8 5
+f 11 8 7
+f 11 5 8
+f 13 2 1
+f 13 1 8
+f 17 10 5
+f 17 5 11
+f 19 8 10
+f 21 14 3
+f 21 3 2
+f 21 9 14
+f 24 16 4
+f 24 11 7
+f 24 7 16
+f 25 4 16
+f 28 13 8
+f 28 8 19
+f 32 20 9
+f 32 9 21
+f 33 14 9
+f 33 31 22
+f 33 9 31
+f 34 7 3
+f 35 34 22
+f 35 16 7
+f 35 7 34
+f 35 25 16
+f 35 12 25
+f 36 24 4
+f 36 17 11
+f 36 11 24
+f 37 4 25
+f 38 10 17
+f 39 15 29
+f 40 18 6
+f 41 37 27
+f 41 4 37
+f 41 36 4
+f 41 23 36
+f 42 28 19
+f 43 42 19
+f 44 19 10
+f 45 30 2
+f 45 2 13
+f 45 13 30
+f 46 20 30
+f 46 30 13
+f 46 13 28
+f 47 30 21
+f 47 21 2
+f 47 2 30
+f 48 31 9
+f 48 9 20
+f 48 20 42
+f 49 32 21
+f 49 21 30
+f 49 30 20
+f 49 20 32
+f 50 34 3
+f 50 3 14
+f 50 14 33
+f 50 33 22
+f 50 22 34
+f 51 35 22
+f 51 22 31
+f 51 31 18
+f 51 18 12
+f 51 12 35
+f 52 17 36
+f 52 38 17
+f 52 26 38
+f 52 36 23
+f 52 39 26
+f 52 23 39
+f 53 37 25
+f 53 25 12
+f 54 38 26
+f 54 10 38
+f 54 44 10
+f 55 39 29
+f 55 29 26
+f 55 26 39
+f 56 15 39
+f 56 41 27
+f 56 39 23
+f 56 23 41
+f 57 40 27
+f 57 18 40
+f 57 27 37
+f 57 37 53
+f 57 53 12
+f 57 12 18
+f 58 40 6
+f 58 29 15
+f 58 15 56
+f 58 56 27
+f 58 27 40
+f 58 6 43
+f 59 43 19
+f 59 58 43
+f 59 29 58
+f 60 43 6
+f 60 42 43
+f 61 44 29
+f 61 19 44
+f 61 59 19
+f 61 29 59
+f 62 26 29
+f 62 29 44
+f 62 54 26
+f 62 44 54
+f 63 42 20
+f 63 20 46
+f 63 46 28
+f 63 28 42
+f 64 6 18
+f 64 18 31
+f 64 31 48
+f 64 60 6
+f 64 48 42
+f 64 42 60
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_13.obj b/apple/apple_22/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd79d3aceb5d3b6aae8048bb6048b81d5259e8db
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_13.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22246565 -0.37907628 0.18644479
+v -0.22000920 -0.37425372 0.19932157
+v -0.45510509 0.02184150 0.18384418
+v -0.22158157 0.37935659 0.18556845
+v -0.26276106 -0.02244725 0.38577034
+v -0.26154602 -0.35680815 0.18243300
+v -0.21895741 0.14096754 0.37359743
+v -0.27586116 0.34356621 0.18207113
+v -0.23411651 0.37418488 0.18310837
+v -0.23496448 -0.37386846 0.18398834
+v -0.39122739 -0.16300245 0.26391677
+v -0.22029317 -0.18101922 0.37075636
+v -0.21912148 0.37449419 0.19840701
+v -0.34726124 0.06542406 0.32478627
+v -0.39364610 0.21247495 0.18232051
+v -0.27677151 -0.31046388 0.25033472
+v -0.42376507 -0.16876983 0.18371634
+v -0.22233739 -0.13998223 0.38753466
+v -0.21921713 -0.26764186 0.32655812
+v -0.22992643 0.34294127 0.24851200
+v -0.27590959 0.05054079 0.36811369
+v -0.34589385 -0.07785107 0.34157451
+v -0.31865054 -0.31214156 0.18213957
+v -0.41825144 0.09267681 0.24080699
+v -0.23129944 -0.34074055 0.25030734
+v -0.25812984 -0.33687883 0.22539984
+v -0.41846188 -0.09133209 0.25732426
+v -0.22453539 0.00765278 0.38596818
+v -0.21870729 0.27221561 0.31493141
+v -0.31596935 -0.20818166 0.30920012
+v -0.23165642 0.36932247 0.19594692
+v -0.29002167 0.29730542 0.24805418
+v -0.32123860 -0.00789367 0.35253831
+v -0.32115416 0.13882982 0.32072552
+v -0.26176852 -0.09503001 0.38240348
+v -0.28873255 -0.30699493 0.24076959
+v -0.38048656 -0.24175508 0.18404585
+v -0.43873367 -0.12302610 0.18344397
+v -0.43941121 0.10993460 0.18303051
+v -0.42124140 0.05107744 0.24944708
+v -0.23250803 -0.36904590 0.19686512
+v -0.23142643 -0.26323099 0.32397561
+v -0.22009863 -0.34380410 0.25382352
+v -0.41890877 -0.16723124 0.19689935
+v -0.33054952 -0.13624043 0.34072417
+v -0.23960967 0.00758641 0.38489118
+v -0.21880435 0.34619814 0.25292933
+v -0.24218425 0.35432664 0.20999748
+v -0.36544547 0.25564693 0.18259700
+v -0.34821859 0.22782247 0.24973277
+v -0.29106978 0.00525971 0.36792914
+v -0.35131833 -0.03811308 0.33785883
+v -0.24543584 0.24167504 0.32159522
+v -0.39124154 0.15451536 0.24844200
+v -0.35756361 -0.23701890 0.24113876
+v -0.40883623 -0.19525478 0.18328445
+v -0.45481112 -0.03550546 0.18371839
+v -0.43274826 0.09244730 0.21019564
+v -0.36078464 0.06625594 0.31019498
+v -0.44972482 0.02104468 0.19669344
+v -0.27400985 -0.26528243 0.29419046
+v -0.26459201 -0.22418684 0.33583366
+v -0.40647695 -0.10795280 0.26557113
+v -0.36164644 -0.20891071 0.26464530
+f 9 4 1
+f 9 6 8
+f 10 1 2
+f 10 9 1
+f 10 6 9
+f 13 2 1
+f 13 1 4
+f 18 12 7
+f 19 7 12
+f 21 5 7
+f 23 15 8
+f 23 8 6
+f 26 25 16
+f 28 18 7
+f 28 5 18
+f 29 7 19
+f 31 20 13
+f 31 13 4
+f 31 4 9
+f 32 29 20
+f 34 21 7
+f 34 14 21
+f 35 18 5
+f 35 5 22
+f 36 23 6
+f 36 26 16
+f 36 6 26
+f 39 15 23
+f 39 23 38
+f 41 10 2
+f 41 2 25
+f 41 25 26
+f 41 26 6
+f 41 6 10
+f 42 16 25
+f 43 25 2
+f 43 2 19
+f 43 42 25
+f 43 19 42
+f 44 11 27
+f 44 38 17
+f 44 27 38
+f 45 35 22
+f 45 18 35
+f 46 28 7
+f 46 7 5
+f 46 5 28
+f 47 29 19
+f 47 13 20
+f 47 20 29
+f 47 19 2
+f 47 2 13
+f 48 31 9
+f 48 9 8
+f 48 20 31
+f 48 32 20
+f 48 8 32
+f 49 32 8
+f 49 8 15
+f 50 49 15
+f 50 32 49
+f 51 21 14
+f 51 14 33
+f 51 33 5
+f 51 5 21
+f 52 22 5
+f 52 5 33
+f 52 33 14
+f 52 14 40
+f 52 40 27
+f 52 27 22
+f 53 34 7
+f 53 7 29
+f 53 50 34
+f 53 29 32
+f 53 32 50
+f 54 24 14
+f 54 14 34
+f 54 34 50
+f 54 50 15
+f 54 39 24
+f 54 15 39
+f 55 37 23
+f 55 23 36
+f 55 36 16
+f 56 23 37
+f 56 38 23
+f 56 17 38
+f 56 44 17
+f 56 11 44
+f 56 55 11
+f 56 37 55
+f 57 38 27
+f 57 39 38
+f 57 3 39
+f 58 39 3
+f 58 24 39
+f 58 40 24
+f 59 40 14
+f 59 14 24
+f 59 24 40
+f 60 27 40
+f 60 57 27
+f 60 3 57
+f 60 58 3
+f 60 40 58
+f 61 30 16
+f 61 16 42
+f 62 42 19
+f 62 19 12
+f 62 12 18
+f 62 18 45
+f 62 45 30
+f 62 61 42
+f 62 30 61
+f 63 27 11
+f 63 11 45
+f 63 45 22
+f 63 22 27
+f 64 45 11
+f 64 30 45
+f 64 11 55
+f 64 55 16
+f 64 16 30
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_14.obj b/apple/apple_22/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2134f8d106914c8eea255815f3645f50deffd97e
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_14.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.08764711 -0.45550516 0.08272637
+v -0.08568305 -0.41777911 -0.18485214
+v -0.08928675 -0.24896496 0.28030300
+v -0.24262488 -0.27448269 0.30681952
+v -0.21632744 -0.39667183 -0.07971537
+v -0.08722255 -0.37791690 0.27296727
+v -0.11411590 -0.44206751 -0.04959663
+v -0.21696292 -0.39857623 0.15104610
+v -0.22565038 -0.24896496 -0.14393941
+v -0.08460171 -0.41463541 0.22765728
+v -0.15997297 -0.41284584 -0.14003163
+v -0.08535749 -0.44743421 -0.06571706
+v -0.17114704 -0.42786746 -0.02138559
+v -0.08928675 -0.24896496 -0.14393941
+v -0.21782404 -0.38445316 -0.14093313
+v -0.15972717 -0.42788197 0.14198842
+v -0.21794120 -0.35480957 0.24267469
+v -0.12948197 -0.44299293 0.00885456
+v -0.08575344 -0.43375656 0.18397056
+v -0.08462710 -0.42912023 -0.15321829
+v -0.15947133 -0.42634292 -0.06470833
+v -0.20108451 -0.41185657 -0.03653613
+v -0.08918562 -0.41526671 -0.18926650
+v -0.18592790 -0.41162708 -0.07967792
+v -0.17059854 -0.42701715 0.11143902
+v -0.14533197 -0.38451064 0.24943131
+v -0.14419880 -0.41136505 0.19594516
+v -0.10336650 -0.41176413 -0.18804319
+v -0.18675746 -0.41391928 0.15113645
+v -0.12951088 -0.44332797 0.08141419
+v -0.20081298 -0.41169101 0.11141874
+v -0.12897398 -0.39575368 0.24114759
+v -0.14327526 -0.37009441 0.26447485
+v -0.11399752 -0.42686356 0.18094733
+v -0.20324267 -0.34035898 0.26549723
+v -0.21918897 -0.32882164 0.26863277
+v -0.20327409 -0.35557401 0.25040983
+f 6 3 4
+f 8 4 5
+f 9 4 3
+f 10 3 6
+f 12 7 11
+f 14 9 3
+f 14 3 10
+f 15 5 4
+f 15 4 9
+f 17 4 8
+f 18 12 1
+f 18 7 12
+f 18 13 7
+f 19 12 10
+f 19 1 12
+f 19 16 1
+f 20 10 12
+f 20 14 10
+f 20 2 14
+f 20 12 11
+f 21 11 7
+f 21 7 13
+f 22 8 5
+f 22 21 13
+f 23 14 2
+f 23 9 14
+f 23 20 11
+f 23 2 20
+f 24 15 11
+f 24 5 15
+f 24 22 5
+f 24 11 21
+f 24 21 22
+f 27 26 17
+f 28 15 9
+f 28 9 23
+f 28 23 11
+f 28 11 15
+f 29 25 16
+f 29 16 27
+f 29 27 17
+f 29 17 8
+f 30 25 13
+f 30 13 18
+f 30 18 1
+f 30 1 16
+f 30 16 25
+f 31 22 13
+f 31 13 25
+f 31 8 22
+f 31 29 8
+f 31 25 29
+f 32 10 6
+f 32 6 26
+f 32 26 27
+f 32 19 10
+f 33 26 6
+f 33 6 4
+f 34 27 16
+f 34 16 19
+f 34 32 27
+f 34 19 32
+f 35 33 4
+f 35 26 33
+f 36 35 4
+f 36 4 17
+f 37 17 26
+f 37 26 35
+f 37 36 17
+f 37 35 36
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_15.obj b/apple/apple_22/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba37e074b66b8ca544c3321855d43e0ab5ac024f
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_15.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.01701570 -0.39710274 -0.26318372
+v 0.01726225 -0.34585040 -0.34781892
+v 0.01677386 -0.00654073 -0.26515152
+v -0.22565038 -0.00654073 -0.26515152
+v -0.22199373 -0.33448431 -0.26125857
+v 0.01734359 -0.00329498 -0.42332032
+v -0.08452567 -0.33641880 -0.34495088
+v -0.14436439 -0.37307228 -0.25727058
+v -0.23375067 -0.22733771 -0.38290362
+v 0.01771349 -0.35650690 -0.33294464
+v -0.08610747 -0.38820659 -0.25778740
+v -0.20579777 -0.34460340 -0.25844996
+v -0.22565038 -0.00654073 -0.37121213
+v -0.17144734 -0.30533891 -0.34359146
+v -0.05447903 -0.35278686 -0.33047494
+v -0.09950891 -0.35091270 -0.31425520
+v -0.21501720 -0.27884201 -0.34473998
+v -0.20186528 -0.32074502 -0.29830069
+v -0.14164654 -0.36704689 -0.26854771
+v -0.01213526 -0.38225650 -0.28483578
+v -0.19821946 -0.29158183 -0.34298733
+v -0.21450150 -0.32344109 -0.28358520
+f 6 4 3
+f 8 3 4
+f 9 5 4
+f 9 6 2
+f 9 2 7
+f 10 2 6
+f 10 6 3
+f 10 3 1
+f 11 1 3
+f 11 3 8
+f 12 8 4
+f 12 4 5
+f 13 9 4
+f 13 4 6
+f 13 6 9
+f 14 9 7
+f 15 7 2
+f 15 2 10
+f 15 11 7
+f 15 10 1
+f 16 11 8
+f 16 7 11
+f 17 5 9
+f 18 14 12
+f 18 12 5
+f 19 14 7
+f 19 8 12
+f 19 12 14
+f 19 16 8
+f 19 7 16
+f 20 15 1
+f 20 1 11
+f 20 11 15
+f 21 17 9
+f 21 9 14
+f 21 14 18
+f 21 5 17
+f 22 21 18
+f 22 18 5
+f 22 5 21
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_16.obj b/apple/apple_22/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7817d5e30c3c8e4a5634fb96456ada859acc3aea
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_16.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.01754239 -0.37736512 0.28720348
+v 0.09136473 -0.30594935 0.33480638
+v -0.05609054 -0.28306255 0.35228664
+v -0.20737890 -0.24214407 0.34390673
+v 0.01677386 -0.24896496 0.28030300
+v -0.09981461 -0.33842387 0.30932600
+v 0.01512882 -0.35479107 0.31098706
+v 0.01669382 -0.24860545 0.36913058
+v -0.13033744 -0.31333535 0.32151737
+v -0.20655390 -0.33190030 0.27225358
+v 0.00289430 -0.35428806 0.31050282
+v 0.09173220 -0.27686568 0.35197292
+v -0.14723602 -0.24209522 0.35951333
+v -0.07114957 -0.32874989 0.32247299
+v -0.14617697 -0.36162289 0.27141530
+v -0.24262488 -0.27448269 0.30681952
+v -0.09979358 -0.35349989 0.29409977
+v 0.09384040 -0.28333128 0.34775590
+v 0.06198564 -0.26302599 0.36489840
+v -0.20269708 -0.28035617 0.32366348
+v -0.14293586 -0.32385853 0.30911760
+v -0.22462406 -0.24672123 0.33691105
+v -0.22279455 -0.31983756 0.27514496
+v 0.06073662 -0.28318237 0.35292843
+v 0.06362021 -0.27460060 0.35796751
+v -0.20321124 -0.32514395 0.28058462
+v -0.14316213 -0.35468245 0.27935577
+v -0.21921713 -0.26764186 0.32655812
+v 0.08927892 -0.29947459 0.33904762
+f 5 2 1
+f 7 1 2
+f 11 1 7
+f 13 8 5
+f 13 5 4
+f 13 3 8
+f 13 9 3
+f 14 9 6
+f 14 3 9
+f 14 6 11
+f 14 11 7
+f 14 7 3
+f 15 10 5
+f 15 5 1
+f 17 11 6
+f 17 1 11
+f 17 15 1
+f 17 6 15
+f 18 2 5
+f 18 5 12
+f 19 12 5
+f 19 5 8
+f 19 8 3
+f 19 3 7
+f 20 9 13
+f 21 6 9
+f 21 9 20
+f 22 4 5
+f 22 5 16
+f 22 13 4
+f 23 16 5
+f 23 5 10
+f 24 19 7
+f 24 7 2
+f 25 12 19
+f 25 24 2
+f 25 19 24
+f 26 10 15
+f 26 21 20
+f 26 15 21
+f 26 23 10
+f 26 20 23
+f 27 21 15
+f 27 15 6
+f 27 6 21
+f 28 22 16
+f 28 20 13
+f 28 13 22
+f 28 23 20
+f 28 16 23
+f 29 25 2
+f 29 12 25
+f 29 18 12
+f 29 2 18
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_17.obj b/apple/apple_22/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d6f13a49299ff89dc76abf49d373d87e58b544b
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_17.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.39556172 -0.00654073 0.14393937
+v 0.41732631 -0.01017648 -0.25568702
+v 0.42295998 0.20475747 0.15723491
+v 0.27434960 0.19042896 0.14393937
+v 0.27434960 -0.00654073 -0.23484849
+v 0.27434960 0.19042896 -0.23484849
+v 0.27434960 -0.00654073 0.14393937
+v 0.38087653 0.19067816 -0.23501843
+v 0.41765534 0.20223381 -0.10289163
+f 1 2 3
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 7 5 2
+f 7 2 1
+f 8 2 6
+f 9 8 6
+f 9 6 3
+f 9 3 2
+f 9 2 8
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_18.obj b/apple/apple_22/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7ba7fee3a9515f83b711416b459a322369ac971
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_18.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.15313749 0.22073199 0.26515149
+v 0.15313749 0.22073199 0.14393937
+v 0.15939364 0.43858506 0.13097087
+v 0.01694770 0.46137331 0.14375032
+v 0.01677386 0.22073199 0.26515149
+v 0.01677386 0.22073199 0.14393937
+v 0.15114401 0.39380744 0.25627594
+v 0.15114591 0.44135672 0.12809292
+v 0.01744057 0.40967741 0.25752140
+v 0.13722981 0.44548059 0.12852400
+v 0.10278447 0.41488421 0.24230491
+v 0.13429128 0.40225455 0.25174042
+v 0.01786202 0.42092365 0.24492622
+v 0.11730398 0.44359609 0.16600531
+v 0.01823426 0.44756193 0.18272426
+v 0.13245487 0.44420832 0.15437900
+v 0.06044371 0.44438015 0.18158271
+v 0.13267486 0.44542744 0.14208611
+v 0.14765267 0.42860605 0.18122483
+v 0.09071976 0.42894484 0.21176767
+v 0.14883730 0.40192739 0.24324477
+f 1 2 3
+f 5 2 1
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 8 3 2
+f 8 2 6
+f 9 5 1
+f 9 1 7
+f 9 4 5
+f 10 8 6
+f 10 6 4
+f 10 3 8
+f 12 11 9
+f 12 9 7
+f 13 4 9
+f 13 9 11
+f 15 13 11
+f 15 4 13
+f 16 4 14
+f 16 3 10
+f 17 14 4
+f 17 4 15
+f 18 16 10
+f 18 10 4
+f 18 4 16
+f 19 3 16
+f 19 16 14
+f 20 11 14
+f 20 14 17
+f 20 17 15
+f 20 15 11
+f 21 7 3
+f 21 3 19
+f 21 12 7
+f 21 19 14
+f 21 14 11
+f 21 11 12
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_19.obj b/apple/apple_22/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3be3c55120ea5da1b409e5fb61da91532dfaf099
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_19.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.11813672 -0.40020695 -0.22946041
+v 0.27230389 -0.32223007 -0.23379334
+v 0.26559224 -0.32920422 -0.23033157
+v 0.01677386 -0.21866193 -0.23484849
+v 0.25877115 -0.23073711 -0.35819927
+v 0.24404657 -0.21866193 -0.23484849
+v 0.24923773 -0.34289003 -0.22971108
+v 0.01771349 -0.35650690 -0.33294464
+v 0.01677386 -0.21866193 -0.34090910
+v 0.17325959 -0.32088094 -0.32846360
+v 0.01670784 -0.41321204 -0.23403211
+v 0.16275246 -0.38239072 -0.23900250
+v 0.21756850 -0.29572072 -0.33062514
+v 0.13226032 -0.33662908 -0.32977794
+v 0.06023479 -0.39737416 -0.25447240
+v 0.24686341 -0.33994364 -0.23880128
+v 0.16391916 -0.38613208 -0.22983650
+v 0.23373615 -0.28181269 -0.33154820
+v 0.07523485 -0.35154422 -0.33008757
+v 0.11703867 -0.39669521 -0.23848755
+v 0.17309775 -0.35088205 -0.28281122
+v 0.01694983 -0.40093539 -0.25659761
+v 0.26857875 -0.31768949 -0.24478205
+v 0.11683903 -0.35091381 -0.31410196
+v 0.21882156 -0.33617221 -0.26793613
+v 0.26298798 -0.32602743 -0.23972691
+f 6 3 2
+f 6 2 5
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 7 2 3
+f 9 6 5
+f 9 4 6
+f 9 5 8
+f 11 1 4
+f 11 9 8
+f 11 4 9
+f 13 10 5
+f 14 5 10
+f 16 2 7
+f 17 7 1
+f 17 16 7
+f 17 12 16
+f 18 13 5
+f 18 16 13
+f 19 8 5
+f 19 5 14
+f 19 15 8
+f 20 15 19
+f 20 1 11
+f 20 11 15
+f 20 17 1
+f 20 12 17
+f 21 14 10
+f 21 12 14
+f 21 16 12
+f 22 15 11
+f 22 11 8
+f 22 8 15
+f 23 18 5
+f 23 5 2
+f 23 16 18
+f 24 14 12
+f 24 12 20
+f 24 20 19
+f 24 19 14
+f 25 13 16
+f 25 16 21
+f 25 21 10
+f 25 10 13
+f 26 23 2
+f 26 2 16
+f 26 16 23
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_2.obj b/apple/apple_22/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..760f51c270d090a9812c8dcb1e58b08f54e911e9
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.15313749 0.22073199 0.14393937
+v 0.20220376 0.36385524 -0.23927543
+v 0.15896256 0.43714609 0.14597196
+v -0.08339290 0.44303979 0.16530604
+v -0.22565038 0.22073199 -0.23484849
+v 0.00333015 0.46049073 -0.04993940
+v 0.01677386 0.22073199 0.18939391
+v 0.21352132 0.38502636 -0.16957453
+v 0.15313749 0.22073199 -0.23484849
+v 0.04534036 0.46057234 0.12694494
+v -0.21696931 0.38477237 -0.14064665
+v 0.01823426 0.44756193 0.18272426
+v -0.22565038 0.22073199 0.18939391
+v 0.13237652 0.44468819 -0.04964477
+v -0.07251100 0.46180032 0.05418619
+v 0.00322876 0.41395480 -0.22844970
+v 0.00323120 0.46180792 0.12703829
+v 0.13267486 0.44542744 0.14208611
+v -0.21643532 0.39897096 -0.06476197
+v -0.21640986 0.38428613 0.18070605
+v 0.14758641 0.44489704 -0.00613204
+v -0.11401733 0.42842819 -0.12532118
+v -0.21661092 0.35326166 -0.22783059
+v 0.04531841 0.44540327 -0.12565566
+v -0.02688575 0.44398986 0.18119649
+v -0.07244513 0.46086909 0.06634268
+v 0.10606203 0.46186321 0.05424747
+v -0.15625184 0.41486445 0.18083645
+v -0.21617104 0.39901217 0.14164694
+v 0.19081351 0.40314908 -0.15362871
+v -0.07239761 0.44529340 -0.09540845
+v -0.15944871 0.42861123 -0.04965742
+v -0.09932012 0.39894541 -0.22832454
+v -0.02695370 0.46048848 0.11175708
+v 0.04538793 0.46115946 -0.03605600
+v 0.10594733 0.46082388 0.06638708
+v 0.14745313 0.44418153 0.11165285
+v -0.11359143 0.42753162 0.18029912
+v -0.20115806 0.39936372 0.16545311
+v -0.17078321 0.42941563 0.08106761
+v 0.14738349 0.42904216 -0.11016539
+v 0.17622913 0.38307316 -0.22788465
+v -0.02698618 0.46095502 -0.02149922
+v -0.01189720 0.44578069 -0.12574396
+v -0.09876492 0.44349337 -0.06476208
+v -0.17055772 0.41311547 -0.10998060
+v -0.08412359 0.42940266 -0.15267873
+v -0.15549901 0.38234402 -0.22733770
+v 0.03014850 0.46023270 -0.04985372
+v 0.10396032 0.44496613 -0.09521090
+v -0.14470843 0.43034030 0.15345378
+v -0.12926481 0.44459204 0.06611066
+v -0.20123771 0.41423623 0.00883317
+v 0.19151347 0.37415545 -0.22987782
+v 0.11762122 0.40058477 -0.22885033
+v -0.05729828 0.46117828 0.02392672
+v 0.00321066 0.42931927 -0.18306726
+v -0.11427283 0.44489427 -0.02146160
+v -0.18603849 0.41393181 -0.06472716
+v -0.05725789 0.41385233 -0.21334748
+v -0.17072643 0.39765622 -0.16679137
+v -0.14434199 0.41285448 -0.15219729
+v 0.09083758 0.46112484 0.02399925
+v -0.17095215 0.41470591 0.16554450
+f 7 1 3
+f 7 5 1
+f 8 3 1
+f 9 5 2
+f 9 1 5
+f 9 8 1
+f 9 2 8
+f 12 7 3
+f 13 5 7
+f 13 7 12
+f 17 12 10
+f 18 12 3
+f 18 10 12
+f 19 11 5
+f 19 5 13
+f 21 3 8
+f 23 2 5
+f 23 5 11
+f 25 17 4
+f 25 12 17
+f 26 17 15
+f 27 17 10
+f 27 15 17
+f 27 21 14
+f 28 20 13
+f 28 13 12
+f 28 12 25
+f 29 19 13
+f 29 13 20
+f 30 21 8
+f 33 16 2
+f 33 2 23
+f 34 26 4
+f 34 4 17
+f 34 17 26
+f 35 15 27
+f 36 27 10
+f 36 10 18
+f 37 3 21
+f 37 21 27
+f 37 27 36
+f 37 36 18
+f 37 18 3
+f 38 28 25
+f 38 25 4
+f 38 4 28
+f 39 29 20
+f 41 14 21
+f 41 21 30
+f 43 6 31
+f 43 35 6
+f 43 15 35
+f 44 31 6
+f 44 6 24
+f 45 31 22
+f 45 22 32
+f 45 15 31
+f 46 32 22
+f 47 22 31
+f 47 31 44
+f 48 33 23
+f 49 35 24
+f 49 24 6
+f 49 6 35
+f 50 27 14
+f 50 24 35
+f 50 14 41
+f 51 40 29
+f 51 28 4
+f 51 4 26
+f 52 26 15
+f 52 32 40
+f 52 51 26
+f 52 40 51
+f 53 40 32
+f 53 32 19
+f 53 19 29
+f 53 29 40
+f 54 8 2
+f 54 2 42
+f 54 42 30
+f 54 30 8
+f 55 42 2
+f 55 2 16
+f 55 16 24
+f 55 24 50
+f 55 50 41
+f 55 41 30
+f 55 30 42
+f 56 43 31
+f 56 31 15
+f 56 15 43
+f 57 44 24
+f 57 24 16
+f 58 45 32
+f 58 15 45
+f 58 52 15
+f 58 32 52
+f 59 46 11
+f 59 11 19
+f 59 19 32
+f 59 32 46
+f 60 16 33
+f 60 33 47
+f 60 57 16
+f 60 47 44
+f 60 44 57
+f 61 48 23
+f 61 23 11
+f 61 11 46
+f 62 47 33
+f 62 33 48
+f 62 48 61
+f 62 22 47
+f 62 61 46
+f 62 46 22
+f 63 50 35
+f 63 35 27
+f 63 27 50
+f 64 28 51
+f 64 39 20
+f 64 20 28
+f 64 51 29
+f 64 29 39
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_20.obj b/apple/apple_22/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa8aff4fc6ed14d33f0b9a9caa2b7b767d1bdd06
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_20.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.38329485 0.18475987 0.25177425
+v 0.43619345 0.18785902 0.14339251
+v 0.33210285 0.31322050 0.19549800
+v 0.27287978 0.38465574 0.14364681
+v 0.27434960 0.19042896 0.14393937
+v 0.34682214 0.32414485 0.12838811
+v 0.30889643 0.21428850 0.30658098
+v 0.39385441 0.25312624 0.16540902
+v 0.42854690 0.18390784 0.16819140
+v 0.30602173 0.35567114 0.15709241
+v 0.42159863 0.21845870 0.12830412
+v 0.34914306 0.25498073 0.24895385
+v 0.26854238 0.33560032 0.25700769
+v 0.34760179 0.31311404 0.16499086
+v 0.42291725 0.21126672 0.15030799
+v 0.30691211 0.35674199 0.14207001
+v 0.37964165 0.28365798 0.12685061
+v 0.38038067 0.19856461 0.24859628
+v 0.33210373 0.28291813 0.24095299
+v 0.26460052 0.34581368 0.24406593
+v 0.27750222 0.32817680 0.25640126
+v 0.32030764 0.33986348 0.16507004
+v 0.40782201 0.24142056 0.14189350
+v 0.28150491 0.37778168 0.14277991
+v 0.40914683 0.24212652 0.12689221
+v 0.35287060 0.31680779 0.12728040
+v 0.37853395 0.28276517 0.14186734
+v 0.26766463 0.37491212 0.18370927
+v 0.31989309 0.32422428 0.19511348
+f 6 5 4
+f 7 5 1
+f 9 5 2
+f 9 1 5
+f 11 2 5
+f 13 5 7
+f 14 3 8
+f 15 9 2
+f 15 8 9
+f 16 10 6
+f 18 12 7
+f 18 7 1
+f 18 1 9
+f 18 9 8
+f 18 8 12
+f 19 12 8
+f 19 8 3
+f 20 5 13
+f 21 13 7
+f 21 7 12
+f 21 12 19
+f 21 19 3
+f 22 3 14
+f 22 20 13
+f 22 14 6
+f 22 6 10
+f 23 8 15
+f 23 15 2
+f 23 2 11
+f 24 16 6
+f 24 6 4
+f 24 4 10
+f 24 10 16
+f 25 11 5
+f 25 5 17
+f 25 23 11
+f 26 17 5
+f 26 5 6
+f 27 14 8
+f 27 8 23
+f 27 25 17
+f 27 23 25
+f 27 6 14
+f 27 26 6
+f 27 17 26
+f 28 4 5
+f 28 5 20
+f 28 10 4
+f 28 22 10
+f 28 20 22
+f 29 21 3
+f 29 3 22
+f 29 22 13
+f 29 13 21
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_21.obj b/apple/apple_22/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5a501eaebda1470a3ae475502c41aa747304373
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_21.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.01677386 -0.21866193 -0.37121213
+v 0.01546958 -0.21271806 -0.46864405
+v 0.01677386 0.22073199 -0.37121213
+v -0.23289904 0.22870909 -0.38208039
+v -0.23375067 -0.22733771 -0.38290362
+v 0.01736278 0.18599178 -0.47652096
+v 0.01542006 0.21275782 -0.46456447
+v -0.19070374 0.03807123 -0.49091811
+v -0.21702935 -0.06349078 -0.47396777
+v -0.05702606 0.18592229 -0.47409377
+v 0.01440775 -0.16652510 -0.49056368
+v -0.21684007 0.06531573 -0.47336548
+v -0.18653486 -0.20458418 -0.43109238
+v -0.09039485 0.08293369 -0.49092341
+v -0.07241243 0.21026702 -0.45857208
+v 0.01537629 -0.08729164 -0.49197624
+v -0.17768089 -0.07759933 -0.48922193
+v -0.22098290 0.15337339 -0.44406897
+v -0.06945546 -0.20947569 -0.45858055
+v -0.21622772 -0.16225282 -0.44376995
+v -0.16262367 0.06544221 -0.48923698
+v 0.01510199 -0.19789362 -0.47814566
+v -0.07521847 0.06831246 -0.49109332
+v -0.18747090 -0.04865503 -0.49071331
+v -0.16054439 0.19803716 -0.44208056
+v -0.03912965 -0.19427946 -0.47364107
+v -0.21307276 -0.20519075 -0.41366437
+v -0.21787631 -0.12160322 -0.45716300
+v -0.17554513 0.10715559 -0.47341515
+v -0.20545643 0.16798246 -0.44261880
+v -0.18485049 0.20570957 -0.42953944
+v -0.01220076 -0.16592404 -0.48897870
+v -0.17413744 -0.12077738 -0.47432421
+v -0.15972241 -0.16574544 -0.45808107
+v -0.20333459 -0.09011624 -0.47414533
+v -0.21490478 0.17860351 -0.43085830
+v -0.03981541 -0.15151823 -0.48925385
+v -0.21761529 0.21188944 -0.40461928
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 1 2
+f 6 3 1
+f 7 4 3
+f 7 3 6
+f 9 5 4
+f 10 7 6
+f 12 9 4
+f 12 8 9
+f 14 10 6
+f 15 4 7
+f 15 7 10
+f 16 6 2
+f 18 8 12
+f 18 12 4
+f 19 2 5
+f 19 5 13
+f 21 14 8
+f 21 10 14
+f 22 16 2
+f 22 11 16
+f 23 14 6
+f 23 6 16
+f 23 16 8
+f 23 8 14
+f 24 17 9
+f 24 9 8
+f 24 8 16
+f 24 16 11
+f 24 11 17
+f 25 15 10
+f 26 22 2
+f 26 2 19
+f 27 20 13
+f 27 13 5
+f 27 5 20
+f 28 20 5
+f 28 5 9
+f 28 17 20
+f 29 10 21
+f 29 21 8
+f 29 8 18
+f 30 25 10
+f 30 29 18
+f 30 10 29
+f 31 4 15
+f 31 15 25
+f 31 25 30
+f 31 30 18
+f 32 11 22
+f 32 22 26
+f 33 20 17
+f 34 26 19
+f 34 19 13
+f 34 13 20
+f 34 33 26
+f 34 20 33
+f 35 28 9
+f 35 9 17
+f 35 17 28
+f 36 31 18
+f 36 18 4
+f 37 32 26
+f 37 17 11
+f 37 11 32
+f 37 33 17
+f 37 26 33
+f 38 36 4
+f 38 4 31
+f 38 31 36
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_22.obj b/apple/apple_22/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6d31add15e3d5c9d69cf9a040813f7c17f738a0
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_22.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.16087805 -0.03453069 0.48356944
+v 0.17238216 -0.02693963 0.45941134
+v 0.16136425 0.00804682 0.48498213
+v 0.04164882 0.01406912 0.38070167
+v 0.04218213 -0.00776369 0.37849142
+v 0.09236901 0.00791538 0.39627205
+v 0.13503849 -0.01918225 0.49055898
+v 0.16991945 -0.03203687 0.47066703
+v 0.17235886 -0.00241333 0.46069196
+v 0.16597987 0.00780144 0.47819746
+v 0.09821314 -0.01240369 0.39979627
+v 0.14816167 -0.00078858 0.49581678
+v 0.12902754 -0.03475756 0.47105448
+v 0.10884403 -0.02470154 0.46394919
+v 0.16583086 0.00496731 0.48116834
+v 0.12422965 -0.03555271 0.45024262
+v 0.15915673 -0.01361959 0.44907829
+v 0.14663468 -0.02697528 0.49419772
+v 0.15495365 0.00735297 0.48691356
+v 0.12152550 -0.00410868 0.47577124
+v 0.04885128 -0.00683349 0.38966182
+v 0.15636312 0.00232234 0.49331256
+v 0.15986149 -0.03288703 0.45711793
+v 0.08109582 -0.01921737 0.40437709
+v 0.14288377 -0.03416915 0.48300107
+v 0.12084287 -0.02492490 0.47689692
+v 0.13558780 -0.01071560 0.49105861
+v 0.10901622 -0.00463776 0.46294420
+v 0.04645981 0.01246512 0.38693911
+v 0.15499753 -0.02976557 0.49233499
+v 0.11160222 -0.02050837 0.41573236
+f 6 5 4
+f 9 8 2
+f 10 6 4
+f 10 4 3
+f 10 9 6
+f 11 5 6
+f 14 5 13
+f 15 1 8
+f 15 10 3
+f 15 8 9
+f 15 9 10
+f 16 1 13
+f 16 13 5
+f 17 9 2
+f 17 2 11
+f 17 11 6
+f 17 6 9
+f 18 12 7
+f 19 3 4
+f 19 4 12
+f 20 12 4
+f 21 4 5
+f 21 5 14
+f 22 15 3
+f 22 19 12
+f 22 3 19
+f 23 11 2
+f 23 2 8
+f 23 8 1
+f 23 1 16
+f 24 16 5
+f 24 5 11
+f 25 13 1
+f 26 14 13
+f 26 25 18
+f 26 13 25
+f 26 18 7
+f 27 7 12
+f 27 12 20
+f 27 26 7
+f 28 14 26
+f 28 27 20
+f 28 26 27
+f 29 21 14
+f 29 4 21
+f 29 14 28
+f 29 28 20
+f 29 20 4
+f 30 1 15
+f 30 15 22
+f 30 25 1
+f 30 18 25
+f 30 22 12
+f 30 12 18
+f 31 23 16
+f 31 16 24
+f 31 24 11
+f 31 11 23
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_23.obj b/apple/apple_22/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfa462b086e1b67478eca215ce6c3fc5d255860c
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_23.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.25159849 -0.33392618 -0.24167687
+v 0.42644960 -0.05056090 -0.23012929
+v 0.30794375 -0.29512109 -0.22873152
+v 0.23921883 0.34806344 -0.23145838
+v 0.23883760 0.06630531 -0.43415618
+v 0.24832061 0.34384297 -0.22923812
+v 0.23500632 -0.31366879 -0.28724686
+v 0.37963729 0.19707040 -0.22904522
+v 0.28194675 -0.31551842 -0.23095205
+v 0.23490784 0.21320878 -0.39076536
+v 0.30586180 -0.29257923 -0.23739344
+v 0.36453083 -0.22532745 -0.22906139
+v 0.36451470 0.03734470 -0.34125807
+v 0.23565435 0.30141331 -0.30300328
+v 0.23544837 -0.21161081 -0.39141881
+v 0.41022385 0.12507941 -0.22956603
+v 0.33405071 0.15152060 -0.33911941
+v 0.24607417 0.34110125 -0.23811064
+v 0.23699650 0.34390087 -0.24135864
+v 0.23680956 -0.12389882 -0.43347972
+v 0.28731719 -0.23468821 -0.32810274
+v 0.41071059 -0.12315698 -0.22978677
+v 0.42234561 0.05222651 -0.23945738
+v 0.37605373 0.07843422 -0.31428024
+v 0.39242102 0.16550012 -0.23825585
+v 0.27257670 0.25229650 -0.32842671
+v 0.29532635 0.05261408 -0.41399530
+v 0.30319584 0.28285896 -0.25290228
+v 0.33297493 -0.21975286 -0.28284459
+v 0.27517560 -0.26180922 -0.31280455
+v 0.33438276 -0.14962811 -0.33984578
+v 0.42630614 0.05261683 -0.23002060
+v 0.39262320 -0.00475910 -0.30039455
+v 0.34946635 0.10986928 -0.34040738
+v 0.39246873 0.00680914 -0.30030735
+v 0.40687685 0.09376034 -0.25397128
+v 0.31736664 0.19617901 -0.32961640
+v 0.39552381 0.16716016 -0.22931307
+v 0.26243498 0.25164083 -0.33904984
+v 0.23879722 0.15638824 -0.41998857
+v 0.26409694 -0.07918360 -0.42900276
+v 0.35289219 0.24088797 -0.22966600
+v 0.29038399 0.29425160 -0.25222511
+v 0.36153221 -0.22372303 -0.23789839
+v 0.31789145 -0.26526324 -0.25259163
+v 0.23530347 -0.26859451 -0.34352729
+v 0.30341740 -0.17957233 -0.35431002
+v 0.42249818 -0.05017148 -0.23954686
+v 0.33449163 -0.06246844 -0.37155636
+v 0.37565131 0.13893507 -0.28373113
+v 0.28911759 0.10994751 -0.40126847
+v 0.33410356 0.06382967 -0.37076279
+v 0.40668893 0.12400637 -0.23870912
+v 0.36185340 0.15017689 -0.29870350
+v 0.37665364 0.19547397 -0.23786044
+v 0.35001463 0.23852407 -0.23875695
+v 0.27483118 0.23895839 -0.33880451
+v 0.28209261 0.09665304 -0.41268140
+v 0.25157693 0.15504530 -0.41474193
+v 0.26602003 0.03752429 -0.42788425
+v 0.33098799 -0.20832114 -0.29829091
+v 0.39306788 -0.16377582 -0.23868857
+v 0.24712152 -0.26452505 -0.33874873
+v 0.27539495 -0.23735245 -0.33944405
+f 7 1 4
+f 8 6 3
+f 9 3 6
+f 9 6 4
+f 9 4 1
+f 11 9 1
+f 11 3 9
+f 12 8 3
+f 12 3 11
+f 14 10 7
+f 15 7 10
+f 16 8 12
+f 18 4 6
+f 19 14 7
+f 19 7 4
+f 19 18 14
+f 19 4 18
+f 20 15 10
+f 20 10 5
+f 22 16 12
+f 26 14 18
+f 28 18 6
+f 30 21 11
+f 30 11 1
+f 30 1 7
+f 32 22 2
+f 32 16 22
+f 34 24 13
+f 35 24 23
+f 35 13 24
+f 35 33 13
+f 35 23 33
+f 36 23 24
+f 36 32 23
+f 38 8 16
+f 38 16 25
+f 39 10 14
+f 39 14 26
+f 40 5 10
+f 41 20 5
+f 42 28 6
+f 42 6 8
+f 43 28 26
+f 43 26 18
+f 43 18 28
+f 44 12 11
+f 45 11 21
+f 45 44 11
+f 45 29 44
+f 46 7 15
+f 47 15 20
+f 47 41 31
+f 47 20 41
+f 48 33 23
+f 48 2 22
+f 48 22 31
+f 48 32 2
+f 48 23 32
+f 49 13 33
+f 49 31 41
+f 49 41 27
+f 49 27 13
+f 49 48 31
+f 49 33 48
+f 50 24 34
+f 51 34 27
+f 51 17 34
+f 52 34 13
+f 52 13 27
+f 52 27 34
+f 53 16 32
+f 53 32 36
+f 53 25 16
+f 53 50 25
+f 53 36 24
+f 53 24 50
+f 54 17 37
+f 54 25 50
+f 54 50 34
+f 54 34 17
+f 55 54 37
+f 55 25 54
+f 55 38 25
+f 55 8 38
+f 55 42 8
+f 56 37 26
+f 56 26 28
+f 56 28 42
+f 56 55 37
+f 56 42 55
+f 57 10 39
+f 57 39 26
+f 57 26 37
+f 58 5 40
+f 58 51 27
+f 59 40 10
+f 59 37 17
+f 59 17 51
+f 59 58 40
+f 59 51 58
+f 59 57 37
+f 59 10 57
+f 60 41 5
+f 60 27 41
+f 60 58 27
+f 60 5 58
+f 61 44 29
+f 61 47 31
+f 61 21 47
+f 61 45 21
+f 61 29 45
+f 62 31 22
+f 62 22 12
+f 62 12 44
+f 62 61 31
+f 62 44 61
+f 63 30 7
+f 63 7 46
+f 63 46 15
+f 64 47 21
+f 64 15 47
+f 64 63 15
+f 64 21 30
+f 64 30 63
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_24.obj b/apple/apple_22/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23ca57d4bb92ea2ff9402ee88bfa320dd8ed4a45
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_24.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22560476 -0.33980973 -0.24997322
+v -0.21695439 -0.19403415 -0.41926844
+v -0.21947680 0.27229801 -0.34951703
+v -0.24573809 0.31095763 -0.27146641
+v -0.42233024 -0.09212860 -0.24371866
+v -0.21824762 -0.32896270 -0.27242188
+v -0.30349620 0.28380520 -0.24368690
+v -0.27179280 0.06356576 -0.44583722
+v -0.21761529 0.21188944 -0.40461928
+v -0.34591530 -0.23333043 -0.25734726
+v -0.24681530 -0.32699018 -0.24463320
+v -0.29530647 0.29056506 -0.24705133
+v -0.34573992 -0.07635723 -0.37514672
+v -0.42015357 0.08137372 -0.25818059
+v -0.21738216 -0.29738403 -0.31695504
+v -0.22072296 0.09503568 -0.46357179
+v -0.28915733 0.19399682 -0.36923657
+v -0.37753399 -0.19423492 -0.24360544
+v -0.29273548 0.28774611 -0.25803517
+v -0.24766746 -0.06349137 -0.45961742
+v -0.28853132 -0.19360559 -0.36999487
+v -0.42521451 0.08221108 -0.24503008
+v -0.41937205 -0.03485704 -0.27300674
+v -0.35920206 0.06709989 -0.35935100
+v -0.28882370 -0.29180362 -0.25757606
+v -0.21864410 0.16756709 -0.43646485
+v -0.24366415 0.24923807 -0.35856848
+v -0.37589472 0.17974617 -0.26841147
+v -0.29145066 -0.29553218 -0.24415210
+v -0.34835754 0.23776017 -0.24338904
+v -0.38836422 -0.13606746 -0.28221278
+v -0.27210768 -0.06162031 -0.44622305
+v -0.21942055 -0.10622429 -0.46137796
+v -0.24756404 0.06550212 -0.45912455
+v -0.24338026 -0.24897685 -0.35919454
+v -0.41914448 0.03690388 -0.27300646
+v -0.34531637 0.07826763 -0.37476133
+v -0.37452300 -0.01959676 -0.34439354
+v -0.31353344 -0.20678274 -0.32705614
+v -0.24525932 -0.32411142 -0.25376634
+v -0.24360897 0.23777725 -0.36823473
+v -0.25612448 0.10715264 -0.44462792
+v -0.30151506 0.20546310 -0.34279647
+v -0.39017485 0.15403011 -0.27032619
+v -0.34928743 -0.23660533 -0.24383047
+v -0.40677966 -0.13744562 -0.24355632
+v -0.39433403 0.16683544 -0.24429480
+v -0.33009530 -0.12158317 -0.37389069
+v -0.37600772 -0.16251726 -0.28303740
+v -0.40420915 -0.09086108 -0.28269341
+v -0.25588449 -0.10669331 -0.44499977
+v -0.24404890 -0.23621471 -0.36918137
+v -0.22007862 -0.22680972 -0.39276791
+v -0.38930521 0.06707634 -0.31376449
+v -0.35933479 -0.06515122 -0.35945102
+v -0.37443454 0.02176199 -0.34433554
+v -0.23019955 0.16389066 -0.43139920
+v -0.23283485 0.13832219 -0.44504858
+v -0.32948311 0.12344680 -0.37379188
+v -0.23386739 0.09432486 -0.45889825
+v -0.34499181 0.23448850 -0.25691124
+v -0.29870517 0.19387548 -0.35759325
+v -0.40373645 0.09276612 -0.28245547
+v -0.39022528 0.16419461 -0.25766161
+f 6 3 4
+f 6 4 1
+f 9 3 6
+f 11 1 7
+f 12 7 1
+f 12 1 4
+f 15 9 6
+f 15 2 9
+f 19 12 4
+f 23 5 22
+f 25 15 6
+f 26 9 2
+f 27 3 9
+f 27 19 4
+f 27 4 3
+f 29 11 7
+f 29 25 1
+f 29 1 11
+f 30 7 12
+f 30 12 19
+f 30 29 7
+f 30 18 29
+f 33 20 16
+f 33 26 2
+f 33 16 26
+f 34 16 20
+f 34 32 8
+f 34 20 32
+f 35 15 25
+f 36 23 22
+f 36 22 14
+f 37 32 13
+f 37 8 32
+f 39 25 10
+f 39 35 25
+f 39 21 35
+f 40 25 6
+f 40 6 1
+f 40 1 25
+f 41 9 26
+f 41 27 9
+f 41 17 27
+f 42 34 8
+f 43 27 17
+f 43 19 27
+f 44 14 22
+f 45 29 18
+f 45 18 10
+f 45 10 25
+f 45 25 29
+f 46 30 5
+f 46 18 30
+f 47 22 5
+f 47 5 30
+f 47 44 22
+f 48 31 13
+f 48 13 32
+f 49 10 18
+f 49 46 31
+f 49 18 46
+f 49 39 10
+f 49 31 48
+f 49 48 21
+f 49 21 39
+f 50 13 31
+f 50 5 23
+f 50 46 5
+f 50 31 46
+f 51 32 20
+f 51 20 33
+f 51 48 32
+f 51 21 48
+f 51 33 2
+f 51 2 21
+f 52 35 21
+f 52 21 2
+f 53 2 15
+f 53 15 35
+f 53 52 2
+f 53 35 52
+f 55 38 13
+f 55 23 38
+f 55 50 23
+f 55 13 50
+f 56 24 37
+f 56 37 13
+f 56 13 38
+f 56 54 24
+f 56 36 54
+f 56 38 23
+f 56 23 36
+f 57 41 26
+f 57 17 41
+f 58 26 16
+f 58 57 26
+f 58 42 17
+f 58 17 57
+f 59 17 42
+f 59 37 44
+f 59 44 28
+f 59 42 8
+f 59 8 37
+f 60 16 34
+f 60 34 42
+f 60 58 16
+f 60 42 58
+f 61 30 19
+f 61 19 43
+f 61 43 28
+f 61 47 30
+f 61 28 47
+f 62 43 17
+f 62 28 43
+f 62 59 28
+f 62 17 59
+f 63 44 37
+f 63 37 24
+f 63 24 54
+f 63 14 44
+f 63 54 36
+f 63 36 14
+f 64 47 28
+f 64 28 44
+f 64 44 47
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_25.obj b/apple/apple_22/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a9fc5bdd5fa27c9027d10e6ad97ec36edac71c4
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_25.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.01654817 -0.44376976 -0.14321140
+v 0.01694983 -0.40093539 -0.25659761
+v 0.01677386 -0.24896496 -0.14393941
+v -0.22565038 -0.24896496 -0.14393941
+v -0.21903981 -0.34037885 -0.25572954
+v -0.14603534 -0.41691588 -0.13943719
+v 0.01677386 -0.24896496 -0.26515152
+v -0.08585042 -0.43353458 -0.13960854
+v -0.21782404 -0.38445316 -0.14093313
+v -0.25319226 -0.28931352 -0.29447404
+v -0.06905554 -0.41245297 -0.21329496
+v -0.14466461 -0.38132974 -0.24338618
+v -0.08928675 -0.24896496 -0.26515152
+v 0.01664056 -0.41476363 -0.22943896
+v -0.07058629 -0.42783651 -0.16803450
+v -0.21602860 -0.36496454 -0.19699978
+v -0.18738535 -0.39932686 -0.14088102
+v -0.08471222 -0.39835968 -0.24146799
+v -0.15760936 -0.36884552 -0.25455273
+v 0.01597577 -0.43009466 -0.18405480
+v -0.01197434 -0.41252325 -0.22874126
+v -0.21659209 -0.38145186 -0.15197396
+v -0.11498571 -0.38270624 -0.25448718
+v -0.04244898 -0.39754775 -0.25461417
+v -0.18603617 -0.39607214 -0.15177526
+v -0.17077888 -0.38069843 -0.21229822
+f 1 2 3
+f 6 3 4
+f 7 3 2
+f 7 4 3
+f 8 1 3
+f 8 3 6
+f 9 6 4
+f 10 7 2
+f 10 9 4
+f 10 5 9
+f 12 8 6
+f 13 10 4
+f 13 4 7
+f 13 7 10
+f 14 2 1
+f 15 1 8
+f 15 8 12
+f 16 5 12
+f 17 12 6
+f 17 6 9
+f 18 15 12
+f 18 11 15
+f 19 12 5
+f 19 5 10
+f 20 14 1
+f 20 1 15
+f 21 15 11
+f 21 20 15
+f 21 14 20
+f 21 11 18
+f 22 9 5
+f 22 5 16
+f 22 17 9
+f 23 18 12
+f 23 12 19
+f 23 19 10
+f 24 21 18
+f 24 2 14
+f 24 14 21
+f 24 18 23
+f 24 23 10
+f 24 10 2
+f 25 22 16
+f 25 12 17
+f 25 17 22
+f 26 25 16
+f 26 16 12
+f 26 12 25
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_26.obj b/apple/apple_22/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..917f1169f469c2a17452fb6dd367f82cd92ad45d
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01677386 -0.24896496 0.18939391
+v 0.01677386 -0.24896496 -0.26515152
+v 0.01677386 -0.00654073 0.18939391
+v -0.22565038 -0.00654073 0.18939391
+v -0.25319226 -0.28931352 -0.29447404
+v 0.01677386 -0.00654073 -0.26515152
+v -0.22565038 -0.24896496 0.18939391
+v -0.22565038 -0.00654073 -0.26515152
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_27.obj b/apple/apple_22/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98b0d62a18960e0c20f3921419560a04abb07464
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01677386 -0.00654073 0.18939391
+v 0.01734359 -0.00329498 -0.42332032
+v 0.01677386 0.22073199 0.18939391
+v -0.22565038 0.22073199 0.18939391
+v -0.22565038 -0.00654073 -0.37121213
+v -0.23289904 0.22870909 -0.38208039
+v -0.22565038 -0.00654073 0.18939391
+v 0.01677386 0.22073199 -0.37121213
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 7 5 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/apple/apple_22/collision/model_normalized_collision_28.obj b/apple/apple_22/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..565d7ab6bc6425a80fb3bfb313ce4e067e4bbfc1
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.29589742 -0.23327745 0.29359092
+v 0.41227846 -0.22764994 0.15220888
+v 0.38202713 -0.18152340 0.24872111
+v 0.30889643 0.21428850 0.30658098
+v 0.27434960 0.19042896 0.14393937
+v 0.42295998 0.20475747 0.15723491
+v 0.37796430 -0.20952777 0.24041727
+v 0.27434960 -0.21866193 0.14393937
+v 0.38329485 0.18475987 0.25177425
+v 0.36681965 -0.21179817 0.24865317
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 6 4
+f 9 4 3
+f 9 3 6
+f 10 7 3
+f 10 3 1
+f 10 1 7
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_29.obj b/apple/apple_22/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d567d4e8ffff1828903ce0e5e120ae13c107207d
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.27434960 -0.00654073 0.26515149
+v 0.27434960 -0.00654073 -0.23484849
+v 0.30171714 0.23963320 0.29797138
+v 0.01677386 0.22073199 0.26515149
+v 0.01884155 -0.01338175 0.27941631
+v 0.01677386 0.22073199 -0.23484849
+v 0.27434960 0.22073199 -0.23484849
+v 0.01677386 -0.00654073 -0.23484849
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_3.obj b/apple/apple_22/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5515ebbe009c26b3463f4102ff1b95a1b32c5a5
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.43619345 0.18785902 0.14339251
+v 0.42881159 0.18390788 -0.09605054
+v 0.33610104 0.34005671 0.02446145
+v 0.14908755 0.43368093 0.16821042
+v 0.15313749 0.22073199 0.26515149
+v 0.15958935 0.37817698 -0.24759328
+v 0.26119701 0.34187504 0.25714580
+v 0.40725730 0.25606756 0.02443894
+v 0.27434960 0.19042896 0.14393937
+v 0.29067256 0.30975951 -0.22763797
+v 0.19307820 0.42986804 -0.02129324
+v 0.15313749 0.22073199 -0.23484849
+v 0.33976668 0.32942479 0.14238569
+v 0.30171714 0.23963320 0.29797138
+v 0.15114401 0.39380744 0.25627594
+v 0.44360790 0.18365003 -0.00637637
+v 0.37725267 0.25116346 -0.15141805
+v 0.14887541 0.43397264 -0.08076100
+v 0.26308225 0.37066151 -0.13726810
+v 0.27434960 0.19042896 -0.23484849
+v 0.42374164 0.21152684 0.14198060
+v 0.26483467 0.38440547 0.16602468
+v 0.36351210 0.31300130 0.06598824
+v 0.14883730 0.40192739 0.24324477
+v 0.18872325 0.38349888 0.25555653
+v 0.44397544 0.18381808 0.09700008
+v 0.40729328 0.24100472 -0.04940405
+v 0.14891280 0.44931059 0.05414020
+v 0.14847748 0.41748513 -0.15372351
+v 0.23354190 0.35259405 -0.22747195
+v 0.27536653 0.38535803 -0.02097544
+v 0.33292117 0.31269138 -0.13673702
+v 0.39760094 0.18342171 -0.19976700
+v 0.38534587 0.18496958 -0.23112557
+v 0.27590059 0.38619292 0.11166424
+v 0.34803873 0.32783140 0.00935961
+v 0.33605429 0.34008168 0.08122184
+v 0.40689537 0.25607830 0.08118237
+v 0.24872473 0.35210600 0.25597851
+v 0.20475237 0.41570729 0.16647703
+v 0.17800136 0.41361602 0.19644434
+v 0.43731942 0.19540747 -0.00577585
+v 0.39455094 0.25360896 -0.07979888
+v 0.14864638 0.44838644 0.06669305
+v 0.17780710 0.41427497 -0.13745082
+v 0.25977561 0.35449081 -0.18187699
+v 0.21914274 0.41464698 -0.03629441
+v 0.33248729 0.26688046 -0.22746443
+v 0.30496860 0.32386872 -0.16659068
+v 0.33579784 0.32451373 -0.07943060
+v 0.41374883 0.18395441 -0.15467543
+v 0.29051598 0.37039661 0.14188953
+v 0.20401627 0.42981467 0.06622693
+v 0.36343108 0.31287726 0.03963769
+v 0.34774896 0.32783125 0.09635415
+v 0.37964165 0.28365798 0.12685061
+v 0.21871753 0.41382118 0.14189402
+v 0.16309355 0.39864331 0.24183838
+v 0.17814903 0.43026549 0.15680866
+v 0.40677272 0.22557206 -0.09475695
+v 0.39415415 0.26775734 -0.02101893
+v 0.17745064 0.42826481 -0.06456856
+v 0.20293063 0.39747213 -0.15149791
+v 0.16248138 0.41370044 -0.15240167
+f 9 1 5
+f 12 9 5
+f 14 5 1
+f 15 5 14
+f 20 9 12
+f 20 12 6
+f 21 13 7
+f 21 14 1
+f 21 7 14
+f 22 7 13
+f 24 5 15
+f 24 12 5
+f 25 15 14
+f 25 24 15
+f 26 16 8
+f 26 1 9
+f 26 21 1
+f 27 16 2
+f 28 11 18
+f 29 6 12
+f 29 12 24
+f 30 10 6
+f 33 9 20
+f 33 26 9
+f 33 2 16
+f 33 16 26
+f 34 20 6
+f 34 33 20
+f 35 3 31
+f 36 31 3
+f 37 23 3
+f 37 3 35
+f 38 8 23
+f 38 26 8
+f 38 21 26
+f 39 25 14
+f 39 14 7
+f 39 7 22
+f 40 39 22
+f 40 25 39
+f 41 25 40
+f 42 27 8
+f 42 8 16
+f 42 16 27
+f 43 17 32
+f 44 24 4
+f 44 29 24
+f 44 28 18
+f 44 18 29
+f 45 29 18
+f 46 30 19
+f 46 19 10
+f 46 10 30
+f 47 31 19
+f 47 11 31
+f 47 45 11
+f 47 19 45
+f 48 32 17
+f 48 10 32
+f 48 17 34
+f 48 34 6
+f 48 6 10
+f 49 32 10
+f 49 10 19
+f 49 19 32
+f 50 32 19
+f 50 19 31
+f 50 31 36
+f 50 43 32
+f 51 2 33
+f 51 34 17
+f 51 33 34
+f 52 35 22
+f 52 22 13
+f 52 37 35
+f 52 13 37
+f 53 35 31
+f 53 31 11
+f 53 11 28
+f 53 28 44
+f 54 23 8
+f 54 36 3
+f 54 3 23
+f 55 37 13
+f 55 23 37
+f 56 13 21
+f 56 21 38
+f 56 55 13
+f 56 38 23
+f 56 23 55
+f 57 40 22
+f 57 22 35
+f 57 35 53
+f 58 41 4
+f 58 4 24
+f 58 24 25
+f 58 25 41
+f 59 41 40
+f 59 4 41
+f 59 44 4
+f 59 53 44
+f 59 57 53
+f 59 40 57
+f 60 43 27
+f 60 27 2
+f 60 2 51
+f 60 51 17
+f 60 17 43
+f 61 8 27
+f 61 27 43
+f 61 54 8
+f 61 36 54
+f 61 50 36
+f 61 43 50
+f 62 45 18
+f 62 18 11
+f 62 11 45
+f 63 45 19
+f 63 19 30
+f 63 30 6
+f 63 6 45
+f 64 45 6
+f 64 6 29
+f 64 29 45
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_30.obj b/apple/apple_22/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06f9d3d9712ec153fc193458392b7dc85137215e
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.41227846 -0.22764994 0.15220888
+v 0.41885529 -0.23123387 0.00546148
+v 0.39556172 -0.00654073 0.14393937
+v 0.27434960 -0.00654073 0.14393937
+v 0.27434960 -0.21866193 0.00757574
+v 0.27434960 -0.21866193 0.14393937
+v 0.39556172 -0.00654073 0.00757574
+v 0.27434960 -0.00654073 0.00757574
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 6 2 1
+f 6 1 4
+f 6 4 5
+f 7 3 2
+f 7 4 3
+f 8 7 2
+f 8 2 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_31.obj b/apple/apple_22/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09a7c10abda97c1b0fc87b9af1b9cb5a991d4cac
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.28849881 -0.26050233 0.28339337
+v 0.27434960 -0.24896496 0.00757574
+v 0.27434960 -0.00654073 0.00757574
+v 0.01884155 -0.01338175 0.27941631
+v 0.01677386 -0.24896496 0.26515149
+v 0.27434960 -0.00654073 0.26515149
+v 0.01677386 -0.24896496 0.00757574
+v 0.01677386 -0.00654073 0.00757574
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 8 6 3
+f 8 4 6
+f 8 3 7
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_4.obj b/apple/apple_22/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e66cb05a835f58ee366f92e6ac22d149624cef4f
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.39036847 -0.12624076 0.25889704
+v 0.46937824 -0.09187612 -0.04958750
+v 0.46765105 0.02186576 0.16535577
+v 0.39017139 0.18793784 0.24412172
+v 0.38087653 0.19067816 -0.23501843
+v 0.42359155 0.09454494 0.24222756
+v 0.46874638 -0.09191572 0.14164205
+v 0.39947446 -0.13353553 -0.24606287
+v 0.38041021 -0.00654073 0.00757574
+v 0.46875747 0.09407504 -0.04947405
+v 0.42339196 -0.09236101 0.23966744
+v 0.43853007 0.18120495 0.15053184
+v 0.38620903 0.17095513 0.25495222
+v 0.42409945 -0.15752051 -0.15850129
+v 0.38041021 -0.08229830 0.00757574
+v 0.43813389 0.03713802 -0.19862670
+v 0.48510889 -0.05013315 0.05171591
+v 0.41219885 -0.09347082 0.24869311
+v 0.43760384 -0.03494418 0.22608263
+v 0.45114120 -0.12147115 0.16475247
+v 0.46827984 0.09356051 0.14159530
+v 0.40675931 0.15467113 0.24147786
+v 0.41393659 0.20834246 -0.10517199
+v 0.41165503 0.11051619 0.24918086
+v 0.41989450 -0.15624525 -0.17224828
+v 0.42043244 0.09327732 -0.22789663
+v 0.46851108 0.02191210 -0.09486914
+v 0.45335874 -0.08044172 -0.13804471
+v 0.46784634 -0.12157381 0.02452195
+v 0.48473718 -0.01996854 0.08105495
+v 0.43770642 0.03747395 0.22653840
+v 0.46857655 -0.08046889 0.15063980
+v 0.42173944 -0.12219430 0.22543509
+v 0.46973831 0.06753064 0.15118986
+v 0.45310587 0.16962759 0.06613522
+v 0.39403004 0.18212404 0.24234288
+v 0.45266144 0.13921543 0.15033461
+v 0.39505479 0.16804095 0.24807568
+v 0.42090889 -0.09135177 -0.22813233
+v 0.45315847 0.08249127 -0.13804982
+v 0.48471143 -0.00460395 -0.00592948
+v 0.45248585 -0.10645995 -0.10984291
+v 0.45311363 -0.03496184 -0.15311578
+v 0.46729682 -0.12146399 0.08111118
+v 0.46842408 -0.10661398 -0.02098826
+v 0.46779850 -0.01978329 0.16542386
+v 0.45252037 -0.09202908 0.18021391
+v 0.39954354 -0.12450065 0.25169939
+v 0.45251601 0.09371600 0.18056939
+v 0.48466821 0.03701135 0.06589413
+v 0.48433425 0.02182236 0.08100058
+v 0.43709107 0.18023608 -0.06437682
+v 0.43640887 0.16963607 0.16542880
+v 0.46813283 0.12381537 0.06581878
+v 0.41071059 -0.12315698 -0.22978677
+v 0.43626702 -0.09132503 -0.18266678
+v 0.45296533 0.03701676 -0.15313870
+v 0.46790670 0.08230470 -0.06458221
+v 0.42211110 0.18032635 -0.13704966
+v 0.48394789 -0.04997105 0.03959940
+v 0.46857464 -0.01970183 -0.09488194
+v 0.45349984 -0.12194212 -0.07974412
+v 0.43702572 -0.12186157 -0.15262022
+v 0.43815414 -0.03506997 -0.19870953
+f 13 4 5
+f 13 5 9
+f 15 8 1
+f 15 13 9
+f 15 1 13
+f 15 9 5
+f 15 5 8
+f 18 11 6
+f 18 1 11
+f 19 6 11
+f 20 1 14
+f 23 5 4
+f 23 4 12
+f 24 13 1
+f 24 6 22
+f 24 18 6
+f 24 1 18
+f 25 14 1
+f 25 1 8
+f 26 8 5
+f 30 7 17
+f 31 6 19
+f 32 19 11
+f 32 7 30
+f 32 20 7
+f 33 1 20
+f 34 31 3
+f 34 6 31
+f 35 23 12
+f 36 22 12
+f 36 12 4
+f 36 4 22
+f 37 35 12
+f 38 22 4
+f 38 4 13
+f 38 24 22
+f 38 13 24
+f 39 26 16
+f 39 8 26
+f 40 16 26
+f 42 28 2
+f 44 29 17
+f 44 17 7
+f 44 7 20
+f 44 20 14
+f 44 14 29
+f 45 2 17
+f 45 17 29
+f 46 31 19
+f 46 3 31
+f 46 19 32
+f 46 32 30
+f 46 30 3
+f 47 32 11
+f 47 20 32
+f 47 33 20
+f 47 11 33
+f 48 33 11
+f 48 11 1
+f 48 1 33
+f 49 34 21
+f 49 6 34
+f 49 21 37
+f 49 37 22
+f 49 22 6
+f 50 30 17
+f 50 17 41
+f 50 41 10
+f 51 34 3
+f 51 3 30
+f 51 30 50
+f 51 50 21
+f 51 21 34
+f 52 35 10
+f 52 23 35
+f 53 37 12
+f 53 12 22
+f 53 22 37
+f 54 37 21
+f 54 35 37
+f 54 21 50
+f 54 50 10
+f 54 10 35
+f 55 25 8
+f 55 8 39
+f 56 39 28
+f 56 55 39
+f 57 40 27
+f 57 16 40
+f 57 43 16
+f 57 27 43
+f 58 40 10
+f 58 27 40
+f 58 41 27
+f 58 10 41
+f 59 40 26
+f 59 26 5
+f 59 5 23
+f 59 23 52
+f 59 52 10
+f 59 10 40
+f 60 41 17
+f 60 17 2
+f 60 2 41
+f 61 27 41
+f 61 43 27
+f 61 28 43
+f 61 41 2
+f 61 2 28
+f 62 42 2
+f 62 14 42
+f 62 2 45
+f 62 45 29
+f 62 29 14
+f 63 42 14
+f 63 28 42
+f 63 56 28
+f 63 14 25
+f 63 25 55
+f 63 55 56
+f 64 39 16
+f 64 16 43
+f 64 43 28
+f 64 28 39
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_5.obj b/apple/apple_22/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1301ad35c09cd760be50d621f3a7da6231d7831
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.11999638 -0.39127457 0.25591369
+v 0.40462218 -0.08069644 0.25765983
+v 0.01661393 0.26369406 0.37105789
+v 0.01744057 0.40967741 0.25752140
+v 0.37153491 0.20147879 0.25547282
+v 0.01667081 -0.39951632 0.26422625
+v 0.13524588 -0.18682032 0.36899563
+v 0.32717537 -0.25777237 0.25512073
+v 0.15114401 0.39380744 0.25627594
+v 0.01586629 -0.39199163 0.27215411
+v 0.26410569 0.12700640 0.35329184
+v 0.37242816 -0.18432766 0.25546165
+v 0.19288979 -0.28402040 0.32184500
+v 0.03138043 0.40933483 0.25709982
+v 0.26782487 -0.31677310 0.25521414
+v 0.01612893 -0.24606795 0.36959058
+v 0.19531434 0.17492859 0.36938469
+v 0.26498434 -0.12530358 0.33762796
+v 0.35545239 0.08312796 0.30701422
+v 0.40295451 0.11240258 0.25643128
+v 0.08888906 -0.32856742 0.32185686
+v 0.01796987 0.35785246 0.31207000
+v 0.16557175 -0.37667918 0.25640643
+v 0.26300111 -0.25123522 0.30853709
+v 0.01569972 -0.33115037 0.32682410
+v 0.11905689 -0.26791335 0.35189164
+v 0.19470886 0.07071567 0.36901818
+v 0.20624144 0.29715888 0.32417157
+v 0.35203292 -0.10912313 0.29433907
+v 0.29549386 0.20005764 0.32188237
+v 0.27028418 0.08597926 0.35334218
+v 0.33488051 0.15359414 0.30993514
+v 0.11764456 -0.33850535 0.30905466
+v 0.01740110 0.31690746 0.34007492
+v 0.06095502 0.35623216 0.31056303
+v 0.22045829 -0.32431067 0.27832725
+v 0.29052444 -0.26774776 0.27723972
+v 0.32060538 -0.19626296 0.29318544
+v 0.20567878 -0.19708662 0.35257780
+v 0.09130796 -0.23084325 0.36840865
+v 0.03125872 -0.24597038 0.36902568
+v 0.16635310 0.21884988 0.36879644
+v 0.25215901 0.34917446 0.25811657
+v 0.38862835 -0.14088562 0.25680135
+v 0.36594691 -0.04985391 0.29381709
+v 0.23446848 0.19981606 0.35134166
+v 0.29463116 0.12632848 0.33680646
+v 0.14945044 -0.14215955 0.36869844
+v 0.36506091 0.09642801 0.29541267
+v 0.30664697 0.21164507 0.30997910
+v 0.27898069 0.17238492 0.33765662
+v 0.11776639 -0.38404141 0.26380670
+v 0.15974532 -0.32411346 0.30841325
+v 0.13552917 0.33084373 0.32229496
+v 0.06154447 0.31617458 0.33807514
+v 0.22441586 -0.34668112 0.25603018
+v 0.24740385 -0.26588078 0.30786070
+v 0.32130408 -0.25298488 0.26270269
+v 0.31024044 -0.16981877 0.30719239
+v 0.14678465 -0.25431166 0.35150212
+v 0.19060510 -0.25548021 0.33647771
+v 0.32697090 0.27594341 0.25577302
+v 0.36568762 -0.18092342 0.26243045
+v 0.38143069 -0.13878993 0.26328445
+f 6 4 1
+f 10 4 6
+f 12 8 5
+f 14 9 1
+f 14 1 4
+f 15 1 9
+f 15 9 5
+f 15 5 8
+f 16 7 3
+f 17 3 7
+f 20 12 5
+f 20 2 12
+f 20 19 2
+f 22 14 4
+f 25 16 3
+f 25 10 21
+f 25 3 4
+f 25 4 10
+f 26 25 21
+f 27 17 7
+f 31 11 17
+f 31 17 27
+f 32 20 5
+f 33 21 10
+f 34 22 4
+f 34 4 3
+f 35 9 14
+f 35 14 22
+f 37 24 15
+f 37 15 8
+f 39 18 31
+f 40 7 16
+f 40 39 7
+f 41 16 25
+f 41 25 26
+f 41 40 16
+f 41 26 40
+f 42 3 17
+f 44 12 2
+f 45 29 2
+f 45 2 19
+f 45 19 31
+f 45 31 18
+f 45 18 29
+f 46 17 11
+f 46 42 17
+f 46 30 28
+f 46 28 42
+f 47 31 19
+f 47 11 31
+f 47 19 32
+f 48 31 27
+f 48 27 7
+f 48 39 31
+f 48 7 39
+f 49 32 19
+f 49 19 20
+f 49 20 32
+f 50 32 5
+f 50 30 32
+f 50 28 30
+f 51 32 30
+f 51 47 32
+f 51 11 47
+f 51 46 11
+f 51 30 46
+f 52 33 10
+f 52 1 23
+f 52 23 33
+f 52 10 6
+f 52 6 1
+f 53 26 21
+f 53 21 33
+f 53 13 26
+f 53 36 13
+f 53 33 23
+f 54 9 35
+f 54 43 9
+f 54 28 43
+f 54 42 28
+f 54 3 42
+f 55 35 22
+f 55 22 34
+f 55 54 35
+f 55 34 3
+f 55 3 54
+f 56 15 36
+f 56 23 1
+f 56 1 15
+f 56 53 23
+f 56 36 53
+f 57 24 13
+f 57 13 36
+f 57 36 15
+f 57 15 24
+f 58 37 8
+f 58 24 37
+f 58 38 24
+f 58 8 12
+f 58 12 38
+f 59 38 29
+f 59 29 18
+f 59 18 39
+f 59 39 24
+f 59 24 38
+f 60 26 13
+f 60 40 26
+f 60 39 40
+f 61 13 24
+f 61 24 39
+f 61 60 13
+f 61 39 60
+f 62 5 9
+f 62 9 43
+f 62 50 5
+f 62 43 28
+f 62 28 50
+f 63 38 12
+f 63 12 44
+f 64 29 38
+f 64 63 44
+f 64 38 63
+f 64 44 2
+f 64 2 29
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_6.obj b/apple/apple_22/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c7b3b718d6b5c7fc7a6b493e37c9f985e6fbd49
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_6.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.24404657 -0.21866193 -0.23484849
+v 0.22961768 -0.20682923 -0.39972370
+v 0.24404657 0.19042896 -0.23484849
+v 0.01677386 0.19042896 -0.23484849
+v 0.01677386 -0.21866193 -0.23484849
+v 0.01736278 0.18599178 -0.47652096
+v 0.23663072 0.11130869 -0.42915726
+v 0.02158765 -0.24059943 -0.44851314
+v -0.03680298 -0.02660966 -0.46815405
+v 0.23409683 -0.14997970 -0.42798514
+v 0.23158862 0.18092860 -0.41543358
+v -0.02958574 -0.08554461 -0.49499262
+v 0.23426551 -0.09224097 -0.44388904
+v 0.14612596 -0.17809975 -0.45939985
+v 0.10057563 0.18201818 -0.47571452
+v -0.03466532 -0.04514827 -0.47938444
+v 0.14633402 -0.20668300 -0.44240363
+v 0.16382842 -0.12695245 -0.47414500
+v 0.22076161 0.15433468 -0.42864066
+v -0.03000873 -0.07079259 -0.49144235
+v 0.05826664 -0.19596280 -0.47327540
+v 0.20186381 -0.10891993 -0.45942096
+v 0.18710559 -0.13612440 -0.45944954
+v 0.07456886 -0.11343511 -0.49026522
+v 0.14447024 0.18015642 -0.45754383
+v 0.08732919 -0.20676328 -0.45843078
+v 0.13634654 -0.15449530 -0.47411826
+v 0.01440775 -0.16652510 -0.49056368
+v 0.21866985 -0.13460460 -0.44261106
+v 0.21847506 -0.02310450 -0.46048024
+v 0.16473982 -0.00891156 -0.47384275
+v 0.07455096 -0.12496894 -0.48971759
+v 0.01510199 -0.19789362 -0.47814566
+v 0.02930953 -0.16581981 -0.48876812
+v 0.23501399 0.01936299 -0.44479477
+v 0.21779755 -0.06418107 -0.45840428
+v 0.11925289 0.15760477 -0.47428181
+v 0.01546958 -0.21271806 -0.46864405
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 5 4
+f 9 4 6
+f 10 1 2
+f 11 6 3
+f 11 3 7
+f 12 8 5
+f 12 5 9
+f 13 7 1
+f 13 1 10
+f 14 10 2
+f 15 6 11
+f 15 12 6
+f 16 12 9
+f 16 9 6
+f 17 14 2
+f 17 2 8
+f 19 11 7
+f 20 16 6
+f 20 6 12
+f 20 12 16
+f 21 14 17
+f 23 10 14
+f 23 14 18
+f 23 18 22
+f 24 12 15
+f 25 15 11
+f 25 11 19
+f 26 21 17
+f 26 17 8
+f 26 8 21
+f 27 18 14
+f 27 14 21
+f 28 12 24
+f 29 22 13
+f 29 13 10
+f 29 23 22
+f 29 10 23
+f 31 18 24
+f 31 30 18
+f 32 24 18
+f 32 18 27
+f 32 28 24
+f 33 28 21
+f 33 12 28
+f 34 27 21
+f 34 21 28
+f 34 32 27
+f 34 28 32
+f 35 30 7
+f 35 7 13
+f 35 13 30
+f 36 30 13
+f 36 13 22
+f 36 22 18
+f 36 18 30
+f 37 15 25
+f 37 25 19
+f 37 19 7
+f 37 7 30
+f 37 30 31
+f 37 31 24
+f 37 24 15
+f 38 33 21
+f 38 21 8
+f 38 8 12
+f 38 12 33
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_7.obj b/apple/apple_22/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcf1d1bee8e74e3b4eb8b64b0f8799945af5243e
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22565038 0.19042896 0.18939391
+v -0.21804113 0.28534726 -0.33284381
+v -0.21885228 0.38920407 0.16784569
+v -0.21749722 0.33000536 -0.27166124
+v -0.44201537 0.18361687 -0.02215400
+v -0.22565038 0.19042896 -0.25000001
+v -0.35889375 0.22443535 -0.24230259
+v -0.41061972 0.18326102 0.18325259
+v -0.28790422 0.29260248 -0.25722460
+v -0.38253423 0.18429956 -0.24587877
+v -0.22158157 0.37935659 0.18556845
+v -0.33084520 0.32725309 0.08075424
+v -0.23484109 0.27260958 -0.33459105
+v -0.40432401 0.20928069 -0.15549101
+v -0.41038166 0.18256292 -0.18407799
+v -0.38904425 0.25487176 0.12607687
+v -0.24683215 0.38401011 -0.06479679
+v -0.31986415 0.32651320 0.15111213
+v -0.28808147 0.28310322 -0.26867527
+v -0.22323988 0.27780834 -0.33835413
+v -0.38825390 0.25406838 -0.09469577
+v -0.44159467 0.18350601 0.06649089
+v -0.42646421 0.18325593 -0.12648742
+v -0.37461026 0.23994086 -0.18193455
+v -0.25814979 0.38540388 0.06575842
+v -0.21907864 0.38919230 -0.11119750
+v -0.24269421 0.37014187 0.18005369
+v -0.39137682 0.26657875 0.05043922
+v -0.38805464 0.22428633 0.17945918
+v -0.33118904 0.32729437 -0.02168082
+v -0.42599146 0.18339194 0.15306261
+v -0.41955502 0.20917600 -0.07962721
+v -0.37686312 0.25154688 -0.15559640
+v -0.34496487 0.24961384 -0.22659517
+v -0.24590280 0.38393668 0.14161040
+v -0.31856664 0.33976092 0.06569301
+v -0.21914026 0.40484478 0.08176627
+v -0.24272128 0.36874297 -0.15132343
+v -0.23136396 0.38402154 0.16536173
+v -0.36095644 0.28196548 0.14966886
+v -0.40371839 0.23904441 -0.06433631
+v -0.43496070 0.19460342 0.06550068
+v -0.30290928 0.32406514 0.17980604
+v -0.25823743 0.38519258 0.02389910
+v -0.39171170 0.26666245 0.03889290
+v -0.42040001 0.19520332 0.15020128
+v -0.38858973 0.23921897 -0.14022483
+v -0.31811322 0.32337075 -0.10989145
+v -0.31498840 0.31055506 -0.16616088
+v -0.27302540 0.35502701 0.16492201
+v -0.23122250 0.39881489 0.08101668
+v -0.21935697 0.40514577 0.00838276
+v -0.21856689 0.35736976 -0.21419762
+v -0.23135471 0.38334762 -0.11013037
+v -0.34465439 0.28093455 0.17930310
+v -0.27330679 0.36993025 -0.03669947
+v -0.31895852 0.33998948 0.02382851
+v -0.43522150 0.19452547 -0.02179692
+v -0.41916978 0.20936418 0.11085978
+v -0.34528830 0.29579664 -0.10985427
+v -0.34493794 0.26473917 -0.19627910
+v -0.23147626 0.39909620 0.00877159
+v -0.21914333 0.37373196 -0.16919060
+v -0.24450954 0.32509506 -0.25310907
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 11 8 1
+f 11 1 3
+f 13 10 7
+f 13 6 10
+f 15 7 10
+f 15 1 8
+f 15 10 6
+f 15 6 1
+f 19 13 7
+f 19 7 9
+f 19 9 13
+f 20 2 6
+f 20 6 13
+f 20 13 9
+f 20 9 2
+f 22 5 15
+f 23 15 5
+f 23 14 15
+f 24 15 14
+f 24 7 15
+f 31 8 29
+f 31 22 15
+f 31 15 8
+f 32 23 5
+f 33 24 14
+f 34 9 7
+f 34 7 24
+f 34 24 33
+f 36 12 18
+f 36 35 25
+f 36 18 35
+f 37 3 4
+f 37 4 26
+f 37 35 3
+f 39 27 11
+f 39 11 3
+f 39 35 27
+f 39 3 35
+f 40 18 12
+f 40 12 28
+f 40 28 16
+f 41 32 5
+f 41 21 32
+f 42 16 28
+f 42 5 22
+f 43 11 27
+f 45 30 21
+f 45 28 12
+f 45 21 41
+f 45 42 28
+f 45 5 42
+f 46 22 31
+f 46 31 29
+f 46 40 16
+f 46 29 40
+f 47 32 21
+f 47 14 23
+f 47 23 32
+f 47 33 14
+f 47 21 33
+f 48 17 38
+f 49 9 34
+f 49 33 48
+f 49 48 38
+f 49 38 9
+f 50 35 18
+f 50 27 35
+f 50 43 27
+f 50 18 43
+f 51 25 35
+f 51 35 37
+f 52 37 26
+f 52 26 17
+f 53 26 4
+f 54 38 17
+f 54 17 26
+f 54 26 38
+f 55 40 29
+f 55 29 8
+f 55 8 11
+f 55 11 43
+f 55 43 18
+f 55 18 40
+f 56 44 17
+f 56 48 30
+f 56 17 48
+f 57 36 25
+f 57 25 44
+f 57 30 45
+f 57 45 12
+f 57 12 36
+f 57 56 30
+f 57 44 56
+f 58 45 41
+f 58 41 5
+f 58 5 45
+f 59 46 16
+f 59 22 46
+f 59 42 22
+f 59 16 42
+f 60 48 33
+f 60 33 21
+f 60 21 30
+f 60 30 48
+f 61 49 34
+f 61 34 33
+f 61 33 49
+f 62 52 17
+f 62 17 44
+f 62 44 25
+f 62 25 51
+f 62 51 37
+f 62 37 52
+f 63 53 38
+f 63 38 26
+f 63 26 53
+f 64 53 4
+f 64 9 38
+f 64 38 53
+f 64 4 2
+f 64 2 9
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_8.obj b/apple/apple_22/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f885e72e8aec8320ca70321970d001e5fc75319
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_8.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.10396374 -0.34307580 -0.33367865
+v 0.25877115 -0.23073711 -0.35819927
+v 0.01677386 -0.21866193 -0.34090910
+v -0.21824224 -0.21072749 -0.40597419
+v 0.03038990 -0.21166444 -0.46711453
+v -0.22020376 -0.27128875 -0.35026186
+v 0.23937003 -0.27355057 -0.33646988
+v -0.10088511 -0.18260847 -0.46348544
+v -0.20340602 -0.28402857 -0.34850921
+v -0.23892015 -0.23287445 -0.37521343
+v 0.20795267 -0.29876781 -0.33383014
+v 0.23544837 -0.21161081 -0.39141881
+v -0.05498559 -0.29246822 -0.40086882
+v -0.21744450 -0.26675923 -0.35908631
+v 0.11736493 -0.26257134 -0.41609071
+v 0.16311944 -0.21109792 -0.43379213
+v 0.23317617 -0.22054299 -0.38593234
+v -0.10196048 -0.32979926 -0.34856571
+v -0.09933498 -0.25234768 -0.43040973
+v -0.21459485 -0.22158382 -0.40044519
+v 0.14801209 -0.32383778 -0.34089380
+v 0.02996072 -0.26734026 -0.42915586
+v -0.08654488 -0.18392145 -0.46663347
+v 0.10529959 -0.21193683 -0.45123454
+v 0.17499950 -0.23335635 -0.41576189
+v 0.01695757 -0.35262374 -0.33950957
+v -0.15712898 -0.22116886 -0.43270876
+v -0.05489501 -0.27804848 -0.41641916
+v -0.14331068 -0.30904154 -0.35552870
+v 0.14963196 -0.32861083 -0.33409406
+v 0.10245772 -0.33867693 -0.34059838
+v 0.07221483 -0.23715130 -0.44341386
+v 0.19296629 -0.21197130 -0.41989240
+v -0.02709274 -0.22253427 -0.45942349
+v 0.13163918 -0.23779011 -0.42857566
+v 0.18818480 -0.22124898 -0.41694299
+v 0.20204562 -0.26514176 -0.36977924
+v 0.20551803 -0.29436090 -0.34041424
+v 0.01726225 -0.34585040 -0.34781892
+v -0.14496054 -0.31379434 -0.34903069
+v -0.09688380 -0.20732667 -0.45386620
+v -0.11347721 -0.20298760 -0.45174053
+v -0.20068340 -0.27953504 -0.35724972
+v -0.10056969 -0.32332548 -0.35592622
+v 0.06000946 -0.27793466 -0.41698039
+v -0.04145279 -0.26815937 -0.42916265
+v 0.10386621 -0.22304379 -0.44468716
+v 0.16165215 -0.22212788 -0.42773501
+v -0.07172765 -0.23772482 -0.44410333
+v -0.14257490 -0.23289261 -0.43018707
+v -0.11253731 -0.27761798 -0.39986254
+v 0.02967237 -0.32313621 -0.37129813
+v 0.00248944 -0.32358445 -0.37173132
+v 0.02933628 -0.22201443 -0.46014419
+v -0.11213620 -0.26289766 -0.41472441
+f 7 2 3
+f 8 4 3
+f 9 1 3
+f 9 3 6
+f 10 6 3
+f 10 3 4
+f 11 7 3
+f 11 3 1
+f 12 8 3
+f 12 3 2
+f 14 9 6
+f 14 6 10
+f 17 12 2
+f 17 2 7
+f 20 14 10
+f 20 10 4
+f 23 8 12
+f 24 23 16
+f 24 5 23
+f 25 21 15
+f 26 1 9
+f 27 4 8
+f 27 20 4
+f 30 21 11
+f 30 11 1
+f 31 15 21
+f 31 1 26
+f 31 30 1
+f 31 21 30
+f 32 22 5
+f 32 5 24
+f 33 23 12
+f 33 16 23
+f 34 23 5
+f 35 24 16
+f 35 15 32
+f 35 25 15
+f 36 17 7
+f 36 12 17
+f 36 33 12
+f 36 25 16
+f 36 16 33
+f 37 36 7
+f 37 25 36
+f 38 11 21
+f 38 21 25
+f 38 25 37
+f 38 37 7
+f 38 7 11
+f 39 26 18
+f 39 18 13
+f 39 31 26
+f 40 26 9
+f 40 18 26
+f 40 29 18
+f 41 23 34
+f 42 27 8
+f 42 8 23
+f 42 41 27
+f 42 23 41
+f 43 14 20
+f 43 20 27
+f 43 9 14
+f 43 40 9
+f 43 29 40
+f 44 19 28
+f 44 18 29
+f 44 28 13
+f 44 13 18
+f 45 15 31
+f 45 32 15
+f 45 22 32
+f 46 28 19
+f 46 13 28
+f 46 34 5
+f 47 35 32
+f 47 32 24
+f 47 24 35
+f 48 35 16
+f 48 16 25
+f 48 25 35
+f 49 41 34
+f 49 19 41
+f 49 46 19
+f 49 34 46
+f 50 43 27
+f 50 29 43
+f 50 41 19
+f 50 27 41
+f 51 44 29
+f 51 19 44
+f 52 22 45
+f 52 45 31
+f 52 31 39
+f 53 39 13
+f 53 13 46
+f 53 52 39
+f 53 46 22
+f 53 22 52
+f 54 46 5
+f 54 5 22
+f 54 22 46
+f 55 50 19
+f 55 29 50
+f 55 51 29
+f 55 19 51
\ No newline at end of file
diff --git a/apple/apple_22/collision/model_normalized_collision_9.obj b/apple/apple_22/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfbd3df34abfbadaceefd8304beb2d291e269891
--- /dev/null
+++ b/apple/apple_22/collision/model_normalized_collision_9.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.41536298 -0.23752655 0.00440322
+v 0.41732631 -0.01017648 -0.25568702
+v 0.38041021 -0.00654073 0.00757574
+v 0.01677386 -0.00654073 0.00757574
+v 0.01677386 -0.24896496 -0.23484849
+v 0.25919809 -0.00654073 -0.23484849
+v 0.25919809 -0.24896496 0.00757574
+v 0.29011645 -0.28664572 -0.26280464
+v 0.01677386 -0.00654073 -0.23484849
+v 0.01677386 -0.24896496 0.00757574
+v 0.37023937 -0.21322660 -0.23114182
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 1 7
+f 9 5 4
+f 9 4 6
+f 9 6 2
+f 9 8 5
+f 9 2 8
+f 10 7 4
+f 10 4 5
+f 10 8 7
+f 10 5 8
+f 11 8 2
+f 11 2 1
+f 11 1 8
\ No newline at end of file
diff --git a/apple/apple_22/model.xml b/apple/apple_22/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..18dd49c0a16683a5bcfcff82d92a473f0169b29c
--- /dev/null
+++ b/apple/apple_22/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="apple_68">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Apple.003" 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.003"/>
+        <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"/>
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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_17._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_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="0.00013233990000000059 7.700595000000005e-05 -0.0346494834" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00013233990000000059 7.700595000000005e-05 0.03470717460000001" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.033957622300000004 0.032330424700000006 2.884560000000064e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/apple/apple_22/visual/material.mtl b/apple/apple_22/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b5d0f127cc1df2efd6b4835e0300358bb6dde72
--- /dev/null
+++ b/apple/apple_22/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
\ No newline at end of file
diff --git a/apple/apple_22/visual/model_normalized_0.obj b/apple/apple_22/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f76cf249d993c381ed39eaa085e2cd6c76c0dbad
--- /dev/null
+++ b/apple/apple_22/visual/model_normalized_0.obj
@@ -0,0 +1,7140 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+f 1450/1450/1450 746/746/746 1382/1382/1382
\ No newline at end of file
diff --git a/apple/apple_3/collision/model_normalized_collision_0.obj b/apple/apple_3/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a271a5681fb0c0a8b180dae6fd1fa238dd130e7
--- /dev/null
+++ b/apple/apple_3/collision/model_normalized_collision_0.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.09936998 -0.31560918 0.13215132
+v 0.20256090 -0.20708511 0.00757575
+v 0.20107723 -0.01003237 0.19872909
+v 0.01088156 -0.00827328 0.13861892
+v 0.00559120 -0.20708511 0.00757575
+v 0.20256090 -0.01011541 0.00757575
+v -0.02605756 -0.12186325 0.19777968
+v 0.19637306 -0.20280689 0.17775087
+v 0.00848720 -0.32211941 0.13446897
+v 0.00559120 -0.01011541 0.00757575
+v 0.13485541 -0.00962554 0.19446500
+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/apple/apple_3/collision/model_normalized_collision_1.obj b/apple/apple_3/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57603f4cd82ebd6ecc0a2aa263158982bbe1e5f3
--- /dev/null
+++ b/apple/apple_3/collision/model_normalized_collision_1.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.20107723 -0.01003237 0.19872909
+v 0.20256090 -0.01011541 0.00757575
+v 0.20256090 0.17170278 0.00757575
+v -0.20002945 0.16834406 0.18754754
+v -0.35816446 -0.01835002 0.02316998
+v 0.19810361 0.17069640 0.19379590
+v -0.22950279 -0.01001159 0.18744892
+v -0.34172006 0.13455098 0.00180008
+v -0.15632990 0.16696202 0.20312288
+v -0.29671022 0.07859759 0.13028460
+v -0.35632306 0.06538609 0.00704217
+v -0.32844277 0.16564029 0.00246316
+v 0.18146787 0.16783070 0.20096218
+v -0.18310219 0.05231328 0.20082772
+v -0.23935608 0.13328690 0.17520086
+v -0.31248739 -0.00860754 0.11838256
+v -0.32247617 0.11679781 0.07427233
+v 0.17520078 0.03765305 0.20322358
+v -0.18625161 0.10789342 0.20157884
+v -0.25553022 0.03370158 0.17196652
+v -0.26696522 0.16371146 0.13328022
+v -0.25628509 -0.00984695 0.17259837
+v -0.33983516 0.09365974 0.04664777
+v -0.32328713 0.13330026 0.05738475
+v -0.16978185 0.15383092 0.20190067
+v -0.21427737 0.15272568 0.18518479
+v -0.22876568 0.09556299 0.18615183
+v -0.27018681 0.09425566 0.15651597
+v -0.30950996 0.16407137 0.05931975
+v -0.29286347 0.13075670 0.11818085
+v -0.33882024 0.11795987 0.03138800
+v -0.34317542 0.06377593 0.04781851
+v -0.22452918 0.16593268 0.17139434
+v -0.30970238 0.10879245 0.10264097
+v -0.28116870 0.09404044 0.14438974
+v -0.25172198 0.14849060 0.15839772
+v -0.29397300 0.16308544 0.09022260
+v -0.33615108 -0.00921034 0.07970995
+v -0.32392292 0.06310177 0.08889529
+v -0.26492179 0.14712356 0.14403182
+v -0.32992043 -0.00837398 0.09151320
+v -0.30888976 0.04788498 0.11678397
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 8 3 2
+f 9 6 4
+f 11 8 2
+f 11 2 5
+f 12 4 3
+f 12 3 8
+f 13 1 6
+f 13 6 9
+f 14 7 1
+f 18 13 9
+f 18 1 13
+f 18 14 1
+f 18 9 14
+f 19 14 9
+f 19 7 14
+f 22 16 5
+f 22 5 7
+f 25 19 9
+f 25 9 4
+f 26 25 4
+f 26 19 25
+f 27 7 19
+f 27 22 7
+f 27 20 22
+f 27 26 15
+f 27 19 26
+f 28 10 16
+f 28 22 20
+f 28 16 22
+f 28 27 15
+f 28 20 27
+f 29 21 4
+f 29 4 12
+f 29 24 17
+f 31 8 11
+f 31 11 23
+f 31 23 17
+f 31 17 24
+f 31 12 8
+f 31 29 12
+f 31 24 29
+f 32 23 11
+f 32 11 5
+f 33 15 26
+f 33 26 4
+f 33 4 21
+f 34 30 17
+f 34 10 30
+f 35 30 10
+f 35 10 28
+f 36 28 15
+f 36 33 21
+f 36 15 33
+f 36 35 28
+f 37 29 17
+f 37 17 30
+f 37 30 21
+f 37 21 29
+f 38 32 5
+f 38 5 16
+f 39 34 17
+f 39 17 23
+f 39 23 32
+f 39 32 38
+f 40 36 21
+f 40 21 30
+f 40 30 35
+f 40 35 36
+f 41 39 38
+f 41 38 16
+f 42 41 16
+f 42 16 10
+f 42 39 41
+f 42 10 34
+f 42 34 39
\ No newline at end of file
diff --git a/apple/apple_3/collision/model_normalized_collision_10.obj b/apple/apple_3/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d375faea4e715f055c625c5e2a092cb71d082d5
--- /dev/null
+++ b/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/apple/apple_3/collision/model_normalized_collision_11.obj b/apple/apple_3/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ef580fcc80fdc4b434cc40cf1062b7defff06c0
--- /dev/null
+++ b/apple/apple_3/collision/model_normalized_collision_11.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.24099160 -0.13440850 -0.39117787
+v 0.19596446 -0.11377594 -0.43418350
+v 0.19308699 0.13729463 -0.42803291
+v 0.11756128 0.18308262 -0.43712250
+v 0.11165181 -0.11617601 -0.35606062
+v 0.10885424 0.04863036 -0.49143224
+v 0.19255031 0.07695489 -0.44347245
+v 0.12456270 -0.12925501 -0.45366290
+v 0.20256090 0.06564217 -0.35606062
+v 0.10550438 0.10513243 -0.47740391
+v 0.19334039 -0.06736665 -0.44424865
+v 0.19818392 0.16736454 -0.41243387
+v 0.11659381 0.04786547 -0.48893826
+v 0.10747297 -0.11219993 -0.46582629
+v 0.11165181 0.06564217 -0.35606062
+v 0.14922623 0.14712026 -0.44201441
+v 0.11843042 0.10379340 -0.47264533
+v 0.17799291 0.00685513 -0.45895565
+v 0.10559203 -0.03600657 -0.49208969
+v 0.17951954 -0.11043175 -0.44195831
+v 0.10706846 0.16572407 -0.44981056
+v 0.19621638 0.16410959 -0.41562959
+v 0.16409239 0.13347753 -0.44217008
+v 0.17688343 0.03263259 -0.45805758
+v 0.14742409 -0.03689561 -0.47365665
+v 0.10658799 -0.08040387 -0.47721705
+v 0.11886391 -0.03463809 -0.48728620
+v 0.12038489 -0.07894085 -0.47314900
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 11 7 1
+f 11 1 2
+f 12 7 3
+f 12 1 7
+f 12 9 1
+f 13 3 7
+f 13 6 10
+f 14 8 5
+f 15 5 9
+f 15 10 5
+f 15 12 4
+f 15 9 12
+f 17 13 10
+f 17 3 13
+f 18 7 11
+f 19 6 13
+f 19 10 6
+f 19 5 10
+f 20 2 8
+f 20 8 14
+f 21 15 4
+f 21 10 15
+f 21 16 10
+f 22 4 12
+f 22 12 3
+f 22 21 4
+f 22 16 21
+f 23 3 17
+f 23 22 3
+f 23 16 22
+f 23 17 10
+f 23 10 16
+f 24 18 13
+f 24 13 7
+f 24 7 18
+f 25 11 2
+f 25 18 11
+f 25 13 18
+f 26 14 5
+f 26 5 19
+f 27 20 19
+f 27 2 20
+f 27 25 2
+f 27 19 13
+f 27 13 25
+f 28 20 14
+f 28 14 26
+f 28 26 19
+f 28 19 20
\ No newline at end of file
diff --git a/apple/apple_3/collision/model_normalized_collision_12.obj b/apple/apple_3/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eada2eddee002f41be994516cb5c38e11bf1af6c
--- /dev/null
+++ b/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
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+v -0.33910527 -0.15259229 -0.20125047
+v -0.34026118 -0.13834701 -0.22664605
+v -0.31665248 -0.18686265 -0.22973365
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+v -0.32412449 -0.11115523 0.07460821
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+v -0.33936885 -0.13818875 0.00196660
+v -0.33995543 -0.05267776 0.06010014
+v -0.35415154 -0.08243177 0.00105898
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+v -0.34035813 0.14805403 -0.21491622
+v -0.32355760 0.17874236 0.00073483
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+v -0.35465758 -0.02191714 0.03153516
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+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
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+f 11 2 1
+f 13 8 5
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+f 15 6 10
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+f 19 5 10
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+f 39 14 8
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+f 41 25 15
+f 41 15 5
+f 41 5 18
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+f 42 40 25
+f 42 26 40
+f 43 27 17
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+f 44 29 8
+f 44 17 29
+f 45 33 11
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+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/apple/apple_3/collision/model_normalized_collision_13.obj b/apple/apple_3/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e48c8cd77d9e83b30ad4780b3ba95de27935503
--- /dev/null
+++ b/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/apple/apple_3/collision/model_normalized_collision_14.obj b/apple/apple_3/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d4307e2a700faa12d44f91415b4870c466f49f0
--- /dev/null
+++ b/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
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+f 33 31 21
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+f 39 18 11
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+f 40 12 7
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+f 42 5 12
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+f 43 8 14
+f 44 13 4
+f 45 4 23
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+f 45 44 4
+f 46 27 8
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+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/apple/apple_3/collision/model_normalized_collision_15.obj b/apple/apple_3/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b57c667ef05e325c8e492fdcd0d168922f6736ea
--- /dev/null
+++ b/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
+f 40 31 21
+f 40 29 31
+f 41 21 31
+f 41 31 8
+f 41 8 30
+f 42 30 8
+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
+f 46 45 19
+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/apple/apple_3/collision/model_normalized_collision_16.obj b/apple/apple_3/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e11f1c160cca1becea84d950b5975795846a96b
--- /dev/null
+++ b/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/apple/apple_3/collision/model_normalized_collision_17.obj b/apple/apple_3/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89f17c7cd5502e841eb1e0ec9dafe6b112ad47e8
--- /dev/null
+++ b/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/apple/apple_3/collision/model_normalized_collision_18.obj b/apple/apple_3/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49400634a46aa71159a90b143e34e30c734593c1
--- /dev/null
+++ b/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/apple/apple_3/collision/model_normalized_collision_19.obj b/apple/apple_3/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f406a97626ebb1d923905ca8934c6f3abbf33597
--- /dev/null
+++ b/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/apple/apple_3/collision/model_normalized_collision_2.obj b/apple/apple_3/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4d490ae06a2aab4bce0c057c535c60d117408c0
--- /dev/null
+++ b/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/apple/apple_3/collision/model_normalized_collision_20.obj b/apple/apple_3/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80697869587b8642186a3a00849472385dde2f77
--- /dev/null
+++ b/apple/apple_3/collision/model_normalized_collision_20.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.32304896 0.17136865 -0.23458669
+v 0.31077253 0.16463170 -0.27441171
+v 0.13613425 0.34106129 -0.22867020
+v -0.06862392 0.35598332 -0.22882119
+v -0.17622698 0.17170278 -0.23484850
+v -0.05172043 0.16545347 -0.46595608
+v 0.22292826 0.29706802 -0.22805643
+v 0.03303499 0.26011525 -0.40558926
+v -0.20213647 0.20345306 -0.37235655
+v -0.15528750 0.16452159 -0.43188400
+v 0.29750346 0.22139564 -0.22872075
+v -0.17005416 0.32430547 -0.22798550
+v 0.01850129 0.32039794 -0.31397776
+v 0.17241556 0.24773779 -0.35670478
+v 0.20814226 0.16221733 -0.40741175
+v -0.17304699 0.16775733 -0.42352989
+v 0.31264210 0.19686937 -0.23082374
+v 0.06468055 0.35622642 -0.22880646
+v -0.09221418 0.25938049 -0.38832695
+v 0.09434445 0.29078109 -0.34473057
+v 0.14949550 0.29037489 -0.31260766
+v 0.27717824 0.20116575 -0.30162683
+v 0.06215800 0.16433070 -0.46372364
+v 0.15767842 0.21785843 -0.40256745
+v -0.00723410 0.35047812 -0.25661252
+v -0.10858874 0.30631304 -0.31328884
+v -0.13741252 0.22850692 -0.40306915
+v -0.03894921 0.25053996 -0.41410810
+v 0.07871744 0.31935611 -0.30168270
+v 0.16435767 0.32145811 -0.24161430
+v 0.20480199 0.26239292 -0.31030323
+v 0.11855425 0.31873045 -0.28498041
+v 0.08880641 0.26110470 -0.38941083
+v 0.28089245 0.16516196 -0.32979189
+v 0.29029598 0.20474531 -0.27145127
+v 0.27705204 0.17831631 -0.32639739
+v 0.07576184 0.22211209 -0.42822916
+v 0.15152155 0.16501883 -0.43271960
+v 0.01804632 0.34918900 -0.25600751
+v -0.12607176 0.34281108 -0.22962224
+v -0.08291769 0.31959638 -0.30179547
+v -0.16901841 0.19306207 -0.41302984
+v -0.16868420 0.25963104 -0.34268653
+v -0.09516127 0.23739118 -0.41358428
+v 0.03477627 0.20529776 -0.44472265
+v -0.03720471 0.25996773 -0.40549667
+v 0.06391709 0.30493573 -0.32892562
+v 0.13448978 0.33574849 -0.24052135
+v 0.16675487 0.32658959 -0.22900730
+v 0.18726407 0.26260195 -0.32611613
+v 0.24765963 0.23029434 -0.30000519
+v 0.21908167 0.29280999 -0.24057840
+v 0.11884469 0.33457341 -0.25504615
+v 0.10320053 0.24431329 -0.40337078
+v 0.30436697 0.19145070 -0.25635744
+v 0.13400891 0.19249605 -0.42669498
+v 0.14949387 0.17774360 -0.42754579
+v -0.16845274 0.28894172 -0.30072405
+v -0.02228145 0.33451186 -0.28653317
+v -0.10860421 0.33625980 -0.25623242
+v -0.11047198 0.16531443 -0.44870106
+v -0.15347610 0.20772872 -0.41201128
+v -0.05160050 0.20578566 -0.44295707
+v 0.06038340 0.17624338 -0.45777099
+f 5 2 1
+f 10 2 5
+f 12 11 7
+f 12 5 11
+f 12 9 5
+f 15 2 10
+f 16 10 5
+f 16 5 9
+f 17 1 2
+f 17 11 5
+f 17 5 1
+f 18 4 12
+f 18 12 7
+f 18 7 3
+f 22 7 11
+f 23 15 10
+f 23 10 6
+f 25 4 18
+f 31 24 14
+f 31 21 30
+f 32 21 20
+f 32 20 29
+f 33 21 14
+f 33 20 21
+f 33 8 20
+f 34 2 15
+f 35 2 22
+f 35 22 11
+f 35 11 17
+f 36 15 24
+f 36 34 15
+f 36 22 2
+f 36 2 34
+f 36 31 22
+f 36 24 31
+f 38 15 23
+f 39 25 18
+f 39 13 25
+f 39 29 13
+f 39 18 29
+f 40 12 4
+f 42 16 9
+f 43 26 19
+f 43 19 27
+f 44 27 19
+f 45 23 6
+f 45 28 8
+f 45 8 37
+f 46 13 8
+f 46 8 28
+f 46 19 26
+f 46 26 41
+f 46 44 19
+f 46 28 44
+f 47 29 20
+f 47 13 29
+f 47 20 8
+f 47 8 13
+f 48 30 21
+f 48 3 30
+f 48 21 32
+f 49 30 3
+f 49 3 7
+f 50 31 14
+f 50 14 21
+f 50 21 31
+f 51 7 22
+f 51 22 31
+f 52 31 30
+f 52 51 31
+f 52 7 51
+f 52 49 7
+f 52 30 49
+f 53 32 29
+f 53 29 18
+f 53 18 3
+f 53 48 32
+f 53 3 48
+f 54 33 14
+f 54 14 24
+f 54 24 37
+f 54 37 8
+f 54 8 33
+f 55 35 17
+f 55 17 2
+f 55 2 35
+f 56 37 24
+f 56 23 37
+f 56 38 23
+f 57 24 15
+f 57 15 38
+f 57 56 24
+f 57 38 56
+f 58 12 40
+f 58 26 43
+f 58 43 9
+f 58 9 12
+f 59 41 4
+f 59 4 25
+f 59 25 13
+f 59 46 41
+f 59 13 46
+f 60 40 4
+f 60 4 41
+f 60 41 26
+f 60 58 40
+f 60 26 58
+f 61 6 10
+f 61 10 16
+f 61 44 6
+f 62 42 9
+f 62 9 43
+f 62 43 27
+f 62 27 44
+f 62 44 61
+f 62 61 16
+f 62 16 42
+f 63 44 28
+f 63 6 44
+f 63 45 6
+f 63 28 45
+f 64 45 37
+f 64 37 23
+f 64 23 45
\ No newline at end of file
diff --git a/apple/apple_3/collision/model_normalized_collision_21.obj b/apple/apple_3/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c312418a09422c564c3462c7c787ae63c38dd8f9
--- /dev/null
+++ b/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/apple/apple_3/collision/model_normalized_collision_22.obj b/apple/apple_3/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be55542cf7c1fd2694fdb77ba0b8038b57255620
--- /dev/null
+++ b/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
+f 19 12 1
+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/apple/apple_3/collision/model_normalized_collision_23.obj b/apple/apple_3/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe94da67640f8c9954a3082f332f8ad4abb42219
--- /dev/null
+++ b/apple/apple_3/collision/model_normalized_collision_23.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.17413741 -0.21987205 -0.38404740
+v -0.16935145 -0.21445624 -0.39389377
+v -0.17622698 0.14139975 -0.34090910
+v -0.29034213 0.13758080 -0.33460598
+v -0.31783763 -0.06914969 -0.33280107
+v -0.16972166 0.09297032 -0.44906287
+v -0.27410388 -0.17274319 -0.33340926
+v -0.17236585 0.13762904 -0.43746633
+v -0.25458997 0.04780192 -0.41367104
+v -0.20315268 -0.20725130 -0.37075569
+v -0.30212641 0.12061734 -0.33161540
+v -0.21414298 0.13795237 -0.41668580
+v -0.17115334 -0.09728911 -0.44905624
+v -0.20828732 -0.14886404 -0.41649155
+v -0.31782559 0.06376371 -0.33261348
+v -0.18381873 0.13794266 -0.43179473
+v -0.19629580 0.06305403 -0.44334907
+v -0.25020335 0.10180831 -0.40139946
+v -0.17098833 -0.18624974 -0.41794687
+v -0.28014479 -0.09222247 -0.37063811
+v -0.25414137 -0.03837590 -0.41540481
+v -0.24262934 0.09166706 -0.41303914
+v -0.25526508 0.13488794 -0.37566028
+v -0.28043365 0.09306365 -0.37273456
+v -0.18018537 -0.20957044 -0.38910782
+v -0.23792358 -0.09423376 -0.41594550
+v -0.30421865 -0.11204421 -0.33323672
+v -0.19650891 -0.06686047 -0.44254626
+v -0.31052142 -0.06798866 -0.34196339
+v -0.28073200 0.01702285 -0.38753894
+v -0.22772483 0.12208304 -0.41353496
+v -0.24981982 -0.15308451 -0.37049441
+v -0.18205765 -0.09743330 -0.44391412
+v -0.28012541 -0.02298289 -0.38694366
+v -0.26743919 -0.16945397 -0.34245301
+v -0.26520623 -0.03816506 -0.40229071
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 8 3 6
+f 10 2 1
+f 10 1 7
+f 11 7 3
+f 11 3 4
+f 11 5 7
+f 12 4 3
+f 13 6 2
+f 14 10 7
+f 15 5 11
+f 16 12 3
+f 16 3 8
+f 17 6 13
+f 17 12 16
+f 17 16 8
+f 17 8 6
+f 19 10 14
+f 19 14 13
+f 19 13 2
+f 21 9 17
+f 22 17 9
+f 23 4 12
+f 24 15 11
+f 24 11 4
+f 24 23 18
+f 24 4 23
+f 24 9 15
+f 24 22 9
+f 24 18 22
+f 25 19 2
+f 25 2 10
+f 25 10 19
+f 26 7 20
+f 26 20 21
+f 27 20 7
+f 27 7 5
+f 27 5 20
+f 28 21 17
+f 28 17 13
+f 28 26 21
+f 29 21 20
+f 29 20 5
+f 30 15 9
+f 30 9 21
+f 30 5 15
+f 31 22 18
+f 31 12 17
+f 31 17 22
+f 31 23 12
+f 31 18 23
+f 32 26 14
+f 33 13 14
+f 33 14 26
+f 33 28 13
+f 33 26 28
+f 34 29 5
+f 34 30 21
+f 34 5 30
+f 35 32 14
+f 35 14 7
+f 35 7 26
+f 35 26 32
+f 36 34 21
+f 36 21 29
+f 36 29 34
\ No newline at end of file
diff --git a/apple/apple_3/collision/model_normalized_collision_24.obj b/apple/apple_3/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cc72f3c052ab695a79626fe08a9e5dbc2c20cb9
--- /dev/null
+++ b/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/apple/apple_3/collision/model_normalized_collision_25.obj b/apple/apple_3/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab14d1a972b5b0f48b5d8fc870f686a9022a11e3
--- /dev/null
+++ b/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/apple/apple_3/collision/model_normalized_collision_26.obj b/apple/apple_3/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16ae140393a45abb28ea1a93b53806f77d4bcb4e
--- /dev/null
+++ b/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
+f 33 12 32
+f 33 22 1
+f 34 13 1
+f 34 1 22
+f 37 3 18
+f 37 18 24
+f 37 24 15
+f 37 15 9
+f 37 9 3
+f 39 28 17
+f 39 17 16
+f 39 16 27
+f 40 18 29
+f 42 13 34
+f 44 6 32
+f 44 35 6
+f 44 23 35
+f 44 32 12
+f 45 12 33
+f 46 33 32
+f 46 22 33
+f 46 34 22
+f 46 32 34
+f 47 33 1
+f 47 1 20
+f 47 45 33
+f 47 20 45
+f 48 34 32
+f 48 32 6
+f 48 42 34
+f 48 6 42
+f 49 29 19
+f 49 19 35
+f 49 40 29
+f 49 35 23
+f 49 23 10
+f 49 10 40
+f 50 36 23
+f 50 45 36
+f 50 12 45
+f 50 44 12
+f 50 23 44
+f 51 20 24
+f 51 45 20
+f 51 36 45
+f 52 24 10
+f 52 10 23
+f 52 23 36
+f 52 51 24
+f 52 36 51
+f 53 38 14
+f 53 14 27
+f 54 14 38
+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
+f 56 27 14
+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
+f 63 25 13
+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/apple/apple_3/collision/model_normalized_collision_27.obj b/apple/apple_3/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c62034cf9a4b9da18d6b95adfd08268ca328f631
--- /dev/null
+++ b/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/apple/apple_3/collision/model_normalized_collision_28.obj b/apple/apple_3/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21ae8ebd235d5e911a81a3a6621abc91fbf1167e
--- /dev/null
+++ b/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
+f 22 6 20
+f 23 1 7
+f 23 7 14
+f 25 11 17
+f 26 18 12
+f 26 12 2
+f 26 2 18
+f 27 18 8
+f 27 12 18
+f 28 8 18
+f 29 18 2
+f 29 2 15
+f 29 15 18
+f 30 5 20
+f 31 17 5
+f 31 19 12
+f 31 25 17
+f 32 20 5
+f 32 13 20
+f 33 9 13
+f 34 21 11
+f 34 23 14
+f 35 17 11
+f 35 11 21
+f 36 1 23
+f 36 16 24
+f 36 24 15
+f 36 15 7
+f 36 7 1
+f 37 11 25
+f 37 34 11
+f 38 24 16
+f 39 12 27
+f 39 31 12
+f 39 25 31
+f 39 27 8
+f 39 8 25
+f 40 28 18
+f 40 18 15
+f 40 8 28
+f 41 30 19
+f 41 5 30
+f 41 31 5
+f 41 19 31
+f 42 30 6
+f 42 6 19
+f 42 19 30
+f 43 30 20
+f 43 20 6
+f 43 6 30
+f 44 33 13
+f 44 21 33
+f 45 33 21
+f 45 34 14
+f 45 21 34
+f 46 14 9
+f 46 9 33
+f 46 45 14
+f 46 33 45
+f 47 5 17
+f 47 17 35
+f 48 16 36
+f 48 37 16
+f 49 23 34
+f 49 34 37
+f 49 37 48
+f 49 48 36
+f 49 36 23
+f 50 38 25
+f 50 25 8
+f 50 8 38
+f 51 38 16
+f 51 16 37
+f 52 40 15
+f 52 15 24
+f 52 24 38
+f 53 44 13
+f 53 13 32
+f 54 35 21
+f 54 21 44
+f 54 47 35
+f 54 5 47
+f 54 44 53
+f 54 53 32
+f 54 32 5
+f 55 51 37
+f 55 37 25
+f 55 25 38
+f 55 38 51
+f 56 52 38
+f 56 38 8
+f 56 8 40
+f 56 40 52
\ No newline at end of file
diff --git a/apple/apple_3/collision/model_normalized_collision_29.obj b/apple/apple_3/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76fcfa0bfee513f51757f09f117974a6cfec0c24
--- /dev/null
+++ b/apple/apple_3/collision/model_normalized_collision_29.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.17622698 0.14139975 -0.23484850
+v -0.17236585 0.13762904 -0.43746633
+v -0.17016586 0.30940845 -0.25841272
+v -0.17470211 0.31974372 -0.23315313
+v -0.33805403 0.13908231 -0.23309098
+v -0.17082981 0.14985494 -0.43290256
+v -0.31379357 0.13360791 -0.30422316
+v -0.22569653 0.29541102 -0.22711574
+v -0.28386746 0.13409671 -0.34400706
+v -0.32996940 0.13521101 -0.26045807
+v -0.32739372 0.16428069 -0.22921968
+v -0.20092508 0.31044781 -0.22861688
+v -0.18405294 0.27530475 -0.31276866
+v -0.21050614 0.15093281 -0.41554044
+v -0.29934627 0.22185666 -0.22806659
+v -0.17042837 0.27897542 -0.31547608
+v -0.18327734 0.30476050 -0.25614459
+v -0.20704297 0.27627982 -0.28529011
+v -0.18377931 0.14913002 -0.42826584
+v -0.21414298 0.13795237 -0.41668580
+v -0.32463925 0.14781020 -0.25852242
+v -0.26801469 0.20280465 -0.31771948
+v -0.17103270 0.18040970 -0.41827986
+v -0.19865695 0.30528018 -0.24124667
+v -0.18381873 0.13794266 -0.43179473
+v -0.32335141 0.16234504 -0.24290323
+v -0.29291757 0.16071317 -0.31675513
+v -0.25073366 0.24611779 -0.27106565
+v -0.26690965 0.19357028 -0.32704373
+v -0.22257488 0.24586694 -0.31269507
+v -0.18456072 0.17839541 -0.41404839
+v -0.29509926 0.21877659 -0.24110752
+v -0.22431760 0.17151750 -0.38632465
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 9 2 1
+f 9 1 7
+f 10 7 1
+f 10 1 5
+f 11 5 1
+f 11 1 8
+f 12 8 1
+f 12 1 4
+f 15 11 8
+f 16 13 3
+f 16 3 6
+f 17 3 13
+f 17 4 3
+f 19 6 2
+f 19 2 14
+f 20 2 9
+f 20 9 14
+f 21 15 7
+f 21 7 10
+f 21 10 5
+f 23 16 6
+f 24 17 13
+f 24 12 4
+f 24 4 17
+f 24 13 18
+f 24 18 8
+f 24 8 12
+f 25 20 14
+f 25 14 2
+f 25 2 20
+f 26 11 15
+f 26 15 21
+f 26 21 5
+f 26 5 11
+f 27 9 7
+f 28 15 8
+f 28 8 22
+f 29 14 9
+f 29 27 22
+f 29 9 27
+f 30 18 13
+f 30 22 8
+f 30 8 18
+f 31 13 16
+f 31 16 23
+f 31 30 13
+f 31 22 30
+f 31 19 14
+f 31 23 6
+f 31 6 19
+f 32 22 27
+f 32 28 22
+f 32 15 28
+f 32 27 7
+f 32 7 15
+f 33 29 22
+f 33 22 31
+f 33 31 14
+f 33 14 29
\ No newline at end of file
diff --git a/apple/apple_3/collision/model_normalized_collision_3.obj b/apple/apple_3/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaf626016cb7873d3a87a3b63b8747151d2d7bd8
--- /dev/null
+++ b/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
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 8 5 3
+f 8 3 2
+f 8 2 5
+f 9 3 5
+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/apple/apple_3/collision/model_normalized_collision_30.obj b/apple/apple_3/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..690ddbd371411fca75376927cdc84aebf86e7d6d
--- /dev/null
+++ b/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
+v 0.01098896 -0.08194316 0.25612055
+v 0.01149165 0.20852718 0.49565743
+v 0.01149165 0.02757458 0.20358427
+f 3 2 4
+f 6 3 4
+f 6 5 2
+f 6 2 1
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 8 4 2
+f 8 2 5
+f 8 6 4
+f 8 5 6
\ No newline at end of file
diff --git a/apple/apple_3/collision/model_normalized_collision_31.obj b/apple/apple_3/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74a0e271443f17ff477ee5ed40d596797eb87e99
--- /dev/null
+++ b/apple/apple_3/collision/model_normalized_collision_31.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.09393716 -0.24867647 0.19672763
+v 0.18518052 -0.16053943 0.19789950
+v 0.00798354 -0.13989101 0.20961811
+v 0.12723339 -0.05637219 0.20069670
+v 0.10051188 -0.07468332 0.19788722
+v 0.18305382 -0.05615746 0.20306515
+v 0.13840289 -0.21792430 0.20006376
+v 0.00596110 -0.13265159 0.20298709
+v 0.10560357 -0.07983536 0.20402059
+v 0.18670271 -0.05565744 0.20202721
+v 0.17006028 -0.19085777 0.19799275
+v 0.00522045 -0.24642304 0.20365945
+v 0.16532038 -0.18863535 0.19999394
+v 0.00552610 -0.25146555 0.20172920
+v 0.12883676 -0.05936308 0.20149928
+v 0.18072092 -0.15835626 0.19975355
+v 0.14070066 -0.22010190 0.19916976
+v 0.09026205 -0.24313732 0.20066972
+f 5 2 1
+f 8 3 4
+f 8 4 5
+f 9 3 6
+f 10 5 4
+f 10 4 6
+f 10 2 5
+f 11 1 2
+f 12 3 8
+f 13 6 3
+f 13 3 7
+f 13 11 2
+f 14 8 5
+f 14 5 1
+f 14 12 8
+f 15 9 6
+f 15 6 4
+f 15 4 3
+f 15 3 9
+f 16 10 6
+f 16 2 10
+f 16 13 2
+f 16 6 13
+f 17 1 11
+f 17 13 7
+f 17 11 13
+f 18 7 3
+f 18 3 12
+f 18 17 7
+f 18 1 17
+f 18 14 1
+f 18 12 14
\ No newline at end of file
diff --git a/apple/apple_3/collision/model_normalized_collision_4.obj b/apple/apple_3/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb0c7ce7b7ae30b4e132306bd752a08951f81546
--- /dev/null
+++ b/apple/apple_3/collision/model_normalized_collision_4.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.12049351 -0.37079475 -0.01242430
+v 0.27504041 -0.23368154 -0.24266118
+v 0.28508185 -0.24103457 0.01493637
+v -0.17622698 -0.22223662 0.00757575
+v -0.22297826 -0.29941071 -0.22558277
+v -0.16757010 -0.33940130 0.00582553
+v 0.22375645 -0.32462810 -0.12676884
+v -0.17622698 -0.22223662 -0.23484850
+v 0.07958245 -0.37098276 0.00315312
+v -0.25135190 -0.28222158 -0.18919454
+v 0.24684489 -0.29884905 -0.15584305
+v 0.22460842 -0.32578032 -0.02611306
+v 0.06365498 -0.35557221 -0.22967162
+v 0.20952213 -0.32594912 0.00350346
+v -0.21538807 -0.31464590 -0.18574842
+v -0.24425705 -0.27518198 -0.22968053
+v 0.13294186 -0.37002426 -0.11142986
+v 0.24565151 -0.29812147 -0.01345874
+v 0.22073086 -0.30094353 -0.22666587
+v -0.02198661 -0.38714969 -0.09745393
+v 0.14859769 -0.35439856 0.00224592
+v 0.19389368 -0.34001988 -0.02552966
+v -0.24414215 -0.29029509 -0.18692213
+v -0.23794494 -0.28408840 -0.22591646
+v -0.12391207 -0.34315758 -0.23029601
+v 0.23142085 -0.31468191 -0.01225938
+v 0.23126864 -0.31225392 -0.16822177
+v 0.12076779 -0.35729792 -0.19911002
+v 0.13377332 -0.34113658 -0.22895749
+v -0.05199959 -0.37024683 0.00275213
+v -0.11282876 -0.37158290 -0.11258012
+v 0.03394030 -0.38647836 -0.06940704
+v 0.13341429 -0.37054329 -0.05454282
+v -0.16764683 -0.32420036 -0.22869556
+v -0.02221008 -0.37020558 -0.19920322
+v -0.06771472 -0.35542845 -0.22961322
+v 0.24967296 -0.28692281 0.00376724
+v 0.25030851 -0.27044831 -0.22638768
+v 0.14784113 -0.35472504 -0.16836219
+v 0.16267978 -0.33815555 -0.19764888
+v -0.15363258 -0.35530001 -0.09588126
+v -0.13730250 -0.35505073 -0.16924840
+v -0.11169669 -0.37071635 -0.05482420
+v 0.01894739 -0.38679881 -0.05447522
+v 0.01853150 -0.38662907 -0.11202425
+v 0.03389741 -0.38635575 -0.09644175
+v -0.21248222 -0.30834274 -0.21436822
+v -0.09794750 -0.37102467 -0.15745251
+v 0.01817937 -0.37057306 -0.19932568
+v 0.24787802 -0.28334752 -0.19904892
+v 0.22330584 -0.30866909 -0.19847936
+v 0.12342180 -0.37101162 -0.14186867
+v -0.15343682 -0.35469077 -0.07215417
+v -0.12176109 -0.35346724 -0.19856560
+v -0.16802975 -0.34081940 -0.16949413
+v -0.12455590 -0.35561669 0.00269361
+v -0.00684223 -0.38767733 -0.05437532
+v -0.00729044 -0.38796295 -0.11216171
+v -0.08274607 -0.37037439 -0.16908591
+v 0.09421659 -0.37017289 -0.16837001
+v 0.19326400 -0.33938819 -0.12672685
+v -0.08215767 -0.36935002 -0.01263125
+v -0.02178991 -0.38644915 -0.06962770
+f 3 2 4
+f 6 3 4
+f 8 4 2
+f 9 3 6
+f 10 6 4
+f 11 2 3
+f 12 7 11
+f 16 10 4
+f 16 4 8
+f 17 7 12
+f 18 12 11
+f 18 11 3
+f 21 9 1
+f 21 14 3
+f 21 3 9
+f 22 12 14
+f 22 21 1
+f 22 14 21
+f 23 5 15
+f 23 15 6
+f 23 6 10
+f 24 16 5
+f 24 10 16
+f 24 23 10
+f 24 5 23
+f 25 16 8
+f 25 8 2
+f 26 14 12
+f 26 12 18
+f 26 18 3
+f 27 11 7
+f 29 13 2
+f 29 2 19
+f 29 28 13
+f 30 9 6
+f 33 17 12
+f 33 12 22
+f 33 22 1
+f 33 1 32
+f 34 5 16
+f 34 16 25
+f 36 25 2
+f 36 2 13
+f 37 26 3
+f 37 3 14
+f 37 14 26
+f 38 27 19
+f 38 19 2
+f 39 27 7
+f 40 29 19
+f 40 28 29
+f 40 39 28
+f 40 19 39
+f 42 31 41
+f 43 41 31
+f 43 31 20
+f 44 32 1
+f 44 1 9
+f 46 33 32
+f 46 17 33
+f 47 15 5
+f 47 5 34
+f 48 20 31
+f 48 31 42
+f 49 36 13
+f 49 35 36
+f 50 38 2
+f 50 2 11
+f 50 11 27
+f 50 27 38
+f 51 39 19
+f 51 19 27
+f 51 27 39
+f 52 39 7
+f 52 28 39
+f 52 46 45
+f 52 17 46
+f 53 6 15
+f 53 15 41
+f 53 43 6
+f 53 41 43
+f 54 34 25
+f 54 48 42
+f 54 25 36
+f 54 36 48
+f 54 47 34
+f 54 42 47
+f 55 42 41
+f 55 41 15
+f 55 47 42
+f 55 15 47
+f 56 30 6
+f 56 6 43
+f 57 44 9
+f 57 9 30
+f 57 32 44
+f 58 49 45
+f 58 35 49
+f 58 20 48
+f 58 57 20
+f 58 45 46
+f 58 46 32
+f 58 32 57
+f 59 48 36
+f 59 36 35
+f 59 58 48
+f 59 35 58
+f 60 49 13
+f 60 13 28
+f 60 28 52
+f 60 52 45
+f 60 45 49
+f 61 52 7
+f 61 7 17
+f 61 17 52
+f 62 56 43
+f 62 30 56
+f 62 57 30
+f 62 43 57
+f 63 57 43
+f 63 43 20
+f 63 20 57
\ No newline at end of file
diff --git a/apple/apple_3/collision/model_normalized_collision_5.obj b/apple/apple_3/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ac384ebb2d394fdd543e96272ab761d9d930066
--- /dev/null
+++ b/apple/apple_3/collision/model_normalized_collision_5.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.30829530 -0.21606701 0.00316821
+v 0.35374727 -0.10803593 -0.22870017
+v 0.35556636 0.07878007 0.00331070
+v 0.20256090 0.08079369 0.00757575
+v 0.24009227 -0.25841343 -0.25954401
+v 0.20256090 0.08079369 -0.23484850
+v 0.33841159 -0.11610143 0.03772989
+v 0.30945554 -0.20847274 -0.22728700
+v 0.20256090 -0.22223662 0.00757575
+v 0.35657900 0.07868140 -0.23033935
+v 0.35045388 -0.13856935 -0.05540600
+v 0.32054384 -0.21419656 -0.11307824
+v 0.33355750 -0.12913744 0.03626684
+v 0.36709013 -0.08316656 -0.08356017
+v 0.36659479 -0.02263299 -0.22860318
+v 0.35061085 -0.12373074 -0.01316714
+v 0.32031127 -0.21466109 -0.07006680
+v 0.33517101 -0.16807890 -0.18619442
+v 0.34996868 -0.13814553 -0.17186690
+v 0.36694287 -0.08321502 -0.15722740
+v 0.36599795 0.07815652 -0.05566004
+v 0.36513425 -0.02180611 0.00099759
+v 0.31982177 -0.19928997 -0.01331312
+v 0.32098771 -0.19882766 -0.18635828
+v 0.35084285 -0.12286390 -0.21658551
+v 0.36608641 -0.06800615 -0.18755723
+v 0.36606086 0.07802074 -0.17238231
+v 0.36597315 -0.05254310 -0.02508495
+v 0.36516177 0.01735505 0.00157608
+v 0.33461705 -0.15306194 -0.22599441
+v 0.36621777 0.04769165 -0.21781866
+v 0.36518431 0.03213366 -0.22800567
+f 6 4 3
+f 7 3 4
+f 8 5 2
+f 9 5 1
+f 9 6 5
+f 9 4 6
+f 9 7 4
+f 10 6 3
+f 10 5 6
+f 12 5 8
+f 13 9 1
+f 13 1 7
+f 13 7 9
+f 15 2 5
+f 15 5 10
+f 16 7 1
+f 16 11 14
+f 17 1 5
+f 17 5 12
+f 17 12 11
+f 19 11 12
+f 19 12 18
+f 20 15 14
+f 20 14 11
+f 20 11 19
+f 21 10 3
+f 22 7 16
+f 23 16 1
+f 23 1 17
+f 23 17 11
+f 23 11 16
+f 24 18 12
+f 24 12 8
+f 25 19 18
+f 25 20 19
+f 25 2 20
+f 25 24 8
+f 25 18 24
+f 26 20 2
+f 26 2 15
+f 26 15 20
+f 27 10 21
+f 27 21 14
+f 28 22 16
+f 28 16 14
+f 28 14 21
+f 29 3 7
+f 29 7 22
+f 29 21 3
+f 29 28 21
+f 29 22 28
+f 30 25 8
+f 30 8 2
+f 30 2 25
+f 31 10 27
+f 31 27 14
+f 31 14 15
+f 32 31 15
+f 32 15 10
+f 32 10 31
\ No newline at end of file
diff --git a/apple/apple_3/collision/model_normalized_collision_6.obj b/apple/apple_3/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae4335e64345f3f9e6b137ce3a5a103e98017224
--- /dev/null
+++ b/apple/apple_3/collision/model_normalized_collision_6.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.20256090 0.06564217 -0.35606062
+v 0.21204438 0.06799727 -0.43405226
+v 0.21695926 0.18884470 -0.37329611
+v -0.20096042 0.19677972 -0.38030026
+v -0.19166279 0.06954574 -0.44497988
+v -0.17622698 0.06564217 -0.35606062
+v -0.02156369 0.16121776 -0.47475434
+v -0.06919851 0.06445101 -0.49456809
+v 0.08877881 0.13215861 -0.47272223
+v -0.17727846 0.17300736 -0.41940724
+v 0.09434085 0.06405387 -0.49198344
+v 0.09074815 0.16062590 -0.45736151
+v 0.19818392 0.16736454 -0.41243387
+v -0.06594797 0.16370075 -0.46278214
+v -0.06828136 0.10936327 -0.49043648
+v 0.04859453 0.12223516 -0.49089651
+v 0.03237161 0.16037475 -0.47321906
+v 0.09396341 0.07898889 -0.49051437
+v 0.10453141 0.14802950 -0.45910442
+v -0.05192777 0.12073359 -0.49073558
+v 0.10364625 0.11848118 -0.47286387
+v -0.06462771 0.14577755 -0.47311726
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 7 4 3
+f 8 6 5
+f 10 5 4
+f 11 2 1
+f 11 1 6
+f 11 6 8
+f 13 3 2
+f 13 12 3
+f 14 10 4
+f 14 4 7
+f 15 8 5
+f 15 5 10
+f 16 12 9
+f 16 11 8
+f 17 7 3
+f 17 3 12
+f 17 16 7
+f 17 12 16
+f 18 11 16
+f 18 13 2
+f 18 2 11
+f 19 13 9
+f 19 9 12
+f 19 12 13
+f 20 15 10
+f 20 14 7
+f 20 7 16
+f 20 16 8
+f 20 8 15
+f 21 9 13
+f 21 13 18
+f 21 18 16
+f 21 16 9
+f 22 20 10
+f 22 10 14
+f 22 14 20
\ No newline at end of file
diff --git a/apple/apple_3/collision/model_normalized_collision_7.obj b/apple/apple_3/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4896c5ed21daf8847a0d84b57b069c1ba666287
--- /dev/null
+++ b/apple/apple_3/collision/model_normalized_collision_7.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v -0.17063681 -0.32730694 0.04552477
+v -0.16992168 -0.22894855 -0.37858471
+v -0.20308353 -0.21601889 0.15966045
+v -0.28329966 -0.18577643 0.09146089
+v -0.31032631 -0.22410805 -0.17050420
+v -0.17622698 -0.17678208 -0.23484850
+v -0.21447172 -0.31384786 0.04149566
+v -0.27250451 -0.18762570 0.10725259
+v -0.31661029 -0.17169185 -0.24486571
+v -0.16919940 -0.29858163 0.08945808
+v -0.30947896 -0.22932023 -0.05516742
+v -0.19730408 -0.32343650 -0.18404976
+v -0.19969815 -0.27854186 0.10640455
+v -0.28048408 -0.22349237 0.05798003
+v -0.29737013 -0.16982224 -0.28843447
+v -0.16999510 -0.34484444 -0.12793795
+v -0.17237383 -0.28681635 0.10949030
+v -0.33035973 -0.18632435 -0.06978582
+v -0.22930308 -0.32478111 -0.09585080
+v -0.26672552 -0.20684823 0.10009067
+v -0.29617110 -0.23657244 -0.01359887
+v -0.23040609 -0.17065630 -0.37900945
+v -0.29769235 -0.22269226 -0.22758811
+v -0.17055940 -0.34445773 -0.05597764
+v -0.16972169 -0.26802971 -0.32974058
+v -0.32979980 -0.18605227 -0.15746435
+v -0.31335554 -0.18543249 0.01820831
+v -0.26572761 -0.28377798 -0.09765094
+v -0.27842343 -0.19875695 0.08970856
+v -0.25111979 -0.26975173 0.04377301
+v -0.22843223 -0.32465011 -0.07221919
+v -0.28389138 -0.16944117 -0.32035039
+v -0.18863446 -0.18860810 -0.40056120
+v -0.31177965 -0.19978598 -0.22748618
+v -0.22505969 -0.31057090 -0.18431140
+v -0.19791278 -0.32433771 0.02098506
+v -0.17021229 -0.31522386 -0.24274594
+v -0.32152530 -0.17393932 -0.23198113
+v -0.32420856 -0.19869239 -0.15676978
+v -0.29746868 -0.18531075 0.06120260
+v -0.29556322 -0.22566607 0.01697094
+v -0.31001768 -0.21436886 -0.01289904
+v -0.21911138 -0.31457562 0.02065871
+v -0.26547833 -0.28338864 -0.07053445
+v -0.26756153 -0.19097768 -0.32926323
+v -0.23569576 -0.31317288 -0.12635773
+v -0.28073383 -0.25221041 -0.18541726
+v -0.18442829 -0.32337978 0.04369874
+v -0.21444688 -0.29613271 -0.24129715
+v -0.32478651 -0.19898171 -0.07049904
+v -0.29274509 -0.19839350 0.05902253
+v -0.25069950 -0.29728426 -0.05772692
+v -0.29485861 -0.20854984 -0.25548462
+v -0.18321414 -0.26425191 -0.32689224
+v -0.25359869 -0.19176615 -0.34105470
+v -0.25288179 -0.26873937 -0.22633437
+v -0.18325327 -0.31063647 -0.24020051
+v -0.25251886 -0.20602493 -0.32747262
+v -0.17016220 -0.25531685 -0.34600173
+v -0.22081971 -0.28211930 -0.25444221
+v -0.20557486 -0.26687526 -0.29983434
+f 8 6 4
+f 8 3 6
+f 10 2 6
+f 15 9 4
+f 15 4 6
+f 17 10 6
+f 17 6 3
+f 17 3 13
+f 17 1 10
+f 17 13 7
+f 17 7 1
+f 19 12 16
+f 20 13 3
+f 20 3 8
+f 20 7 13
+f 24 16 10
+f 24 10 1
+f 24 19 16
+f 25 2 10
+f 25 10 16
+f 28 11 5
+f 28 5 19
+f 29 20 8
+f 29 8 4
+f 29 14 20
+f 30 20 14
+f 30 7 20
+f 30 21 7
+f 31 19 24
+f 32 15 6
+f 32 6 22
+f 32 9 15
+f 33 22 6
+f 33 6 2
+f 34 23 5
+f 35 12 19
+f 36 24 1
+f 36 31 24
+f 36 7 31
+f 37 25 16
+f 37 16 12
+f 38 26 18
+f 38 34 26
+f 38 9 32
+f 38 32 34
+f 38 27 9
+f 38 18 27
+f 39 5 11
+f 39 34 5
+f 39 26 34
+f 40 4 9
+f 40 9 27
+f 41 30 14
+f 41 21 30
+f 42 27 18
+f 42 18 11
+f 42 41 27
+f 42 11 21
+f 42 21 41
+f 43 31 7
+f 43 7 21
+f 44 21 11
+f 44 11 28
+f 44 28 19
+f 44 19 31
+f 45 32 22
+f 46 35 19
+f 46 19 5
+f 47 5 23
+f 47 23 35
+f 47 46 5
+f 47 35 46
+f 48 36 1
+f 48 1 7
+f 48 7 36
+f 49 12 35
+f 50 39 11
+f 50 11 18
+f 50 18 26
+f 50 26 39
+f 51 14 29
+f 51 29 4
+f 51 4 40
+f 51 41 14
+f 51 40 27
+f 51 27 41
+f 52 43 21
+f 52 21 44
+f 52 44 31
+f 52 31 43
+f 53 34 32
+f 53 32 45
+f 53 23 34
+f 54 25 37
+f 54 37 49
+f 55 33 2
+f 55 2 45
+f 55 45 22
+f 55 22 33
+f 56 49 35
+f 56 35 23
+f 56 53 45
+f 56 23 53
+f 57 49 37
+f 57 37 12
+f 57 12 49
+f 58 45 2
+f 58 2 54
+f 59 54 2
+f 59 2 25
+f 59 25 54
+f 60 56 45
+f 60 49 56
+f 60 45 58
+f 61 60 58
+f 61 58 54
+f 61 54 49
+f 61 49 60
\ No newline at end of file
diff --git a/apple/apple_3/collision/model_normalized_collision_8.obj b/apple/apple_3/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40fdb02dad36d3a33c12e65c4fc2d1b868d591ef
--- /dev/null
+++ b/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
+v 0.00559120 -0.20708511 0.11363636
+v 0.00559120 -0.20708511 0.00757575
+v 0.00510436 -0.28939345 0.17689247
+v 0.20856965 -0.29391269 0.08903806
+v 0.04963913 -0.37379157 0.00371487
+v 0.25109388 -0.19775273 0.13571205
+v 0.09741744 -0.20819858 0.20961488
+v -0.03961771 -0.35702191 0.05232458
+v 0.22267522 -0.31953014 0.00463354
+v 0.09486696 -0.29683530 0.15978714
+v 0.29496264 -0.20184074 0.06206128
+v 0.18102435 -0.24175585 0.17220086
+v 0.22097745 -0.19870509 0.16376145
+v 0.00537960 -0.27910449 0.18396035
+v -0.03875645 -0.35148773 0.06500163
+v 0.00455129 -0.37773124 0.00472141
+v 0.21676483 -0.31220529 0.04364005
+v 0.13575379 -0.35964732 0.00369141
+v 0.29891698 -0.22906387 0.00431626
+v 0.11802349 -0.30950829 0.13235012
+v 0.28120270 -0.20179943 0.09280402
+v 0.24541370 -0.20851352 0.13184124
+v 0.16683937 -0.22585909 0.18718682
+v 0.19219823 -0.23022348 0.16989548
+v 0.09220082 -0.26106147 0.19117684
+v 0.00451941 -0.31385202 0.14780708
+v -0.03769149 -0.35979615 0.04679040
+v 0.04930362 -0.37018704 0.01794547
+v 0.17814706 -0.30798342 0.08862761
+v 0.16379935 -0.33936110 0.03258036
+v 0.29024496 -0.22231078 0.04784375
+v 0.24967296 -0.28692281 0.00376724
+v 0.13299943 -0.28132201 0.15780414
+v 0.17518119 -0.21513268 0.18739225
+v 0.13347101 -0.26582580 0.17404839
+v 0.10301437 -0.28191398 0.17353931
+v 0.06487575 -0.31085599 0.14590955
+v 0.06464938 -0.35466459 0.05963975
+v 0.29199995 -0.21239577 0.05962889
+v 0.17857277 -0.28013701 0.13206027
+v 0.07974096 -0.32509045 0.11841438
+v 0.00421578 -0.37412671 0.01895201
+v 0.07986280 -0.33989150 0.09019206
+v -0.03683023 -0.35426197 0.05946745
+f 10 3 4
+f 14 2 5
+f 14 5 9
+f 16 9 5
+f 16 5 4
+f 16 4 3
+f 17 10 4
+f 18 4 5
+f 18 5 11
+f 18 17 4
+f 18 6 17
+f 19 5 8
+f 21 1 8
+f 22 5 2
+f 22 20 12
+f 22 8 5
+f 24 14 9
+f 25 15 7
+f 25 9 15
+f 25 24 9
+f 25 7 24
+f 26 3 10
+f 27 15 9
+f 27 9 16
+f 28 10 17
+f 28 26 10
+f 28 17 6
+f 29 6 18
+f 30 11 5
+f 30 5 19
+f 31 19 8
+f 31 8 1
+f 32 20 7
+f 32 1 20
+f 32 23 1
+f 32 7 23
+f 33 20 1
+f 33 1 21
+f 33 21 12
+f 33 12 20
+f 34 22 2
+f 34 20 22
+f 34 7 20
+f 35 22 12
+f 35 12 21
+f 35 21 8
+f 35 8 22
+f 37 26 15
+f 37 3 26
+f 37 15 27
+f 37 27 16
+f 37 16 3
+f 38 15 26
+f 38 26 28
+f 38 36 15
+f 39 28 6
+f 39 6 13
+f 39 38 28
+f 39 36 38
+f 39 13 23
+f 39 23 36
+f 40 13 6
+f 40 6 29
+f 42 34 2
+f 42 2 14
+f 42 14 24
+f 42 24 7
+f 42 7 34
+f 43 36 23
+f 43 23 7
+f 43 7 15
+f 43 15 36
+f 44 1 23
+f 44 23 13
+f 44 13 40
+f 44 40 29
+f 45 31 1
+f 45 1 41
+f 45 19 31
+f 45 30 19
+f 45 41 29
+f 46 41 1
+f 46 1 44
+f 46 44 29
+f 46 29 41
+f 47 30 45
+f 47 18 11
+f 47 11 30
+f 47 45 29
+f 47 29 18
\ No newline at end of file
diff --git a/apple/apple_3/collision/model_normalized_collision_9.obj b/apple/apple_3/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ace322f3dcee397e5442f9de90f64f4a5f38e658
--- /dev/null
+++ b/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
+v -0.17727846 0.17300736 -0.41940724
+v -0.18410981 -0.12197962 -0.43696551
+v -0.07016637 0.06564217 -0.35606062
+v -0.06536680 -0.08005924 -0.49236408
+v -0.17622698 -0.11617601 -0.35606062
+v -0.07229584 0.17574223 -0.45428462
+v -0.09310597 -0.10911152 -0.47215816
+v -0.12060140 0.03265188 -0.48902110
+v -0.17622698 0.06564217 -0.35606062
+v -0.12316639 0.18106451 -0.43633313
+v -0.12165398 -0.02175370 -0.48976401
+v -0.16637195 0.07372479 -0.45819178
+v -0.06899486 0.09450341 -0.49183123
+v -0.07946564 0.13313368 -0.47591620
+v -0.10773591 -0.04976474 -0.48727131
+v -0.16634819 -0.06691530 -0.45797575
+v -0.06636804 0.13401130 -0.47918381
+v -0.11222369 0.06344307 -0.48915401
+v -0.12425561 -0.07855327 -0.47232803
+v -0.08341846 0.09419850 -0.49030541
+v -0.13838258 0.11888345 -0.45871118
+v -0.16978847 -0.11143577 -0.44554162
+v -0.16881552 0.16250730 -0.42765253
+f 5 2 1
+f 6 1 3
+f 7 1 2
+f 7 3 1
+f 8 5 1
+f 8 1 6
+f 9 6 3
+f 10 7 2
+f 10 2 5
+f 10 5 7
+f 12 4 5
+f 12 5 8
+f 12 8 6
+f 12 6 4
+f 13 4 6
+f 13 6 9
+f 15 5 4
+f 15 11 14
+f 16 14 11
+f 16 7 14
+f 17 13 9
+f 17 4 13
+f 18 14 7
+f 18 5 14
+f 19 15 14
+f 19 14 5
+f 19 5 15
+f 20 3 7
+f 20 7 16
+f 20 17 9
+f 20 9 3
+f 21 16 11
+f 21 11 15
+f 22 18 7
+f 23 20 16
+f 23 17 20
+f 23 16 21
+f 24 21 15
+f 24 23 21
+f 24 17 23
+f 25 22 7
+f 25 7 5
+f 25 5 18
+f 25 18 22
+f 26 24 15
+f 26 15 4
+f 26 4 17
+f 26 17 24
\ No newline at end of file
diff --git a/apple/apple_3/model.xml b/apple/apple_3/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2ec1a42ef387257db6dfcb85907607262ef9beb8
--- /dev/null
+++ b/apple/apple_3/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="apple_47">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.08000000000000002 0.08000000000000002 0.08000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="DefaultMaterial.020" 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="DefaultMaterial.020"/>
+        <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_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"/>
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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_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"/>
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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_29._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_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="-0.0001956523999999993 -0.00023022519999999828 -0.039565447200000006" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0001956523999999993 -0.00023022519999999828 0.03976992000000001" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.029367210400000007 0.030576585600000008 0.0001022363999999998" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/apple/apple_3/visual/material.mtl b/apple/apple_3/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/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/apple/apple_3/visual/model_normalized_0.obj b/apple/apple_3/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc8d480a91f7b3cca3e848b5d09051cb9fdbb0b4
--- /dev/null
+++ b/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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+v 0.05125001 0.19639081 0.21700397
+v 0.06322558 0.23101329 0.21008116
+v -0.00031574 0.24888311 0.20427102
+v 0.16726919 0.15558447 0.20799616
+v 0.13797715 0.13029026 0.21487169
+v 0.17109933 0.08743226 0.20948303
+v 0.20369951 0.10559915 0.19912370
+v 0.17761110 0.01836892 0.20094547
+v 0.20923547 0.01893371 0.19706159
+v 0.21437532 -0.06430615 0.19456207
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+v 0.15311855 -0.09867386 0.21240651
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+v 0.25750750 0.00454172 -0.41784891
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+v 0.21157276 -0.13776989 -0.42162730
+v 0.09219020 -0.04462851 -0.49487756
+v 0.11698332 -0.01649939 -0.49318966
+v 0.08169652 -0.23681995 -0.42318334
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+v -0.00000174 -0.09994875 -0.49522788
+v 0.03265517 -0.08814982 -0.49563095
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+v -0.00000174 -0.31896208 -0.31972591
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+v 0.30977339 -0.20813848 -0.22729363
+v 0.27459805 -0.18245513 -0.32945526
+v 0.32326569 -0.09637239 -0.32088884
+v 0.35676805 -0.10861967 -0.22032156
+v 0.37311118 0.00138237 -0.22017526
+v 0.33529252 0.00306630 -0.32547136
+v 0.32356476 0.10638140 -0.31609781
+v 0.35611568 0.11555641 -0.21436512
+v 0.27389791 0.19366637 -0.32093462
+v 0.30852189 0.21705920 -0.21645211
+v 0.11768495 0.35698774 -0.21393269
+v 0.10194940 0.31132967 -0.31193428
+v -0.00000174 0.32895367 -0.30444568
+v -0.00000174 0.37445748 -0.20748909
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+v 0.31732119 0.22509716 -0.05896178
+v 0.36163620 0.11725874 -0.06438527
+v 0.36329774 0.11762350 -0.14055603
+v 0.31735454 0.22391881 -0.13890197
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+v 0.31722665 -0.21895013 -0.15384531
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+v 0.12364736 -0.37757702 -0.08477351
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+v -0.00023960 -0.38468095 -0.15882842
+v 0.12334382 -0.36874188 -0.16160709
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+v 0.37190347 -0.00449843 -0.00970049
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\ No newline at end of file
diff --git a/apple/apple_4/collision/model_normalized_collision_0.obj b/apple/apple_4/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c18740bfb0f7421c23c00af56e1b823624a1803f
--- /dev/null
+++ b/apple/apple_4/collision/model_normalized_collision_0.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
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+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/apple/apple_4/collision/model_normalized_collision_1.obj b/apple/apple_4/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..759329326d82ce91cff0af4cb671d8457c946495
--- /dev/null
+++ b/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
+v 0.16939920 0.29635804 -0.41454269
+v 0.01009385 -0.00369728 -0.44327389
+v 0.02583200 0.32907631 -0.42860333
+v -0.06288387 0.35391597 -0.39881409
+v 0.01290647 0.28466497 -0.45963603
+v 0.07279153 0.20561045 -0.47605419
+v 0.20492451 0.22981720 -0.43556640
+v 0.11210232 0.32525352 -0.41517360
+v 0.18237375 0.35437939 -0.35631603
+v 0.11201523 0.25535434 -0.45821574
+v 0.04034365 -0.00514319 -0.40098420
+v 0.04008901 0.35513681 -0.40051262
+v -0.06544982 0.34093039 -0.41358883
+v 0.01200909 0.23038091 -0.47728764
+v -0.05867202 0.32731264 -0.43059559
+v 0.07019211 0.29799141 -0.44299662
+v 0.20321514 0.27113305 -0.41620193
+v 0.11272469 0.28388205 -0.44138565
+v 0.19956741 0.34208366 -0.35636170
+v 0.11227599 0.35502796 -0.38487578
+v 0.05664738 0.23240639 -0.47409438
+v 0.01212971 0.39217724 -0.36185591
+v 0.09992271 0.38538470 -0.35555391
+v 0.04015558 0.34037166 -0.41603145
+v -0.03264276 0.35554581 -0.40111477
+v 0.02528538 0.28380066 -0.45899874
+v 0.17278693 0.24063840 -0.44382737
+v 0.15668272 0.28470712 -0.42609675
+v 0.07187018 0.21738258 -0.47500737
+v 0.20269621 0.24253208 -0.43046579
+f 1 2 3
+f 7 1 3
+f 8 2 1
+f 9 1 4
+f 12 4 1
+f 12 1 7
+f 14 5 8
+f 14 10 5
+f 14 9 10
+f 16 9 4
+f 18 11 8
+f 18 8 5
+f 19 2 8
+f 19 8 11
+f 20 6 15
+f 21 7 3
+f 21 13 20
+f 21 12 7
+f 23 14 8
+f 23 8 1
+f 23 1 9
+f 23 9 14
+f 25 10 9
+f 25 9 16
+f 26 5 10
+f 26 10 17
+f 26 18 5
+f 27 17 10
+f 27 15 17
+f 27 10 25
+f 27 25 16
+f 28 15 6
+f 29 2 19
+f 29 13 21
+f 30 20 13
+f 30 6 20
+f 30 28 6
+f 30 22 28
+f 31 21 3
+f 31 3 2
+f 31 29 21
+f 31 2 29
+f 32 21 20
+f 33 22 11
+f 33 26 17
+f 34 24 15
+f 34 4 24
+f 35 24 4
+f 35 4 12
+f 35 32 24
+f 35 12 21
+f 35 21 32
+f 36 20 15
+f 36 15 24
+f 36 32 20
+f 36 24 32
+f 37 27 16
+f 37 16 4
+f 37 4 34
+f 37 34 15
+f 37 15 27
+f 38 17 15
+f 38 15 28
+f 38 28 22
+f 38 33 17
+f 38 22 33
+f 39 19 11
+f 39 11 22
+f 40 13 29
+f 40 30 13
+f 40 22 30
+f 40 39 22
+f 40 29 39
+f 41 33 11
+f 41 11 18
+f 41 18 26
+f 41 26 33
+f 42 39 29
+f 42 29 19
+f 42 19 39
\ No newline at end of file
diff --git a/apple/apple_4/collision/model_normalized_collision_10.obj b/apple/apple_4/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb7f674d99baf95eb228bb6d5eb73c77c9197c76
--- /dev/null
+++ b/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
+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/apple/apple_4/collision/model_normalized_collision_11.obj b/apple/apple_4/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03004ce0c1b10b43307a769676b9371621f55f18
--- /dev/null
+++ b/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
+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
+v 0.27528014 0.16726595 -0.42643020
+v 0.27399438 0.09589965 -0.44231409
+v 0.31426590 0.22490540 -0.35781569
+v 0.35803262 0.12324477 -0.35856838
+v 0.37213239 0.20999104 -0.28355392
+v 0.40266928 0.10946986 -0.28669908
+v 0.37438209 -0.22709010 -0.24308849
+v 0.37136458 -0.21059274 -0.26979157
+v 0.32710181 -0.13767343 -0.38710416
+v 0.40244410 -0.15297686 -0.24269666
+v 0.37267460 -0.03468881 -0.35804989
+v 0.23459254 -0.21522459 -0.43471010
+v 0.26104040 -0.13988367 -0.44213345
+v 0.27053083 -0.16761704 -0.42922914
+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
+f 7 3 1
+f 7 6 3
+f 8 1 3
+f 9 3 6
+f 9 8 3
+f 10 9 4
+f 12 6 7
+f 13 8 9
+f 17 12 2
+f 17 6 12
+f 19 12 7
+f 21 5 13
+f 21 13 9
+f 21 9 10
+f 22 10 4
+f 22 4 14
+f 22 21 10
+f 23 14 4
+f 23 9 6
+f 23 4 9
+f 26 17 2
+f 26 15 17
+f 27 1 8
+f 28 25 26
+f 29 13 5
+f 32 30 20
+f 32 11 30
+f 32 20 29
+f 33 5 21
+f 33 29 5
+f 35 23 6
+f 35 14 23
+f 35 6 17
+f 36 25 11
+f 36 26 25
+f 36 15 26
+f 37 1 27
+f 38 37 27
+f 39 28 19
+f 39 18 28
+f 39 38 18
+f 40 2 12
+f 41 28 26
+f 41 26 2
+f 41 2 40
+f 42 29 20
+f 42 13 29
+f 43 18 30
+f 43 28 18
+f 43 25 28
+f 44 8 13
+f 45 20 30
+f 46 8 31
+f 47 16 33
+f 48 32 29
+f 48 29 33
+f 48 33 16
+f 48 16 32
+f 49 21 22
+f 49 22 14
+f 49 47 21
+f 49 34 47
+f 50 34 24
+f 50 11 32
+f 50 36 11
+f 51 35 24
+f 51 14 35
+f 51 49 14
+f 51 24 34
+f 51 34 49
+f 52 35 17
+f 52 24 35
+f 52 17 15
+f 52 15 36
+f 52 50 24
+f 52 36 50
+f 53 1 37
+f 53 19 7
+f 53 7 1
+f 54 37 38
+f 54 53 37
+f 54 19 53
+f 54 39 19
+f 54 38 39
+f 55 30 18
+f 55 18 38
+f 55 45 30
+f 55 46 45
+f 56 40 12
+f 56 12 19
+f 56 19 28
+f 56 41 40
+f 56 28 41
+f 57 43 30
+f 57 30 11
+f 57 11 25
+f 57 25 43
+f 58 44 31
+f 58 31 8
+f 58 8 44
+f 59 44 13
+f 59 13 42
+f 59 42 20
+f 59 31 44
+f 60 20 45
+f 60 59 20
+f 60 31 59
+f 60 46 31
+f 60 45 46
+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/apple/apple_4/collision/model_normalized_collision_12.obj b/apple/apple_4/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cb9ada365f3804d72393d390b77dcf6b12c524c
--- /dev/null
+++ b/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
+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
+v -0.23792570 0.00775656 -0.47415126
+v -0.29067871 -0.15285328 -0.41262338
+v -0.32122664 -0.06450882 -0.41348960
+v -0.34963323 -0.13727238 -0.35618359
+v -0.26595370 -0.12424068 -0.44145811
+v -0.24679113 -0.19560014 -0.42707682
+v -0.20227670 -0.22608183 -0.44230363
+v -0.20803042 -0.16983517 -0.45762637
+v -0.24716041 -0.22615005 -0.41245027
+v -0.28875944 -0.20852870 -0.38510219
+v -0.36433480 0.04771255 -0.37214015
+v -0.30983603 -0.22769007 -0.34840796
+v -0.23741056 0.05072982 -0.47336443
+v -0.26716842 -0.03490260 -0.45764165
+v -0.34834101 0.06260135 -0.38663201
+f 6 4 3
+f 7 3 4
+f 7 6 3
+f 10 7 1
+f 10 2 7
+f 11 1 7
+f 12 7 2
+f 12 6 7
+f 13 7 4
+f 14 4 6
+f 19 12 2
+f 19 6 12
+f 22 7 13
+f 24 5 20
+f 26 2 10
+f 26 10 1
+f 26 1 17
+f 27 18 8
+f 28 17 1
+f 28 1 11
+f 28 27 17
+f 29 19 16
+f 29 16 6
+f 29 6 19
+f 30 16 19
+f 31 9 20
+f 31 22 13
+f 32 20 9
+f 33 13 4
+f 34 4 14
+f 34 14 21
+f 34 33 4
+f 35 7 22
+f 35 22 5
+f 36 20 5
+f 36 5 22
+f 36 31 20
+f 36 22 31
+f 37 23 14
+f 37 14 6
+f 37 6 23
+f 38 21 14
+f 38 14 23
+f 38 23 9
+f 38 9 21
+f 39 16 30
+f 39 6 16
+f 40 24 15
+f 40 8 18
+f 40 18 24
+f 41 24 20
+f 41 15 24
+f 41 32 15
+f 41 20 32
+f 42 24 18
+f 42 5 24
+f 42 35 5
+f 42 18 35
+f 43 25 8
+f 43 15 32
+f 43 40 15
+f 43 8 40
+f 44 25 17
+f 44 8 25
+f 45 25 2
+f 45 17 25
+f 45 26 17
+f 45 2 26
+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
+f 48 18 27
+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
+f 52 32 9
+f 52 9 39
+f 52 39 30
+f 52 43 32
+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/apple/apple_4/collision/model_normalized_collision_13.obj b/apple/apple_4/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82cc0a26eeaaa6478eb05c6dd83a8c007c6882b4
--- /dev/null
+++ b/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
+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
+f 12 5 1
+f 13 4 5
+f 13 5 7
+f 14 5 2
+f 14 2 8
+f 15 9 5
+f 15 5 4
+f 15 4 9
+f 16 2 5
+f 16 5 9
+f 17 11 3
+f 21 3 11
+f 22 9 4
+f 23 11 6
+f 23 6 9
+f 23 9 22
+f 24 7 5
+f 24 5 12
+f 25 1 5
+f 25 5 14
+f 26 16 9
+f 26 9 6
+f 27 6 11
+f 27 11 17
+f 27 17 10
+f 27 26 6
+f 27 18 26
+f 28 18 10
+f 28 26 18
+f 28 2 16
+f 28 16 26
+f 30 19 8
+f 30 8 2
+f 32 21 7
+f 32 3 21
+f 32 31 3
+f 33 7 21
+f 33 21 11
+f 33 11 23
+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
+f 37 10 29
+f 37 29 8
+f 37 8 19
+f 38 29 10
+f 38 35 29
+f 38 20 35
+f 39 10 19
+f 39 19 30
+f 39 28 10
+f 39 30 2
+f 39 2 28
+f 40 32 7
+f 40 7 24
+f 40 31 32
+f 40 24 12
+f 40 12 34
+f 40 34 20
+f 40 20 31
+f 41 33 13
+f 41 13 7
+f 41 7 33
+f 42 33 23
+f 42 23 22
+f 42 22 4
+f 42 4 13
+f 42 13 33
+f 43 25 14
+f 43 14 8
+f 44 35 1
+f 44 1 25
+f 44 43 35
+f 44 25 43
+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/apple/apple_4/collision/model_normalized_collision_14.obj b/apple/apple_4/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b558e9100bc936e9c13907ad13e272374d839bc3
--- /dev/null
+++ b/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
+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
+v 0.35635039 0.25424879 -0.27089841
+v 0.35007531 0.22919909 -0.30280926
+v 0.24489462 0.25505063 0.29379093
+v 0.24059559 0.28118414 0.28073075
+v 0.25776036 0.41368087 0.05029908
+v 0.33077301 0.31008293 0.14954350
+v 0.35835327 0.31285731 -0.15224750
+v 0.28533533 0.39964919 0.01952898
+v 0.28522944 0.40065656 -0.12531803
+v 0.38883654 0.28400793 0.02115912
+v 0.38805477 0.26832194 0.07814262
+v 0.28552892 0.35350905 0.14903991
+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
+f 9 1 5
+f 9 2 8
+f 14 9 8
+f 14 1 9
+f 16 10 5
+f 16 5 1
+f 17 5 10
+f 19 11 2
+f 22 11 6
+f 22 6 21
+f 24 1 14
+f 25 14 8
+f 29 18 17
+f 29 17 10
+f 30 4 17
+f 30 17 18
+f 31 18 13
+f 31 7 18
+f 32 6 11
+f 32 11 19
+f 33 32 19
+f 33 6 32
+f 33 19 26
+f 34 20 8
+f 34 8 2
+f 34 2 11
+f 35 8 20
+f 35 25 8
+f 35 3 25
+f 36 22 21
+f 36 12 22
+f 37 17 4
+f 37 36 21
+f 37 4 36
+f 39 11 22
+f 39 34 11
+f 39 20 34
+f 39 35 20
+f 39 3 35
+f 40 22 12
+f 41 30 18
+f 42 24 14
+f 42 14 13
+f 42 13 24
+f 43 16 1
+f 43 1 24
+f 44 25 13
+f 44 13 14
+f 44 14 25
+f 45 2 9
+f 46 26 19
+f 46 19 2
+f 46 2 45
+f 47 15 27
+f 48 27 15
+f 48 15 26
+f 49 9 5
+f 49 5 28
+f 49 48 9
+f 50 29 10
+f 50 24 29
+f 50 43 24
+f 50 10 16
+f 50 16 43
+f 51 29 24
+f 51 24 13
+f 51 13 18
+f 51 18 29
+f 52 4 30
+f 52 36 4
+f 53 31 13
+f 53 13 25
+f 53 25 40
+f 53 40 23
+f 53 7 31
+f 54 33 26
+f 54 26 15
+f 54 15 38
+f 54 38 6
+f 54 6 33
+f 55 12 36
+f 55 40 12
+f 55 23 40
+f 55 52 23
+f 55 36 52
+f 56 21 6
+f 56 6 38
+f 56 37 21
+f 57 39 22
+f 57 22 40
+f 57 3 39
+f 58 40 25
+f 58 25 3
+f 58 57 40
+f 58 3 57
+f 59 41 18
+f 59 18 7
+f 59 7 53
+f 59 53 23
+f 59 23 41
+f 60 41 23
+f 60 30 41
+f 60 52 30
+f 60 23 52
+f 61 46 45
+f 61 26 46
+f 61 48 26
+f 61 45 9
+f 61 9 48
+f 62 38 15
+f 62 15 47
+f 62 56 38
+f 62 47 17
+f 62 17 37
+f 62 37 56
+f 63 28 5
+f 63 5 17
+f 63 17 47
+f 64 47 27
+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/apple/apple_4/collision/model_normalized_collision_15.obj b/apple/apple_4/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..034289da3c554c3f1faf69a34de7c9b217e620b3
--- /dev/null
+++ b/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
+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
+v -0.43899366 -0.05030989 -0.19906595
+v -0.42350112 -0.13787750 -0.18403349
+v -0.36401378 -0.25431937 -0.19819603
+v -0.45365918 -0.03420125 0.06432832
+v -0.45487830 -0.06490879 -0.03623102
+v -0.42293428 -0.03386562 0.16689992
+v -0.43959799 -0.00840464 0.13700925
+v -0.43797412 -0.10721075 0.06387495
+v -0.42241267 -0.08041047 -0.24276937
+v -0.44007400 -0.00874042 -0.19936015
+v -0.40856672 -0.18304461 -0.18357601
+v -0.43788887 -0.12255994 -0.12555776
+v -0.35270608 -0.25670851 -0.22932570
+v -0.45396431 -0.04957232 0.03723557
+v -0.43781476 -0.08010453 -0.18403102
+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
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 9 6 3
+f 9 4 6
+f 14 9 3
+f 14 3 2
+f 15 10 7
+f 15 7 5
+f 16 2 7
+f 16 7 10
+f 17 11 1
+f 17 1 4
+f 17 8 11
+f 20 11 8
+f 20 8 13
+f 21 14 2
+f 25 18 13
+f 25 13 8
+f 26 5 7
+f 26 7 18
+f 26 24 5
+f 26 18 24
+f 27 18 7
+f 27 13 18
+f 27 20 13
+f 27 7 1
+f 27 1 20
+f 28 20 1
+f 28 1 11
+f 28 11 20
+f 30 16 10
+f 30 10 21
+f 31 22 19
+f 31 19 9
+f 33 23 8
+f 33 8 17
+f 33 17 23
+f 34 12 23
+f 35 5 24
+f 35 15 5
+f 36 24 18
+f 36 18 25
+f 36 25 8
+f 36 8 23
+f 37 14 21
+f 38 29 22
+f 40 30 21
+f 40 2 16
+f 40 16 30
+f 41 34 19
+f 41 12 34
+f 42 32 19
+f 42 19 22
+f 42 35 32
+f 43 17 4
+f 43 4 34
+f 43 34 23
+f 43 23 17
+f 44 34 4
+f 44 19 34
+f 44 4 9
+f 44 9 19
+f 45 35 24
+f 45 12 41
+f 45 32 35
+f 45 24 36
+f 45 36 23
+f 45 23 12
+f 46 14 37
+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/apple/apple_4/collision/model_normalized_collision_16.obj b/apple/apple_4/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b960182972d0925affe11f0f92b0e3cb13946157
--- /dev/null
+++ b/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
+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
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 8 5 2
+f 8 2 1
+f 11 7 6
+f 14 4 3
+f 14 3 10
+f 15 10 3
+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
+f 21 1 18
+f 22 4 14
+f 23 15 3
+f 23 3 5
+f 23 5 13
+f 24 10 15
+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
+f 36 25 16
+f 36 16 11
+f 36 11 25
+f 37 18 7
+f 37 7 28
+f 37 28 12
+f 37 12 18
+f 38 30 9
+f 38 13 30
+f 39 8 21
+f 39 21 31
+f 39 31 13
+f 39 20 8
+f 39 13 20
+f 40 38 9
+f 40 33 38
+f 41 14 34
+f 41 34 24
+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/apple/apple_4/collision/model_normalized_collision_17.obj b/apple/apple_4/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23983e0688d4236776f8814f2b589ef0833e1fef
--- /dev/null
+++ b/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
+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
+v 0.12246199 -0.07983176 0.46804364
+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
+f 10 9 1
+f 12 4 6
+f 13 6 2
+f 13 9 5
+f 13 2 9
+f 15 14 8
+f 15 10 1
+f 16 3 8
+f 16 2 6
+f 16 8 14
+f 19 5 9
+f 19 9 10
+f 19 12 5
+f 19 10 12
+f 20 11 6
+f 20 6 4
+f 20 4 11
+f 21 16 6
+f 21 3 16
+f 21 7 3
+f 22 12 6
+f 22 5 12
+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
+f 24 15 8
+f 24 8 3
+f 24 3 7
+f 25 16 14
+f 25 2 16
+f 25 23 2
+f 25 14 23
+f 26 17 9
+f 26 9 2
+f 26 2 17
+f 27 12 10
+f 27 10 18
+f 27 4 12
+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/apple/apple_4/collision/model_normalized_collision_18.obj b/apple/apple_4/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2eff4b12ef47cc4c950925ed67bd4ca5af59f90
--- /dev/null
+++ b/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
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+v -0.38116055 0.16817575 -0.25888412
+v -0.20957885 0.22853828 -0.43431188
+v -0.23381657 0.15084041 -0.45755792
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+v -0.31853018 0.22191820 -0.32856725
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+v -0.21998114 0.22650800 -0.42980685
+v -0.30394398 0.15046008 -0.40179802
+v -0.27606735 0.10989161 -0.44372498
+v -0.33178516 0.16407004 -0.35877396
+v -0.36320245 0.10733174 -0.34551683
+v -0.37700238 0.16653496 -0.27257622
+v -0.27436900 0.22256460 -0.38428406
+v -0.22059102 0.16574932 -0.45836729
+v -0.28898315 0.17946082 -0.40007529
+v -0.25231835 0.10995942 -0.45765961
+v -0.30549332 0.12284254 -0.41411766
+v -0.33661585 0.09422577 -0.38963313
+v -0.34647799 0.15084319 -0.34378269
+v -0.28969379 0.12259047 -0.42855566
+v -0.27761345 0.09514196 -0.44560568
+v -0.33394861 0.10673872 -0.38721324
+f 6 3 4
+f 6 4 1
+f 8 5 1
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+f 10 2 1
+f 10 1 7
+f 11 7 1
+f 11 1 5
+f 13 8 1
+f 13 1 4
+f 14 6 1
+f 14 1 9
+f 14 3 6
+f 15 9 2
+f 15 2 10
+f 16 11 5
+f 16 7 11
+f 19 16 5
+f 19 5 8
+f 19 8 13
+f 21 4 3
+f 21 3 17
+f 21 17 12
+f 22 17 3
+f 22 12 17
+f 23 18 3
+f 23 3 14
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+f 26 12 22
+f 27 7 16
+f 27 16 20
+f 28 19 13
+f 28 13 4
+f 28 4 21
+f 28 21 12
+f 28 12 26
+f 28 20 16
+f 28 16 19
+f 29 22 3
+f 29 3 18
+f 29 18 22
+f 30 23 14
+f 30 14 9
+f 30 9 15
+f 30 15 18
+f 30 18 23
+f 31 22 18
+f 31 18 24
+f 31 26 22
+f 31 24 26
+f 32 25 15
+f 32 15 10
+f 32 10 25
+f 33 24 18
+f 34 10 7
+f 34 7 27
+f 35 27 20
+f 35 26 27
+f 35 28 26
+f 35 20 28
+f 36 33 18
+f 36 18 25
+f 37 25 10
+f 37 10 34
+f 37 34 33
+f 37 36 25
+f 37 33 36
+f 38 34 27
+f 38 27 26
+f 38 26 24
+f 38 24 33
+f 38 33 34
\ No newline at end of file
diff --git a/apple/apple_4/collision/model_normalized_collision_19.obj b/apple/apple_4/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d5436e95102a026479b1389fcba50f87c86481f
--- /dev/null
+++ b/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
+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
+v 0.01363146 -0.27557517 0.37113491
+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
+v 0.11786780 -0.15974142 0.38610531
+v 0.13339317 -0.29462663 0.34034363
+v 0.01662471 -0.08451224 0.35562610
+v 0.02869444 -0.21890368 0.38603658
+v 0.01187023 -0.20386171 0.38696008
+v 0.18516185 -0.23995953 0.35181718
+v 0.18520522 -0.27030983 0.33676108
+v 0.20749921 -0.02374191 0.35529600
+v 0.10272047 -0.14458626 0.38619639
+v 0.10064061 -0.25706321 0.36865884
+v 0.10199763 -0.20211489 0.38567419
+v 0.01215429 -0.26125886 0.37627269
+v 0.13056962 -0.28839089 0.34467357
+f 8 5 2
+f 8 1 5
+f 9 2 5
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+f 12 3 7
+f 13 7 3
+f 14 8 2
+f 15 9 5
+f 15 5 4
+f 16 6 12
+f 16 14 2
+f 16 12 7
+f 17 3 6
+f 17 6 9
+f 17 9 15
+f 18 10 5
+f 18 5 1
+f 18 1 13
+f 19 11 4
+f 19 4 5
+f 19 5 11
+f 21 11 5
+f 21 20 3
+f 22 7 13
+f 22 16 7
+f 22 14 16
+f 23 13 1
+f 23 1 8
+f 23 8 14
+f 23 22 13
+f 23 14 22
+f 24 9 6
+f 24 6 16
+f 24 16 2
+f 24 2 9
+f 25 17 15
+f 25 15 4
+f 25 4 11
+f 25 11 21
+f 25 21 3
+f 25 3 17
+f 27 13 3
+f 27 3 20
+f 27 26 13
+f 28 21 5
+f 28 5 10
+f 28 20 21
+f 28 27 20
+f 28 10 26
+f 28 26 27
+f 29 18 13
+f 29 13 26
+f 29 26 10
+f 29 10 18
\ No newline at end of file
diff --git a/apple/apple_4/collision/model_normalized_collision_2.obj b/apple/apple_4/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f666f1758c2cc88312f2528835f7a421422732f1
--- /dev/null
+++ b/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
+v -0.25049254 -0.25857286 0.28641219
+v -0.34751757 -0.26292296 -0.23253027
+v -0.36963561 -0.25828622 -0.17031024
+v -0.04620173 -0.39828763 0.26907670
+v 0.34242771 -0.31356966 0.10822625
+v 0.10086811 -0.45767641 -0.22767928
+v 0.36461583 -0.25726437 -0.22954748
+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
+v 0.37602734 -0.25929643 0.10865240
+v 0.27283605 -0.39946304 -0.09560628
+v -0.35583161 -0.25866562 -0.21554556
+v 0.18661129 -0.42736590 -0.22808950
+v -0.32318275 -0.25750357 0.19759276
+v 0.06861421 -0.45937731 0.15209319
+v 0.08412577 -0.36957922 0.29601104
+v 0.27137947 -0.33792887 0.19592926
+v 0.05604320 -0.25954848 0.37436694
+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
+v 0.31932796 -0.25816652 0.22648944
+v 0.39330468 -0.25906035 -0.09590322
+v 0.22770940 -0.43031408 0.03580829
+v 0.32928303 -0.32415854 -0.19850811
+v -0.33523839 -0.28501379 -0.22874178
+v 0.14063926 -0.47350359 -0.08092497
+v -0.21715773 -0.41522592 0.12270469
+v 0.14026317 -0.45820027 0.09468618
+v 0.15461600 -0.35452553 0.28281043
+v 0.04103986 -0.42784303 0.22683599
+v -0.05884497 -0.32889524 0.33799424
+v -0.16227022 -0.25983893 0.34425312
+v -0.01585446 -0.49155143 0.05068070
+v -0.16072581 -0.43027990 -0.22858121
+v -0.33318514 -0.32877894 0.02113504
+v 0.37238843 -0.28330022 0.06571514
+v 0.35797004 -0.31407333 0.03554122
+v 0.25506142 -0.28028166 0.28134543
+v 0.31158649 -0.29782255 0.19632924
+v 0.39347132 -0.25976277 0.02148157
+v 0.28678328 -0.36792034 0.10971614
+v 0.35747130 -0.28279209 -0.19884587
+v 0.34312677 -0.32904887 -0.13815068
+v 0.25654440 -0.38229608 -0.22635523
+v -0.36335323 -0.26976639 -0.16867338
+v 0.14088828 -0.45771942 -0.18504479
+v 0.04227606 -0.49019508 -0.12520201
+v 0.14079951 -0.47358544 -0.00803431
+v 0.20180465 -0.44348873 -0.12449943
+v -0.27374859 -0.34164156 0.17841545
+v -0.19067078 -0.38266176 0.22350540
+v -0.24724098 -0.41455295 0.03488407
+v 0.11369113 -0.45715671 0.12429520
+v 0.11255057 -0.38273344 0.26752613
+v 0.16988536 -0.29690064 0.32720063
+v 0.19853175 -0.35242583 0.25331974
+v 0.08335685 -0.44261688 0.18168875
+f 11 10 6
+f 11 3 10
+f 17 10 5
+f 17 6 10
+f 18 9 5
+f 18 5 10
+f 19 4 3
+f 19 3 11
+f 23 3 4
+f 28 15 10
+f 28 10 3
+f 29 2 10
+f 29 10 15
+f 32 17 5
+f 37 21 7
+f 38 7 21
+f 38 24 7
+f 38 13 24
+f 38 23 13
+f 38 21 23
+f 39 23 4
+f 39 13 23
+f 39 24 13
+f 39 4 24
+f 40 14 25
+f 40 34 14
+f 40 37 7
+f 40 20 37
+f 40 1 20
+f 41 25 14
+f 41 14 26
+f 41 26 32
+f 41 9 25
+f 41 32 5
+f 41 5 9
+f 42 11 6
+f 43 27 15
+f 43 15 8
+f 44 30 16
+f 44 43 8
+f 44 27 43
+f 45 28 3
+f 46 22 8
+f 46 8 15
+f 46 15 28
+f 46 45 22
+f 46 28 45
+f 47 29 15
+f 47 15 27
+f 47 27 29
+f 48 8 22
+f 48 22 12
+f 48 35 30
+f 48 12 35
+f 48 44 8
+f 48 30 44
+f 49 31 10
+f 49 10 2
+f 50 2 29
+f 50 29 27
+f 50 27 44
+f 50 44 16
+f 50 49 2
+f 50 31 49
+f 51 18 10
+f 51 10 31
+f 51 50 16
+f 51 31 50
+f 52 6 17
+f 52 17 32
+f 52 32 26
+f 52 42 6
+f 52 26 42
+f 53 9 18
+f 54 25 9
+f 54 53 33
+f 54 9 53
+f 54 40 25
+f 55 54 33
+f 55 1 40
+f 55 40 54
+f 55 35 1
+f 55 30 35
+f 56 16 30
+f 56 55 33
+f 56 30 55
+f 56 51 16
+f 56 18 51
+f 56 53 18
+f 56 33 53
+f 57 19 11
+f 57 11 42
+f 57 4 19
+f 58 7 24
+f 58 57 34
+f 58 24 4
+f 58 4 57
+f 58 40 7
+f 58 34 40
+f 59 26 14
+f 59 14 34
+f 59 42 26
+f 59 57 42
+f 59 34 57
+f 60 20 1
+f 60 1 35
+f 60 35 12
+f 61 36 21
+f 61 12 36
+f 61 37 12
+f 61 21 37
+f 62 23 21
+f 62 21 36
+f 62 3 23
+f 62 45 3
+f 63 36 12
+f 63 12 22
+f 63 22 45
+f 63 62 36
+f 63 45 62
+f 64 37 20
+f 64 12 37
+f 64 60 12
+f 64 20 60
\ No newline at end of file
diff --git a/apple/apple_4/collision/model_normalized_collision_20.obj b/apple/apple_4/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e72d3ff66a03b74add9513937769992076dcbf1c
--- /dev/null
+++ b/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
+v -0.07588872 0.47360591 0.10907927
+v -0.38499608 0.22894507 0.08158542
+v -0.11841987 0.42807528 -0.26942064
+v 0.01160912 0.46266468 0.16818296
+v 0.01290647 0.28466497 -0.45963603
+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
+v -0.04768086 0.28408849 -0.45874027
+v -0.14355542 0.45919967 -0.14011311
+v -0.38425897 0.22863873 -0.14149080
+v -0.31697195 0.29703546 -0.22562543
+v -0.29346735 0.22546543 -0.36197288
+v -0.10387019 0.38522116 -0.35500316
+v -0.20546607 0.23965189 -0.43065521
+v -0.04656377 0.44430089 -0.27012387
+v -0.00114209 0.47461459 -0.19898348
+v -0.01670831 0.48989591 -0.12528987
+v 0.01162540 0.41416398 -0.32988539
+v -0.21749710 0.38206082 0.16566042
+v -0.10139567 0.44360905 0.16676987
+v -0.14767382 0.45905315 0.06644926
+v -0.33595345 0.31040860 0.05205549
+v -0.10470737 0.26900651 -0.45689011
+v -0.18947035 0.41284498 -0.21150584
+v -0.13240695 0.45794559 -0.16822908
+v -0.20333611 0.42833142 -0.11024498
+v -0.15785834 0.45954205 0.02100797
+v -0.36202791 0.23983369 -0.21347636
+v -0.33331117 0.31284963 -0.11022125
+v -0.32355748 0.22565436 -0.31673010
+v -0.28967457 0.29419505 -0.28626669
+v -0.16006052 0.35676441 -0.35559823
+v -0.24588051 0.23758953 -0.39920596
+v -0.20957885 0.22853828 -0.43431188
+v -0.07282137 0.45734971 -0.22678463
+v -0.08726019 0.39654451 -0.34407731
+v 0.01105652 0.47461960 -0.19913231
+f 7 1 3
+f 8 1 2
+f 8 3 1
+f 12 1 7
+f 13 2 1
+f 13 1 9
+f 14 9 1
+f 14 1 12
+f 19 11 7
+f 19 7 3
+f 19 3 11
+f 20 11 3
+f 20 4 11
+f 23 8 2
+f 23 2 13
+f 23 22 8
+f 23 13 22
+f 27 17 3
+f 27 10 17
+f 27 3 8
+f 30 17 4
+f 30 4 20
+f 30 20 3
+f 30 3 17
+f 31 11 4
+f 31 4 21
+f 32 7 11
+f 32 31 21
+f 32 11 31
+f 34 22 13
+f 34 13 9
+f 35 16 8
+f 35 8 22
+f 37 25 14
+f 37 14 5
+f 39 9 14
+f 40 29 16
+f 43 18 42
+f 44 28 10
+f 44 10 27
+f 44 43 28
+f 44 27 43
+f 45 8 16
+f 45 16 29
+f 45 27 8
+f 45 18 27
+f 45 42 18
+f 45 29 42
+f 47 12 7
+f 47 7 32
+f 47 46 12
+f 47 32 21
+f 48 21 4
+f 48 4 17
+f 48 47 21
+f 48 33 46
+f 48 46 47
+f 49 33 24
+f 49 5 14
+f 49 46 33
+f 49 14 12
+f 49 12 46
+f 49 37 5
+f 50 35 22
+f 50 16 35
+f 50 41 16
+f 50 9 41
+f 50 34 9
+f 50 22 34
+f 51 38 24
+f 52 51 36
+f 52 6 51
+f 52 36 10
+f 52 10 28
+f 53 24 33
+f 53 51 24
+f 53 36 51
+f 54 17 10
+f 54 10 36
+f 54 48 17
+f 54 36 53
+f 54 53 33
+f 54 33 48
+f 55 38 15
+f 55 15 25
+f 55 25 37
+f 56 24 38
+f 56 49 24
+f 56 37 49
+f 56 55 37
+f 56 38 55
+f 57 25 15
+f 57 39 14
+f 57 14 25
+f 58 26 39
+f 58 51 26
+f 58 38 51
+f 58 39 57
+f 58 57 15
+f 58 15 38
+f 59 6 40
+f 59 51 6
+f 59 26 51
+f 59 40 16
+f 59 41 26
+f 59 16 41
+f 60 39 26
+f 60 26 41
+f 61 41 9
+f 61 9 39
+f 61 60 41
+f 61 39 60
+f 62 42 6
+f 62 43 42
+f 62 28 43
+f 62 52 28
+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/apple/apple_4/collision/model_normalized_collision_21.obj b/apple/apple_4/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa3c6ddb9ef6fca7a751b12e34df93888396bf8c
--- /dev/null
+++ b/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
+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
+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
+f 34 20 21
+f 34 28 10
+f 34 21 17
+f 34 17 28
+f 35 21 6
+f 35 6 17
+f 35 17 21
+f 36 4 13
+f 37 22 20
+f 39 6 24
+f 39 27 6
+f 39 23 27
+f 39 15 23
+f 40 25 16
+f 40 16 11
+f 41 25 7
+f 41 16 25
+f 41 26 11
+f 41 11 16
+f 42 7 3
+f 42 41 7
+f 42 26 41
+f 43 26 17
+f 43 17 27
+f 43 27 11
+f 43 11 26
+f 44 27 23
+f 44 11 27
+f 45 28 26
+f 45 3 28
+f 46 8 18
+f 46 18 29
+f 47 29 12
+f 47 38 24
+f 48 15 18
+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/apple/apple_4/collision/model_normalized_collision_22.obj b/apple/apple_4/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc4f1ee4158877e12ab7c840c61a248aa743e3d6
--- /dev/null
+++ b/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/apple/apple_4/collision/model_normalized_collision_23.obj b/apple/apple_4/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5ad0840de044eadf7f8ee29d9c6a8b51d68677d
--- /dev/null
+++ b/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/apple/apple_4/collision/model_normalized_collision_24.obj b/apple/apple_4/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..534f990a1b15cf3ee785a1d1d4f85de72de67fbc
--- /dev/null
+++ b/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/apple/apple_4/collision/model_normalized_collision_25.obj b/apple/apple_4/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de11f5062c6f2df45fcfe704dcb6b33582958578
--- /dev/null
+++ b/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/apple/apple_4/collision/model_normalized_collision_26.obj b/apple/apple_4/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf221320fc605c0c54e5cee64d568a554cd054d2
--- /dev/null
+++ b/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/apple/apple_4/collision/model_normalized_collision_27.obj b/apple/apple_4/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e4021c33d56f6b735cda4fa9ce5bd73a9a8cc44
--- /dev/null
+++ b/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/apple/apple_4/collision/model_normalized_collision_28.obj b/apple/apple_4/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..771efbbaf8c234f1cc45173486dc5ee61b8cc1cf
--- /dev/null
+++ b/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/apple/apple_4/collision/model_normalized_collision_29.obj b/apple/apple_4/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbc5262869839daf5140ce7e33f023e184997c78
--- /dev/null
+++ b/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/apple/apple_4/collision/model_normalized_collision_3.obj b/apple/apple_4/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c74da403aee9f948eb1a07a4a93170ec97d9420f
--- /dev/null
+++ b/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/apple/apple_4/collision/model_normalized_collision_30.obj b/apple/apple_4/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8c06f6ad2b6ba27eddc859da1e3b4c91434c2bf
--- /dev/null
+++ b/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/apple/apple_4/collision/model_normalized_collision_31.obj b/apple/apple_4/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a4f176dfe5e175d0ac0124214d2b5096dfd559c
--- /dev/null
+++ b/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/apple/apple_4/collision/model_normalized_collision_4.obj b/apple/apple_4/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b18e3157b5b3260f3e1f945e70ff46143415c649
--- /dev/null
+++ b/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/apple/apple_4/collision/model_normalized_collision_5.obj b/apple/apple_4/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f18f91c2ceedaa1f69c8bc8604aa27ba5bcf6fcf
--- /dev/null
+++ b/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/apple/apple_4/collision/model_normalized_collision_6.obj b/apple/apple_4/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98657b9a6ebc02934797d3cd4582ab72026309de
--- /dev/null
+++ b/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
+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
+f 11 8 1
+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
+f 18 15 9
+f 18 9 10
+f 18 10 4
+f 20 8 11
+f 21 12 7
+f 21 1 12
+f 22 7 12
+f 24 1 21
+f 24 14 11
+f 24 11 1
+f 26 16 8
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+f 26 8 20
+f 27 3 18
+f 28 19 6
+f 28 6 4
+f 28 4 19
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+f 32 2 13
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+f 34 24 21
+f 34 21 7
+f 35 7 23
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+f 36 26 4
+f 36 4 17
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+f 37 18 4
+f 37 4 6
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+f 39 29 14
+f 39 6 29
+f 39 37 6
+f 39 14 38
+f 40 11 14
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+f 41 19 4
+f 41 4 30
+f 41 30 11
+f 41 11 40
+f 41 40 29
+f 41 29 19
+f 42 31 22
+f 42 22 12
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+f 43 32 13
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+f 44 32 23
+f 44 23 7
+f 44 7 32
+f 45 33 18
+f 45 18 3
+f 45 3 33
+f 46 13 18
+f 47 14 24
+f 47 24 34
+f 47 25 14
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+f 48 3 25
+f 48 25 35
+f 49 33 3
+f 49 48 35
+f 49 3 48
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+f 50 34 7
+f 50 7 35
+f 50 47 34
+f 50 35 47
+f 51 38 25
+f 51 25 3
+f 51 3 38
+f 52 27 37
+f 52 37 39
+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
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+f 54 23 49
\ No newline at end of file
diff --git a/apple/apple_4/collision/model_normalized_collision_7.obj b/apple/apple_4/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f52577b8c69854c96d1e65a89b62077b4a1efc98
--- /dev/null
+++ b/apple/apple_4/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
+f 23 5 14
+f 23 1 9
+f 26 10 18
+f 30 20 12
+f 30 12 6
+f 31 6 11
+f 31 11 18
+f 33 4 7
+f 33 7 19
+f 34 20 15
+f 36 7 1
+f 37 22 20
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+f 39 10 17
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+f 44 26 3
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+f 45 3 19
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+f 46 21 38
+f 47 28 7
+f 47 46 28
+f 47 21 46
+f 47 36 21
+f 47 7 36
+f 48 27 7
+f 48 7 28
+f 49 28 29
+f 49 48 28
+f 49 17 27
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+f 49 39 17
+f 49 29 39
+f 50 18 10
+f 50 31 18
+f 50 30 31
+f 51 10 25
+f 51 50 10
+f 51 30 50
+f 52 25 15
+f 52 15 20
+f 52 20 30
+f 52 51 25
+f 52 30 51
+f 53 31 30
+f 53 30 6
+f 53 6 31
+f 54 32 19
+f 54 19 3
+f 54 3 32
+f 55 33 19
+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
+f 57 2 34
+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
+f 61 58 35
+f 61 20 58
+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/apple/apple_4/collision/model_normalized_collision_8.obj b/apple/apple_4/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..696fd66063790c8ae04ddff8759f1c779af6996f
--- /dev/null
+++ b/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/apple/apple_4/collision/model_normalized_collision_9.obj b/apple/apple_4/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..922ac26736beae9403afb945de3e4ec099a216c5
--- /dev/null
+++ b/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
+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
+f 32 21 2
+f 32 2 14
+f 33 3 8
+f 33 22 20
+f 34 15 22
+f 35 22 15
+f 35 15 4
+f 36 13 20
+f 37 20 13
+f 38 6 24
+f 38 26 17
+f 38 24 11
+f 38 11 26
+f 39 17 15
+f 39 15 25
+f 40 26 10
+f 40 10 16
+f 40 16 23
+f 41 14 2
+f 41 2 27
+f 41 18 28
+f 43 28 6
+f 44 29 6
+f 44 6 28
+f 44 28 29
+f 45 30 19
+f 45 19 11
+f 45 11 24
+f 45 24 30
+f 46 31 3
+f 46 3 33
+f 46 33 20
+f 46 20 31
+f 47 25 15
+f 47 15 34
+f 47 43 25
+f 47 42 43
+f 48 8 21
+f 49 33 8
+f 49 8 48
+f 49 34 22
+f 49 22 33
+f 50 36 20
+f 50 20 22
+f 50 22 35
+f 50 35 36
+f 51 35 4
+f 52 37 13
+f 52 13 23
+f 53 31 20
+f 53 20 37
+f 53 37 52
+f 54 6 38
+f 54 43 6
+f 54 25 43
+f 55 38 17
+f 55 54 38
+f 55 25 54
+f 55 39 25
+f 55 17 39
+f 56 40 23
+f 56 23 13
+f 56 26 40
+f 57 41 27
+f 57 27 18
+f 57 18 41
+f 58 32 14
+f 58 14 41
+f 58 41 28
+f 58 28 42
+f 58 21 32
+f 58 48 21
+f 58 42 48
+f 59 43 42
+f 59 42 28
+f 59 28 43
+f 60 47 34
+f 60 49 48
+f 60 34 49
+f 60 48 42
+f 60 42 47
+f 61 36 35
+f 61 35 51
+f 61 13 36
+f 62 51 4
+f 62 4 26
+f 62 61 51
+f 62 13 61
+f 62 56 13
+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/apple/apple_4/model.xml b/apple/apple_4/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6ce022c48288d59b2c4f2be01f2da2c23b79c10f
--- /dev/null
+++ b/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">
+        <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_35.008"/>
+        <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_25._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"/>
+        <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"/>
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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_29._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_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="-0.00024928225 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/apple/apple_4/visual/material.mtl b/apple/apple_4/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c2fba56ccb14ccb555d22a9ce4b49dbce596c814
--- /dev/null
+++ b/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/apple/apple_4/visual/model_normalized_0.obj b/apple/apple_4/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5fcb57f970199fa066fc75ddd5e362080ac7836
--- /dev/null
+++ b/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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\ No newline at end of file
diff --git a/apple/apple_5/collision/model_normalized_collision_0.obj b/apple/apple_5/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..863cce9e71798ed5832397c7dd8290947c882bbc
--- /dev/null
+++ b/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/apple/apple_5/collision/model_normalized_collision_1.obj b/apple/apple_5/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47947437023312bba9e0a04f1f249a7597e927f4
--- /dev/null
+++ b/apple/apple_5/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.05538647 -0.47429874 0.18255200
+v 0.39660286 -0.25752393 0.00796974
+v 0.37215545 -0.26206610 0.21651298
+v 0.02752025 -0.26515151 0.21849264
+v -0.01820687 -0.26525619 -0.34060345
+v 0.38091209 -0.25708574 0.20049085
+v 0.02614839 -0.46681970 0.21482768
+v 0.22916452 -0.41275611 0.13927892
+v 0.17389259 -0.25685048 -0.31629129
+v 0.02538085 -0.46204326 -0.11065341
+v -0.01953381 -0.34945542 -0.30565064
+v 0.22654452 -0.39839357 0.21053380
+v 0.31488618 -0.33939955 0.16863181
+v -0.00766092 -0.26120631 -0.33841901
+v 0.30526485 -0.25534747 -0.21265505
+v 0.02525121 -0.49255240 0.05160630
+v -0.02045535 -0.31638639 -0.32448559
+v 0.14105205 -0.35500187 -0.24976355
+v 0.16981184 -0.42757723 0.21088314
+v 0.35853064 -0.29679927 0.16821597
+v 0.28565245 -0.35574045 0.21054821
+v 0.28707142 -0.36801361 0.02456450
+v 0.37990107 -0.25635846 -0.06552365
+v 0.02562731 -0.47800078 0.18313257
+v -0.01598495 -0.36411043 -0.28901432
+v 0.14266449 -0.45879768 0.12441265
+v -0.00554166 -0.31550236 -0.32282266
+v 0.09759859 -0.32484303 -0.29477376
+v 0.21559284 -0.29702542 -0.26408451
+v 0.08308447 -0.45757113 0.21122906
+v 0.21426760 -0.41256568 0.18476083
+v 0.35814704 -0.28139443 0.21352409
+v 0.39705124 -0.25783753 0.14018060
+v 0.28673626 -0.36795558 0.15376859
+v 0.16712902 -0.41206426 -0.12218957
+v 0.34548497 -0.30932327 -0.02112245
+v 0.02551358 -0.47846269 -0.05045219
+v 0.06623818 -0.42755100 -0.18166644
+v 0.05240335 -0.38703026 -0.25122015
+v 0.09714566 -0.47375349 0.12437906
+v 0.16816971 -0.44425598 0.00858507
+v 0.03974229 -0.33337031 -0.30657538
+v 0.23302172 -0.25698590 -0.28510689
+v 0.15638851 -0.29608150 -0.29420841
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+v 0.37328867 -0.28153002 -0.02110542
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+v 0.02489182 -0.49128432 0.02428108
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+v 0.11166315 -0.41244296 -0.18025217
+v 0.04006488 -0.49031551 0.05157359
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+v 0.05206096 -0.34066068 -0.29571855
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+v 0.16960316 -0.33772949 -0.25342235
+v 0.08220948 -0.47288002 0.15409155
+v 0.15431963 -0.44312158 0.18441926
+v 0.24154803 -0.39898667 0.00882443
+v 0.38932795 -0.26707035 0.00905719
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+f 24 1 7
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+f 62 45 26
+f 62 26 46
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+f 63 51 22
+f 63 41 51
+f 64 48 22
+f 64 22 36
+f 64 36 50
+f 64 50 2
+f 64 2 48
\ No newline at end of file
diff --git a/apple/apple_5/collision/model_normalized_collision_10.obj b/apple/apple_5/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4586cbce47ad6b2ca4d99f4af691ee79db0c51b
--- /dev/null
+++ b/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
+v -0.45162996 -0.00433769 0.26414818
+v -0.42958187 -0.25731369 -0.07494914
+v -0.43225538 -0.00741649 -0.20046668
+v 0.26994449 -0.00757576 -0.19059826
+v -0.23005551 -0.26515151 -0.19059826
+v -0.40665071 -0.24746213 0.24672993
+v -0.38906350 -0.24673600 -0.18690647
+v -0.23005551 -0.26515151 0.24879567
+v -0.40719978 -0.20255351 -0.18834525
+f 1 3 4
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 7 2 6
+f 7 6 4
+f 7 4 3
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 9 1 4
+f 9 4 5
+f 10 8 5
+f 10 6 8
+f 11 9 5
+f 11 5 1
+f 11 1 9
+f 12 10 5
+f 12 5 6
+f 12 6 10
\ No newline at end of file
diff --git a/apple/apple_5/collision/model_normalized_collision_11.obj b/apple/apple_5/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29e0169a7fc11f7880c3c3fb12220c90ac1e031e
--- /dev/null
+++ b/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
+v -0.09309390 0.44435492 0.23214792
+v -0.22897293 0.09751346 0.42636527
+v -0.23005551 -0.00757576 0.35485628
+v -0.09230201 0.22950329 0.41455847
+v -0.22700011 0.39689668 0.23071035
+v -0.23005551 -0.00757576 0.23364416
+v -0.09843323 0.10526011 0.41086195
+v -0.09088124 0.32954581 0.36795246
+v -0.14864260 0.43369843 0.22559353
+v -0.09220410 0.27504876 0.39942541
+v -0.08960235 0.41490235 0.28430899
+v -0.22291966 0.29907482 0.35003539
+v -0.10458066 0.42933741 0.25358491
+v -0.21060070 0.40615371 0.22749465
+v -0.19716489 0.22985176 0.39702207
+v -0.19162682 0.38166418 0.28263847
+v -0.22683206 0.20075519 0.39875763
+v -0.11861290 0.29935304 0.38264907
+v -0.10412305 0.41229306 0.28277555
+v -0.13623302 0.21399314 0.41243155
+v -0.21861104 0.36906445 0.28326118
+v -0.13253344 0.35488146 0.34007348
+v -0.22008351 0.38644172 0.25437202
+v -0.22234262 0.24142492 0.38293464
+v -0.12089522 0.27413456 0.39593529
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+v -0.11962080 0.39948205 0.29436320
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+v -0.16436263 0.32909354 0.35096837
+v -0.16254496 0.38446463 0.29396730
+v -0.17927036 0.29870221 0.36584578
+v -0.15119486 0.25897631 0.39591397
+v -0.13224023 0.36930892 0.32426654
+v -0.20791334 0.25432144 0.38093240
+f 1 2 3
+f 3 2 4
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+f 10 5 1
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+f 35 23 7
+f 35 7 28
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+f 35 21 34
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+f 36 25 30
+f 36 30 33
+f 37 34 15
+f 37 15 27
+f 37 35 34
+f 37 27 18
+f 37 18 35
\ No newline at end of file
diff --git a/apple/apple_5/collision/model_normalized_collision_12.obj b/apple/apple_5/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eef6fd4ffa2223fc3511974532000b1f5d0ab8d1
--- /dev/null
+++ b/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
+v 0.40381204 0.24122480 0.23896309
+v 0.39806943 -0.14717295 -0.17901903
+v 0.38255658 0.22973434 -0.18540306
+v 0.42245257 0.15932204 0.27969646
+v 0.47943271 -0.07821036 0.12503090
+v 0.46373642 -0.13853219 -0.00740603
+v 0.39115661 -0.14393939 0.14273507
+v 0.47981222 0.10878574 -0.03744889
+v 0.46334065 -0.09260475 0.18255494
+v 0.45122369 0.18149647 0.19775775
+v 0.43431304 -0.13558359 -0.12073666
+v 0.46310801 -0.13850220 0.11014526
+v 0.47906603 -0.09349065 0.02241552
+v 0.39115661 0.09848485 0.23364416
+v 0.47959621 0.03528118 -0.07921989
+v 0.43519889 0.15495898 0.25745256
+v 0.47863558 -0.06589651 0.13983331
+v 0.46425403 0.18121254 0.13887200
+v 0.44860708 -0.13485486 -0.07896540
+v 0.46310834 -0.10760906 0.16742695
+v 0.47908454 -0.07868574 -0.01928782
+v 0.47913436 -0.09279836 0.09472159
+v 0.41437597 0.18585987 0.27438910
+v 0.46176356 -0.06317503 -0.10602121
+v 0.44745706 0.13560277 -0.13746717
+v 0.42690839 0.15683235 0.27325755
+v 0.44943879 0.16988309 0.21164057
+v 0.47951447 0.13990862 0.05096471
+v 0.43266974 0.22469023 -0.06637565
+v 0.43224838 0.22504876 0.18406313
+v 0.44882526 -0.13818820 0.18283551
+v 0.46359777 -0.12405436 -0.03435348
+v 0.43209057 0.16933511 0.25623379
+v 0.47958272 0.02352957 -0.07831659
+v 0.43145689 -0.07773885 -0.16579618
+v 0.46285060 0.12300788 -0.09505189
+v 0.47998207 0.12490958 0.12403145
+v 0.46327194 0.18425954 0.00831208
+v 0.43506951 0.20879560 -0.09415583
+v 0.43183913 0.20965869 0.21011901
+v 0.42056706 0.18138947 0.26843172
+v 0.43379587 -0.12018443 -0.13561386
+v 0.42471864 -0.00825918 -0.20899613
+v 0.47969090 0.06559817 -0.06409696
+v 0.44797744 0.06442235 -0.16643471
+v 0.47878798 0.13890459 0.03857747
+v 0.44925965 0.21072717 0.13886645
+v 0.41669547 0.16570932 -0.18274080
+v 0.40260086 0.22695191 -0.15206981
+v 0.44820181 0.18376516 -0.08002170
+v 0.44790174 0.20966040 -0.02080978
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+v 0.43872894 -0.00731459 -0.18346093
+v 0.46364661 0.02356526 -0.12349435
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+f 15 1 9
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+f 17 4 6
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+f 20 3 12
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+f 22 9 5
+f 22 5 14
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+f 47 39 11
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+f 47 3 18
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+f 50 33 21
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+f 51 46 6
+f 52 6 32
+f 52 32 42
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+f 54 53 42
+f 54 41 53
+f 54 50 41
+f 54 32 50
+f 55 45 5
+f 55 38 45
+f 55 46 38
+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/apple/apple_5/collision/model_normalized_collision_13.obj b/apple/apple_5/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecd60f9260c33894a083d9c3a0d3be8647e90582
--- /dev/null
+++ b/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/apple/apple_5/collision/model_normalized_collision_14.obj b/apple/apple_5/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e03ae20e902aa2c10f818cb4e834d366b829a42
--- /dev/null
+++ b/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
+f 6 3 2
+f 6 4 3
+f 9 6 2
+f 11 7 3
+f 11 3 4
+f 12 8 4
+f 12 4 6
+f 12 6 8
+f 13 5 7
+f 13 7 8
+f 15 9 8
+f 15 8 6
+f 15 6 9
+f 16 1 3
+f 16 3 10
+f 17 10 3
+f 17 3 7
+f 17 16 10
+f 18 8 7
+f 18 7 11
+f 18 11 4
+f 19 5 13
+f 19 9 14
+f 20 13 8
+f 20 8 9
+f 20 9 13
+f 21 14 9
+f 21 9 2
+f 22 5 19
+f 22 19 14
+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
+f 26 17 7
+f 26 23 16
+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/apple/apple_5/collision/model_normalized_collision_15.obj b/apple/apple_5/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7a2cd7fd837f32566eabe06241397a47c1bd5a0
--- /dev/null
+++ b/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
+f 7 1 2
+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
+f 16 11 2
+f 16 2 5
+f 18 8 1
+f 19 6 12
+f 19 18 1
+f 19 12 18
+f 20 13 3
+f 20 9 13
+f 21 3 4
+f 21 4 14
+f 22 14 6
+f 22 6 9
+f 22 9 20
+f 22 21 14
+f 22 20 3
+f 22 3 21
+f 24 14 4
+f 24 15 6
+f 24 6 14
+f 25 11 16
+f 26 12 6
+f 27 16 5
+f 28 6 19
+f 29 19 1
+f 29 1 9
+f 30 23 15
+f 30 15 24
+f 31 23 10
+f 31 10 17
+f 31 17 26
+f 32 4 11
+f 32 11 25
+f 33 25 16
+f 34 26 18
+f 34 18 12
+f 34 12 26
+f 35 26 17
+f 35 17 27
+f 36 27 17
+f 36 17 10
+f 36 10 33
+f 36 16 27
+f 37 28 19
+f 37 9 6
+f 37 6 28
+f 37 29 9
+f 38 30 24
+f 38 24 4
+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/apple/apple_5/collision/model_normalized_collision_16.obj b/apple/apple_5/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54bef9f1fa7f36717d032e09615271f123b2e3c0
--- /dev/null
+++ b/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
+v -0.26359772 0.41312975 -0.04897867
+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
+f 42 27 17
+f 42 17 10
+f 42 10 27
+f 43 27 19
+f 43 19 12
+f 43 12 27
+f 44 10 17
+f 44 17 28
+f 44 19 10
+f 45 28 24
+f 45 24 16
+f 45 16 28
+f 46 6 24
+f 46 24 28
+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/apple/apple_5/collision/model_normalized_collision_17.obj b/apple/apple_5/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93abb8b4d38e3cf370dcbfb3a28f36e7efbcc56a
--- /dev/null
+++ b/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/apple/apple_5/collision/model_normalized_collision_18.obj b/apple/apple_5/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65f49ad08a18a39f2885a1bbadecd865285dba85
--- /dev/null
+++ b/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
+v 0.35674051 -0.08957660 -0.28339302
+v 0.26084056 0.22766877 -0.34578052
+v 0.38930606 0.08244539 -0.26811297
+v 0.41694239 -0.07794768 -0.19621511
+v 0.26154184 -0.13660930 -0.34559992
+v 0.38255658 0.22973434 -0.18540306
+v 0.42390489 0.14133612 -0.18451765
+v 0.34307914 0.19577443 -0.28115227
+v 0.29821009 0.15097615 -0.35756598
+v 0.32940037 0.01164305 -0.34270583
+v 0.40220878 -0.11978305 -0.19580169
+v 0.38671532 -0.01768330 -0.26936956
+v 0.26994449 -0.14393939 -0.17544675
+v 0.26252716 0.12606938 -0.39046080
+v 0.44337360 -0.00701086 -0.17219845
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\ No newline at end of file
diff --git a/apple/apple_5/collision/model_normalized_collision_19.obj b/apple/apple_5/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e31e92057a5a73fe69073c9d9eca8e0e0f1673b
--- /dev/null
+++ b/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
+v 0.16388388 -0.14393939 0.35485628
+v 0.16494308 -0.00697861 0.43661048
+v 0.05420257 0.00352877 0.37497476
+v 0.02060195 -0.21290598 0.37896856
+v 0.16388388 -0.00757576 0.35485628
+v 0.16404480 -0.14362015 0.42743496
+v 0.03344801 -0.22069033 0.38505378
+v 0.11031990 -0.00268782 0.41534365
+v 0.06811257 0.00302558 0.38936636
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+v 0.10520721 -0.21852120 0.40544393
+v 0.16488550 -0.11196051 0.43073143
+v 0.14152122 -0.00541112 0.42971153
+v 0.04534687 -0.00548935 0.35359368
+v 0.15347788 -0.11300717 0.42918837
+v 0.07790121 -0.21772049 0.39918531
+v 0.11020811 -0.14300782 0.41463114
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+f 18 16 14
+f 18 14 8
+f 18 17 16
+f 18 8 17
\ No newline at end of file
diff --git a/apple/apple_5/collision/model_normalized_collision_2.obj b/apple/apple_5/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29299577213c7b1b256d24c5ac3244fbe0837d01
--- /dev/null
+++ b/apple/apple_5/collision/model_normalized_collision_2.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.40665071 -0.24746213 0.24672993
+v -0.42958187 -0.25731369 -0.07494914
+v -0.40452894 -0.17171430 0.30410251
+v -0.41722870 -0.00643555 0.32335771
+v -0.48486457 -0.11001343 0.12473742
+v -0.40454390 -0.20059862 0.28884781
+v -0.45405023 -0.22754230 0.12420299
+v -0.46325063 -0.00687156 -0.13046949
+v -0.44752368 -0.08885730 0.26705414
+v -0.46959947 -0.19759042 0.02393923
+v -0.43911634 -0.24217771 0.16909785
+v -0.48602502 -0.00877328 0.15484392
+v -0.41419315 -0.08620224 0.32086060
+v -0.43716195 -0.13852769 0.27151192
+v -0.46949237 -0.18512857 0.12414327
+v -0.45393602 -0.22769599 -0.00629520
+v -0.46903880 -0.14046826 -0.06381892
+v -0.48677000 -0.00859042 -0.03692248
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+v -0.42581425 -0.18444029 0.26794927
+v -0.43950317 -0.09600718 0.28198469
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+v -0.45480284 -0.19753763 0.18494710
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\ No newline at end of file
diff --git a/apple/apple_5/collision/model_normalized_collision_20.obj b/apple/apple_5/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c0d7ccfdcf3562c6c0e55b79756fb9a7d481bd7
--- /dev/null
+++ b/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
+v 0.03398265 -0.28178203 -0.32647996
+v 0.02752025 -0.26515151 0.21849264
+v -0.23005551 -0.26515151 0.21849264
+v -0.22131762 -0.42681031 -0.15196874
+v -0.22453147 -0.25789436 -0.34567171
+v 0.02614839 -0.46681970 0.21482768
+v 0.00949180 -0.44249163 -0.16782743
+v -0.11189454 -0.26284211 -0.36267593
+v -0.22242017 -0.38185243 -0.23994553
+v -0.21996643 -0.45698149 0.17946612
+v 0.02449943 -0.48885220 0.00954132
+v -0.02056050 -0.34629860 -0.30859891
+v -0.22154377 -0.45766337 -0.06352353
+v -0.15118580 -0.42753838 -0.19569396
+v -0.07834595 -0.49024101 0.15474586
+v -0.22070383 -0.44331303 0.21040674
+v 0.02453345 -0.39966741 -0.24075416
+v -0.01957132 -0.30452098 -0.33066697
+v -0.16706842 -0.34268473 -0.31055051
+v -0.19178051 -0.42788866 -0.18014376
+v -0.12048684 -0.48977043 -0.02112046
+v -0.02054324 -0.49047194 0.15467344
+v -0.18046157 -0.45769109 0.21098787
+v -0.22129302 -0.47426140 0.02451039
+v 0.02472853 -0.45775654 -0.12250108
+v 0.02666465 -0.35132310 -0.29193122
+v -0.03356639 -0.40023100 -0.25270841
+v -0.10803049 -0.27502566 -0.35833340
+v -0.20754547 -0.32615765 -0.30891294
+v -0.17762195 -0.39869414 -0.24091333
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+v -0.13607922 -0.44215367 -0.16823468
+v 0.02501582 -0.47334149 0.19665048
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+v -0.13499962 -0.47329873 0.19587213
+v -0.20516896 -0.45769354 0.19492376
+v -0.22048837 -0.47307519 0.10850249
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+v -0.16695711 -0.36906774 -0.28335908
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+v -0.16518457 -0.47275413 0.18050794
+v -0.18319857 -0.27266305 -0.35419486
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+f 10 4 6
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+f 53 35 16
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+f 54 24 37
+f 54 38 35
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+f 55 39 28
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+f 56 49 8
+f 56 8 26
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+f 58 43 20
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+f 59 10 30
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+f 59 31 10
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+f 60 59 45
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+f 61 48 32
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+f 61 49 22
+f 61 32 49
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+f 62 24 54
+f 62 54 53
+f 62 53 36
+f 63 44 6
+f 63 6 57
+f 63 57 29
+f 63 29 44
\ No newline at end of file
diff --git a/apple/apple_5/collision/model_normalized_collision_21.obj b/apple/apple_5/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbc07a01d5e2b9f11d4b2c9731305cda59215a14
--- /dev/null
+++ b/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
+v -0.22725891 -0.25942958 0.37097970
+v -0.23005551 -0.26515151 0.21849264
+v 0.36398311 -0.25551613 0.24261343
+v -0.12148436 -0.35677939 0.35369241
+v -0.20816800 -0.44857371 0.21266838
+v 0.30410809 -0.25554163 0.32986363
+v 0.11361044 -0.38577624 0.32485791
+v -0.16576563 -0.26005062 0.38576571
+v 0.36540954 -0.27188764 0.21432364
+v -0.09318885 -0.44444705 0.26714899
+v -0.22322604 -0.37350342 0.30760452
+v 0.15831447 -0.29781704 0.38386885
+v 0.21467107 -0.32513482 0.34057520
+v -0.16338290 -0.34453659 0.35374208
+v 0.26045931 -0.37312974 0.21272862
+v 0.32870855 -0.28194936 0.27046306
+v -0.15129497 -0.46306703 0.21304823
+v 0.01118419 -0.35815637 0.35328800
+v 0.06894893 -0.44497196 0.25521462
+v -0.22596451 -0.43874184 0.21495537
+v -0.16627175 -0.40204478 0.30689856
+v 0.10566399 -0.30265493 0.38204993
+v 0.27281434 -0.26891511 0.35130971
+v 0.16032016 -0.35746542 0.33835513
+v 0.20139115 -0.29735893 0.36736740
+v -0.21006597 -0.28826331 0.36480798
+v -0.15177157 -0.31848247 0.36623941
+v 0.15714373 -0.43279856 0.21293196
+v 0.27186326 -0.35274956 0.24075431
+v -0.12006801 -0.45869633 0.24167616
+v 0.04144650 -0.42983282 0.28188996
+v 0.14159988 -0.32803823 0.36649018
+v -0.19224120 -0.37221955 0.32106399
+v -0.19435410 -0.44316985 0.24121436
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+v -0.16510403 -0.27324710 0.38130533
+v -0.22050106 -0.31386720 0.35152145
+v 0.11444871 -0.44798383 0.21357263
+v 0.15521988 -0.41224454 0.26821983
+v -0.13524052 -0.42823673 0.28109571
+v 0.01043083 -0.45859121 0.24173115
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+v 0.26975211 -0.33975206 0.27070836
+v 0.24393714 -0.35456740 0.28078068
+v -0.22557003 -0.27363582 0.36629096
+v 0.09825770 -0.44250449 0.24156338
+v 0.15802510 -0.36918417 0.32677857
+v 0.11321188 -0.44359116 0.22719543
+v 0.21613733 -0.40459433 0.21307145
+v -0.18062959 -0.42868164 0.26642865
+v -0.00405367 -0.44434625 0.26627822
+v 0.05538216 -0.45867230 0.22712262
+v 0.12753575 -0.41409237 0.28091294
+v -0.22075023 -0.39881935 0.28027368
+v 0.27193551 -0.27919263 0.34169176
+v 0.09995368 -0.43027340 0.26664186
+v 0.19855474 -0.38449619 0.28035901
+f 6 5 4
+f 6 2 5
+f 9 6 4
+f 9 4 3
+f 11 3 4
+f 12 8 5
+f 12 5 2
+f 15 3 11
+f 18 8 12
+f 19 12 2
+f 19 2 6
+f 19 6 9
+f 21 7 13
+f 23 14 4
+f 23 4 5
+f 23 5 8
+f 24 13 7
+f 24 7 17
+f 25 15 11
+f 25 21 15
+f 25 7 21
+f 26 3 16
+f 28 16 3
+f 28 3 15
+f 28 27 16
+f 28 15 27
+f 30 17 7
+f 30 7 25
+f 31 8 18
+f 31 20 8
+f 31 1 20
+f 32 18 12
+f 32 12 19
+f 33 20 1
+f 34 21 13
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+f 36 24 17
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+f 38 26 9
+f 38 9 3
+f 38 3 26
+f 39 19 9
+f 39 9 26
+f 40 29 17
+f 40 11 4
+f 40 17 30
+f 40 30 25
+f 40 25 11
+f 41 14 17
+f 41 17 29
+f 42 1 31
+f 44 33 13
+f 44 13 24
+f 44 37 33
+f 45 13 33
+f 45 33 1
+f 46 34 10
+f 46 21 34
+f 46 35 21
+f 46 10 35
+f 47 34 22
+f 47 10 34
+f 48 24 14
+f 49 14 23
+f 49 23 37
+f 49 37 48
+f 50 32 19
+f 50 19 39
+f 51 50 39
+f 51 32 50
+f 52 41 29
+f 52 4 14
+f 52 14 41
+f 52 40 4
+f 52 29 40
+f 54 27 10
+f 54 16 27
+f 55 42 31
+f 55 31 43
+f 55 43 53
+f 55 53 1
+f 55 1 42
+f 56 43 31
+f 56 31 18
+f 56 18 32
+f 56 32 51
+f 57 44 24
+f 57 37 44
+f 57 48 37
+f 57 24 48
+f 58 34 13
+f 58 13 45
+f 58 45 22
+f 58 22 34
+f 59 45 1
+f 59 22 45
+f 59 53 22
+f 59 1 53
+f 60 10 47
+f 60 54 10
+f 60 43 54
+f 61 49 48
+f 61 48 14
+f 61 14 49
+f 62 51 39
+f 62 39 26
+f 62 26 16
+f 62 16 51
+f 63 53 43
+f 63 22 53
+f 63 43 60
+f 63 60 47
+f 63 47 22
+f 64 54 43
+f 64 51 16
+f 64 16 54
+f 64 56 51
+f 64 43 56
\ No newline at end of file
diff --git a/apple/apple_5/collision/model_normalized_collision_22.obj b/apple/apple_5/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d2fcd55e058a909ba61e23d8d71ea2057708bb0
--- /dev/null
+++ b/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
+v -0.09230201 0.22950329 0.41455847
+v -0.10210826 -0.00553460 0.39112129
+v 0.02813808 0.23323799 0.42562931
+v -0.09369187 -0.00757576 0.23364416
+v 0.03701242 0.01946599 0.37537395
+v -0.09369187 0.23484848 0.23364416
+v 0.00087695 0.13485102 0.43020855
+v 0.02927335 0.21512715 0.43162159
+v -0.09737172 0.11889476 0.41528407
+v 0.03239425 0.10311881 0.42964961
+v 0.00014726 0.18860057 0.42875955
+v 0.03551282 0.04789619 0.40212238
+f 1 2 3
+f 5 2 1
+f 7 3 2
+f 7 2 5
+f 8 1 3
+f 8 5 1
+f 9 6 3
+f 9 4 6
+f 9 3 7
+f 9 7 5
+f 11 8 3
+f 11 3 6
+f 11 6 4
+f 12 9 5
+f 12 4 9
+f 12 10 4
+f 13 11 10
+f 13 12 5
+f 13 10 12
+f 14 11 4
+f 14 4 10
+f 14 10 11
+f 15 13 5
+f 15 5 8
+f 15 8 11
+f 15 11 13
\ No newline at end of file
diff --git a/apple/apple_5/collision/model_normalized_collision_23.obj b/apple/apple_5/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c3b0a42b3491b6a0972abf9ad662fb59a1c4caa
--- /dev/null
+++ b/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
+v -0.22219107 -0.34539168 -0.28667050
+v -0.22826235 -0.24633113 0.37606745
+v -0.38502808 -0.24266984 0.28456126
+v -0.42489814 -0.28383905 -0.05071809
+v -0.25114800 -0.38347802 0.27996479
+v -0.22480873 -0.30365158 0.35586574
+v -0.29685289 -0.42738732 -0.04890359
+v -0.37925638 -0.35906873 0.12335967
+v -0.22643856 -0.24707014 -0.35010193
+v -0.22296547 -0.44786166 0.19721075
+v -0.29878794 -0.24139888 0.35720376
+v -0.33422038 -0.32832739 -0.19345398
+v -0.22361315 -0.44727928 -0.09525188
+v -0.44444102 -0.24446474 0.13994684
+v -0.33685759 -0.34211521 0.24929710
+v -0.30604392 -0.42980745 0.10786906
+v -0.37881332 -0.35952846 -0.02113892
+v -0.22453147 -0.25789436 -0.34567171
+v -0.22332542 -0.41863854 0.25350890
+v -0.25767515 -0.24433198 0.37118330
+v -0.25076602 -0.35885089 0.30602431
+v -0.36664026 -0.24325111 -0.22584564
+v -0.23887383 -0.24486990 -0.34472270
+v -0.22423219 -0.46520219 -0.02194623
+v -0.22331436 -0.43141703 -0.13871995
+v -0.42385957 -0.27203830 0.18033485
+v -0.43882383 -0.27296716 0.10903774
+v -0.34106474 -0.25704089 0.32350038
+v -0.28055558 -0.42688391 0.17938993
+v -0.30606486 -0.43030061 0.00911472
+v -0.35179359 -0.35391468 -0.12151797
+v -0.22725891 -0.25942958 0.37097970
+v -0.25669309 -0.25740912 0.36606838
+v -0.28079333 -0.31347669 0.32061128
+v -0.22508266 -0.34662160 0.32733875
+v -0.30749292 -0.32479996 0.29441832
+v -0.44344877 -0.24452169 -0.03736784
+v -0.40793556 -0.27241878 -0.12399523
+v -0.27636494 -0.26752235 -0.31139162
+v -0.26692337 -0.25819601 -0.32510838
+v -0.24752610 -0.36974257 -0.23953336
+v -0.28265232 -0.41257063 -0.12254079
+v -0.42898720 -0.24403875 0.19758612
+v -0.39254670 -0.27055964 0.25401377
+v -0.42406554 -0.28325134 0.15391795
+v -0.39359149 -0.34413337 0.00922233
+v -0.34390930 -0.24422471 0.32805860
+v -0.23621893 -0.45909476 0.13904335
+v -0.25029878 -0.44188894 0.17949147
+v -0.36438565 -0.35830585 0.17909562
+v -0.27728735 -0.40097946 0.23967339
+v -0.35144923 -0.38475887 -0.02118325
+v -0.25084545 -0.45755406 0.00961477
+v -0.36638314 -0.35620791 -0.07895957
+v -0.23646085 -0.34479000 0.32281063
+v -0.33610919 -0.29593640 0.29399078
+v -0.43848416 -0.27303469 0.00889656
+v -0.36301302 -0.29752892 -0.18143020
+v -0.41333545 -0.24412530 -0.13859418
+v -0.42851039 -0.24435564 -0.09539592
+v -0.33471261 -0.26808462 -0.25441508
+v -0.23754041 -0.25514925 -0.34119149
+v -0.23714781 -0.31247619 -0.30802602
+f 19 7 2
+f 19 10 3
+f 20 11 2
+f 20 2 7
+f 21 7 3
+f 21 3 12
+f 22 6 20
+f 23 4 12
+f 24 12 3
+f 24 3 10
+f 24 23 12
+f 25 8 14
+f 25 14 11
+f 25 11 1
+f 26 2 11
+f 26 11 14
+f 28 27 15
+f 31 17 9
+f 31 9 18
+f 33 19 3
+f 33 3 7
+f 33 7 19
+f 34 21 12
+f 34 12 7
+f 34 7 21
+f 35 7 12
+f 35 12 29
+f 36 22 20
+f 36 20 7
+f 37 6 22
+f 37 35 29
+f 37 22 35
+f 38 15 4
+f 38 4 23
+f 41 24 10
+f 41 23 24
+f 42 2 26
+f 43 26 14
+f 43 14 8
+f 43 42 26
+f 43 8 32
+f 43 32 13
+f 43 13 42
+f 44 4 15
+f 44 15 27
+f 45 44 27
+f 45 4 44
+f 45 29 4
+f 46 28 9
+f 46 27 28
+f 47 18 9
+f 47 9 28
+f 47 5 18
+f 48 29 12
+f 48 12 4
+f 48 4 29
+f 49 30 17
+f 49 17 1
+f 49 1 30
+f 50 30 1
+f 50 1 11
+f 50 11 30
+f 51 9 17
+f 51 17 30
+f 51 16 45
+f 51 45 27
+f 51 46 9
+f 51 27 46
+f 52 30 11
+f 52 11 20
+f 52 20 6
+f 52 51 30
+f 52 16 51
+f 52 37 16
+f 52 6 37
+f 53 31 18
+f 53 8 31
+f 54 31 8
+f 54 8 25
+f 54 25 1
+f 54 1 17
+f 54 17 31
+f 55 32 8
+f 55 18 5
+f 55 39 32
+f 55 5 39
+f 55 53 18
+f 55 8 53
+f 56 35 22
+f 56 22 36
+f 56 36 7
+f 56 7 35
+f 57 37 29
+f 57 16 37
+f 57 45 16
+f 57 29 45
+f 58 28 15
+f 58 15 38
+f 58 38 5
+f 58 47 28
+f 58 5 47
+f 59 39 23
+f 59 13 32
+f 59 32 39
+f 60 38 23
+f 60 23 39
+f 61 39 5
+f 61 5 38
+f 61 60 39
+f 61 38 60
+f 62 41 40
+f 62 23 41
+f 62 59 23
+f 62 13 59
+f 62 42 13
+f 63 41 10
+f 63 10 19
+f 64 19 2
+f 64 40 41
+f 64 2 42
+f 64 62 40
+f 64 42 62
+f 64 63 19
+f 64 41 63
\ No newline at end of file
diff --git a/apple/apple_5/collision/model_normalized_collision_24.obj b/apple/apple_5/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa2fd352fa6e627e1075c902309071bd2c90de4f
--- /dev/null
+++ b/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
+v -0.07600536 0.45103634 0.22730113
+v -0.09369187 0.23484848 0.23364416
+v 0.39150211 0.26934380 0.22674217
+v 0.15866028 0.33937897 0.36949256
+v 0.40847990 0.22830877 0.24334044
+v 0.10158882 0.44919235 0.22778977
+v 0.40759494 0.24301440 0.22781699
+v 0.28581899 0.32447057 0.31164970
+v -0.09347485 0.23401383 0.41295528
+v -0.06220203 0.23028422 0.41690415
+v 0.27615808 0.38650956 0.22814583
+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
+v 0.06018115 0.28926004 0.41145859
+v 0.17460047 0.42847295 0.23953565
+v 0.40314333 0.24077151 0.24109754
+v 0.30166033 0.35417868 0.25224411
+v 0.32835029 0.26705905 0.32690115
+v 0.30154648 0.28415992 0.33866262
+v 0.24574157 0.35370645 0.31416484
+v 0.14432096 0.38447301 0.32415083
+v -0.05905297 0.41478374 0.29449461
+v 0.05976386 0.22994257 0.43068790
+v 0.12909205 0.28442856 0.41343407
+v 0.17547022 0.43287427 0.22879791
+v 0.14423886 0.42822863 0.25456485
+v 0.20333797 0.41370951 0.25347020
+v 0.38750081 0.26638208 0.24002843
+v 0.39477370 0.22909391 0.27142999
+v 0.31628643 0.30950637 0.29664522
+v 0.35765668 0.29702478 0.25539387
+v 0.25894022 0.26556353 0.38388023
+v 0.31563041 0.26830350 0.33751698
+v 0.27460184 0.38284749 0.24025288
+v 0.27336486 0.32633304 0.32197920
+v -0.07420555 0.42801473 0.26825221
+v -0.09088124 0.32954581 0.36795246
+v -0.03143090 0.34387945 0.36737580
+v 0.15895547 0.29850023 0.39660004
+v 0.10178498 0.32875237 0.38275516
+v 0.19108237 0.22931525 0.43081216
+v 0.21586421 0.41618260 0.23879685
+v 0.36451939 0.22911822 0.31691693
+v 0.32798873 0.29708611 0.29633133
+v 0.28584414 0.23869222 0.38343240
+v -0.07456831 0.44475250 0.23885687
+v -0.07675675 0.28915552 0.39623661
+v -0.08960235 0.41490235 0.28430899
+v -0.09220410 0.27504876 0.39942541
+v -0.07546335 0.35877189 0.35117018
+v 0.04299483 0.32879357 0.38234071
+v 0.26061843 0.24222373 0.39689686
+v 0.18674460 0.23924691 0.42686893
+v 0.37385206 0.23749632 0.29659286
+v 0.37666786 0.22761998 0.29976883
+v -0.06055635 0.31430592 0.38297016
+v -0.09021980 0.43178723 0.25525941
+v -0.07461230 0.38436216 0.32417469
+f 6 5 4
+f 8 5 2
+f 9 6 4
+f 10 2 5
+f 10 5 6
+f 13 8 1
+f 13 5 8
+f 13 12 5
+f 14 9 3
+f 14 6 9
+f 15 9 4
+f 19 4 5
+f 19 5 12
+f 22 8 2
+f 22 2 10
+f 26 11 23
+f 26 18 7
+f 26 7 17
+f 27 18 15
+f 27 15 7
+f 27 7 18
+f 28 15 4
+f 29 20 12
+f 29 12 13
+f 29 13 1
+f 30 20 29
+f 31 3 9
+f 31 9 21
+f 32 21 9
+f 32 9 15
+f 32 15 21
+f 33 31 21
+f 33 18 26
+f 33 21 15
+f 33 15 18
+f 34 16 22
+f 34 22 10
+f 34 10 6
+f 35 22 16
+f 35 8 22
+f 36 23 11
+f 36 25 24
+f 36 11 25
+f 37 6 14
+f 37 14 23
+f 37 34 6
+f 37 16 34
+f 37 23 36
+f 39 1 24
+f 39 24 25
+f 40 26 23
+f 40 23 14
+f 40 14 3
+f 41 25 11
+f 41 11 26
+f 41 38 25
+f 41 26 17
+f 41 17 38
+f 42 4 19
+f 44 15 28
+f 45 30 17
+f 45 17 7
+f 45 7 30
+f 46 30 7
+f 46 20 30
+f 46 7 15
+f 46 15 44
+f 47 30 29
+f 47 29 1
+f 48 3 31
+f 48 31 33
+f 48 40 3
+f 48 33 26
+f 48 26 40
+f 49 24 1
+f 50 37 36
+f 50 36 24
+f 50 24 16
+f 50 16 37
+f 51 25 38
+f 51 39 25
+f 51 1 39
+f 52 42 28
+f 52 28 4
+f 52 4 42
+f 54 28 42
+f 54 19 43
+f 55 43 19
+f 55 19 12
+f 55 53 43
+f 55 12 20
+f 55 20 53
+f 56 44 28
+f 56 54 43
+f 57 46 44
+f 57 44 20
+f 57 20 46
+f 58 47 1
+f 58 38 17
+f 58 51 38
+f 58 1 51
+f 59 17 30
+f 59 30 47
+f 59 58 17
+f 59 47 58
+f 60 49 35
+f 60 35 16
+f 60 16 24
+f 60 24 49
+f 61 49 1
+f 61 1 8
+f 61 8 35
+f 61 35 49
+f 62 43 53
+f 62 56 43
+f 62 44 56
+f 62 53 20
+f 62 20 44
+f 63 54 42
+f 63 42 19
+f 63 19 54
+f 64 56 28
+f 64 28 54
+f 64 54 56
\ No newline at end of file
diff --git a/apple/apple_5/collision/model_normalized_collision_25.obj b/apple/apple_5/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a076c0e1062e4910e6c0e3c5180bceb0982ef5ab
--- /dev/null
+++ b/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
+v -0.14855003 0.41715214 -0.19913768
+v -0.17315318 0.40212396 0.26058873
+v -0.14913934 0.46398586 0.13811894
+v -0.22290376 0.44322712 -0.00738505
+v -0.14864260 0.43369843 0.22559353
+v -0.23649284 0.36705850 -0.21093490
+v -0.22356138 0.43024293 0.15207536
+v -0.14911012 0.46452730 -0.06592331
+v -0.22407064 0.40204564 0.22509165
+v -0.16768769 0.39363786 -0.22938246
+v -0.22278481 0.44343168 0.07992261
+v -0.16201855 0.42953177 0.22306594
+v -0.21900570 0.41269252 -0.13603559
+v -0.14759993 0.43114553 -0.16868899
+v -0.22336585 0.41458780 0.19735494
+v -0.20780963 0.44388494 0.12543066
+v -0.17773588 0.45909133 0.09534990
+v -0.21854165 0.42711913 -0.09330485
+v -0.21949117 0.38346644 -0.19724044
+v -0.16198634 0.41277574 -0.19716461
+v -0.16249455 0.45935917 0.13651154
+v -0.17671454 0.45789734 -0.04897048
+v -0.14837128 0.44813831 -0.12591353
+v -0.17592698 0.42647723 -0.15154386
+v -0.20629304 0.44180518 -0.06346016
+v -0.16137060 0.44306057 -0.12443241
+f 6 3 2
+f 7 3 1
+f 7 1 5
+f 10 1 3
+f 10 3 6
+f 11 2 3
+f 11 3 7
+f 12 5 1
+f 12 1 8
+f 13 6 4
+f 13 10 6
+f 15 6 2
+f 15 9 4
+f 15 4 6
+f 16 8 1
+f 16 1 10
+f 16 13 8
+f 16 10 13
+f 17 12 8
+f 18 5 12
+f 18 4 9
+f 18 12 17
+f 19 14 7
+f 19 7 5
+f 20 11 7
+f 20 7 14
+f 21 2 11
+f 21 20 14
+f 21 11 20
+f 21 15 2
+f 22 17 8
+f 22 18 17
+f 22 4 18
+f 22 13 4
+f 22 8 13
+f 23 18 9
+f 23 5 18
+f 24 9 15
+f 25 21 14
+f 25 15 21
+f 25 24 15
+f 26 19 5
+f 26 5 23
+f 26 23 9
+f 26 9 24
+f 27 14 19
+f 27 26 24
+f 27 19 26
+f 27 25 14
+f 27 24 25
\ No newline at end of file
diff --git a/apple/apple_5/collision/model_normalized_collision_26.obj b/apple/apple_5/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28aed32da77f96b2db613a944433e96d97617bb8
--- /dev/null
+++ b/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/apple/apple_5/collision/model_normalized_collision_27.obj b/apple/apple_5/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad391d5b7d5d972181e7c3fad7cc37d862bca7d1
--- /dev/null
+++ b/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/apple/apple_5/collision/model_normalized_collision_28.obj b/apple/apple_5/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48bf70e1da535bf925c1647b00776a9c06cf7e60
--- /dev/null
+++ b/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/apple/apple_5/collision/model_normalized_collision_29.obj b/apple/apple_5/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..357c7ac7c398eb327c4f3be44f2c60cee2e25133
--- /dev/null
+++ b/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/apple/apple_5/collision/model_normalized_collision_3.obj b/apple/apple_5/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06d3f58221e24404770391210885a2002ba93a0f
--- /dev/null
+++ b/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/apple/apple_5/collision/model_normalized_collision_30.obj b/apple/apple_5/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48d7d598cbb78428f36cf991b74abde5e9b3f93c
--- /dev/null
+++ b/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/apple/apple_5/collision/model_normalized_collision_31.obj b/apple/apple_5/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d93b43593b4f3ad11db97ab1e4bf06910deec115
--- /dev/null
+++ b/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/apple/apple_5/collision/model_normalized_collision_4.obj b/apple/apple_5/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91b2cb5dcdfba572ea3578128b698e8a49660d88
--- /dev/null
+++ b/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
+f 22 2 9
+f 22 9 15
+f 23 16 10
+f 23 10 6
+f 23 6 16
+f 24 6 10
+f 24 10 9
+f 24 9 5
+f 24 5 17
+f 25 24 17
+f 25 17 4
+f 25 4 14
+f 27 13 2
+f 28 19 12
+f 28 1 19
+f 28 12 20
+f 28 8 1
+f 29 19 1
+f 29 1 7
+f 30 14 8
+f 32 21 11
+f 32 15 21
+f 33 21 15
+f 34 2 22
+f 35 25 6
+f 35 6 24
+f 35 24 25
+f 36 26 18
+f 36 11 26
+f 37 26 7
+f 37 18 26
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+f 37 7 13
+f 37 13 27
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+f 40 19 29
+f 40 21 12
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+f 40 29 7
+f 40 7 26
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+f 42 14 30
+f 43 16 6
+f 43 6 31
+f 44 22 15
+f 44 15 32
+f 44 32 11
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+f 45 33 15
+f 45 15 3
+f 46 12 21
+f 46 21 33
+f 46 33 45
+f 46 45 3
+f 47 11 36
+f 47 44 11
+f 47 34 44
+f 47 36 18
+f 47 18 34
+f 48 38 11
+f 48 11 21
+f 48 21 38
+f 49 39 27
+f 49 27 2
+f 49 2 34
+f 50 40 12
+f 50 12 19
+f 50 19 40
+f 51 30 41
+f 51 31 6
+f 51 41 20
+f 51 20 31
+f 52 8 28
+f 52 28 41
+f 52 41 30
+f 52 30 8
+f 53 6 25
+f 53 25 42
+f 53 51 6
+f 53 42 30
+f 54 16 43
+f 54 46 3
+f 54 3 16
+f 55 12 46
+f 55 31 20
+f 55 20 12
+f 55 46 54
+f 55 54 43
+f 55 43 31
+f 56 49 34
+f 56 34 39
+f 56 39 49
+f 57 53 30
+f 57 30 51
+f 57 51 53
\ No newline at end of file
diff --git a/apple/apple_5/collision/model_normalized_collision_5.obj b/apple/apple_5/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..184bc1a8287971c626a7ff86cab37979e7580962
--- /dev/null
+++ b/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
+v 0.25859965 -0.25426475 -0.27012019
+v 0.26994449 -0.14393939 -0.19059826
+v -0.42213694 -0.14278350 -0.18837117
+v -0.09234554 -0.32342449 -0.33040203
+v -0.39806634 -0.22896402 -0.18394256
+v 0.26154184 -0.13660930 -0.34559992
+v -0.01624546 -0.31688373 -0.32361912
+v -0.23005551 -0.26515151 -0.19059826
+v -0.41411346 -0.18665739 -0.18429745
+v -0.25279735 -0.13941272 -0.37521304
+v 0.02247356 -0.12481573 -0.30208160
+v 0.24383034 -0.25380003 -0.28040799
+v -0.12294630 -0.24319240 -0.36940137
+v -0.38906350 -0.24673600 -0.18690647
+v -0.33684453 -0.13901602 -0.31314351
+v 0.20062788 -0.22410380 -0.32691279
+v 0.23212003 -0.18116638 -0.33879439
+v -0.10739362 -0.30187021 -0.34492445
+v 0.19177365 -0.13974585 -0.35900325
+v -0.36244154 -0.21105016 -0.25327821
+v -0.28172373 -0.13858855 -0.35781210
+v -0.41165949 -0.14017302 -0.21272312
+v 0.18712871 -0.25375883 -0.31231711
+v 0.25752177 -0.22198514 -0.29339510
+v 0.22884479 -0.20637900 -0.32327233
+v -0.05200142 -0.30070084 -0.33830448
+v -0.20704534 -0.25482728 -0.35592360
+v 0.19101950 -0.15358688 -0.35481162
+v -0.39320637 -0.21125891 -0.20813937
+v -0.38239547 -0.13965452 -0.25721410
+v 0.21444999 -0.23761546 -0.30944136
+v 0.24274700 -0.19207221 -0.32425661
+v -0.01957132 -0.30452098 -0.33066697
+v -0.11505462 -0.24532548 -0.36781486
+v -0.21368997 -0.21556795 -0.36921311
+v -0.27834349 -0.24243695 -0.32493570
+v -0.10974358 -0.31603035 -0.33462438
+v -0.37892453 -0.24195505 -0.20873393
+v -0.39290108 -0.22676268 -0.19660422
+v -0.40835080 -0.18543603 -0.19663683
+v -0.39294356 -0.18441900 -0.22301156
+v -0.33430229 -0.15329974 -0.31070785
+v -0.24930554 -0.21211627 -0.35225337
+v -0.34812223 -0.24144623 -0.25357604
+v -0.40898189 -0.15464464 -0.21108923
+v -0.37936759 -0.15390045 -0.25528204
+v -0.32200527 -0.13912261 -0.32859418
+v -0.31987964 -0.15266724 -0.32570803
+f 7 1 2
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+f 9 5 1
+f 10 6 3
+f 10 3 4
+f 12 4 3
+f 12 3 7
+f 12 7 11
+f 13 2 1
+f 13 1 8
+f 15 9 6
+f 15 5 9
+f 20 14 11
+f 20 11 7
+f 20 7 18
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+f 22 12 11
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+f 23 10 4
+f 24 13 8
+f 24 8 17
+f 25 7 2
+f 25 2 13
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+f 26 17 18
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+f 28 14 19
+f 29 20 18
+f 31 23 12
+f 31 12 16
+f 32 24 17
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+f 32 17 26
+f 33 18 7
+f 33 7 25
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+f 33 13 18
+f 34 27 17
+f 34 17 8
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+f 35 19 14
+f 35 14 20
+f 35 20 29
+f 35 29 18
+f 35 18 27
+f 36 11 14
+f 36 14 28
+f 37 36 28
+f 37 22 11
+f 38 28 19
+f 38 19 5
+f 38 37 28
+f 38 5 15
+f 39 30 21
+f 40 15 6
+f 40 6 10
+f 40 10 30
+f 40 39 15
+f 40 30 39
+f 41 30 10
+f 42 30 41
+f 42 21 30
+f 43 31 16
+f 44 37 11
+f 44 11 36
+f 44 36 37
+f 45 38 15
+f 45 37 38
+f 45 15 39
+f 45 39 21
+f 45 43 37
+f 45 21 43
+f 46 41 10
+f 46 10 23
+f 46 42 41
+f 46 23 31
+f 46 31 42
+f 47 42 31
+f 47 21 42
+f 47 43 21
+f 47 31 43
+f 48 43 16
+f 48 16 22
+f 49 48 22
+f 49 22 37
+f 49 37 43
+f 49 43 48
\ No newline at end of file
diff --git a/apple/apple_5/collision/model_normalized_collision_6.obj b/apple/apple_5/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a371671d3a1386b88ecb8839e1da9331064d6434
--- /dev/null
+++ b/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
+v 0.37047677 0.23209038 0.30572621
+v 0.39115661 -0.00757576 0.12758355
+v 0.45006952 0.19598713 0.16934695
+v 0.37554621 -0.08324611 0.35447885
+v 0.46419620 -0.00488554 0.22816869
+v 0.45710067 -0.14547037 0.14337897
+v 0.41904184 0.16554991 0.28250635
+v 0.39115661 0.09848485 0.12758355
+v 0.36820010 0.17039840 0.34667821
+v 0.39115661 -0.14393939 0.14273507
+v 0.41813787 -0.08047731 0.29996503
+v 0.47965353 0.09386301 0.17008423
+v 0.44927521 -0.08010426 0.23929083
+v 0.39925230 0.24656136 0.24341469
+v 0.37600509 -0.08333333 0.23364416
+v 0.48661876 0.09569589 0.12580110
+v 0.39054939 0.12550784 0.34017534
+v 0.38869140 0.16552645 0.32792920
+v 0.41799181 -0.03488714 0.31404888
+v 0.47947477 0.00749155 0.18255074
+v 0.46287773 0.13929538 0.19603339
+v 0.46365720 0.08275015 0.22703034
+v 0.43501485 -0.13868020 0.22860447
+v 0.44752761 0.19469565 0.18394146
+v 0.38881632 0.22612175 0.28262072
+v 0.44651809 0.20188082 0.17188886
+v 0.36837158 0.20078277 0.33223265
+v 0.37687785 0.16721001 0.33989500
+v 0.40313585 0.15482559 0.31352216
+v 0.38185081 -0.08156449 0.34720228
+v 0.38983703 -0.06505100 0.34130884
+v 0.44729840 -0.04943934 0.25337713
+v 0.46237702 -0.08039856 0.19726635
+v 0.44721495 0.10872228 0.25622315
+v 0.40395869 0.22615847 0.25646118
+v 0.44766140 0.15428819 0.22609517
+v 0.41293150 0.23055167 0.23005988
+v 0.43239437 0.10912791 0.28259033
+v 0.47825184 -0.00472056 0.18237836
+v 0.47603366 -0.08143645 0.14188147
+v 0.45287783 -0.12432516 0.18403502
+v 0.47994465 -0.03575448 0.15518926
+v 0.44909425 -0.12319201 0.19797882
+v 0.48222081 -0.03603442 0.14039319
+f 13 1 7
+f 13 9 1
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+f 13 2 9
+f 14 7 1
+f 16 14 1
+f 17 11 4
+f 18 11 5
+f 18 4 11
+f 18 5 13
+f 18 13 7
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+f 19 2 5
+f 19 5 11
+f 20 12 7
+f 22 8 3
+f 22 3 20
+f 23 19 15
+f 23 2 19
+f 24 19 6
+f 24 15 19
+f 25 3 8
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+f 25 8 23
+f 25 15 24
+f 26 16 1
+f 26 1 9
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+f 28 4 10
+f 29 11 17
+f 29 19 11
+f 29 6 19
+f 29 27 6
+f 30 18 12
+f 30 4 18
+f 30 21 10
+f 30 10 4
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+f 31 20 21
+f 31 30 12
+f 31 21 30
+f 32 21 20
+f 32 20 3
+f 32 10 21
+f 33 22 7
+f 33 7 14
+f 33 14 22
+f 34 22 20
+f 34 20 7
+f 34 7 22
+f 35 16 8
+f 35 8 22
+f 35 22 14
+f 35 14 16
+f 36 8 16
+f 36 16 26
+f 37 25 24
+f 37 3 25
+f 38 28 10
+f 38 17 28
+f 39 24 27
+f 39 37 24
+f 39 10 37
+f 39 38 10
+f 39 27 38
+f 40 29 17
+f 40 27 29
+f 40 38 27
+f 40 17 38
+f 41 32 3
+f 41 10 32
+f 41 37 10
+f 41 3 37
+f 42 23 8
+f 42 8 36
+f 43 36 9
+f 43 9 2
+f 43 42 36
+f 44 26 9
+f 44 9 36
+f 45 42 43
+f 45 2 23
+f 45 23 42
+f 46 44 36
+f 46 36 26
+f 46 26 44
+f 47 45 43
+f 47 43 2
+f 47 2 45
\ No newline at end of file
diff --git a/apple/apple_5/collision/model_normalized_collision_7.obj b/apple/apple_5/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a157079e6fc160c2862480aa3c08abd75455abf2
--- /dev/null
+++ b/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
+v 0.24343485 0.44437394 0.03702809
+v -0.12028072 0.47366582 0.12532651
+v -0.22284111 0.22717386 -0.37305451
+v 0.14356534 0.44169267 0.22662047
+v 0.38918949 0.31288754 0.09646794
+v 0.31819176 0.22604092 -0.28740538
+v -0.23005551 0.23484848 0.23364416
+v 0.01130271 0.44420115 -0.22386816
+v 0.10038958 0.49025137 0.06405909
+v 0.43981452 0.22877795 0.14011689
+v 0.31466983 0.38705818 -0.03606207
+v 0.28650767 0.38581112 0.21199089
+v 0.37723065 0.22656718 -0.19733722
+v -0.23881524 0.41661743 -0.08939485
+v -0.24333250 0.37612977 0.24639279
+v 0.11474738 0.25248294 -0.41479270
+v 0.21844865 0.44321232 0.16641476
+v 0.07022659 0.47441667 0.16707075
+v -0.05995586 0.49023044 -0.05051655
+v 0.17103736 0.45926665 -0.11142631
+v 0.41704588 0.25532619 0.18405235
+v 0.43987634 0.22875591 -0.00783438
+v 0.28907242 0.41354672 0.09456915
+v 0.41293150 0.23055167 0.23005988
+v 0.32959316 0.32791705 -0.15132841
+v -0.15897018 0.35204313 -0.29881054
+v -0.14727196 0.47381673 0.06500162
+v 0.14331486 0.23054540 -0.41842730
+v 0.17276952 0.47387252 0.05130533
+v 0.22939067 0.41371473 0.22663968
+v -0.03257734 0.49032111 0.11018346
+v 0.17446934 0.45946713 0.15181641
+v -0.07449443 0.45854248 0.21275028
+v -0.10446472 0.44197550 -0.18240138
+v 0.06862639 0.49072640 -0.08202628
+v 0.23021891 0.44369854 -0.04984432
+v 0.14078503 0.38279409 -0.28419770
+v 0.41985343 0.26746018 0.13890294
+v 0.37449140 0.32520638 -0.02104068
+v 0.28869071 0.41423112 0.00691549
+v 0.36018130 0.33931661 0.15448127
+v 0.27404065 0.41374250 0.15520427
+v 0.24349380 0.44361894 0.07940219
+v 0.40225837 0.25547714 0.22557409
+v 0.38897478 0.23969243 -0.16497581
+v -0.22017318 0.33799016 -0.26952559
+v -0.05957615 0.29794623 -0.38376230
+v -0.14709654 0.46034124 0.15266346
+v -0.13236009 0.47575158 -0.04970479
+v 0.20313384 0.22733381 -0.39079424
+v -0.09237600 0.23047630 -0.42297416
+v 0.21396577 0.42838343 0.21130136
+v 0.25892075 0.39719815 0.22611152
+v 0.05492255 0.49017645 0.10950102
+v -0.07490320 0.48982808 0.06498703
+v 0.15755978 0.47310510 0.09383213
+v 0.10058299 0.47476638 0.15203512
+v -0.11973696 0.44350232 0.22298998
+v 0.07043303 0.45889248 0.21215442
+v -0.05981159 0.47495098 0.16788979
+v -0.04413300 0.47304937 -0.13728737
+v -0.07243506 0.38425692 -0.29827073
+f 8 1 5
+f 9 5 1
+f 15 2 1
+f 15 1 8
+f 17 16 5
+f 17 5 9
+f 23 1 12
+f 24 12 1
+f 24 1 2
+f 26 17 9
+f 26 9 1
+f 29 16 17
+f 32 6 17
+f 32 17 26
+f 34 6 19
+f 37 31 22
+f 37 11 31
+f 37 33 11
+f 37 21 33
+f 37 22 10
+f 38 27 22
+f 38 13 27
+f 38 31 3
+f 38 22 31
+f 39 10 22
+f 39 22 27
+f 39 27 8
+f 40 23 12
+f 40 24 7
+f 40 12 24
+f 41 13 7
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+f 41 24 2
+f 41 27 13
+f 41 2 27
+f 42 3 25
+f 42 38 3
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+f 42 25 7
+f 42 7 13
+f 43 7 25
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+f 44 14 43
+f 45 25 3
+f 45 44 25
+f 45 19 44
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+f 45 3 31
+f 46 26 1
+f 46 1 23
+f 46 23 43
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+f 47 2 15
+f 47 15 8
+f 47 8 27
+f 48 28 5
+f 48 5 16
+f 48 36 28
+f 48 16 36
+f 49 5 28
+f 49 39 18
+f 50 29 17
+f 50 4 29
+f 51 16 29
+f 51 36 16
+f 52 8 5
+f 52 39 8
+f 52 30 18
+f 52 18 39
+f 53 18 30
+f 53 49 18
+f 53 5 49
+f 53 52 5
+f 53 30 52
+f 54 19 6
+f 54 6 32
+f 55 14 19
+f 55 54 32
+f 55 19 54
+f 55 46 14
+f 55 32 26
+f 55 26 46
+f 56 11 33
+f 57 29 4
+f 57 4 33
+f 57 33 21
+f 57 51 29
+f 57 21 51
+f 58 31 11
+f 58 11 34
+f 58 34 19
+f 58 19 31
+f 59 6 34
+f 59 56 20
+f 59 34 11
+f 59 11 56
+f 60 17 6
+f 60 6 35
+f 60 50 17
+f 60 35 50
+f 61 35 6
+f 61 59 20
+f 61 6 59
+f 62 33 4
+f 62 50 35
+f 62 4 50
+f 62 56 33
+f 62 20 56
+f 62 61 20
+f 62 35 61
+f 63 10 36
+f 63 37 10
+f 63 21 37
+f 63 51 21
+f 63 36 51
+f 64 36 10
+f 64 28 36
+f 64 49 28
+f 64 10 39
+f 64 39 49
\ No newline at end of file
diff --git a/apple/apple_5/collision/model_normalized_collision_8.obj b/apple/apple_5/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8cdd3fb18f63c34f5af861cd060b63faa33b131
--- /dev/null
+++ b/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
+v -0.39755351 -0.13901026 0.32937277
+v -0.41092167 -0.24217522 0.24242656
+v -0.23005551 -0.26515151 0.24879567
+v -0.43855751 -0.15110010 0.25883443
+v -0.18009846 -0.25891700 0.38253321
+v -0.41752208 -0.19942835 0.27209444
+v -0.42678239 -0.20442747 0.24869964
+v -0.22725891 -0.25942958 0.37097970
+v 0.19102413 -0.25726271 0.39641678
+v -0.28694327 -0.14011656 0.40223912
+v -0.40661830 -0.24008420 0.25587604
+v 0.09107320 -0.26215734 0.39760076
+v 0.25956590 -0.25468798 0.36816340
+v -0.32688503 -0.13901263 0.38846499
+v -0.25575201 -0.18241735 0.39684181
+v -0.35401263 -0.24094046 0.32330372
+v 0.14837677 -0.22734536 0.41285068
+v 0.23149170 -0.25399882 0.38535109
+v 0.25875760 -0.20841853 0.39714277
+v -0.28149522 -0.23877734 0.36845272
+v -0.38179289 -0.16804152 0.33736695
+v -0.37938212 -0.19520844 0.32692431
+v 0.20470666 -0.21324465 0.41019624
+v 0.11020811 -0.14300782 0.41463114
+v -0.22646961 -0.19674302 0.39648499
+v 0.26470040 -0.15440557 0.41281630
+v 0.22027945 -0.24413455 0.39690179
+v -0.30932137 -0.24086165 0.35157983
+v -0.31003090 -0.18014729 0.38370606
+v -0.37063534 -0.13900452 0.35471237
+v -0.40862111 -0.22493852 0.26553400
+v 0.17586103 -0.22693078 0.41149852
+v -0.30061161 -0.19703051 0.37997090
+v -0.28588387 -0.15417889 0.39847161
+v -0.36969694 -0.19522620 0.33606352
+v -0.37899091 -0.23888560 0.29471077
+f 1 2 3
+f 3 2 4
+f 6 5 2
+f 6 2 1
+f 7 4 2
+f 9 4 7
+f 10 7 2
+f 10 2 5
+f 10 9 7
+f 11 6 1
+f 11 1 8
+f 11 5 6
+f 14 10 5
+f 14 9 10
+f 15 8 1
+f 15 1 12
+f 17 13 3
+f 17 3 4
+f 19 14 5
+f 19 5 11
+f 20 15 12
+f 20 8 15
+f 21 12 1
+f 21 1 16
+f 22 16 1
+f 22 21 16
+f 23 11 8
+f 23 8 18
+f 24 4 9
+f 25 24 9
+f 27 20 3
+f 27 3 13
+f 27 13 20
+f 28 20 13
+f 28 13 18
+f 28 18 8
+f 28 8 20
+f 29 22 1
+f 29 1 3
+f 29 3 26
+f 30 12 21
+f 30 21 22
+f 30 29 26
+f 30 22 29
+f 31 19 11
+f 31 11 23
+f 32 13 17
+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/apple/apple_5/collision/model_normalized_collision_9.obj b/apple/apple_5/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8558c865048dbf8bd6dbf0cf61a445d00001bc8
--- /dev/null
+++ b/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
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\ No newline at end of file
diff --git a/apple/apple_5/model.xml b/apple/apple_5/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6f1bf360ab6c422e8df0179dc7da9deb2294bc06
--- /dev/null
+++ b/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/apple/apple_5/visual/material.mtl b/apple/apple_5/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..842b70538fc6029daec10eabd1278717f12035ab
--- /dev/null
+++ b/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/apple/apple_5/visual/model_normalized_0.obj b/apple/apple_5/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f9ed1154af536d3ad21a54f28ef73da98725dae
--- /dev/null
+++ b/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
+v 0.01681785 -0.09036668 -0.31908056
+v -0.02909758 -0.08598586 0.33613889
+v -0.01406864 -0.08450248 0.33371173
+v -0.01570238 -0.06464375 0.33465764
+v -0.02931513 -0.05610713 0.32758413
+v -0.01489191 -0.00743502 0.29480796
+v -0.02697755 0.01011385 0.29952897
+v -0.03853426 -0.00512198 0.30478958
+v -0.02249756 -0.02236266 0.29872702
+v 0.00110747 -0.03849000 0.30377009
+v 0.00432803 -0.01165482 0.29788029
+v -0.00371485 0.01199287 0.30605967
+v 0.11529992 -0.12916594 0.41764581
+v 0.11321402 -0.10139657 0.41516427
+v 0.07865907 -0.10398689 0.39688171
+v 0.09152533 -0.13968716 0.40672362
+v 0.12179437 -0.17437007 0.41782710
+v 0.14788840 -0.14667429 0.42631041
+v 0.15796279 -0.10867163 0.43063684
+v 0.07145973 -0.06421399 0.38052615
+v 0.11009796 -0.06638521 0.41123774
+v 0.10624182 -0.03300331 0.40824432
+v 0.07562620 -0.02925168 0.37910888
+v 0.05084705 -0.08340407 0.36526046
+v 0.05553073 -0.11601388 0.37910782
+v 0.05382980 -0.01637475 0.35357898
+v 0.05377009 -0.04193558 0.35099294
+v 0.04491993 -0.06041330 0.34700349
+v 0.03416410 -0.05944180 0.33134216
+v 0.03824206 -0.04657341 0.32879664
+v 0.02451841 -0.04108885 0.31268209
+v 0.02488312 -0.06056473 0.32379197
+v 0.03581917 -0.07330302 0.34240299
+v 0.02624919 -0.08025176 0.33520151
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+f 497/497/497 85/85/85 492/492/492
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+f 62/62/62 50/50/50 52/52/52
+f 62/62/62 3/3/3 2/2/2
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+f 51/51/51 18/18/18 17/17/17
\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_0.obj b/apple/apple_8/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7426ef76c790cf108087920fc6c76d3ac4d2f08f
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_0.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.22491720 -0.23566197 0.27771323
+v 0.36041082 -0.14754399 -0.10515637
+v 0.35244599 0.07703666 0.20746900
+v 0.21711137 0.07391989 0.18939394
+v 0.21711137 -0.13820132 -0.09848485
+v 0.37764287 0.07282990 -0.09739952
+v 0.25842512 -0.01716682 0.32098621
+v 0.36499905 -0.13362282 0.13790494
+v 0.21711137 -0.22911041 0.14393939
+v 0.21711137 0.07391989 -0.09848485
+v 0.21711137 -0.01698920 0.26515152
+v 0.32155347 -0.23626716 0.14904335
+v 0.29253773 -0.14690173 0.27934423
+v 0.38251362 0.07108770 0.11199061
+v 0.37199368 -0.13523118 -0.03661609
+v 0.25519482 -0.11983098 0.31582327
+v 0.35035196 -0.13383281 0.18358672
+v 0.29357968 -0.22023885 0.22385787
+v 0.33651026 -0.01660143 0.23948120
+v 0.38172950 -0.01602294 0.13835501
+v 0.38180901 -0.10494397 0.06647310
+v 0.38447870 -0.01597025 -0.09591359
+v 0.26530774 -0.11763071 0.30903256
+v 0.26636277 -0.16154890 0.29399753
+v 0.28928028 -0.17535839 0.26749226
+v 0.26707271 -0.01744580 0.31349185
+v 0.33578812 -0.11903642 0.22380904
+v 0.38131184 -0.07484225 0.12309904
+v 0.36694467 -0.01620167 0.18404002
+v 0.38226177 -0.08972874 -0.03611544
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+v 0.25591005 -0.16275001 0.29979171
+v 0.28188843 -0.17439578 0.27763702
+v 0.32041153 -0.10383383 0.25397159
+v 0.30467973 -0.13371641 0.26877746
+v 0.36398871 -0.11822498 0.15273180
+v 0.33523595 -0.06050280 0.23873027
+v 0.36565977 -0.04644458 0.18363135
+v 0.38149647 -0.10473458 -0.00685339
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+v 0.25561964 -0.19294944 0.28418317
+v 0.38018183 -0.04641514 0.13797660
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+f 45 42 1
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\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_1.obj b/apple/apple_8/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08d7fd8c133614d8a4daf0147270b6a5a1e6d09b
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.12186973 -0.35146425 -0.22881040
+v 0.17859035 -0.19011032 -0.41950565
+v 0.18680834 0.16482899 -0.23484848
+v -0.32222297 0.16263251 -0.23249393
+v -0.19649614 -0.20028579 -0.40018371
+v -0.08783848 0.14317751 -0.49139620
+v -0.32957702 0.14490214 -0.22934768
+v 0.18264648 -0.32625014 -0.23100970
+v -0.08565421 -0.21186002 -0.43448664
+v 0.19133063 0.16917578 -0.42312375
+v 0.16480688 -0.33563979 -0.22853028
+v -0.26881029 -0.26376365 -0.22844001
+v -0.22079988 0.11580153 -0.41852112
+v 0.10753105 -0.19920756 -0.44656312
+v -0.13677651 -0.11560200 -0.49090600
+v -0.22049043 0.15760837 -0.40317322
+v 0.17736786 -0.27150392 -0.32799307
+v -0.32404402 -0.10354402 -0.26883005
+v -0.25587022 -0.27619282 -0.22830473
+v 0.06372461 -0.33329995 -0.28287533
+v 0.10919757 -0.19104055 -0.45392961
+v -0.11247539 -0.18310527 -0.46071186
+v -0.13677651 0.11272800 -0.49090600
+v -0.12354082 0.15386923 -0.47486795
+v -0.28080833 0.13079546 -0.32886641
+v 0.17876222 -0.31686497 -0.25694174
+v 0.17568542 -0.21426959 -0.40199993
+v -0.34515539 -0.07549732 -0.22963865
+v -0.26409573 -0.20552161 -0.31474819
+v -0.22069725 -0.11945496 -0.41843911
+v -0.12665499 -0.35021623 -0.22827252
+v 0.08048380 -0.21191210 -0.43452433
+v 0.12143528 -0.33320193 -0.26823483
+v 0.15137031 -0.19083043 -0.43653641
+v -0.07395592 0.13223412 -0.49028660
+v -0.16909077 -0.28596906 -0.31297280
+v -0.13728244 -0.17019091 -0.45925041
+v -0.08766109 -0.14609156 -0.49135773
+v -0.05805101 -0.18404090 -0.46133599
+v -0.16538944 0.11106018 -0.47394505
+v -0.04790264 0.15426765 -0.47534149
+v -0.11076422 0.13885497 -0.48943482
+v -0.24951656 0.13058462 -0.37379398
+v -0.30858182 0.15794422 -0.26919286
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+v 0.17845096 -0.30128059 -0.28319296
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+v -0.31413030 -0.19150485 -0.22899299
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+v 0.09317989 -0.34701345 -0.25709431
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+v -0.11066601 -0.14233225 -0.48910394
+v -0.20622780 0.12876431 -0.43287554
+v -0.16578191 0.13823087 -0.45971334
+v -0.32487628 0.14328926 -0.24264128
+v -0.28037030 0.07167214 -0.34328695
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+f 54 53 33
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+f 59 35 21
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+f 63 28 7
+f 64 45 25
+f 64 25 13
+f 64 13 45
\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_10.obj b/apple/apple_8/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b85dd9a81dcb7d7d6d43dd7d0aa7d855998bb2f4
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_10.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.27456506 -0.20846407 0.25866265
+v -0.29486395 -0.22025440 -0.23969958
+v -0.28288863 0.11937444 0.11363636
+v -0.32674926 0.20259427 0.17922009
+v -0.38562522 -0.07434645 0.08144463
+v -0.32525327 0.12969480 -0.25103172
+v -0.29999863 -0.01617747 0.28480210
+v -0.34140957 -0.20690131 0.13799389
+v -0.31754538 0.19780482 0.20784695
+v -0.38646068 0.07073889 -0.02199487
+v -0.35466053 -0.19214208 -0.03573330
+v -0.35504883 -0.09007163 0.19868212
+v -0.38674208 0.05571629 0.09670220
+v -0.36977560 0.11456406 -0.09504980
+v -0.37106791 -0.14887722 0.06636195
+v -0.34002615 -0.20578431 -0.10998883
+v -0.38658155 -0.01574371 -0.08144745
+v -0.36889983 -0.11816157 0.13749670
+v -0.35509657 0.08640232 0.19870369
+v -0.32462485 -0.16131375 0.22244298
+v -0.36581543 0.14768861 0.11282528
+v -0.38667312 -0.01601030 0.12312971
+v -0.35550327 -0.19236611 0.08139630
+v -0.36959108 -0.11819313 -0.09501674
+v -0.38663687 0.01207227 -0.08145541
+v -0.35438847 -0.05942544 -0.21220158
+v -0.37030256 -0.13355503 0.11175366
+v -0.32694008 -0.01684690 0.25506025
+v -0.32761340 0.12918263 0.23212391
+v -0.33817230 0.15734881 0.19765314
+v -0.32609687 -0.20478012 0.18304886
+v -0.31010933 -0.14640459 0.25316413
+v -0.38567816 0.07068074 0.08144142
+v -0.36894484 0.11449688 0.13752339
+v -0.38668300 0.01233537 0.12313548
+v -0.36936278 -0.08995212 0.15296564
+v -0.38669631 -0.05938328 0.09670564
+v -0.37063815 -0.14873524 -0.00680533
+v -0.35484983 -0.17703527 -0.08122446
+v -0.38628384 0.05558765 -0.05111414
+v -0.35449521 0.05576668 -0.21224281
+v -0.34094136 -0.10384851 -0.22789604
+v -0.37135802 -0.04613064 -0.15473649
+v -0.35606098 -0.17738192 0.12595646
+v -0.37051176 -0.04642965 0.16837831
+v -0.32629335 0.18884748 0.19875481
+v -0.29516962 -0.20295371 0.23669337
+v -0.32556520 -0.06090084 0.25437938
+v -0.33975665 -0.10361200 0.22305838
+v -0.35629801 0.14549374 0.15354026
+v -0.36939592 0.08628070 0.15298295
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+v -0.35477633 -0.13347179 -0.15436284
+v -0.37029078 0.07068523 -0.14057343
+v -0.38615682 -0.05924040 -0.05109538
+v -0.37140792 0.04245857 -0.15474884
+v -0.33806691 -0.16098482 0.19759871
+v -0.37052480 0.04275471 0.16838466
+v -0.30917624 -0.17613602 0.23721273
+v -0.33447519 0.19183673 0.17120611
+v -0.35425355 0.11470193 0.18319481
+v -0.35532076 -0.16200727 -0.11019562
+v -0.37015939 -0.07433781 -0.14054973
+v -0.35472268 -0.10319867 -0.18461973
+f 1 2 3
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+f 9 3 6
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+f 21 14 10
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+f 25 13 10
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+f 54 6 41
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+f 56 41 43
+f 56 54 41
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+f 56 40 54
+f 57 44 8
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+f 58 28 19
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+f 59 20 31
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+f 59 32 20
+f 59 47 1
+f 59 1 32
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+f 60 46 4
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+f 61 50 34
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+f 61 19 30
+f 61 30 50
+f 62 39 24
+f 62 24 53
+f 62 53 16
+f 62 16 39
+f 63 53 24
+f 63 55 43
+f 63 24 55
+f 64 26 42
+f 64 42 53
+f 64 53 63
+f 64 63 43
+f 64 43 26
\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_11.obj b/apple/apple_8/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3a2c8e2b927ab417920db79e99cb5d04b398e1b
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.35244599 0.07703666 0.20746900
+v 0.36718159 0.07108152 -0.15501880
+v 0.32083935 0.25789811 0.09613581
+v 0.19531299 0.34774584 0.15401560
+v 0.21711137 0.07391989 -0.23484848
+v 0.19366460 0.31866066 -0.22891572
+v 0.32597479 0.19661038 0.19041238
+v 0.38040737 0.10102734 0.08147642
+v 0.21711137 0.07391989 0.18939394
+v 0.30578893 0.24254377 -0.16851398
+v 0.25164040 0.32870510 -0.05067624
+v 0.30391656 0.19302326 -0.24830924
+v 0.24821334 0.31557603 0.15181717
+v 0.38397445 0.07133973 0.09698555
+v 0.36648927 0.14536981 0.11187964
+v 0.35172321 0.07129129 -0.21316932
+v 0.20195985 0.19513202 -0.23484848
+v 0.19869390 0.33974225 0.17174865
+v 0.34961635 0.20366222 -0.03575783
+v 0.19611786 0.36411723 -0.00700761
+v 0.24805390 0.29977047 -0.18356815
+v 0.34998676 0.15827453 -0.14046833
+v 0.30793438 0.24400398 0.16775488
+v 0.29389792 0.30008037 0.05064080
+v 0.38347627 0.07116113 -0.05136835
+v 0.33516802 0.21577888 0.13728727
+v 0.38146049 0.08605752 0.09673352
+v 0.34054173 0.19040682 0.15473706
+v 0.34449827 0.07252394 -0.23138189
+v 0.20195985 0.19513202 0.17424242
+v 0.22118914 0.34437291 0.12378308
+v 0.21711137 0.19513202 0.18939394
+v 0.36614395 0.15864618 0.08146825
+v 0.19582100 0.34834951 -0.12607561
+v 0.29107598 0.28858508 -0.09443551
+v 0.26236536 0.26854692 -0.22638323
+v 0.31924578 0.20045596 -0.19916484
+v 0.34971507 0.08613052 -0.21239382
+v 0.30568957 0.27257833 0.12134458
+v 0.21978353 0.32802708 0.16690240
+v 0.23652671 0.34405740 0.05077245
+v 0.32058861 0.25778005 -0.05056035
+v 0.38160627 0.10107966 -0.00687107
+v 0.36434449 0.11452651 -0.12528441
+v 0.31958380 0.24538227 0.13680491
+v 0.33693101 0.20155727 0.15307940
+v 0.20503963 0.34378678 0.15199063
+v 0.26351114 0.31569060 0.12141119
+v 0.19620020 0.36435591 0.06673967
+v 0.35028713 0.20382592 0.08137476
+v 0.22104130 0.34337041 -0.08091548
+v 0.20565583 0.32821567 -0.18383225
+v 0.24792619 0.31457729 -0.13968752
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+v 0.27801866 0.28423264 -0.15312932
+v 0.33490205 0.20098283 -0.14019434
+v 0.33421235 0.12983342 -0.22749017
+v 0.30499409 0.25689125 0.15135151
+v 0.20868261 0.35841367 -0.00674848
+v 0.31869286 0.24603606 -0.10959304
+v 0.36538034 0.15840050 -0.03584107
+v 0.36480309 0.08582625 -0.15443521
+f 14 9 2
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+f 17 5 9
+f 17 12 5
+f 17 6 12
+f 18 1 7
+f 20 6 4
+f 25 14 2
+f 27 14 8
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+f 27 15 1
+f 27 1 14
+f 28 7 1
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+f 29 16 5
+f 29 5 12
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+f 30 18 4
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+f 39 3 24
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+f 47 31 4
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+f 48 41 31
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+f 55 37 12
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+f 59 22 38
+f 59 12 37
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+f 63 43 25
+f 63 25 44
+f 63 44 22
+f 63 22 19
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+f 64 25 2
+f 64 2 38
+f 64 38 22
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\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_12.obj b/apple/apple_8/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..335ce0f0a108b2de9fc8dbf86a28af462f752635
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_12.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.09306461 -0.39295963 0.13817016
+v 0.19621000 -0.35576934 -0.10263866
+v 0.19506486 -0.35262290 0.15028629
+v -0.20155666 -0.34200982 0.17094418
+v -0.08270629 -0.37635874 -0.18442159
+v 0.11479423 -0.34831904 -0.24074898
+v -0.19025189 -0.34667077 0.17291433
+v 0.17847260 -0.37754776 0.05098993
+v -0.20346851 -0.34432080 -0.14264238
+v -0.06762112 -0.40764950 0.06634561
+v 0.16337530 -0.37766633 0.11160927
+v 0.06262914 -0.39325318 -0.12546025
+v -0.08866789 -0.35383251 -0.24299338
+v -0.21746004 -0.34241996 -0.11192856
+v -0.09801550 -0.39226636 0.13786403
+v -0.12546694 -0.39239255 -0.03575922
+v 0.17924109 -0.36439601 0.13811855
+v 0.13534743 -0.39197201 0.06617899
+v 0.10488936 -0.37607272 -0.16900555
+v 0.04941680 -0.37760550 -0.19985137
+v -0.08314423 -0.36178924 -0.22662729
+v 0.00418158 -0.40953935 0.09688915
+v -0.16829617 -0.37711889 0.09639648
+v -0.15585508 -0.37750816 -0.08124431
+v -0.02443128 -0.40920192 -0.03599794
+v 0.15059203 -0.37694797 0.13754697
+v 0.12017812 -0.39197302 0.11162044
+v 0.10551250 -0.39349904 -0.08132801
+v 0.10576836 -0.36354429 -0.21233512
+v 0.07806559 -0.36241764 -0.22690156
+v -0.19871943 -0.34704479 -0.14022299
+v -0.05266698 -0.37713945 -0.19966717
+v -0.00934057 -0.40928949 0.09686505
+v -0.15534307 -0.37561010 0.13709277
+v -0.23324837 -0.34355936 0.09766296
+v -0.12535590 -0.39193659 0.09647828
+v -0.09795559 -0.39285172 -0.09514756
+v -0.16850639 -0.37752887 -0.03568637
+v -0.05362191 -0.40970655 -0.00682971
+v 0.06259495 -0.40849909 0.06643025
+v 0.13554163 -0.39269810 0.02356937
+v 0.15060662 -0.37719517 -0.09494977
+v 0.01927397 -0.40946799 -0.03602759
+v 0.10806671 -0.35499327 -0.23014499
+v -0.20051866 -0.35387959 -0.10225758
+v -0.02449824 -0.39356033 -0.14067481
+v -0.11072617 -0.39351578 0.12535917
+v -0.18496595 -0.35064937 0.16885089
+v -0.23291107 -0.34284110 -0.05206212
+v -0.21116336 -0.34889275 0.13736041
+v -0.06771205 -0.40863155 0.02352753
+v -0.22653981 -0.34787136 0.09634569
+v -0.06766335 -0.39243704 -0.12530660
+v 0.06257655 -0.40883548 0.00836666
+v 0.16353583 -0.37796885 -0.05089075
+v -0.21094454 -0.34689467 -0.10962123
+v -0.19865505 -0.36199001 -0.05077505
+v 0.03445739 -0.39310915 -0.14059001
+v -0.19938266 -0.35081904 0.14963037
+v -0.21763726 -0.34314670 0.14102573
+v -0.19840801 -0.36161440 0.11148789
+v 0.12028531 -0.39230720 -0.05088785
+v 0.17846314 -0.37742117 0.03877472
+v 0.17959922 -0.36483092 -0.09529974
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 3
+f 13 9 6
+f 14 4 6
+f 14 6 9
+f 15 1 7
+f 17 11 8
+f 17 8 3
+f 18 8 11
+f 20 19 12
+f 22 1 15
+f 26 17 3
+f 26 3 1
+f 26 11 17
+f 27 18 11
+f 27 26 1
+f 27 11 26
+f 28 12 19
+f 29 6 2
+f 29 2 19
+f 29 19 20
+f 30 20 13
+f 30 13 6
+f 30 29 20
+f 31 21 5
+f 31 9 13
+f 31 13 21
+f 31 5 24
+f 32 5 21
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+f 33 22 15
+f 36 23 16
+f 37 24 5
+f 37 16 24
+f 38 24 16
+f 38 16 23
+f 39 16 37
+f 39 22 33
+f 40 18 27
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+f 41 8 18
+f 41 18 40
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+f 44 6 29
+f 44 29 30
+f 45 31 24
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+f 46 32 20
+f 46 43 25
+f 47 33 15
+f 47 10 33
+f 47 36 10
+f 47 15 34
+f 47 34 23
+f 47 23 36
+f 48 34 15
+f 48 15 7
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+f 51 36 16
+f 51 10 36
+f 51 16 39
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+f 51 33 10
+f 52 38 23
+f 52 35 49
+f 52 50 35
+f 53 39 37
+f 53 25 39
+f 53 46 25
+f 53 37 5
+f 53 5 32
+f 53 32 46
+f 54 41 40
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+f 54 40 22
+f 54 22 43
+f 56 14 9
+f 56 9 45
+f 56 49 14
+f 56 45 49
+f 57 45 24
+f 57 24 38
+f 57 49 45
+f 57 52 49
+f 57 38 52
+f 58 46 20
+f 58 20 12
+f 58 12 43
+f 58 43 46
+f 59 48 7
+f 59 7 4
+f 59 4 50
+f 59 50 34
+f 59 34 48
+f 60 50 4
+f 60 4 35
+f 60 35 50
+f 61 23 34
+f 61 34 50
+f 61 52 23
+f 61 50 52
+f 62 54 28
+f 62 41 54
+f 62 55 41
+f 62 28 42
+f 62 42 55
+f 63 8 41
+f 63 41 55
+f 63 55 2
+f 63 2 8
+f 64 55 42
+f 64 2 55
+f 64 42 19
+f 64 19 2
\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_13.obj b/apple/apple_8/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af82729464658a43c024b7e75db18988882b88f4
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_13.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.36776505 -0.14944059 -0.04265695
+v 0.36509411 -0.10334079 -0.14057593
+v 0.37764287 0.07282990 -0.09739952
+v 0.21711137 0.07391989 -0.09848485
+v 0.21711137 -0.13820132 -0.23484848
+v 0.39130032 -0.01643378 -0.03706830
+v 0.33404957 -0.13346913 -0.22742799
+v 0.21711137 -0.13820132 -0.09848485
+v 0.21711137 0.07391989 -0.23484848
+v 0.32317197 -0.01698920 -0.03787879
+v 0.38072636 -0.08945072 -0.05110452
+v 0.36581200 -0.01588575 -0.18487732
+v 0.35085561 -0.13378271 -0.16982518
+v 0.34449827 0.07252394 -0.23138189
+v 0.37199368 -0.13523118 -0.03661609
+v 0.38093698 -0.05924713 -0.09530192
+v 0.38350288 0.02737760 -0.09573996
+v 0.34960833 -0.08978929 -0.21235260
+v 0.36567089 -0.13365850 -0.09524087
+v 0.38226177 -0.08972874 -0.03611544
+v 0.36595957 -0.05952081 -0.16977343
+v 0.38084744 -0.03086572 -0.11041899
+v 0.36608079 0.05586533 -0.16980383
+v 0.35001784 -0.04625700 -0.22760721
+v 0.36467666 -0.08947999 -0.15440419
+v 0.36416097 -0.11815609 -0.12525132
+v 0.38090222 0.02719422 -0.11042874
+v 0.36718159 0.07108152 -0.15501880
+v 0.35005665 0.04258380 -0.22762231
+v 0.36585835 0.01221324 -0.18488898
+v 0.35172321 0.07129129 -0.21316932
+f 6 3 4
+f 7 1 5
+f 8 5 1
+f 8 4 5
+f 9 5 4
+f 9 4 3
+f 10 6 4
+f 10 4 8
+f 13 1 7
+f 14 7 5
+f 14 5 9
+f 14 9 3
+f 15 10 8
+f 15 8 1
+f 17 3 6
+f 18 13 7
+f 19 1 13
+f 19 15 1
+f 19 11 15
+f 19 16 11
+f 19 2 16
+f 20 6 10
+f 20 10 15
+f 20 15 11
+f 20 16 6
+f 20 11 16
+f 22 21 12
+f 22 16 21
+f 22 17 6
+f 22 6 16
+f 24 21 18
+f 24 12 21
+f 24 18 7
+f 24 7 14
+f 25 2 13
+f 25 13 18
+f 25 18 21
+f 25 21 16
+f 25 16 2
+f 26 19 13
+f 26 13 2
+f 26 2 19
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+f 27 3 17
+f 28 14 3
+f 28 27 23
+f 28 3 27
+f 29 24 14
+f 30 23 27
+f 30 12 24
+f 30 24 29
+f 30 27 22
+f 30 22 12
+f 31 28 23
+f 31 14 28
+f 31 29 14
+f 31 30 29
+f 31 23 30
\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_14.obj b/apple/apple_8/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e371ddca2d07e963a2ca66ce92ce5d2b740a48d
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_14.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.17215245 -0.19915333 0.32690647
+v 0.25637543 -0.10673527 0.31817292
+v 0.15301040 0.02908336 0.36977916
+v 0.13788211 0.20407199 0.33891372
+v 0.21172836 0.20458690 0.30092385
+v 0.10871264 0.01013461 0.35936907
+v 0.16741664 -0.11833246 0.35881607
+v 0.19712302 -0.19370062 0.31712216
+v 0.19937101 0.20809542 0.30643052
+v 0.21142411 0.12781655 0.33903169
+v 0.12004445 0.17488049 0.35527658
+v 0.19385629 -0.10398980 0.35289898
+v 0.16703310 -0.19557994 0.33019093
+v 0.14440567 0.03023016 0.37018601
+v 0.22690279 -0.16387027 0.31704858
+v 0.25842512 -0.01716682 0.32098621
+v 0.20781773 0.17001126 0.32344100
+v 0.12322487 0.19266608 0.34835550
+v 0.15392207 0.07199365 0.36900790
+v 0.18116321 -0.11676941 0.35470875
+v 0.12736675 0.01360307 0.36529639
+v 0.13029977 0.08778333 0.36959654
+v 0.22378606 -0.11878035 0.33658839
+v 0.22129171 -0.15901920 0.32308328
+v 0.19367822 0.20332656 0.31246464
+v 0.19391760 0.10034384 0.35303736
+v 0.12986444 0.04512973 0.36863645
+v 0.14015067 0.08488900 0.36947727
+v 0.25358240 -0.01792339 0.32505186
+v 0.19512262 -0.19010257 0.32037041
+v 0.24905659 -0.10536026 0.32435730
+v 0.23208488 0.01175673 0.33703652
+f 6 4 1
+f 8 1 5
+f 9 5 1
+f 9 1 4
+f 12 3 7
+f 13 7 6
+f 13 6 1
+f 14 7 3
+f 15 8 5
+f 15 5 2
+f 16 2 5
+f 16 5 10
+f 17 4 10
+f 17 10 5
+f 17 5 9
+f 18 4 6
+f 18 6 11
+f 18 11 10
+f 18 10 4
+f 20 13 1
+f 20 7 13
+f 20 12 7
+f 21 6 7
+f 21 7 14
+f 22 11 6
+f 23 12 20
+f 24 23 20
+f 24 20 1
+f 25 17 9
+f 25 9 4
+f 25 4 17
+f 26 10 11
+f 26 11 19
+f 26 19 3
+f 26 3 12
+f 27 21 14
+f 27 14 22
+f 27 22 6
+f 27 6 21
+f 28 19 11
+f 28 11 22
+f 28 22 14
+f 28 14 3
+f 28 3 19
+f 29 16 10
+f 29 2 16
+f 30 24 1
+f 30 1 8
+f 30 8 15
+f 30 15 24
+f 31 24 15
+f 31 15 2
+f 31 23 24
+f 31 2 29
+f 31 29 12
+f 31 12 23
+f 32 26 12
+f 32 12 29
+f 32 29 10
+f 32 10 26
\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_15.obj b/apple/apple_8/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..028d90ae0de8b1d35b0c16eb6f1a58cbb6df7173
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_15.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.32110187 0.16408605 -0.23405208
+v 0.30700806 0.15919756 -0.27121540
+v 0.16507427 0.33253824 -0.22877701
+v -0.12684936 0.34716937 -0.22854340
+v -0.32222297 0.16263251 -0.23249393
+v 0.09477960 0.15736950 -0.48172886
+v 0.25917927 0.25666580 -0.25671273
+v 0.31285420 0.18983031 -0.23059768
+v 0.07881541 0.32907233 -0.28246722
+v -0.13706472 0.16705846 -0.45955479
+v -0.31283666 0.15950850 -0.25902273
+v 0.17916264 0.22246080 -0.38687598
+v -0.31445075 0.18791508 -0.22911116
+v 0.23708603 0.28966135 -0.22909541
+v 0.30414672 0.18535604 -0.25731333
+v 0.12206411 0.34841739 -0.22908128
+v -0.11220588 0.20763998 -0.43253074
+v 0.16352428 0.15672450 -0.44923703
+v -0.13856460 0.15701544 -0.46495697
+v 0.10715808 0.20812985 -0.43316931
+v -0.24043072 0.28735657 -0.22799760
+v -0.30875587 0.17325985 -0.25740985
+v 0.28004823 0.24590111 -0.22901235
+v 0.20504763 0.25432241 -0.32793554
+v 0.30333582 0.17306968 -0.26915081
+v -0.09587690 0.34355762 -0.25696541
+v -0.09917417 0.16734682 -0.47431013
+v 0.14745193 0.18107097 -0.44372904
+v -0.09991295 0.15711735 -0.48136733
+v 0.15020917 0.26773315 -0.34232172
+v -0.02505281 0.28513626 -0.34193654
+v -0.19784412 0.31654756 -0.22800549
+v -0.19495177 0.23833299 -0.35775663
+v -0.28104407 0.22760729 -0.25743055
+v -0.23972851 0.15997471 -0.37683386
+v 0.28870265 0.21550874 -0.25719280
+v 0.22215604 0.28130827 -0.26886147
+v 0.21526250 0.17169100 -0.40220201
+v 0.10522637 0.34134190 -0.25597106
+v -0.11256314 0.17980087 -0.46110289
+v 0.09404081 0.16759897 -0.47467166
+v 0.13477414 0.15864449 -0.46631412
+v 0.14898527 0.22275868 -0.40226808
+v 0.17757896 0.26848202 -0.32679780
+v 0.03503165 0.28504514 -0.34185639
+v -0.08394649 0.32870744 -0.28219757
+v -0.16847537 0.31276829 -0.26804890
+v -0.31015580 0.18556441 -0.24246791
+v -0.29871979 0.21801348 -0.22902636
+v -0.23909522 0.23889928 -0.31314513
+v -0.18466455 0.15753923 -0.43538073
+v -0.27904677 0.16995990 -0.31428017
+v 0.27617544 0.24298665 -0.24237646
+v 0.27371251 0.20016736 -0.30011226
+v 0.19366460 0.31866066 -0.22891572
+v 0.23378511 0.28597600 -0.24240827
+v 0.24488302 0.24204132 -0.30017524
+v 0.17575071 0.19606894 -0.41468153
+v 0.21892265 0.15888924 -0.40442489
+v 0.10724616 0.31340941 -0.29702357
+v 0.14813484 0.32760465 -0.25661137
+v -0.15415082 0.20824439 -0.41617618
+v 0.10752771 0.18036976 -0.46170290
+v 0.16027907 0.16836792 -0.44387916
+f 5 2 1
+f 11 2 5
+f 13 5 1
+f 13 1 8
+f 15 8 1
+f 16 4 3
+f 18 2 11
+f 19 18 11
+f 22 11 5
+f 23 7 14
+f 23 13 8
+f 23 21 13
+f 25 15 1
+f 25 1 2
+f 26 4 16
+f 27 17 20
+f 29 6 18
+f 29 18 19
+f 29 19 10
+f 31 20 17
+f 32 3 4
+f 32 23 3
+f 32 21 23
+f 36 23 8
+f 36 8 15
+f 39 26 16
+f 39 9 26
+f 40 17 27
+f 40 29 10
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+f 41 29 27
+f 41 6 29
+f 42 18 6
+f 43 30 12
+f 44 24 12
+f 44 12 30
+f 45 31 9
+f 45 9 20
+f 45 20 31
+f 46 26 9
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+f 46 31 17
+f 47 32 4
+f 47 4 26
+f 48 34 22
+f 48 22 5
+f 48 5 13
+f 49 13 21
+f 49 21 34
+f 49 48 13
+f 49 34 48
+f 50 34 21
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+f 50 21 32
+f 50 32 47
+f 51 19 11
+f 51 11 35
+f 51 10 19
+f 51 50 33
+f 51 35 50
+f 52 35 11
+f 52 11 22
+f 52 22 34
+f 52 50 35
+f 52 34 50
+f 53 36 7
+f 53 7 23
+f 53 23 36
+f 54 36 15
+f 54 15 25
+f 54 25 2
+f 55 23 14
+f 55 3 23
+f 56 14 7
+f 56 7 37
+f 56 55 14
+f 56 37 55
+f 57 37 7
+f 57 24 37
+f 57 7 36
+f 57 36 54
+f 57 54 38
+f 57 38 12
+f 57 12 24
+f 58 12 38
+f 58 43 12
+f 58 28 43
+f 58 38 18
+f 59 2 18
+f 59 18 38
+f 59 54 2
+f 59 38 54
+f 60 9 39
+f 60 30 43
+f 60 43 20
+f 60 20 9
+f 61 39 16
+f 61 16 3
+f 61 37 24
+f 61 24 44
+f 61 55 37
+f 61 3 55
+f 61 60 39
+f 61 44 30
+f 61 30 60
+f 62 17 40
+f 62 46 17
+f 62 33 47
+f 62 47 26
+f 62 26 46
+f 62 40 10
+f 62 51 33
+f 62 10 51
+f 63 28 42
+f 63 42 6
+f 63 6 41
+f 63 43 28
+f 63 20 43
+f 63 41 27
+f 63 27 20
+f 64 42 28
+f 64 18 42
+f 64 58 18
+f 64 28 58
\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_16.obj b/apple/apple_8/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53c0b2aa6f8c285c88b192b692e8ca0be4c1ea84
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_16.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.34725326 -0.12156250 0.20256833
+v 0.38851903 -0.01629093 0.11258604
+v 0.35066556 0.08715913 0.20860708
+v 0.32597479 0.19661038 0.19041238
+v 0.32317197 -0.01698920 0.11363636
+v 0.36510990 0.14504150 0.12625977
+v 0.34630378 -0.09212966 0.21538846
+v 0.35347939 -0.11942890 0.18458054
+v 0.38133771 0.07117041 0.12311443
+v 0.34939793 0.11477738 0.19844643
+v 0.34671541 0.20342206 0.11615070
+v 0.34639428 0.08831754 0.21532502
+v 0.36694467 -0.01620167 0.18404002
+v 0.35141066 -0.12255632 0.18873794
+v 0.34817773 0.15748842 0.16745340
+v 0.36404177 0.11456226 0.15276090
+v 0.36461674 0.08633665 0.16825692
+v 0.35213572 0.18932533 0.11187522
+v 0.35521992 -0.01772173 0.20926491
+v 0.36567448 0.04276973 0.18363819
+v 0.38172950 -0.01602294 0.13835501
+v 0.35063702 -0.09083239 0.20858144
+v 0.33679973 0.17388816 0.18378039
+v 0.35085419 0.18883183 0.12550207
+v 0.38251362 0.07108770 0.11199061
+v 0.38019156 0.04274004 0.13798194
+v 0.34932199 -0.11843508 0.19841094
+v 0.32936062 0.19185742 0.18637669
+v 0.36648927 0.14536981 0.11187964
+f 7 5 1
+f 7 4 5
+f 8 5 2
+f 11 5 4
+f 12 4 7
+f 12 10 4
+f 12 3 10
+f 14 1 5
+f 14 5 8
+f 15 10 6
+f 16 9 6
+f 16 6 10
+f 17 10 3
+f 17 16 10
+f 17 9 16
+f 18 5 11
+f 19 12 7
+f 19 3 12
+f 20 19 13
+f 20 3 19
+f 20 17 3
+f 20 9 17
+f 21 8 2
+f 21 20 13
+f 22 7 1
+f 22 21 13
+f 22 8 21
+f 22 19 7
+f 22 13 19
+f 23 4 10
+f 23 10 15
+f 24 15 6
+f 24 23 15
+f 24 11 4
+f 24 18 11
+f 24 6 18
+f 25 2 5
+f 25 5 18
+f 25 9 2
+f 25 6 9
+f 26 21 2
+f 26 2 9
+f 26 9 20
+f 26 20 21
+f 27 22 1
+f 27 8 22
+f 27 14 8
+f 27 1 14
+f 28 24 4
+f 28 4 23
+f 28 23 24
+f 29 25 18
+f 29 18 6
+f 29 6 25
\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_17.obj b/apple/apple_8/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea31e453ca32d4834b2cc759a9910203f9bec3c5
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_17.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.23127692 0.07601779 0.33878755
+v 0.21711137 0.07391989 0.20454545
+v 0.21711137 0.19513202 0.20454545
+v 0.00535108 0.19283967 0.36129771
+v 0.00600405 0.07902398 0.34475459
+v 0.21472257 0.19260404 0.30630942
+v 0.12665020 0.07398092 0.36927991
+v 0.00499016 0.19513202 0.20454545
+v 0.00499016 0.07391989 0.20454545
+v 0.00565312 0.09604080 0.35273117
+v 0.11854751 0.18879222 0.35140272
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 8 3 2
+f 8 4 3
+f 9 7 5
+f 9 2 7
+f 9 8 2
+f 9 4 8
+f 10 7 4
+f 10 5 7
+f 10 9 5
+f 10 4 9
+f 11 6 4
+f 11 4 7
+f 11 7 1
+f 11 1 6
\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_18.obj b/apple/apple_8/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0ce93fb2f1c0c3e1bd90df92ca79f17a100bf36
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_18.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.15858886 0.19297697 0.33375193
+v -0.16167651 0.19513202 -0.23484848
+v -0.15377240 0.24766695 0.31170890
+v -0.15712164 0.37843115 0.09698741
+v -0.34559238 0.19044604 0.13960550
+v -0.15528945 0.34799279 -0.20070153
+v -0.15514261 0.21979554 0.32682626
+v -0.31445075 0.18791508 -0.22911116
+v -0.22488200 0.31283266 0.19691661
+v -0.15553886 0.33411350 0.22600952
+v -0.25973463 0.18838582 0.28248356
+v -0.25514538 0.24244606 -0.28177162
+v -0.29589043 0.28840297 -0.06573262
+v -0.15560980 0.36371536 -0.14128965
+v -0.17031240 0.28932949 0.27814269
+v -0.15637718 0.36558308 0.15504228
+v -0.17153177 0.19143547 0.32863241
+v -0.30027543 0.18668849 0.24031715
+v -0.15687390 0.33572113 -0.22994841
+v -0.26238940 0.23643258 -0.27700233
+v -0.34032283 0.21647807 -0.06599638
+v -0.23709899 0.29871553 -0.21096821
+v -0.25625548 0.32811411 0.08096752
+v -0.18272073 0.31303084 0.23678973
+v -0.15488229 0.30279444 0.27060918
+v -0.23803382 0.24189376 0.26474819
+v -0.18092761 0.22981390 0.30654601
+v -0.16859936 0.34440117 0.19826232
+v -0.16665035 0.21521333 0.32291936
+v -0.34432068 0.19012093 -0.11094920
+v -0.29638765 0.24245440 0.19731988
+v -0.31077834 0.24256922 -0.15332901
+v -0.32663650 0.25828386 0.05076002
+v -0.24315602 0.26028908 -0.27363391
+v -0.19622082 0.32940337 -0.19931683
+v -0.25636012 0.32782962 -0.03541557
+v -0.19849713 0.35813732 0.11146126
+v -0.20918350 0.26936318 0.26638326
+v -0.15649294 0.29175479 0.28168193
+v -0.16787329 0.29848573 0.26752661
+v -0.25754036 0.20012373 0.27773245
+v -0.15595094 0.34969335 0.20017360
+v -0.16859882 0.32984233 0.22299741
+v -0.34056189 0.23159362 0.05089989
+v -0.33038427 0.19034210 0.18498046
+v -0.29597270 0.28839637 0.11127955
+v -0.29529652 0.19858522 0.23658463
+v -0.29401342 0.22897758 -0.22674870
+v -0.28311804 0.28394901 -0.13953363
+v -0.32539856 0.24681957 -0.06596728
+v -0.34001489 0.20290623 -0.11006141
+v -0.22618053 0.29888995 -0.22709737
+v -0.16944314 0.33081852 -0.22803711
+v -0.31119290 0.27342422 -0.03549450
+v -0.21118143 0.34381762 -0.10973849
+v -0.18365221 0.35908799 0.13757740
+v -0.16810372 0.37297103 -0.05076153
+v -0.24007009 0.32726647 0.13637900
+v -0.22240913 0.27067628 0.25112863
+v -0.34009748 0.23152887 0.02357057
+v -0.32489521 0.24590437 0.12179887
+v -0.32630604 0.20082270 0.18308314
+v -0.27987966 0.27204242 0.18148284
+v -0.30842114 0.23031017 -0.18361283
+f 6 3 2
+f 7 1 2
+f 7 2 3
+f 14 3 6
+f 16 14 4
+f 17 1 7
+f 17 2 1
+f 17 8 2
+f 18 17 11
+f 18 8 17
+f 19 6 2
+f 19 2 12
+f 20 12 2
+f 20 2 8
+f 25 14 10
+f 25 3 14
+f 27 7 3
+f 27 3 15
+f 29 17 7
+f 29 11 17
+f 29 7 27
+f 30 18 5
+f 30 8 18
+f 34 19 12
+f 35 14 6
+f 36 33 23
+f 37 36 23
+f 38 24 9
+f 38 15 24
+f 39 25 15
+f 39 15 3
+f 39 3 25
+f 40 25 24
+f 40 24 15
+f 40 15 25
+f 41 18 11
+f 41 29 27
+f 41 11 29
+f 41 38 26
+f 41 27 15
+f 41 15 38
+f 42 10 14
+f 42 14 16
+f 43 42 28
+f 43 10 42
+f 43 25 10
+f 43 24 25
+f 43 28 9
+f 43 9 24
+f 44 30 5
+f 45 5 18
+f 46 23 33
+f 47 31 18
+f 47 26 31
+f 47 41 26
+f 47 18 41
+f 48 20 8
+f 48 12 20
+f 48 34 12
+f 48 22 34
+f 49 32 13
+f 49 48 32
+f 49 22 48
+f 49 13 36
+f 50 13 32
+f 51 30 21
+f 51 50 32
+f 51 21 50
+f 51 8 30
+f 52 34 22
+f 52 22 35
+f 53 35 6
+f 53 6 19
+f 53 52 35
+f 53 19 34
+f 53 34 52
+f 54 36 13
+f 54 33 36
+f 54 50 33
+f 54 13 50
+f 55 14 35
+f 55 35 22
+f 55 49 36
+f 55 22 49
+f 56 16 4
+f 56 4 37
+f 56 42 16
+f 56 28 42
+f 56 9 28
+f 57 37 4
+f 57 36 37
+f 57 55 36
+f 57 4 14
+f 57 14 55
+f 58 37 23
+f 58 56 37
+f 58 9 56
+f 58 23 46
+f 59 31 26
+f 59 26 38
+f 59 38 9
+f 60 21 30
+f 60 30 44
+f 60 50 21
+f 60 44 33
+f 60 33 50
+f 61 44 5
+f 61 33 44
+f 61 46 33
+f 62 45 18
+f 62 18 31
+f 62 31 61
+f 62 61 5
+f 62 5 45
+f 63 58 46
+f 63 9 58
+f 63 59 9
+f 63 31 59
+f 63 61 31
+f 63 46 61
+f 64 48 8
+f 64 32 48
+f 64 51 32
+f 64 8 51
\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_19.obj b/apple/apple_8/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..871eec399785363faf34ff9e7508b24c49888fd8
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_19.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.16124312 0.34573087 0.20421453
+v -0.06824064 0.39220071 -0.11080254
+v -0.06919448 0.38436197 0.17165442
+v -0.10963426 0.38714531 0.13709675
+v -0.17556473 0.36192235 -0.10462069
+v -0.06778998 0.40762860 0.05172525
+v -0.09927374 0.36853403 0.20176274
+v -0.17063057 0.35097902 -0.16455831
+v -0.15520346 0.37219191 0.13720168
+v -0.06741704 0.39076744 0.15357841
+v -0.12522403 0.38790002 -0.05079303
+v -0.10527510 0.36011301 0.21351618
+v -0.14051445 0.38887144 0.05109991
+v -0.13993678 0.35668615 0.19768786
+v -0.06774382 0.40778070 0.03856248
+v -0.08202586 0.38809708 0.15268550
+v -0.11170990 0.37782084 -0.14120559
+v -0.07702349 0.37850943 0.18473112
+v -0.12721502 0.36638445 -0.16829945
+v -0.08235470 0.40471649 0.05146805
+v -0.15554437 0.37278434 -0.09480985
+v -0.15263391 0.35755373 0.18248549
+v -0.11044642 0.38907676 -0.08123209
+v -0.09767242 0.37479551 0.18369693
+v -0.11496277 0.37295389 -0.15803612
+v -0.08227549 0.40478275 0.03870264
+v -0.14045829 0.38880727 0.03865725
+v -0.15439546 0.36121191 -0.15470896
+v -0.15595094 0.34969335 0.20017360
+v -0.07844589 0.39120856 -0.10671159
+v -0.13103980 0.37817455 -0.10736519
+v -0.07541443 0.38948181 -0.11884806
+v -0.12553054 0.37360855 -0.14039923
+v -0.08290432 0.38975817 -0.11040650
+f 8 1 5
+f 9 5 1
+f 10 3 2
+f 10 6 4
+f 12 1 8
+f 13 9 4
+f 13 5 9
+f 14 7 4
+f 14 4 9
+f 14 12 7
+f 14 1 12
+f 15 10 2
+f 15 6 10
+f 16 10 4
+f 18 12 2
+f 18 2 3
+f 18 7 12
+f 18 10 7
+f 18 3 10
+f 19 12 8
+f 19 2 12
+f 20 13 4
+f 20 4 6
+f 20 6 15
+f 22 14 9
+f 22 9 1
+f 23 21 11
+f 24 16 4
+f 24 4 7
+f 24 7 10
+f 24 10 16
+f 26 20 15
+f 26 13 20
+f 26 23 11
+f 26 15 23
+f 27 11 21
+f 27 26 11
+f 27 13 26
+f 27 21 5
+f 27 5 13
+f 28 19 8
+f 28 8 5
+f 28 5 21
+f 28 25 19
+f 28 17 25
+f 29 22 1
+f 29 1 14
+f 29 14 22
+f 30 23 15
+f 30 15 2
+f 31 23 17
+f 31 21 23
+f 32 25 17
+f 32 2 19
+f 32 19 25
+f 32 30 2
+f 33 28 21
+f 33 17 28
+f 33 31 17
+f 33 21 31
+f 34 17 23
+f 34 23 30
+f 34 32 17
+f 34 30 32
\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_2.obj b/apple/apple_8/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..317b759e49e3bdab0e0fcd5933b0909827dd702b
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.07932685 -0.33928017 0.25814673
+v 0.27670567 -0.19814540 0.26439009
+v 0.00914449 -0.01964953 0.38543089
+v -0.32283472 -0.01694185 0.26179370
+v 0.26751800 -0.22011906 0.25628857
+v 0.28843091 -0.01576212 0.29485709
+v -0.15130809 -0.23382914 0.32263104
+v 0.09135928 -0.20662335 0.35278431
+v -0.24244847 -0.24907711 0.25548374
+v -0.19864360 -0.01749575 0.35583168
+v -0.08239164 -0.30684608 0.29327243
+v -0.09627304 -0.20620737 0.35173932
+v 0.15390918 -0.07565949 0.36892152
+v 0.16311457 -0.27717510 0.29119239
+v 0.19322476 -0.29375892 0.25582867
+v -0.31731513 -0.10548034 0.25834141
+v 0.17025047 -0.01717787 0.36517499
+v 0.07993126 -0.30650045 0.29374173
+v -0.14056290 -0.32300094 0.25651757
+v -0.09760499 -0.26194408 0.32419945
+v -0.21584849 -0.13115597 0.33736950
+v -0.14513720 -0.08865990 0.36889910
+v 0.14001040 -0.08872786 0.36928641
+v 0.23597546 -0.14346328 0.32232327
+v 0.26231859 -0.21553550 0.26692198
+v 0.13341864 -0.31813067 0.26831593
+v -0.30089619 -0.16368042 0.25694857
+v 0.15301645 -0.03275765 0.36980786
+v 0.07845526 -0.33250660 0.26900140
+v 0.10731926 -0.26097515 0.32291662
+v -0.08443771 -0.33881123 0.25784926
+v -0.21358644 -0.27794424 0.25549936
+v -0.11129441 -0.23630013 0.33605958
+v -0.13956601 -0.30696725 0.27966399
+v -0.25442904 -0.07510106 0.32461097
+v -0.27120730 -0.18899026 0.27665627
+v -0.15796806 -0.03279648 0.36876583
+v -0.19821181 -0.10359639 0.35105563
+v 0.16599236 -0.13137720 0.35427363
+v 0.25080440 -0.14817839 0.30985979
+v 0.23830246 -0.11904103 0.32859268
+v 0.27265128 -0.19468736 0.27278375
+v 0.18891997 -0.28828419 0.26638573
+v 0.13610362 -0.32445414 0.25754853
+v 0.10651920 -0.31913972 0.27901955
+v 0.10638066 -0.23671611 0.33710457
+v -0.08356612 -0.33203766 0.26870393
+v -0.09756857 -0.32214062 0.27856029
+v -0.17078939 -0.30798235 0.25648863
+v -0.17020428 -0.29280996 0.27783473
+v -0.12408492 -0.27644820 0.30636928
+v -0.25415218 -0.01762614 0.32471155
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+v -0.16647797 -0.21869611 0.32266342
+v -0.28719682 -0.19164914 0.25669831
+v -0.00973617 -0.02190963 0.38421270
+v -0.22933397 -0.10381857 0.33745372
+v -0.15896964 -0.07557692 0.36817748
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+v 0.14780351 -0.30321554 0.27913462
+v 0.13447980 -0.24692929 0.32264690
+v -0.13754223 -0.31683501 0.26729473
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+f 10 6 4
+f 12 8 3
+f 15 9 5
+f 16 4 5
+f 17 10 3
+f 17 6 10
+f 19 15 1
+f 20 8 12
+f 20 11 18
+f 22 12 3
+f 23 13 3
+f 23 3 8
+f 25 15 5
+f 27 16 5
+f 27 5 9
+f 28 17 3
+f 28 3 13
+f 28 13 17
+f 29 18 11
+f 30 20 18
+f 31 19 1
+f 31 1 29
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+f 32 15 19
+f 33 20 12
+f 33 21 7
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+f 38 21 12
+f 38 12 22
+f 39 13 23
+f 41 17 13
+f 41 39 24
+f 41 13 39
+f 41 40 6
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+f 42 25 5
+f 42 5 2
+f 42 2 6
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+f 43 25 14
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+f 53 4 16
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+f 54 21 36
+f 54 50 7
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+f 59 23 8
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+f 60 41 6
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+f 61 25 42
+f 62 15 43
+f 62 44 15
+f 62 26 44
+f 62 43 14
+f 62 45 26
+f 62 30 45
+f 63 46 30
+f 63 59 46
+f 63 24 59
+f 63 61 24
+f 63 14 61
+f 63 62 14
+f 63 30 62
+f 64 48 34
+f 64 19 48
+f 64 49 19
+f 64 34 49
\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_20.obj b/apple/apple_8/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a39de9a82f0765acee511d5afcb785c756738cd9
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_20.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00499016 -0.22911041 0.26515152
+v 0.00499016 -0.22911041 0.00757576
+v 0.00000000 -0.00143500 0.29500049
+v -0.29999863 -0.01617747 0.28480210
+v -0.33651582 -0.24013575 0.00496523
+v -0.28288863 -0.01698920 0.00757576
+v -0.20557285 -0.24059683 0.28709443
+v 0.00499016 -0.01698920 0.00757576
+v 0.00000000 -0.00441328 0.29620656
+v -0.27456506 -0.20846407 0.25866265
+v -0.21123472 -0.24538114 0.28108256
+f 6 4 3
+f 6 5 4
+f 8 1 2
+f 8 3 1
+f 8 6 3
+f 8 2 5
+f 8 5 6
+f 9 7 1
+f 9 1 3
+f 9 3 4
+f 9 4 7
+f 10 7 4
+f 10 4 5
+f 11 5 2
+f 11 2 1
+f 11 1 7
+f 11 10 5
+f 11 7 10
\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_21.obj b/apple/apple_8/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09f9ad837be62b4bea2f2c02239904ce188e0375
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_21.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00499016 -0.22911041 0.00757576
+v 0.00499016 -0.22911041 -0.23484848
+v 0.00499016 0.19513202 0.00757576
+v -0.28288863 0.19513202 0.00757576
+v -0.33651582 -0.24013575 0.00496523
+v -0.30059102 0.20421028 -0.24197027
+v -0.19197954 -0.22911041 0.00757576
+v 0.00499016 0.19513202 -0.23484848
+v -0.29486395 -0.22025440 -0.23969958
+v -0.19197954 -0.22911041 -0.23484848
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 6 2
+f 9 5 6
+f 10 9 2
+f 10 2 5
+f 10 5 9
\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_22.obj b/apple/apple_8/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b930413141f84aa9a4fadc55aa65ef832424815
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_22.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00499016 -0.01698920 0.21969697
+v 0.00499016 -0.01698920 0.00757576
+v 0.00499016 0.19513202 0.00757576
+v -0.30276696 0.20733560 0.21961953
+v -0.28288863 -0.01698920 0.00757576
+v 0.00499016 0.19513202 0.21969697
+v -0.28288863 -0.01698920 0.20454545
+v -0.28288863 0.19513202 0.00757576
+v -0.19197954 -0.01698920 0.21969697
+v -0.19197954 0.19513202 0.21969697
+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 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
+f 9 1 6
+f 9 7 1
+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/apple/apple_8/collision/model_normalized_collision_23.obj b/apple/apple_8/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90806addc40589e180df5f121fc48cd04b845867
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_23.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.08568124 -0.39439764 -0.09823018
+v -0.08498545 -0.35913699 -0.23208265
+v -0.08591894 -0.22911041 -0.09848485
+v -0.33943541 -0.21192630 -0.09766633
+v -0.25421548 -0.31954382 -0.10970908
+v -0.19197954 -0.21395889 -0.23484848
+v -0.31231741 -0.26269940 -0.09466315
+v -0.08329359 -0.37990859 -0.17017906
+v -0.08591894 -0.22911041 -0.23484848
+v -0.19197954 -0.21395889 -0.09848485
+v -0.29405805 -0.23188498 -0.22659546
+v -0.14151087 -0.37998169 -0.09547988
+v -0.08394784 -0.36724460 -0.21385679
+v -0.32977015 -0.20702796 -0.15513228
+v -0.32778210 -0.23649683 -0.09524858
+v -0.30413003 -0.20919513 -0.23117769
+v -0.22612499 -0.30175533 -0.22683952
+v -0.28267868 -0.28724911 -0.13942216
+v -0.25603391 -0.32164541 -0.09508572
+v -0.12530664 -0.37657526 -0.14026356
+v -0.31049323 -0.24586549 -0.15320873
+v -0.32535666 -0.23529819 -0.10990054
+v -0.31637851 -0.20779594 -0.20117109
+v -0.14067567 -0.34655955 -0.22669653
+v -0.25322470 -0.30344410 -0.16841620
+v -0.16791996 -0.36119129 -0.14004849
+v -0.09806565 -0.37761503 -0.16959176
+v -0.31011838 -0.26096571 -0.10934876
+v -0.27936535 -0.26023712 -0.21119618
+v -0.32405245 -0.21929203 -0.15348310
+v -0.31057533 -0.21995825 -0.19953444
+v -0.11055362 -0.36229627 -0.21179723
+v -0.22567955 -0.33128898 -0.13970880
+v -0.14070608 -0.37744645 -0.11014909
+v -0.29450685 -0.26055320 -0.16799817
+v -0.25241228 -0.28775725 -0.21116046
+v -0.15259624 -0.36099727 -0.16877744
+v -0.19602421 -0.33245013 -0.19915247
+v -0.16764215 -0.34561747 -0.19901691
+f 8 3 1
+f 9 6 3
+f 9 2 6
+f 9 3 8
+f 10 3 6
+f 12 1 3
+f 12 3 7
+f 13 9 8
+f 13 2 9
+f 14 10 6
+f 14 4 10
+f 15 7 3
+f 15 3 10
+f 15 10 4
+f 16 6 2
+f 17 16 2
+f 17 11 16
+f 19 12 7
+f 19 18 5
+f 19 7 18
+f 20 1 12
+f 21 7 15
+f 22 15 4
+f 22 4 14
+f 22 21 15
+f 23 14 6
+f 23 6 16
+f 23 16 11
+f 24 17 2
+f 25 5 18
+f 26 12 19
+f 27 8 1
+f 27 1 20
+f 27 13 8
+f 28 21 18
+f 28 18 7
+f 28 7 21
+f 29 21 11
+f 29 11 17
+f 30 22 14
+f 30 21 22
+f 30 23 21
+f 30 14 23
+f 31 23 11
+f 31 11 21
+f 31 21 23
+f 32 24 2
+f 32 2 13
+f 32 13 27
+f 33 26 19
+f 33 19 5
+f 33 5 25
+f 34 20 12
+f 34 12 26
+f 35 29 18
+f 35 18 21
+f 35 21 29
+f 36 25 18
+f 36 18 29
+f 36 29 17
+f 36 17 25
+f 37 32 27
+f 37 27 20
+f 37 24 32
+f 37 34 26
+f 37 20 34
+f 38 33 25
+f 38 25 17
+f 38 17 24
+f 38 37 26
+f 38 26 33
+f 39 38 24
+f 39 24 37
+f 39 37 38
\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_24.obj b/apple/apple_8/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02722cabe40a4ecf00da3277d9c11eec1a5764c3
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_24.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.33666440 0.12470163 0.21917414
+v -0.30059102 0.20421028 -0.24197027
+v -0.32761340 0.12918263 0.23212391
+v -0.30276696 0.20733560 0.21961953
+v -0.35488115 0.18854331 -0.03576827
+v -0.31754538 0.19780482 0.20784695
+v -0.33557502 0.11744515 -0.23182318
+v -0.35612324 0.17372845 0.12596189
+v -0.35560269 0.18872524 0.08139018
+v -0.32525327 0.12969480 -0.25103172
+v -0.33942336 0.18837252 -0.14035974
+v -0.35008241 0.14763009 0.17152611
+v -0.37456136 0.11576046 -0.05148466
+v -0.33447519 0.19183673 0.17120611
+v -0.32460139 0.18846740 -0.19961395
+v -0.37387892 0.11561953 0.11210506
+v -0.35830742 0.11552289 -0.15524054
+v -0.35509287 0.17344468 -0.08126159
+v -0.37078670 0.14509759 -0.00683061
+v -0.34156538 0.18889151 0.15334084
+v -0.33989518 0.12995806 -0.21253410
+v -0.31445075 0.18791508 -0.22911116
+v -0.35729495 0.15890493 0.13846045
+v -0.37115180 0.14522301 0.06635889
+v -0.34295760 0.11555257 -0.21370394
+v -0.35408121 0.14473089 -0.14040709
+v -0.37101845 0.13000669 -0.05111599
+v -0.32550778 0.15837369 -0.22792859
+v -0.37035866 0.12989394 0.11174737
+v -0.34190567 0.17388195 0.16861973
+v -0.35495455 0.12984074 -0.15440713
+v -0.33816208 0.17275472 -0.16889568
+f 3 2 4
+f 5 4 2
+f 6 1 3
+f 6 3 4
+f 7 3 1
+f 9 4 5
+f 10 2 3
+f 10 3 7
+f 11 5 2
+f 12 1 6
+f 14 6 4
+f 14 4 9
+f 14 12 6
+f 15 11 2
+f 16 1 12
+f 17 16 13
+f 18 5 11
+f 19 9 5
+f 19 5 18
+f 20 14 9
+f 20 9 8
+f 21 10 7
+f 22 15 2
+f 22 2 10
+f 23 16 12
+f 24 8 9
+f 24 9 19
+f 24 19 13
+f 24 13 16
+f 25 7 1
+f 25 1 16
+f 25 16 17
+f 25 21 7
+f 25 17 21
+f 26 17 13
+f 26 18 11
+f 27 19 18
+f 27 13 19
+f 27 26 13
+f 27 18 26
+f 28 21 15
+f 28 15 22
+f 28 22 10
+f 28 10 21
+f 29 23 8
+f 29 16 23
+f 29 24 16
+f 29 8 24
+f 30 23 12
+f 30 12 14
+f 30 14 20
+f 30 20 8
+f 30 8 23
+f 31 26 21
+f 31 21 17
+f 31 17 26
+f 32 26 11
+f 32 11 15
+f 32 15 21
+f 32 21 26
\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_25.obj b/apple/apple_8/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efcc30c138551f5d940b35bc409448df440f7a69
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_25.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.18264648 -0.32625014 -0.23100970
+v 0.34005619 -0.10482889 -0.22957911
+v 0.32438668 0.15982722 -0.22948674
+v 0.18680834 0.16482899 -0.23484848
+v 0.18023684 -0.13389845 -0.45345277
+v 0.19361166 -0.32173199 -0.22869653
+v 0.18064172 0.15868365 -0.43720008
+v 0.27968246 -0.24929446 -0.22881647
+v 0.19279992 -0.24174212 -0.35867992
+v 0.18047817 -0.32160242 -0.24416122
+v 0.26164905 0.16023932 -0.34545922
+v 0.24615784 -0.20186484 -0.34375765
+v 0.22006906 -0.28573125 -0.26859705
+v 0.17859035 -0.19011032 -0.41950565
+v 0.33442015 0.07113760 -0.25765958
+v 0.26031522 0.05688277 -0.37253026
+v 0.29091624 -0.07541945 -0.32854433
+v 0.30314078 -0.17667725 -0.26904119
+v 0.23688993 -0.29288703 -0.22891630
+v 0.18116852 -0.30737390 -0.27202853
+v 0.24492079 -0.24503409 -0.29995853
+v 0.18040294 0.13033122 -0.45367148
+v 0.21526250 -0.17456549 -0.40220201
+v 0.30453915 0.14438076 -0.28426186
+v 0.34020888 0.10118845 -0.22963906
+v 0.29098282 0.07175256 -0.32859246
+v 0.26026212 -0.06055238 -0.37248805
+v 0.33432014 -0.07479836 -0.25762026
+v 0.32416039 -0.16342153 -0.22939966
+v 0.23362236 -0.28916726 -0.24222604
+v 0.20515363 -0.25735539 -0.32763460
+v 0.18128508 -0.24530014 -0.36042494
+v 0.19125411 -0.30321812 -0.27002560
+v 0.28833293 -0.21901503 -0.25723139
+v 0.21541457 0.14217575 -0.41635718
+v 0.18965424 -0.18698054 -0.41424848
+v 0.29009979 -0.13310717 -0.31499270
+v 0.29054400 0.15886499 -0.30070566
+v 0.31906355 0.14306914 -0.25753924
+v 0.30518730 0.02750752 -0.31508285
+v 0.29025862 0.12947684 -0.31508808
+v 0.19077334 0.12720019 -0.44736445
+v 0.22869993 -0.13428640 -0.40390987
+v 0.32014557 -0.11898046 -0.26958079
+v 0.27580139 -0.24638034 -0.24224676
+v 0.21853129 -0.25730234 -0.31440916
+v 0.19091113 -0.31738465 -0.24185797
+v 0.27433946 -0.21768926 -0.28484749
+v 0.23097607 0.15862260 -0.38933094
+v 0.22881154 0.13063427 -0.40398595
+v 0.20259871 -0.17217460 -0.41417397
+v 0.30438037 -0.14801111 -0.28416650
+v 0.31968351 0.15843337 -0.24263275
+v 0.33527753 0.10006046 -0.24285410
+v 0.32027453 0.11533396 -0.26965685
+v 0.30515565 -0.03118120 -0.31506406
+v 0.31943068 0.07146353 -0.28395197
+v 0.19173951 0.15500526 -0.43237672
+v 0.20214662 -0.14441339 -0.43052032
+v 0.19060681 -0.13076761 -0.44714545
+v 0.33512484 -0.10370090 -0.24279415
+v 0.31935522 -0.07512908 -0.28390603
+v 0.31884663 -0.14667022 -0.25745352
+v 0.20505580 -0.28594822 -0.28388129
+f 6 3 4
+f 6 4 1
+f 8 3 6
+f 10 1 4
+f 10 4 7
+f 11 7 4
+f 11 4 3
+f 14 10 7
+f 19 8 6
+f 20 10 14
+f 21 9 12
+f 22 14 7
+f 22 5 14
+f 23 12 9
+f 25 8 2
+f 25 3 8
+f 28 25 2
+f 28 15 25
+f 29 2 8
+f 30 19 6
+f 30 13 21
+f 31 20 9
+f 32 20 14
+f 32 14 9
+f 32 9 20
+f 33 10 20
+f 33 20 31
+f 34 29 8
+f 34 18 29
+f 36 23 9
+f 36 9 14
+f 36 14 5
+f 38 11 3
+f 39 3 25
+f 39 24 38
+f 40 16 26
+f 40 27 16
+f 41 38 24
+f 41 11 38
+f 42 16 27
+f 42 5 22
+f 43 27 17
+f 43 17 37
+f 43 37 12
+f 43 12 23
+f 45 30 21
+f 45 8 19
+f 45 19 30
+f 45 34 8
+f 46 21 13
+f 46 31 9
+f 46 9 21
+f 47 33 13
+f 47 10 33
+f 47 6 1
+f 47 1 10
+f 47 30 6
+f 47 13 30
+f 48 21 12
+f 48 12 18
+f 48 18 34
+f 48 45 21
+f 48 34 45
+f 49 7 11
+f 50 26 16
+f 50 42 35
+f 50 16 42
+f 50 41 26
+f 50 35 49
+f 50 49 11
+f 50 11 41
+f 51 36 5
+f 51 23 36
+f 52 18 12
+f 52 12 37
+f 52 37 44
+f 53 39 38
+f 53 38 3
+f 53 3 39
+f 54 39 25
+f 54 25 15
+f 55 24 39
+f 55 41 24
+f 55 54 15
+f 55 39 54
+f 56 17 27
+f 56 27 40
+f 56 40 15
+f 56 15 28
+f 57 40 26
+f 57 15 40
+f 57 55 15
+f 57 26 41
+f 57 41 55
+f 58 42 22
+f 58 22 7
+f 58 35 42
+f 58 49 35
+f 58 7 49
+f 59 43 23
+f 59 51 5
+f 59 23 51
+f 60 42 27
+f 60 27 43
+f 60 5 42
+f 60 59 5
+f 60 43 59
+f 61 44 28
+f 61 28 2
+f 62 44 37
+f 62 37 17
+f 62 28 44
+f 62 56 28
+f 62 17 56
+f 63 29 18
+f 63 52 44
+f 63 18 52
+f 63 44 61
+f 63 61 2
+f 63 2 29
+f 64 33 31
+f 64 31 46
+f 64 46 13
+f 64 13 33
\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_26.obj b/apple/apple_8/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86e59a1395c307a5807b8ab758a06a6f2e9f1629
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_26.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.02099260 -0.07940720 0.48554801
+v 0.02128844 -0.08111397 0.47142229
+v 0.00914449 -0.01964953 0.38543089
+v -0.00973617 -0.02190963 0.38421270
+v -0.00084701 -0.07682711 0.46915101
+v -0.00208960 -0.04516444 0.39360775
+v 0.00225550 -0.06164950 0.49555099
+v 0.02188780 -0.06376415 0.49419317
+v -0.00012190 -0.07660732 0.49196497
+v 0.00826765 -0.04331230 0.39420768
+v -0.00927456 -0.04026514 0.38927715
+v 0.00628224 -0.07505517 0.45559967
+v -0.00802268 -0.02872059 0.41096359
+v 0.02197262 -0.06989681 0.49290564
+v 0.00901252 -0.04965403 0.46975667
+v -0.00888211 -0.05177065 0.44314376
+v 0.00011526 -0.05915724 0.42397900
+v 0.01353711 -0.07721429 0.49229454
+v 0.01085527 -0.05110258 0.47183161
+v -0.00594803 -0.03391654 0.42485987
+v -0.00881233 -0.05289631 0.42021981
+v -0.00751767 -0.05806740 0.43167713
+v -0.00558238 -0.04064479 0.44099149
+f 8 2 3
+f 9 5 2
+f 9 2 1
+f 10 3 2
+f 10 2 6
+f 11 4 3
+f 11 10 6
+f 11 3 10
+f 12 6 2
+f 12 2 5
+f 13 3 4
+f 14 1 2
+f 14 2 8
+f 15 7 8
+f 15 3 13
+f 16 9 7
+f 16 13 4
+f 16 4 11
+f 17 11 6
+f 17 6 12
+f 17 12 5
+f 17 5 11
+f 18 9 1
+f 18 1 14
+f 18 7 9
+f 18 14 8
+f 18 8 7
+f 19 15 8
+f 19 8 3
+f 19 3 15
+f 20 15 13
+f 20 7 15
+f 21 16 11
+f 21 11 5
+f 22 5 9
+f 22 9 16
+f 22 21 5
+f 22 16 21
+f 23 16 7
+f 23 13 16
+f 23 20 13
+f 23 7 20
\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_27.obj b/apple/apple_8/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd50063916da3864ab61016b210b421617148c82
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_27.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.06343013 -0.39719766 0.13953085
+v 0.30800326 -0.25305868 0.15702505
+v 0.12070506 -0.33207523 0.25305657
+v -0.20557285 -0.24059683 0.28709443
+v -0.19197954 -0.22911041 0.14393939
+v 0.26751800 -0.22011906 0.25628857
+v -0.11128188 -0.36423227 0.20882970
+v 0.20769527 -0.35089817 0.13821623
+v 0.06336567 -0.36312035 0.22376249
+v -0.12556953 -0.33105707 0.25238170
+v -0.18882569 -0.35870981 0.14151336
+v 0.23436391 -0.30342223 0.20576836
+v 0.26706013 -0.30815438 0.13849607
+v -0.06776769 -0.37745217 0.19857990
+v 0.12066993 -0.36226689 0.20752683
+v -0.06847749 -0.36265561 0.22346803
+v -0.14144425 -0.37950353 0.13843716
+v -0.18258203 -0.31643844 0.23651854
+v 0.20434288 -0.28862934 0.25152387
+v 0.26328491 -0.27496558 0.20616883
+v 0.24823527 -0.31899951 0.15171288
+v 0.07751208 -0.37600969 0.19811033
+v 0.10544540 -0.34687307 0.23766924
+v 0.19317027 -0.33238087 0.20696843
+v 0.13668901 -0.38083585 0.13888763
+v -0.06848725 -0.39647452 0.13929877
+v -0.15252136 -0.36098999 0.18235153
+v -0.17087288 -0.36785322 0.13935852
+v 0.25122186 -0.32254129 0.13814530
+v -0.18050262 -0.30531029 0.25322404
+v -0.14079385 -0.34645028 0.22223887
+v 0.26224326 -0.23062061 0.25170501
+v 0.26396510 -0.30470857 0.15206676
+v 0.06274979 -0.39288492 0.15329769
+v 0.16276200 -0.34730545 0.20692948
+v 0.17814607 -0.31790449 0.23757344
+v 0.21938440 -0.30249428 0.22089790
+v 0.23450337 -0.31598515 0.18150054
+v 0.17924109 -0.36439601 0.13811855
+v 0.10486390 -0.37596066 0.18269383
+v -0.09806667 -0.37742743 0.18342033
+v -0.18304353 -0.34658594 0.18252459
+v -0.15239137 -0.33136930 0.23655381
+v -0.06780692 -0.39216184 0.15306566
+v 0.14793208 -0.33282250 0.23758477
+v 0.13536914 -0.37660834 0.15260978
+v 0.20524970 -0.34711248 0.15188130
+v -0.14009181 -0.37529248 0.15213645
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 10 3 4
+f 11 4 5
+f 13 5 2
+f 16 9 3
+f 16 3 10
+f 16 14 9
+f 16 10 7
+f 16 7 14
+f 17 5 13
+f 18 4 11
+f 19 6 3
+f 20 2 6
+f 20 19 12
+f 22 9 14
+f 23 15 3
+f 23 3 9
+f 23 22 15
+f 23 9 22
+f 28 11 5
+f 28 5 17
+f 28 27 11
+f 28 17 27
+f 29 17 13
+f 29 13 21
+f 30 10 4
+f 30 4 18
+f 31 7 10
+f 31 27 7
+f 32 20 6
+f 32 6 19
+f 32 19 20
+f 33 13 2
+f 33 2 20
+f 33 20 12
+f 33 21 13
+f 34 22 14
+f 34 1 22
+f 34 26 1
+f 36 24 19
+f 36 19 3
+f 37 24 12
+f 37 12 19
+f 37 19 24
+f 38 12 24
+f 38 33 12
+f 38 21 33
+f 38 29 21
+f 39 35 25
+f 39 8 35
+f 39 29 8
+f 39 17 29
+f 39 26 17
+f 39 25 1
+f 39 1 26
+f 40 22 1
+f 40 1 25
+f 40 15 22
+f 41 14 7
+f 41 17 26
+f 41 7 27
+f 42 18 11
+f 42 11 27
+f 42 31 18
+f 42 27 31
+f 43 30 18
+f 43 18 31
+f 43 31 10
+f 43 10 30
+f 44 34 14
+f 44 26 34
+f 44 41 26
+f 44 14 41
+f 45 3 15
+f 45 15 35
+f 45 36 3
+f 45 35 24
+f 45 24 36
+f 46 35 15
+f 46 25 35
+f 46 40 25
+f 46 15 40
+f 47 35 8
+f 47 24 35
+f 47 38 24
+f 47 8 29
+f 47 29 38
+f 48 41 27
+f 48 27 17
+f 48 17 41
\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_28.obj b/apple/apple_8/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1a6cf2fc0c815cea265045bcaacb3125a4e3ca4
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_28.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.18640704 -0.33854390 0.20026173
+v -0.19498174 -0.35690012 -0.09981127
+v -0.19197954 -0.21395889 -0.09848485
+v -0.30100216 -0.20651536 0.22584833
+v -0.29591421 -0.29194835 0.11130019
+v -0.20853666 -0.22794975 0.29187874
+v -0.25619637 -0.33151165 0.08098957
+v -0.27995426 -0.27539103 0.18138374
+v -0.33943541 -0.21192630 -0.09766633
+v -0.18571899 -0.29684426 0.25864519
+v -0.27456506 -0.20846407 0.25866265
+v -0.23992288 -0.33076184 0.13599700
+v -0.32476650 -0.24953279 0.12195760
+v -0.29549603 -0.29185132 -0.06566103
+v -0.34532542 -0.20898667 -0.06666966
+v -0.18567327 -0.32260038 0.22580166
+v -0.22181190 -0.27438669 0.25083976
+v -0.29627947 -0.24601766 0.19705508
+v -0.28366052 -0.30355178 0.11129990
+v -0.22468584 -0.31616045 0.19700261
+v -0.31079087 -0.26104599 0.13643111
+v -0.25669843 -0.33210166 -0.02175445
+v -0.32642102 -0.26188020 0.05077024
+v -0.31231741 -0.26269940 -0.09466315
+v -0.34500349 -0.20907751 0.12499150
+v -0.29655721 -0.21835967 0.22207263
+v -0.27046215 -0.21863822 0.25454811
+v -0.28277927 -0.28789313 0.15112296
+v -0.19683064 -0.33433583 0.19827277
+v -0.19482742 -0.31940227 0.22206184
+v -0.19680041 -0.29162788 0.25441531
+v -0.31006305 -0.24533390 0.16642281
+v -0.24121897 -0.33169629 -0.09445959
+v -0.31084639 -0.27684607 -0.03538633
+v -0.32505700 -0.25040218 -0.06591631
+v -0.33001215 -0.20684575 0.16932527
+v -0.34041091 -0.23519866 0.05096357
+v -0.26715506 -0.28778206 0.18147415
+v -0.26842994 -0.31835945 -0.05050266
+v -0.32778210 -0.23649683 -0.09524858
+v -0.32610507 -0.26175424 0.02369962
+v -0.32434832 -0.21900913 0.16725964
+v -0.33992150 -0.21943214 0.12394700
+v -0.28344235 -0.30312378 -0.06559511
+v -0.33988178 -0.23510251 0.02364071
+f 1 2 3
+f 7 2 1
+f 9 3 2
+f 10 3 6
+f 11 6 3
+f 11 3 4
+f 12 7 1
+f 15 4 3
+f 15 3 9
+f 16 1 3
+f 16 3 10
+f 17 10 6
+f 17 6 11
+f 18 8 17
+f 19 5 7
+f 19 7 12
+f 21 13 5
+f 21 8 18
+f 22 7 5
+f 22 2 7
+f 23 5 13
+f 23 22 5
+f 24 9 2
+f 26 11 4
+f 26 4 18
+f 27 18 17
+f 27 17 11
+f 27 26 18
+f 27 11 26
+f 28 19 12
+f 28 5 19
+f 28 21 5
+f 28 8 21
+f 29 20 12
+f 29 12 1
+f 29 1 16
+f 30 16 10
+f 30 29 16
+f 30 20 29
+f 31 10 17
+f 31 17 20
+f 31 30 10
+f 31 20 30
+f 32 21 18
+f 32 13 21
+f 33 2 22
+f 33 24 2
+f 33 14 24
+f 34 14 22
+f 34 22 23
+f 34 24 14
+f 35 24 34
+f 36 4 15
+f 36 15 25
+f 36 18 4
+f 37 23 13
+f 37 25 15
+f 38 8 28
+f 38 20 17
+f 38 17 8
+f 38 28 12
+f 38 12 20
+f 39 33 22
+f 40 35 15
+f 40 15 9
+f 40 9 24
+f 40 24 35
+f 41 35 34
+f 41 34 23
+f 41 23 37
+f 42 32 18
+f 42 18 36
+f 42 13 32
+f 42 36 25
+f 42 25 13
+f 43 37 13
+f 43 13 25
+f 43 25 37
+f 44 39 22
+f 44 22 14
+f 44 14 33
+f 44 33 39
+f 45 41 37
+f 45 37 15
+f 45 15 35
+f 45 35 41
\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_29.obj b/apple/apple_8/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8831ff040ce0f93104bc75d3d659466b4697465c
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_29.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.29931078 -0.01740240 0.28545161
+v 0.36410628 -0.01748657 0.19277526
+v 0.30466151 0.13046659 0.26888900
+v 0.20963351 0.18721848 0.31230743
+v 0.21711137 -0.01698920 0.18939394
+v 0.22384818 0.11513614 0.33673098
+v 0.33527522 0.05683067 0.23876265
+v 0.25358240 -0.01792339 0.32505186
+v 0.32936062 0.19185742 0.18637669
+v 0.28195849 0.17081458 0.27791616
+v 0.21270011 -0.01725248 0.34806681
+v 0.33651026 -0.01660143 0.23948120
+v 0.32049917 0.10017766 0.25404304
+v 0.24911275 0.10169521 0.32443080
+v 0.34119449 0.16042061 0.18531679
+v 0.21711137 0.19513202 0.18939394
+v 0.23585598 0.14030091 0.32254313
+v 0.26737173 0.18644055 0.27882399
+v 0.32181531 0.18884258 0.20887053
+v 0.21092743 0.11639169 0.34208546
+v 0.22414168 -0.01783372 0.34172548
+v 0.29275593 0.14330507 0.27938498
+v 0.33585575 0.11537571 0.22386781
+v 0.22152933 0.15551038 0.32330511
+v 0.29186023 0.18527045 0.25326296
+v 0.33467741 0.15766732 0.20736908
+v 0.28918455 0.17228704 0.26766979
+v 0.22176650 0.18432046 0.30724492
+v 0.23590314 0.16998671 0.30687808
+v 0.21227096 0.15911863 0.32641582
+f 8 5 2
+f 8 2 1
+f 11 4 5
+f 12 7 1
+f 12 1 2
+f 12 2 7
+f 13 3 1
+f 13 1 7
+f 14 8 1
+f 14 6 11
+f 15 2 5
+f 16 5 4
+f 16 4 9
+f 16 15 5
+f 16 9 15
+f 17 6 14
+f 18 9 4
+f 18 17 10
+f 19 9 18
+f 20 11 6
+f 20 4 11
+f 20 6 17
+f 21 11 5
+f 21 5 8
+f 21 14 11
+f 21 8 14
+f 22 14 1
+f 22 1 3
+f 22 17 14
+f 22 10 17
+f 22 3 19
+f 23 7 2
+f 23 2 15
+f 23 13 7
+f 23 3 13
+f 25 19 18
+f 25 18 10
+f 26 15 9
+f 26 9 19
+f 26 23 15
+f 26 19 3
+f 26 3 23
+f 27 22 19
+f 27 10 22
+f 27 25 10
+f 27 19 25
+f 28 18 4
+f 29 24 17
+f 29 17 18
+f 29 28 24
+f 29 18 28
+f 30 20 17
+f 30 17 24
+f 30 4 20
+f 30 28 4
+f 30 24 28
\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_3.obj b/apple/apple_8/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb856ae9a3dd936e8f73178afbe367f334c9bad5
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_3.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.19506486 -0.35262290 0.15028629
+v 0.17760761 -0.33060092 -0.22636197
+v 0.18680834 -0.22911041 0.14393939
+v 0.00499016 -0.22911041 0.14393939
+v 0.00565216 -0.35941455 -0.24571917
+v 0.00499016 -0.22911041 -0.23484848
+v 0.18680834 -0.22911041 -0.23484848
+v 0.10918812 -0.38988174 -0.09735629
+v 0.00499016 -0.33517101 0.14393939
+v 0.10678889 -0.36699596 -0.20092308
+v 0.17959922 -0.36483092 -0.09529974
+v 0.10676903 -0.38222520 -0.14134514
+v 0.10806671 -0.35499327 -0.23014499
+v 0.13679800 -0.38142550 -0.09575456
+v 0.16249610 -0.36069159 -0.15349711
+v 0.13589042 -0.34780757 -0.22723441
+v 0.17747974 -0.34530895 -0.18377949
+v 0.12067247 -0.36294108 -0.19984541
+v 0.13518841 -0.37635502 -0.12509296
+v 0.17848265 -0.36238461 -0.10995793
+v 0.12058967 -0.37801291 -0.14053877
+f 1 3 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 5
+f 7 5 6
+f 9 6 5
+f 9 4 6
+f 9 5 8
+f 9 8 1
+f 9 1 4
+f 11 2 1
+f 12 8 5
+f 12 5 10
+f 13 10 5
+f 13 5 2
+f 14 11 1
+f 14 1 8
+f 15 11 14
+f 16 13 2
+f 16 10 13
+f 17 2 11
+f 17 16 2
+f 18 12 10
+f 18 10 16
+f 18 17 15
+f 18 16 17
+f 19 15 14
+f 19 14 8
+f 20 17 11
+f 20 11 15
+f 20 15 17
+f 21 18 15
+f 21 12 18
+f 21 15 19
+f 21 19 8
+f 21 8 12
\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_30.obj b/apple/apple_8/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..516eb8c8539de15e954c07987f6cfd84dfeadc98
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.21711137 -0.01698920 0.20454545
+v 0.21711137 -0.01698920 -0.23484848
+v 0.21711137 0.19513202 0.20454545
+v 0.00499016 0.19513202 0.20454545
+v 0.00499016 -0.01698920 -0.23484848
+v 0.00499016 0.19513202 -0.23484848
+v 0.00499016 -0.01698920 0.20454545
+v 0.21711137 0.19513202 -0.23484848
+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/apple/apple_8/collision/model_normalized_collision_31.obj b/apple/apple_8/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d67c16e93cd2a4bebd9f1aa341a0e88a84c5483
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.22491720 -0.23566197 0.27771323
+v 0.25117785 -0.26789136 -0.25405026
+v 0.21711137 -0.01698920 -0.23484848
+v 0.00000000 -0.00441328 0.29620656
+v 0.00499016 -0.22911041 0.26515152
+v 0.21711137 -0.01698920 0.26515152
+v 0.00499016 -0.22911041 -0.23484848
+v 0.00499016 -0.01698920 -0.23484848
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 2 5
+f 7 5 4
+f 8 3 2
+f 8 2 7
+f 8 7 4
+f 8 4 3
\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_4.obj b/apple/apple_8/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..135f79801c4244061f5c3c6c2082e22ad98d5dab
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_4.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.21270011 -0.01725248 0.34806681
+v 0.21711137 -0.01698920 0.20454545
+v 0.00499016 0.19513202 0.21969697
+v -0.32349254 0.19277187 0.20281561
+v -0.35829725 -0.01698122 0.20432909
+v 0.21711137 0.07391989 0.20454545
+v 0.00535108 0.19283967 0.36129771
+v -0.00803957 -0.02403768 0.39886290
+v -0.34490922 0.13124179 0.20018828
+v -0.19197954 0.19513202 0.20454545
+v 0.23127692 0.07601779 0.33878755
+v -0.22939612 0.10017438 0.33759640
+v -0.33073319 0.17531807 0.20024944
+v 0.18444112 0.01383497 0.36169441
+v -0.14479427 0.08558281 0.36897458
+v -0.15346934 0.18940377 0.33703643
+v -0.29800944 0.12824621 0.28036626
+v -0.22805973 -0.01796404 0.33951348
+v 0.18445142 -0.01750807 0.36173582
+v 0.00253773 -0.02242327 0.39947814
+v -0.11212229 0.18815855 0.35408134
+v -0.33982373 0.09995112 0.22311794
+v -0.34160536 0.13065850 0.20907677
+v -0.27139331 0.18544132 0.27682214
+v -0.27002412 -0.01754102 0.31093403
+v -0.19864360 -0.01749575 0.35583168
+v -0.21167845 0.16878785 0.32200008
+v -0.19840373 0.09982716 0.35116435
+v -0.32560184 0.05722765 0.25440766
+v -0.32736826 0.17383651 0.20912089
+v -0.28132084 0.18420237 0.26776915
+v -0.23966471 0.12884202 0.32345522
+v -0.25420928 0.01396277 0.32463247
+v -0.15796201 0.02912219 0.36873714
+v -0.31086490 0.10038992 0.26952547
+v -0.32694008 -0.01684690 0.25506025
+v -0.32472478 0.15767786 0.22253875
+v -0.31288511 0.18643862 0.22371463
+v -0.26907340 0.15875162 0.29194410
+v -0.25336725 0.08637145 0.32330796
+v -0.22543123 0.15445570 0.32142893
+v -0.15898253 0.07191107 0.36826387
+v -0.29472302 0.15758504 0.26801254
+f 8 5 2
+f 8 2 1
+f 9 2 5
+f 10 3 6
+f 10 7 3
+f 10 4 7
+f 11 1 2
+f 11 2 6
+f 11 6 3
+f 11 3 7
+f 13 6 2
+f 13 2 9
+f 13 10 6
+f 13 4 10
+f 14 1 11
+f 14 11 7
+f 16 7 4
+f 19 8 1
+f 19 1 14
+f 20 14 7
+f 20 19 14
+f 20 8 19
+f 20 15 8
+f 21 7 16
+f 21 20 7
+f 21 15 20
+f 22 9 5
+f 23 13 9
+f 23 22 17
+f 23 9 22
+f 24 16 4
+f 25 5 8
+f 25 8 18
+f 26 12 18
+f 26 18 8
+f 27 21 16
+f 27 16 24
+f 28 15 21
+f 28 12 26
+f 28 21 27
+f 29 22 5
+f 30 4 13
+f 30 13 23
+f 31 24 4
+f 31 17 24
+f 33 25 18
+f 33 18 12
+f 34 26 8
+f 35 17 22
+f 35 22 29
+f 36 29 5
+f 36 5 25
+f 36 35 29
+f 36 25 35
+f 37 30 23
+f 37 23 17
+f 37 17 30
+f 38 30 17
+f 38 4 30
+f 38 31 4
+f 39 24 17
+f 39 17 32
+f 40 32 17
+f 40 12 32
+f 40 33 12
+f 40 17 35
+f 40 35 25
+f 40 25 33
+f 41 28 27
+f 41 39 32
+f 41 27 24
+f 41 24 39
+f 41 32 12
+f 41 12 28
+f 42 34 8
+f 42 8 15
+f 42 15 28
+f 42 28 26
+f 42 26 34
+f 43 38 17
+f 43 17 31
+f 43 31 38
\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_5.obj b/apple/apple_8/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a8968b1853a0feb9d531098c905a55ceeef6c73
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.18096686 -0.36799478 0.12584099
+v 0.35420745 -0.13461612 -0.15550682
+v 0.32073401 -0.26141526 0.09615123
+v 0.30633037 -0.13755729 0.26404041
+v 0.21711137 -0.13820132 -0.23484848
+v 0.36864610 -0.13446350 0.12591761
+v 0.27658803 -0.26080859 0.20551355
+v 0.23564474 -0.30245577 -0.21179989
+v 0.21711137 -0.13820132 0.14393939
+v 0.34939589 -0.20726105 -0.03572278
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\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_6.obj b/apple/apple_8/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..266ea05fd6f1abdd6f063d4e735be974f55d2bff
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_6.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00499016 -0.33517101 0.14393939
+v 0.00565216 -0.35941455 -0.24571917
+v 0.00499016 -0.22911041 -0.23484848
+v -0.19197954 -0.22911041 0.14393939
+v -0.19938266 -0.35081904 0.14963037
+v -0.20051866 -0.35387959 -0.10225758
+v 0.00499016 -0.22911041 0.14393939
+v -0.08866789 -0.35383251 -0.24299338
+v -0.19197954 -0.22911041 -0.09848485
+v -0.08591894 -0.22911041 -0.23484848
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+f 9 4 3
+f 10 3 2
+f 10 2 8
+f 10 9 3
+f 10 8 6
+f 10 6 9
\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_7.obj b/apple/apple_8/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bae6b3a0395e0aa5237d1b6fc7867e2cf78da22c
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_7.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.18379129 -0.19561445 -0.41214640
+v 0.17859035 -0.19011032 -0.41950565
+v 0.19133063 0.16917578 -0.42312375
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+v 0.10743990 -0.18367406 -0.46131175
+v 0.10591661 0.13949665 -0.49051042
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+v 0.16170926 -0.18827992 -0.43206584
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+v 0.11901749 0.15477576 -0.47632010
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\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_8.obj b/apple/apple_8/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eba64a5e720451a6ffcaecc54b10fd97b0630b03
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_8.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.20195985 0.19513202 0.20454545
+v 0.20195985 0.19513202 -0.23484848
+v 0.17836397 0.37355219 0.02354850
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+v -0.16167651 0.19513202 0.20454545
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+v 0.19366460 0.31866066 -0.22891572
+v 0.04947068 0.40542928 -0.03586675
+v -0.16124312 0.34573087 0.20421453
+v -0.16167651 0.19513202 -0.23484848
+v 0.10491668 0.38853047 0.13756810
+v 0.19358156 0.35877458 0.12546019
+v -0.05336602 0.40521100 -0.03582264
+v 0.06253533 0.37275652 -0.19948197
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+v -0.15687390 0.33572113 -0.22994841
+v 0.06204744 0.40479325 0.09692937
+v 0.19340165 0.34370487 0.16770768
+v 0.15048009 0.37356935 0.13766793
+v 0.19327164 0.35789866 -0.08107394
+v -0.15439546 0.36121191 -0.15470896
+v 0.09304374 0.35756543 -0.22638793
+v 0.04955979 0.38950686 -0.14064910
+v 0.06153814 0.38728520 0.16756553
+v 0.03408173 0.40524686 0.12309628
+v 0.13537242 0.38896065 0.06626079
+v 0.16287225 0.35810679 0.16753110
+v 0.12003483 0.37327712 0.16783648
+v 0.12002191 0.38780273 -0.06593330
+v 0.19352178 0.34343846 -0.15393882
+v -0.06701837 0.40379934 0.09684159
+v -0.05259016 0.38922829 -0.14054597
+v -0.11074799 0.35924940 -0.21206811
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+v -0.05191530 0.38904416 0.16815370
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+v 0.17797217 0.37278021 0.06596934
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+v 0.13554093 0.38914183 0.00844524
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+v 0.17762972 0.35692703 -0.12477902
+v 0.07750636 0.38794374 -0.12515262
+v 0.12001136 0.37245352 -0.15390497
+v 0.19284381 0.32710801 -0.21128871
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\ No newline at end of file
diff --git a/apple/apple_8/collision/model_normalized_collision_9.obj b/apple/apple_8/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..108592a5e6c7cddf21a76ad79aa8179e53c89d79
--- /dev/null
+++ b/apple/apple_8/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.31074369 0.18754782 0.22570540
+v 0.33345154 0.19335204 0.17260234
+v 0.15178480 0.36243087 0.16932900
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+v 0.20195985 0.19513202 0.17424242
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+v 0.10621297 0.37733557 0.16921755
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+v 0.27667627 0.25725061 0.20594037
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+v 0.16291004 0.27388391 0.29150590
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+v -0.08217633 0.37304059 0.19827074
+v 0.26267683 0.21213270 0.26697627
+v 0.29485648 0.26046588 0.16844024
+v 0.10739133 0.25756659 0.32329468
+v 0.14806799 0.30012415 0.27911762
+v 0.07793665 0.35915985 0.22320439
+v 0.07717895 0.37392587 0.19856217
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+v 0.30591194 0.19975082 0.22215084
+v 0.25352680 0.20097300 0.27951210
+v 0.09215513 0.30251802 0.29239051
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\ No newline at end of file
diff --git a/apple/apple_8/model.xml b/apple/apple_8/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6438adf961f43d4e8250ba973794c50529aa8325
--- /dev/null
+++ b/apple/apple_8/model.xml
@@ -0,0 +1,85 @@
+<mujoco model="apple_42">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.08500000000000002 0.08500000000000002 0.08500000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <texture type="2d" name="image3" file="visual/image3.png"/>
+    <material name="M_Apple" texture="image0" specular="0.5" shininess="0.25"/>
+    <material name="lambert1.053" texture="image3" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="M_Apple"/>
+        <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="lambert1.053"/>
+        <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="0.00019372519999999967 -8.18486250000003e-05 -0.041768677000000004" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00019372519999999967 -8.18486250000003e-05 0.04212183415000001" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0332605272 0.03466135950000001 0.00017657857500000086" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/apple/apple_8/visual/material.mtl b/apple/apple_8/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/apple/apple_8/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/apple/apple_8/visual/model_normalized_0.obj b/apple/apple_8/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b976653473ace7949fdeb3a5f6cf0155bcd487cd
--- /dev/null
+++ b/apple/apple_8/visual/model_normalized_0.obj
@@ -0,0 +1,5976 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.17740300 -0.17734150 -0.42931750
+v -0.15134450 -0.15150350 -0.46201850
+v -0.13213700 -0.16409450 -0.46644400
+v -0.15512150 -0.19132700 -0.43431050
+v -0.13369350 -0.13400100 -0.48249300
+v -0.11513850 -0.13705700 -0.49090600
+v -0.09417700 -0.14449950 -0.49277050
+v -0.10843600 -0.17222950 -0.47193750
+v -0.12729750 -0.19981650 -0.44151400
+v -0.17740300 0.17446500 -0.42931750
+v -0.19960950 0.19648350 -0.39894250
+v -0.17460450 0.21200550 -0.40220200
+v -0.15512150 0.18845250 -0.43431050
+v -0.21999800 0.21685800 -0.36286450
+v -0.19222400 0.23515000 -0.36434300
+v -0.15774500 0.24695200 -0.36656050
+v -0.14328600 0.22126750 -0.40709100
+v -0.12729750 0.19694500 -0.44151400
+v -0.14428350 0.09194550 -0.49277050
+v -0.13677650 0.11272800 -0.49090600
+v -0.11361300 0.11121650 -0.50000000
+v -0.11932050 0.08978550 -0.49842000
+v -0.13369350 0.13112600 -0.48249300
+v -0.11513850 0.13418300 -0.49090600
+v -0.09417700 0.14162850 -0.49277050
+v -0.09199850 0.11687650 -0.49842000
+v -0.09573350 0.09348900 -0.49440150
+v 0.17740300 -0.17734150 -0.42931750
+v 0.15134450 -0.15150350 -0.46201850
+v 0.16404400 -0.13245700 -0.46644400
+v 0.19150850 -0.15524750 -0.43431050
+v 0.13369350 -0.13400100 -0.48249300
+v 0.13677650 -0.11560200 -0.49090600
+v 0.14428350 -0.09481650 -0.49277050
+v 0.17225000 -0.10895450 -0.47193750
+v 0.20007200 -0.12765700 -0.44151400
+v -0.15134450 0.14862700 -0.46201850
+v -0.16404400 0.12958300 -0.46644400
+v -0.19150850 0.15237300 -0.43431050
+v -0.17225000 0.10608350 -0.47193750
+v -0.20007200 0.12478600 -0.44151400
+v 0.09417700 -0.14449950 -0.49277050
+v 0.11513850 -0.13705700 -0.49090600
+v 0.13213700 -0.16409450 -0.46644400
+v 0.10843600 -0.17222950 -0.47193750
+v 0.15512150 -0.19132700 -0.43431050
+v 0.12729750 -0.19981650 -0.44151400
+v 0.19960950 -0.19936050 -0.39894250
+v 0.17460450 -0.21488000 -0.40220200
+v 0.21999800 -0.21973450 -0.36286450
+v 0.19222400 -0.23802450 -0.36434300
+v 0.15774500 -0.24982300 -0.36656050
+v 0.14328600 -0.22413900 -0.40709100
+v -0.15774500 -0.24982300 -0.36656050
+v -0.19222400 -0.23802450 -0.36434300
+v -0.17460450 -0.21488000 -0.40220200
+v -0.14328600 -0.22413900 -0.40709100
+v -0.21999800 -0.21973450 -0.36286450
+v -0.19960950 -0.19936050 -0.39894250
+v 0.15774500 0.24695200 -0.36656050
+v 0.19222400 0.23515000 -0.36434300
+v 0.17460450 0.21200550 -0.40220200
+v 0.14328600 0.22126750 -0.40709100
+v 0.21999800 0.21685800 -0.36286450
+v 0.19960950 0.19648350 -0.39894250
+v 0.17740300 0.17446500 -0.42931750
+v 0.15512150 0.18845250 -0.43431050
+v 0.12729750 0.19694500 -0.44151400
+v 0.15134450 0.14862700 -0.46201850
+v 0.13213700 0.16122000 -0.46644400
+v 0.13369350 0.13112600 -0.48249300
+v 0.11513850 0.13418300 -0.49090600
+v 0.09417700 0.14162850 -0.49277050
+v 0.10843600 0.16935850 -0.47193750
+v -0.13213700 0.16122000 -0.46644400
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diff --git a/apple/apple_8/visual/model_normalized_1.obj b/apple/apple_8/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbb780b0779bfe2f8df3bbd9dc3bd576be3b5004
--- /dev/null
+++ b/apple/apple_8/visual/model_normalized_1.obj
@@ -0,0 +1,694 @@
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\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_0.obj b/apple/apple_9/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90e6905f7d6aad68fb7952d5ef7574460e55ba2b
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.21972596 -0.24559804 0.39207179
+v -0.22666965 -0.25000000 -0.21874626
+v -0.21959574 0.21319896 0.37724390
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+v -0.42165512 0.23020191 -0.04750496
+v -0.45123113 -0.13940694 -0.13957640
+v -0.43449872 0.10778159 -0.21220796
+v -0.25828299 0.17882328 0.36923609
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+v -0.43518089 -0.16750107 0.09441575
+v -0.31524716 -0.23907382 0.29961114
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+v -0.43453991 -0.12457373 -0.21170369
+v -0.38022141 0.22715326 -0.21286338
+v -0.23094939 0.20916337 0.37200212
+v -0.25767280 0.22261221 0.34131093
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+v -0.38912193 -0.16817823 0.22812711
+v -0.38350481 -0.03326391 0.29559075
+v -0.21956022 0.11070954 0.41969767
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+v -0.38836917 0.15221007 0.22572819
+v -0.38922980 0.22388083 0.15195063
+v -0.45086871 0.12401228 0.06613110
+v -0.41993770 -0.19607958 0.10901352
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\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_1.obj b/apple/apple_9/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..727389f673c90256b751bb7e4485ba1abf2b1a4c
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_1.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.22710126 -0.14357274 0.41502578
+v 0.37081980 0.00908264 0.36470199
+v 0.21295868 0.06650868 0.46272119
+v 0.01184890 0.25723052 0.41835460
+v 0.02326264 -0.04117563 0.39911171
+v 0.25937040 0.23651844 0.37423094
+v 0.29296474 -0.00365056 0.42960800
+v 0.01345900 0.04237863 0.44877264
+v 0.14923685 0.21143778 0.42930146
+v 0.25459230 -0.12653776 0.40919222
+v 0.25259825 -0.00463681 0.44643016
+v 0.33459939 0.09451541 0.40116552
+v 0.15156984 -0.14468214 0.42932706
+v 0.01667837 0.18538755 0.44640443
+v 0.01309458 -0.00151698 0.43563532
+v 0.17769968 0.22434263 0.41621547
+v 0.34841265 -0.00437743 0.38634312
+v 0.26648123 0.00984826 0.44404033
+v 0.36948723 0.09650685 0.36487757
+v 0.18370146 0.02496973 0.46151944
+v 0.22368435 -0.09325740 0.42960512
+v 0.10436454 0.22719930 0.42931193
+v 0.22230423 0.13791798 0.44364203
+v 0.36263478 -0.00726775 0.37074594
+v 0.33468629 0.00961195 0.40209819
+v 0.21143103 0.03965278 0.46228960
+v 0.26452829 0.09484924 0.44361233
+v 0.36334530 0.09613938 0.37247502
+v 0.16940699 0.03904348 0.46124461
+v 0.01471690 0.22986838 0.43185504
+v 0.16509932 0.16762789 0.44436439
+v 0.23715728 0.16519323 0.42920614
+v 0.36348786 0.01019239 0.37332164
+v 0.29323758 0.09442997 0.42954356
+v 0.19644981 0.02580193 0.46201269
+v 0.17034071 0.06672568 0.46074348
+v 0.07582915 0.18506116 0.44539125
+v 0.25187429 0.20897204 0.39953660
+v 0.25156090 0.15271484 0.42963776
+v 0.22192273 0.22390498 0.40146942
+v 0.23596171 0.19422556 0.41483676
+v 0.25079844 0.22408152 0.38883301
+f 5 2 1
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+f 39 34 12
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+f 40 6 16
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+f 41 40 16
+f 41 16 32
+f 42 40 38
+f 42 38 6
+f 42 6 40
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_10.obj b/apple/apple_9/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ae16ce2c00302947012637e6e359d015ca3ba4d
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_10.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.01526303 -0.14812008 0.44101007
+v 0.06062835 -0.01347377 0.35786484
+v 0.01471690 0.22986838 0.43185504
+v -0.22689544 0.23507324 0.35732551
+v -0.22666965 -0.00757576 0.35701132
+v 0.01575459 0.23484849 0.35701132
+v -0.16043944 0.11095094 0.44404563
+v 0.01667837 0.18538755 0.44640443
+v -0.09030601 -0.14393939 0.37216283
+v -0.12962794 0.22431630 0.41365822
+v -0.15279457 -0.14501846 0.44400139
+v -0.22432095 -0.00799151 0.42619331
+v 0.02424405 -0.10195572 0.39236959
+v -0.21511487 0.18003182 0.39829377
+v -0.08893346 0.16872978 0.44461423
+v -0.11885239 -0.14538650 0.44764337
+v -0.07768183 -0.14693337 0.44736937
+v -0.16154663 0.06946088 0.44466749
+v -0.17100519 0.22420901 0.39769524
+v -0.14511531 0.18284461 0.42874082
+v -0.21543196 0.13935202 0.41480782
+v -0.01246929 0.18281972 0.44555635
+v -0.08720428 0.21183117 0.42844909
+v 0.01342045 0.02526957 0.44502957
+v -0.20713712 -0.00693785 0.43145817
+v -0.15033412 -0.14363470 0.44454809
+v -0.21443862 0.20850225 0.38334033
+v -0.18686765 0.18086925 0.41257236
+v -0.17279064 0.19513741 0.41212874
+v -0.14504755 0.13905041 0.44300766
+v -0.20388889 0.09594432 0.42942760
+v -0.21687614 0.22378802 0.37240229
+v -0.18766357 0.13805545 0.42837136
+f 6 3 2
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+f 6 5 4
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+f 8 1 2
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+f 10 3 4
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+f 12 4 5
+f 12 5 11
+f 13 9 2
+f 13 2 1
+f 13 1 9
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+f 17 9 1
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+f 18 7 12
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+f 33 7 30
+f 33 31 7
+f 33 21 31
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_11.obj b/apple/apple_9/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96880fd6f5a5ecb6e31a9841d0ca26d3e39f2347
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.23853025 0.22745967 0.39210685
+v 0.24302732 0.23484849 0.23579920
+v 0.21840116 0.38879763 0.22905859
+v -0.05709774 0.44985655 0.21500931
+v -0.19636662 0.23484849 0.22064768
+v 0.01575459 0.23484849 0.22064768
+v 0.11586867 0.36925699 0.32611581
+v 0.23524890 0.37544410 0.23009188
+v 0.01587765 0.45520813 0.21775772
+v -0.18767501 0.38880649 0.21304326
+v 0.20841742 0.22607031 0.40484821
+v 0.20107264 0.35415132 0.29739901
+v 0.13284195 0.43356173 0.22832463
+v -0.02758156 0.41398122 0.28307362
+v -0.14283932 0.41736736 0.21320513
+v -0.14732449 0.22784649 0.40567450
+v 0.14546980 0.31087296 0.36944964
+v 0.23090286 0.35449728 0.26958369
+v 0.05978807 0.41436335 0.28400407
+v 0.17347655 0.38332928 0.28194856
+v 0.00160851 0.44399508 0.24108747
+v -0.11270249 0.39897520 0.26748510
+v -0.19323624 0.23121861 0.38180956
+v -0.02864336 0.32723095 0.37001574
+v 0.17465066 0.29569626 0.36967597
+v 0.23151552 0.37142771 0.24259986
+v 0.23511274 0.23773433 0.38599890
+v 0.02941513 0.44350629 0.24230538
+v 0.11683119 0.41402208 0.26874685
+v 0.21571130 0.38415351 0.24079329
+v 0.14548975 0.38374215 0.29759379
+v -0.05536361 0.42845421 0.25398100
+v -0.08444905 0.42903948 0.23928591
+v -0.14025181 0.38371446 0.26847087
+v -0.17653333 0.22893854 0.39225864
+v -0.05652661 0.35650865 0.34048041
+v 0.10253649 0.32663014 0.36926115
+v -0.02840348 0.25621776 0.41444573
+v 0.14595131 0.26904540 0.39943830
+v 0.20355581 0.29547609 0.35534225
+v 0.03035447 0.44975936 0.22966653
+v 0.08822948 0.39937065 0.29850482
+v 0.08799735 0.42888651 0.25469734
+v 0.13128365 0.42773275 0.23982148
+v 0.11652897 0.35574840 0.33986155
+v -0.05740413 0.44440262 0.22558278
+v -0.08462619 0.39876815 0.28288918
+v -0.13995102 0.41232728 0.22515381
+v -0.18428984 0.35398775 0.26840384
+v -0.15569921 0.30932097 0.34226040
+v -0.07123361 0.29761574 0.38406031
+v 0.14965481 0.22849279 0.42105865
+v 0.10369177 0.28390332 0.39969999
+v 0.13214704 0.29695548 0.38445785
+v 0.20544488 0.23746526 0.39831878
+v -0.05528055 0.38435638 0.31116886
+v -0.18408475 0.38422190 0.22501518
+v -0.17062046 0.26721694 0.36964279
+v -0.15480080 0.33936321 0.31143276
+v -0.02881891 0.28403505 0.39935137
+v -0.08718098 0.24104825 0.41471573
+v -0.09914611 0.32513947 0.35489551
+v -0.08826256 0.22853628 0.42053865
+v 0.14751156 0.24145977 0.41488211
+f 8 1 2
+f 8 2 6
+f 9 6 4
+f 9 8 6
+f 9 3 8
+f 10 6 5
+f 11 6 2
+f 11 2 1
+f 11 5 6
+f 13 3 9
+f 15 4 6
+f 15 6 10
+f 16 5 11
+f 18 1 8
+f 20 12 18
+f 21 9 4
+f 23 10 5
+f 26 18 8
+f 26 8 3
+f 27 18 12
+f 27 1 18
+f 27 25 1
+f 28 21 14
+f 28 14 19
+f 30 3 13
+f 30 13 20
+f 30 20 18
+f 30 26 3
+f 30 18 26
+f 31 12 20
+f 32 14 21
+f 33 4 15
+f 35 23 5
+f 35 5 16
+f 36 24 19
+f 36 19 14
+f 40 27 12
+f 40 25 27
+f 40 12 31
+f 40 17 25
+f 41 13 9
+f 41 9 21
+f 41 21 28
+f 42 31 29
+f 42 7 31
+f 42 19 24
+f 42 24 37
+f 43 28 19
+f 43 42 29
+f 43 19 42
+f 43 41 28
+f 43 13 41
+f 44 20 13
+f 44 43 29
+f 44 13 43
+f 44 31 20
+f 44 29 31
+f 45 31 7
+f 45 40 31
+f 45 17 40
+f 45 37 17
+f 45 42 37
+f 45 7 42
+f 46 32 21
+f 46 21 4
+f 46 33 32
+f 46 4 33
+f 47 14 32
+f 47 33 22
+f 47 32 33
+f 48 33 15
+f 48 22 33
+f 48 34 22
+f 49 10 23
+f 51 24 36
+f 53 37 24
+f 53 38 52
+f 54 39 25
+f 54 25 17
+f 54 17 37
+f 54 53 39
+f 54 37 53
+f 55 39 11
+f 55 11 1
+f 55 1 25
+f 55 25 39
+f 56 47 36
+f 56 36 14
+f 56 14 47
+f 57 34 48
+f 57 49 34
+f 57 10 49
+f 57 48 15
+f 57 15 10
+f 58 23 35
+f 58 35 16
+f 58 50 49
+f 58 49 23
+f 59 34 49
+f 59 49 50
+f 59 22 34
+f 59 47 22
+f 60 24 51
+f 60 53 24
+f 60 38 53
+f 61 51 16
+f 61 60 51
+f 61 38 60
+f 62 51 36
+f 62 50 58
+f 62 58 16
+f 62 16 51
+f 62 59 50
+f 62 36 47
+f 62 47 59
+f 63 16 11
+f 63 11 52
+f 63 61 16
+f 63 52 38
+f 63 38 61
+f 64 52 11
+f 64 11 39
+f 64 53 52
+f 64 39 53
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_12.obj b/apple/apple_9/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38de4ffcf6f6c6bc11e42056f18fecb04affe85a
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_12.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.30054019 -0.29323633 0.29243584
+v 0.25377086 -0.26068342 -0.35322210
+v 0.25817883 -0.00757576 0.26610223
+v -0.22666965 -0.00757576 0.25095071
+v -0.24174277 -0.28271038 -0.36067066
+v 0.24302732 -0.00757576 -0.33995838
+v 0.01575459 -0.00757576 0.26610223
+v -0.22666965 -0.26515151 0.25095071
+v -0.22666965 -0.00757576 -0.33995838
+v 0.25817883 -0.00757576 -0.21874626
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 6 5
+f 9 5 4
+f 9 4 6
+f 10 1 2
+f 10 2 6
+f 10 6 3
+f 10 3 1
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_13.obj b/apple/apple_9/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c8da9ceb8fff07230f77dc897ef458b020f8906
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_13.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.27069303 -0.14824792 0.39503019
+v 0.25817883 -0.14393939 0.26610223
+v 0.25817883 -0.00757576 0.26610223
+v 0.01556177 -0.00711286 0.43193879
+v 0.01526303 -0.14812008 0.44101007
+v 0.01575459 -0.14393939 0.26610223
+v 0.25259825 -0.00463681 0.44643016
+v 0.01575459 -0.00757576 0.26610223
+v 0.07323744 -0.15173748 0.43503927
+v 0.26164924 -0.00941546 0.44224857
+v 0.08029763 -0.09657926 0.48126352
+v 0.21149825 -0.00588821 0.45499198
+v 0.07110296 -0.11768887 0.48082685
+v 0.07218772 -0.09891155 0.48019853
+v 0.07545293 -0.11820942 0.48024321
+v 0.15156984 -0.14468214 0.42932706
+v 0.25521998 -0.08080815 0.42405979
+v 0.25212450 -0.01789127 0.44359718
+f 1 2 3
+f 6 3 2
+f 8 3 6
+f 8 7 3
+f 8 4 7
+f 8 6 5
+f 8 5 4
+f 9 6 2
+f 9 2 1
+f 9 5 6
+f 10 1 3
+f 10 3 7
+f 12 11 7
+f 12 7 4
+f 12 4 11
+f 13 4 5
+f 14 13 11
+f 14 11 4
+f 14 4 13
+f 15 13 5
+f 15 5 9
+f 15 7 11
+f 15 11 13
+f 16 15 9
+f 16 9 1
+f 16 1 15
+f 17 15 1
+f 17 1 10
+f 18 10 7
+f 18 7 15
+f 18 17 10
+f 18 15 17
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_14.obj b/apple/apple_9/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3feb00d4c7ecd2e81bf2ead1de227dd02ffb973a
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_14.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.42454324 -0.01383146 0.27091474
+v 0.46877802 -0.00761442 -0.09483820
+v 0.46216999 0.09781223 0.14343346
+v 0.25817883 0.09848485 0.25095071
+v 0.25817883 -0.00757576 -0.09753414
+v 0.42316458 0.10696798 0.26993999
+v 0.46973357 -0.00725169 0.09719530
+v 0.25817883 -0.00757576 0.25095071
+v 0.46478639 0.09793775 -0.09660954
+v 0.46203740 -0.00761824 0.14292336
+v 0.46878198 0.09670623 -0.06548172
+v 0.25817883 0.09848485 -0.09753414
+v 0.46896180 0.09704692 0.09758589
+v 0.46808443 0.06627928 -0.09436152
+f 5 2 1
+f 6 1 3
+f 6 4 1
+f 7 1 2
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 2 5
+f 10 7 3
+f 10 3 1
+f 10 1 7
+f 11 7 2
+f 12 9 5
+f 12 5 4
+f 12 4 6
+f 12 6 9
+f 13 9 6
+f 13 6 3
+f 13 11 9
+f 13 3 7
+f 13 7 11
+f 14 11 2
+f 14 2 9
+f 14 9 11
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_15.obj b/apple/apple_9/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f831226347b6726e9ca72933e00f35e0fc31f0ae
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_15.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.21923795 -0.44852469 0.11124927
+v -0.22101354 -0.40634549 -0.21365255
+v -0.22580194 -0.24940163 0.38612697
+v -0.28912266 -0.24181212 0.33108976
+v -0.41145744 -0.24241750 -0.11153180
+v -0.21689220 -0.37555379 0.28871111
+v -0.27400038 -0.41438608 -0.10788713
+v -0.22666965 -0.25000000 -0.21874626
+v -0.22733703 -0.29904200 0.35541588
+v -0.35891481 -0.29786324 0.12384947
+v -0.21969040 -0.43193915 -0.15279103
+v -0.34537626 -0.29675981 -0.21116933
+v -0.21816536 -0.30131759 0.36160193
+v -0.38235069 -0.24318985 -0.21407783
+v -0.24580324 -0.24301493 0.37349373
+v -0.25534210 -0.32708150 0.29970436
+v -0.27861404 -0.41204464 0.09743622
+v -0.39604478 -0.24295195 0.11142378
+v -0.25989382 -0.39795719 -0.18130702
+v -0.24585404 -0.44358265 -0.04947902
+v -0.35986308 -0.31398976 -0.12424968
+v -0.21917237 -0.27515170 0.37783897
+v -0.26008848 -0.38468410 -0.21077059
+v -0.27538613 -0.24270845 0.34594573
+v -0.25607022 -0.29802430 0.32732486
+v -0.36563261 -0.24246063 0.20099785
+v -0.21863058 -0.42108680 0.20071213
+v -0.30044185 -0.34188585 0.19743025
+v -0.39085424 -0.28274745 0.02141253
+v -0.24604346 -0.42868802 -0.12206762
+v -0.23135882 -0.42758551 -0.14975391
+v -0.30049731 -0.37020112 -0.16661527
+v -0.22048253 -0.44909052 -0.09456752
+v -0.34647218 -0.34265445 -0.08004206
+v -0.24569040 -0.44483968 0.05138493
+v -0.39105188 -0.25393920 -0.16842140
+v -0.22843081 -0.27267153 0.37196426
+v -0.23417908 -0.40074759 -0.21103379
+v -0.31530581 -0.25439778 0.28512218
+v -0.35890152 -0.28335827 0.15327550
+v -0.23036834 -0.44257501 0.10926227
+v -0.29968556 -0.37129051 0.13942889
+v -0.24051721 -0.35631221 0.28425835
+v -0.33041392 -0.35875707 0.06618933
+v -0.41224708 -0.24332039 0.03710157
+v -0.23185452 -0.44358454 -0.09291844
+v -0.28649825 -0.38387802 -0.16588771
+v -0.28711676 -0.36993642 -0.19579667
+v -0.33149699 -0.34112275 -0.15315324
+v -0.39042914 -0.28383472 -0.06565968
+v -0.37737042 -0.25295305 -0.21230196
+v -0.40499226 -0.25343904 -0.10934848
+v -0.39742676 -0.24316998 -0.17008090
+v -0.24226201 -0.25547005 0.36983081
+v -0.28515977 -0.25384823 0.32686900
+v -0.32073209 -0.24230726 0.28821163
+v -0.28535637 -0.32622144 0.25452295
+v -0.38996018 -0.25419247 0.10924519
+v -0.34479159 -0.29758469 0.16827573
+v -0.25560892 -0.41537103 0.13871040
+v -0.25936043 -0.43011942 0.08066579
+v -0.22934188 -0.41458282 0.19733549
+v -0.36012537 -0.31263347 0.08050381
+v -0.34442330 -0.31248363 0.13854874
+f 11 6 1
+f 13 2 8
+f 13 11 2
+f 13 6 11
+f 13 9 6
+f 14 5 4
+f 14 8 2
+f 15 3 8
+f 15 14 4
+f 15 8 14
+f 16 6 9
+f 22 13 8
+f 22 8 3
+f 23 14 2
+f 23 12 14
+f 24 15 4
+f 25 16 9
+f 25 9 24
+f 26 4 5
+f 26 5 18
+f 27 1 6
+f 30 7 19
+f 31 2 11
+f 31 30 19
+f 33 11 1
+f 33 31 11
+f 33 30 31
+f 34 7 20
+f 35 34 20
+f 35 17 34
+f 35 33 1
+f 35 20 33
+f 37 22 3
+f 37 3 15
+f 37 9 13
+f 37 13 22
+f 37 24 9
+f 38 23 2
+f 38 19 23
+f 38 31 19
+f 38 2 31
+f 39 16 25
+f 40 26 18
+f 41 1 27
+f 41 35 1
+f 43 6 16
+f 44 17 42
+f 44 34 17
+f 44 29 34
+f 45 18 5
+f 46 20 7
+f 46 7 30
+f 46 33 20
+f 46 30 33
+f 47 19 7
+f 47 7 32
+f 47 23 19
+f 48 32 12
+f 48 12 23
+f 48 47 32
+f 48 23 47
+f 49 12 32
+f 49 36 12
+f 49 21 36
+f 49 34 21
+f 49 32 7
+f 49 7 34
+f 50 34 29
+f 50 21 34
+f 50 45 5
+f 50 29 45
+f 51 14 12
+f 51 12 36
+f 52 36 21
+f 52 5 36
+f 52 50 5
+f 52 21 50
+f 53 36 5
+f 53 5 14
+f 53 51 36
+f 53 14 51
+f 54 37 15
+f 54 15 24
+f 54 24 37
+f 55 39 25
+f 55 25 24
+f 55 24 4
+f 56 4 26
+f 56 26 39
+f 56 55 4
+f 56 39 55
+f 57 16 39
+f 57 43 16
+f 57 28 43
+f 57 39 26
+f 58 40 18
+f 58 10 40
+f 58 18 45
+f 59 26 40
+f 59 57 26
+f 59 28 57
+f 59 40 10
+f 59 42 28
+f 60 41 27
+f 60 17 41
+f 61 41 17
+f 61 17 35
+f 61 35 41
+f 62 43 28
+f 62 27 6
+f 62 6 43
+f 62 60 27
+f 62 28 42
+f 62 42 17
+f 62 17 60
+f 63 29 44
+f 63 10 58
+f 63 58 45
+f 63 45 29
+f 64 44 42
+f 64 63 44
+f 64 10 63
+f 64 59 10
+f 64 42 59
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_16.obj b/apple/apple_9/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..800bbd1b83254288606f56b98312768110e6d71d
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_16.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.25817883 -0.00757576 0.37216283
+v 0.24302732 -0.00757576 -0.35510990
+v 0.25922295 0.25021208 -0.37479042
+v -0.22689544 0.23507324 0.35732551
+v -0.22666965 -0.00757576 0.35701132
+v -0.24059154 0.24967430 -0.37176012
+v 0.25937040 0.23651844 0.37423094
+v 0.25817883 -0.00757576 -0.23389777
+v 0.02326264 -0.04117563 0.39911171
+v -0.22666965 -0.00757576 -0.35510990
+v 0.01184890 0.25723052 0.41835460
+f 6 5 4
+f 8 2 3
+f 8 7 1
+f 8 3 7
+f 9 8 1
+f 9 2 8
+f 10 6 3
+f 10 3 2
+f 10 5 6
+f 10 9 5
+f 10 2 9
+f 11 6 4
+f 11 4 5
+f 11 5 9
+f 11 9 1
+f 11 1 7
+f 11 7 3
+f 11 3 6
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_17.obj b/apple/apple_9/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc5a342beb6f4724ff3710d14152b64e075aba32
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_17.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.09054248 -0.44935653 -0.21381339
+v 0.36144649 -0.24827583 -0.21758796
+v -0.13180326 -0.44710093 -0.19776482
+v -0.22666965 -0.26515151 -0.20359474
+v 0.01634377 -0.24660939 -0.45406212
+v 0.01575459 -0.26515151 -0.20359474
+v 0.24817011 -0.37285342 -0.21252685
+v 0.01575459 -0.25000000 -0.21874626
+v -0.06970198 -0.39930610 -0.31135406
+v -0.17581525 -0.43262929 -0.19741724
+v 0.01566435 -0.45983296 -0.20276838
+v 0.24949926 -0.24073895 -0.37350362
+v -0.20581466 -0.25680801 -0.40420894
+v 0.10328537 -0.36945159 -0.34078944
+v -0.17417970 -0.39735072 -0.26755880
+v 0.14723954 -0.43213026 -0.21259458
+v 0.04467595 -0.42894541 -0.26934837
+v -0.04382547 -0.44370686 -0.24009337
+v 0.34962740 -0.26951380 -0.21222988
+v 0.35328392 -0.24317543 -0.24400587
+v 0.17629520 -0.24173235 -0.41700378
+v -0.24015936 -0.36841111 -0.26250846
+v -0.08845814 -0.29667948 -0.41309049
+v 0.18533442 -0.35414416 -0.31027848
+v -0.10259450 -0.42818554 -0.25296132
+v -0.15847479 -0.42687178 -0.22365809
+v 0.20356347 -0.40567173 -0.21278713
+v 0.10148490 -0.42791540 -0.25405377
+v 0.08806903 -0.44449246 -0.22582406
+v 0.07311487 -0.39890277 -0.31232700
+v -0.10128519 -0.44295628 -0.22462174
+v 0.01503223 -0.44385868 -0.24023692
+v -0.02867806 -0.42862886 -0.27015935
+v 0.33802709 -0.24233453 -0.27224189
+v 0.34784613 -0.25367048 -0.24079900
+v 0.07204869 -0.28349697 -0.42934829
+v -0.22351991 -0.41077394 -0.20113391
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+v 0.18695857 -0.27999269 -0.38319560
+v -0.13000953 -0.41208242 -0.26742250
+v -0.13018171 -0.44247427 -0.21010947
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+v 0.17209504 -0.38471437 -0.28168696
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+v 0.11560911 -0.39770800 -0.29656155
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+v 0.01697089 -0.25885140 -0.44851274
+v -0.02677897 -0.28369771 -0.42802835
+v -0.20637752 -0.42017863 -0.19850749
+v -0.21936299 -0.40129628 -0.22599195
+v -0.14516970 -0.28053039 -0.41256324
+v -0.17567665 -0.25703663 -0.41833027
+v -0.18806725 -0.29475216 -0.38276749
+v -0.21848174 -0.36748095 -0.28352640
+v -0.10113287 -0.35421954 -0.35574603
+v -0.17304958 -0.36908507 -0.31019524
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+v -0.17385057 -0.42790603 -0.20987049
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+f 8 4 2
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+f 13 8 5
+f 13 4 8
+f 16 11 1
+f 19 6 3
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+f 19 2 6
+f 19 11 7
+f 20 8 2
+f 21 5 8
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+f 27 11 16
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+f 29 28 1
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+f 51 36 9
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+f 52 10 4
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+f 53 37 22
+f 53 52 37
+f 53 15 26
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+f 56 38 13
+f 56 54 40
+f 56 55 54
+f 56 13 55
+f 57 22 38
+f 57 38 40
+f 57 53 22
+f 57 15 53
+f 58 51 9
+f 58 23 51
+f 58 54 23
+f 58 40 54
+f 59 57 40
+f 59 15 57
+f 59 42 15
+f 59 9 42
+f 59 58 9
+f 59 40 58
+f 60 21 12
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+f 60 49 21
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+f 61 48 44
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+f 62 14 36
+f 62 60 41
+f 62 36 60
+f 62 45 14
+f 62 24 45
+f 62 61 24
+f 62 41 61
+f 63 43 10
+f 63 26 43
+f 63 10 52
+f 63 53 26
+f 63 52 53
+f 64 44 7
+f 64 7 27
+f 64 45 44
+f 64 46 45
+f 64 27 46
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_18.obj b/apple/apple_9/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9c855c00434f46784577d1db7610a4722688140
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_18.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.24302732 0.23484849 0.23579920
+v 0.24302732 0.23484849 -0.21874626
+v 0.24873894 0.36531780 -0.22256455
+v -0.20525879 0.36702852 0.22773211
+v -0.19636662 0.23484849 -0.23389777
+v 0.24730135 0.36217487 0.23875739
+v -0.19636662 0.23484849 0.22064768
+v -0.20658061 0.37532774 -0.24609727
+v 0.01575459 0.23484849 0.23579920
+v 0.01575459 0.23484849 -0.23389777
+v 0.01575459 0.35606061 0.23579920
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 5 1
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
+f 9 1 6
+f 9 7 1
+f 9 4 7
+f 10 8 3
+f 10 3 2
+f 10 2 5
+f 10 5 8
+f 11 9 6
+f 11 6 4
+f 11 4 9
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_19.obj b/apple/apple_9/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86c4244cf3e67858bedc76a3ef55dcdc2b3eb5de
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_19.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.46838903 -0.00764347 -0.09719486
+v 0.45508579 -0.00766694 -0.15427112
+v 0.41473595 0.25539120 -0.10378346
+v 0.25817883 0.23484849 -0.09753414
+v 0.25817883 -0.00757576 -0.09753414
+v 0.25817883 0.23484849 -0.23389777
+v 0.46478639 0.09793775 -0.09660954
+v 0.38090551 0.23573151 -0.23471582
+v 0.25817883 -0.00757576 -0.23389777
+v 0.45267450 0.09614012 -0.15295067
+v 0.42994145 -0.00748346 -0.22984811
+v 0.43516890 0.16897771 -0.16661950
+v 0.44116089 -0.00723761 -0.19882134
+v 0.41972619 0.21166480 -0.16657230
+v 0.43877039 0.16962034 -0.15380180
+v 0.42128201 0.13937675 -0.22597718
+v 0.43641796 0.11087996 -0.19729230
+v 0.42365124 0.21251555 -0.15306770
+v 0.42008752 0.16815790 -0.21105915
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 6 3
+f 9 2 5
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+f 9 6 8
+f 10 7 1
+f 10 1 2
+f 11 9 8
+f 11 2 9
+f 13 10 2
+f 13 2 11
+f 14 8 3
+f 15 3 7
+f 15 7 10
+f 15 10 12
+f 16 11 8
+f 17 13 11
+f 17 10 13
+f 17 11 16
+f 17 16 12
+f 17 12 10
+f 18 14 3
+f 18 3 15
+f 18 15 12
+f 18 12 14
+f 19 14 12
+f 19 12 16
+f 19 16 8
+f 19 8 14
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_2.obj b/apple/apple_9/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d5d564566e6b9296ad1eea100c3aca4022babc5
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_2.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.32631267 0.09590922 0.40743079
+v 0.45600677 0.09665904 -0.13969428
+v 0.42162280 0.22526564 0.17007287
+v 0.25079844 0.22408152 0.38883301
+v 0.25817883 0.09848485 -0.09753414
+v 0.34832020 0.20737209 0.32761756
+v 0.46216999 0.09781223 0.14343346
+v 0.28194115 0.09584555 0.43523631
+v 0.38090551 0.23573151 -0.23471582
+v 0.37750427 0.22403061 0.27113757
+v 0.32002161 0.16426483 0.38536795
+v 0.39298676 0.09576857 0.33105803
+v 0.45193729 0.19842989 -0.01938563
+v 0.25737515 0.09805974 0.44588251
+v 0.40434586 0.16736595 -0.24571133
+v 0.25817883 0.23484849 -0.09753414
+v 0.34910888 0.22195957 0.31318694
+v 0.30583980 0.22044289 0.35602304
+v 0.32057046 0.13733554 0.39856220
+v 0.47026902 0.09700843 0.08374143
+v 0.43834617 0.15528659 0.20039613
+v 0.39164991 0.16725289 0.29985269
+v 0.43616614 0.22595292 -0.06518858
+v 0.25359023 0.13884390 0.43434390
+v 0.37939096 0.09848485 -0.15814020
+v 0.37665276 0.17966555 0.31411041
+v 0.32030211 0.20672269 0.35553995
+v 0.26273430 0.22098948 0.38488626
+v 0.27754541 0.12251214 0.43040652
+v 0.36271390 0.13687563 0.35821880
+v 0.47038025 0.09792303 -0.04996002
+v 0.45239957 0.18352182 0.09686925
+v 0.39093690 0.10976679 0.32989324
+v 0.42006394 0.21008552 0.19871851
+v 0.43600079 0.22552883 0.09701673
+v 0.43490460 0.18263388 -0.15301696
+v 0.45122400 0.09809055 -0.15705119
+v 0.27764631 0.16364129 0.41334315
+v 0.26597082 0.13708739 0.43043137
+v 0.36245930 0.16480710 0.34258250
+v 0.46871715 0.12730116 0.05390205
+v 0.43502215 0.18320478 0.18488961
+v 0.45314698 0.15545830 0.14142499
+v 0.43458463 0.16974883 0.20053552
+v 0.45211318 0.19810377 0.05319084
+v 0.45248225 0.16990517 0.12621578
+v 0.40474022 0.21082231 -0.21029588
+v 0.45161436 0.16991624 -0.09487939
+v 0.45231039 0.12582442 -0.13913267
+v 0.46767517 0.12612560 -0.03532908
+v 0.46868281 0.11149224 0.08273792
+v 0.41534521 0.15683866 -0.22977900
+v 0.40402089 0.19686641 -0.22508351
+v 0.42189490 0.22684857 -0.13743329
+v 0.45204416 0.18419675 -0.06472916
+v 0.46877338 0.11116089 -0.05021405
+v 0.39129988 0.22541515 -0.22523730
+f 8 5 2
+f 10 9 4
+f 10 3 9
+f 12 8 2
+f 12 1 8
+f 14 5 8
+f 15 5 9
+f 16 9 5
+f 16 5 4
+f 16 4 9
+f 17 10 4
+f 18 17 4
+f 20 12 2
+f 20 7 12
+f 21 12 7
+f 24 4 5
+f 24 5 14
+f 25 2 5
+f 25 5 15
+f 26 17 6
+f 26 10 17
+f 26 22 10
+f 27 18 11
+f 27 11 6
+f 27 6 17
+f 27 17 18
+f 28 18 4
+f 28 11 18
+f 29 8 1
+f 29 1 19
+f 29 14 8
+f 30 19 1
+f 30 1 12
+f 30 22 26
+f 30 11 19
+f 31 20 2
+f 33 12 21
+f 33 21 22
+f 33 30 12
+f 33 22 30
+f 34 3 10
+f 34 10 22
+f 35 23 9
+f 35 9 3
+f 37 25 15
+f 37 2 25
+f 38 11 28
+f 38 29 19
+f 38 19 11
+f 38 28 4
+f 38 4 24
+f 39 24 14
+f 39 14 29
+f 39 38 24
+f 39 29 38
+f 40 30 26
+f 40 26 6
+f 40 6 11
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+f 43 21 7
+f 44 34 22
+f 44 22 21
+f 44 42 34
+f 44 43 42
+f 44 21 43
+f 45 13 23
+f 45 23 35
+f 45 35 32
+f 45 41 13
+f 45 32 41
+f 46 35 3
+f 46 32 35
+f 46 3 42
+f 46 42 43
+f 46 41 32
+f 49 2 37
+f 49 36 48
+f 50 41 31
+f 50 13 41
+f 51 43 7
+f 51 7 20
+f 51 20 41
+f 51 46 43
+f 51 41 46
+f 52 36 49
+f 52 49 37
+f 52 37 15
+f 53 15 9
+f 53 52 15
+f 53 47 36
+f 53 36 52
+f 54 9 23
+f 54 36 47
+f 54 48 36
+f 55 23 13
+f 55 50 48
+f 55 13 50
+f 55 54 23
+f 55 48 54
+f 56 49 48
+f 56 31 2
+f 56 2 49
+f 56 50 31
+f 56 48 50
+f 57 53 9
+f 57 47 53
+f 57 54 47
+f 57 9 54
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_20.obj b/apple/apple_9/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a233bdf8ddb1b95b186b12e0250261352e3d9b70
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_20.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.36669481 -0.24209551 -0.21366628
+v 0.42496106 -0.09440692 -0.21318246
+v 0.24302732 -0.00757576 -0.21874626
+v 0.24302732 0.23484849 -0.23389777
+v 0.23807495 -0.06531223 -0.44651806
+v 0.39645125 0.21288955 -0.22729007
+v 0.39499024 -0.18351784 -0.21320666
+v 0.24302732 -0.25000000 -0.21874626
+v 0.23427850 -0.21184928 -0.40242909
+v 0.23637704 0.22929653 -0.40685718
+v 0.36301268 0.08050519 -0.34103097
+v 0.23822312 -0.24464213 -0.37834581
+v 0.33209105 -0.10860139 -0.37059523
+v 0.38685166 0.23006256 -0.22958365
+v 0.23680160 0.11194444 -0.44934690
+v 0.42619849 0.09676079 -0.22839331
+v 0.26276131 -0.10713300 -0.42770271
+v 0.39023872 -0.10768786 -0.28410601
+v 0.27443153 -0.19483622 -0.38411645
+v 0.33080439 0.19860001 -0.34071267
+v 0.23610189 -0.13941717 -0.43196615
+v 0.23624029 0.16983386 -0.43500289
+v 0.31919589 -0.02373257 -0.40023772
+v 0.39071558 0.14011133 -0.28317659
+v 0.43472727 -0.00740241 -0.21701550
+v 0.40482332 -0.12294292 -0.24122771
+v 0.34587845 -0.18101804 -0.31256816
+v 0.25878493 -0.23729995 -0.36900667
+v 0.30413280 -0.10761279 -0.39841137
+v 0.31733163 0.22580500 -0.33959086
+v 0.29065385 0.11079140 -0.41216123
+v 0.35971110 0.22532317 -0.28286752
+v 0.24955327 -0.06569769 -0.44192468
+v 0.27512093 -0.16509470 -0.39946656
+v 0.36315539 -0.07897788 -0.34185838
+v 0.39117914 0.09480816 -0.29755291
+v 0.41195885 0.17006132 -0.22800211
+v 0.36164334 0.13837739 -0.32584086
+v 0.40669313 -0.06512187 -0.27044310
+v 0.42035746 -0.09326730 -0.22633381
+v 0.38995823 -0.16638791 -0.23971034
+v 0.31773816 -0.19559005 -0.34082139
+v 0.24542053 -0.20843781 -0.39716924
+v 0.33253643 -0.23934687 -0.28402769
+v 0.31927329 -0.03546320 -0.39950444
+v 0.28866977 0.19595226 -0.38409857
+v 0.26006357 0.13855871 -0.42909035
+v 0.27593447 0.08201415 -0.42871105
+v 0.33269310 0.10939037 -0.37042653
+v 0.37650781 0.22512592 -0.25426311
+v 0.39008698 0.19711226 -0.25402071
+v 0.24887594 -0.13821187 -0.42607197
+v 0.29040222 -0.09440592 -0.41301169
+v 0.36030854 -0.12190909 -0.32807551
+v 0.37713861 0.00647768 -0.32787004
+v 0.40515645 0.10985216 -0.26883838
+v 0.42115979 0.09575967 -0.24083229
+v 0.37547594 0.12455629 -0.31187552
+v 0.39180526 -0.06549145 -0.29979539
+v 0.42173217 -0.05087554 -0.24147168
+v 0.39054884 -0.18211462 -0.22520222
+v 0.37443543 -0.15112233 -0.28431221
+v 0.30304699 -0.23734561 -0.32584014
+v 0.33232265 -0.20957515 -0.31227904
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 7 3 1
+f 8 1 3
+f 9 3 4
+f 9 8 3
+f 10 9 4
+f 12 1 8
+f 12 8 9
+f 14 10 4
+f 14 4 6
+f 21 15 5
+f 21 9 15
+f 22 15 9
+f 22 9 10
+f 25 6 2
+f 26 2 7
+f 30 10 14
+f 32 30 14
+f 32 20 30
+f 33 21 5
+f 33 17 21
+f 33 5 15
+f 34 29 13
+f 37 25 16
+f 37 6 25
+f 38 20 24
+f 40 26 18
+f 40 2 26
+f 40 18 39
+f 41 18 26
+f 42 34 13
+f 42 19 34
+f 43 28 12
+f 43 12 9
+f 43 19 28
+f 43 34 19
+f 43 9 34
+f 44 1 12
+f 45 13 29
+f 45 35 13
+f 45 23 35
+f 45 33 23
+f 46 22 10
+f 46 10 30
+f 46 30 20
+f 47 15 22
+f 47 46 31
+f 47 22 46
+f 48 31 23
+f 48 47 31
+f 48 15 47
+f 48 33 15
+f 48 23 33
+f 49 11 23
+f 49 23 31
+f 49 38 11
+f 49 20 38
+f 49 46 20
+f 49 31 46
+f 50 32 14
+f 50 14 6
+f 51 24 20
+f 51 20 32
+f 51 32 50
+f 51 37 24
+f 51 50 6
+f 51 6 37
+f 52 34 9
+f 52 9 21
+f 52 21 17
+f 52 17 34
+f 53 34 17
+f 53 29 34
+f 53 45 29
+f 53 17 33
+f 53 33 45
+f 54 13 35
+f 54 42 13
+f 54 27 42
+f 55 35 23
+f 55 23 11
+f 55 11 36
+f 56 36 24
+f 56 24 37
+f 57 16 25
+f 57 55 36
+f 57 25 55
+f 57 36 56
+f 57 56 37
+f 57 37 16
+f 58 36 11
+f 58 11 38
+f 58 38 24
+f 58 24 36
+f 59 39 18
+f 59 35 55
+f 59 55 25
+f 59 54 35
+f 59 18 54
+f 60 40 39
+f 60 25 2
+f 60 2 40
+f 60 59 25
+f 60 39 59
+f 61 41 26
+f 61 26 7
+f 61 7 1
+f 61 1 44
+f 62 18 41
+f 62 54 18
+f 62 27 54
+f 62 61 27
+f 62 41 61
+f 63 28 19
+f 63 19 42
+f 63 44 12
+f 63 12 28
+f 64 42 27
+f 64 61 44
+f 64 27 61
+f 64 63 42
+f 64 44 63
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_21.obj b/apple/apple_9/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..412006c3f4d3248bc1e063a789465d93b14abcc6
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_21.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.39038653 -0.14812990 0.25647744
+v 0.45634468 -0.06543719 0.14177602
+v 0.40356025 0.11202934 0.30852091
+v 0.38056173 0.23567808 0.25165221
+v 0.37939096 0.15909091 0.14489010
+v 0.45614908 0.14120771 0.14185952
+v 0.40284243 -0.03616787 0.30729708
+v 0.41979524 -0.16093112 0.15634333
+v 0.43680306 0.00877766 0.24534756
+v 0.41990004 0.16787127 0.24319481
+v 0.39525642 0.24447234 0.21270612
+v 0.43926577 -0.12297173 0.14071666
+v 0.43651796 -0.06434668 0.21396522
+v 0.45209322 -0.02193981 0.18579118
+v 0.40666186 -0.03377283 0.30155933
+v 0.40056734 0.15603430 0.29118327
+v 0.43600104 0.08204659 0.24435295
+v 0.45184209 0.15830372 0.14404457
+v 0.39374776 0.22390922 0.24210010
+v 0.43196910 -0.14052137 0.14297427
+v 0.45333202 -0.06476128 0.15584881
+v 0.42223156 -0.13644554 0.18493050
+v 0.43693289 -0.03471292 0.22939705
+v 0.40758097 0.11030733 0.30167863
+v 0.40023191 -0.09533986 0.27664803
+v 0.43585260 0.12510058 0.22907341
+v 0.45142491 0.11129180 0.18594218
+v 0.42084629 0.19620926 0.21323714
+v 0.45252582 -0.05017990 0.17078372
+v 0.40648349 -0.13666046 0.22945360
+v 0.43599610 -0.12178560 0.15470219
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+f 39 11 19
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\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_22.obj b/apple/apple_9/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ff90be1183819c48c0ce8cd12fde198af79ba74
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_22.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.01454544 -0.39163458 0.36441550
+v 0.25468451 -0.26244009 0.36791905
+v 0.08777269 -0.24674161 0.44563635
+v 0.02424405 -0.10195572 0.39236959
+v -0.09030601 -0.26515151 0.37216283
+v 0.25967763 -0.08441282 0.42120745
+v 0.12927881 -0.34130190 0.38464221
+v 0.16227383 -0.34722988 0.36357250
+v -0.08931175 -0.26415213 0.44351138
+v 0.21930479 -0.24212150 0.39759305
+v 0.27772146 -0.09618765 0.40907872
+v 0.02757182 -0.31491541 0.42920545
+v -0.02884550 -0.39231358 0.36498474
+v 0.08906233 -0.37621486 0.36394988
+v 0.17383353 -0.31366485 0.38481021
+v 0.01526303 -0.14812008 0.44101007
+v 0.13010582 -0.26033276 0.42895742
+v 0.24651789 -0.24236698 0.38312711
+v 0.24917470 -0.18530371 0.39939583
+v 0.01405023 -0.28775800 0.44436203
+v -0.08815373 -0.38029703 0.36691569
+v 0.01333953 -0.35705987 0.40100702
+v 0.13234989 -0.36259644 0.36380394
+v 0.15834924 -0.34150739 0.37080080
+v 0.14869897 -0.08716351 0.42924195
+v 0.01732308 -0.16481079 0.44759000
+v 0.18963405 -0.23043503 0.41326697
+v 0.14640895 -0.23212731 0.42976913
+v 0.15922707 -0.27217431 0.41347163
+v 0.10098716 -0.31516428 0.41521269
+v 0.24895069 -0.25871292 0.37374697
+v 0.01369959 -0.38433486 0.37343308
+v -0.04284508 -0.35666006 0.40129050
+v 0.08697004 -0.34133385 0.39991859
+v 0.14382526 -0.31438103 0.39863726
+v 0.12977966 -0.35647204 0.37085911
+v 0.08717248 -0.17989430 0.44395923
+v -0.07257145 -0.26099738 0.44778893
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+v 0.10060200 -0.28743458 0.42973292
+v -0.04287215 -0.37062368 0.38802506
+v -0.08499306 -0.32865533 0.41458663
+v -0.04349657 -0.31604689 0.42982788
+v 0.07370097 -0.30176144 0.42974147
+v 0.02772232 -0.37008164 0.38696200
+v 0.12932757 -0.30007830 0.41348208
+v 0.08720642 -0.36932710 0.37276260
+v 0.05831952 -0.16659470 0.44482844
+v -0.08567229 -0.37341750 0.37548305
+v -0.02818457 -0.38518115 0.37368865
+v -0.02855243 -0.28765607 0.44432885
+v -0.07120142 -0.27398765 0.44449612
+v 0.05865908 -0.27306273 0.44392230
+v -0.08550394 -0.30231780 0.42991167
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+f 29 27 17
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+f 50 21 13
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+f 53 44 40
+f 53 40 3
+f 53 3 20
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+f 54 52 9
+f 54 9 42
+f 54 42 43
+f 54 43 52
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_23.obj b/apple/apple_9/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c4d8651f35aebe24b5b3363a4c222b2500f0d73
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_23.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.19323624 0.23121861 0.38180956
+v -0.19636662 0.23484849 -0.23389777
+v -0.18777562 0.35942621 0.25773185
+v -0.19085714 0.39322589 0.20133825
+v -0.41199741 0.22841557 0.06700383
+v -0.18767501 0.38880649 0.21304326
+v -0.18985451 0.24294229 0.37625946
+v -0.23196441 0.22651532 0.35956364
+v -0.23414837 0.39019981 -0.18324621
+v -0.31616125 0.28045974 0.20995785
+v -0.38022141 0.22715326 -0.21286338
+v -0.20514636 0.22789205 0.37692205
+v -0.19987379 0.30776828 0.31219624
+v -0.30461558 0.36938857 0.00683797
+v -0.20203129 0.38149570 -0.24001804
+v -0.24228592 0.33968776 0.22463298
+v -0.36530228 0.22587051 0.19830821
+v -0.21376305 0.25143656 0.35453321
+v -0.18878785 0.31418893 0.31433202
+v -0.24331471 0.38457452 0.13801292
+v -0.34681838 0.31000285 0.09392411
+v -0.37540213 0.29749410 -0.07943402
+v -0.30225144 0.32406212 -0.20982238
+v -0.37050089 0.22989264 -0.23005483
+v -0.19802645 0.38322493 0.21002308
+v -0.24222716 0.30842180 0.26865902
+v -0.30679135 0.22624614 0.28719734
+v -0.41024672 0.22738053 -0.12446496
+v -0.20084834 0.23964979 0.37191244
+v -0.18924728 0.28399659 0.34436888
+v -0.27300599 0.33891000 0.18106652
+v -0.31872450 0.35428939 0.03626710
+v -0.35891437 0.26739654 0.15089371
+v -0.37565837 0.29746853 0.02077376
+v -0.30386610 0.36869540 -0.07978827
+v -0.25933746 0.35253733 -0.22370692
+v -0.34580463 0.29533915 -0.18054324
+v -0.21330309 0.35319908 0.23927385
+v -0.19851441 0.35427523 0.25369703
+v -0.28792570 0.30962764 0.20949774
+v -0.30105136 0.26487960 0.25392487
+v -0.22913761 0.23723409 0.35420032
+v -0.38006712 0.22622815 0.16915877
+v -0.40569798 0.25520219 -0.05102781
+v -0.19961099 0.28020800 0.34055217
+v -0.28823564 0.35363482 0.12296203
+v -0.34420026 0.26648409 0.18142657
+v -0.39044640 0.25401856 0.09434583
+v -0.36113178 0.31202340 0.03582420
+v -0.36168780 0.31142953 -0.09462759
+v -0.27344399 0.36863221 -0.16628183
+v -0.23425992 0.37594260 -0.21327740
+v -0.34663383 0.26787057 -0.22532166
+v -0.39001779 0.26831549 -0.10851217
+v -0.35947736 0.23653781 0.19521376
+v -0.30204280 0.23707912 0.28270337
+v -0.40537469 0.25476478 0.00725469
+v -0.27331068 0.35344697 0.15248638
+v -0.31703646 0.33967092 0.09294138
+v -0.35969342 0.28122705 0.12329565
+v -0.39071824 0.23865809 0.12340894
+v -0.39074507 0.26908798 0.05088843
+v -0.33158213 0.33943169 0.05071111
+v -0.33609871 0.32061824 -0.15142710
+f 6 3 2
+f 7 1 2
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+f 11 2 8
+f 12 8 2
+f 12 2 1
+f 15 6 2
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+f 17 11 8
+f 19 3 13
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+f 24 15 2
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+f 25 6 4
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+f 56 42 45
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+f 58 40 31
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+f 58 21 40
+f 59 21 46
+f 59 46 20
+f 59 20 32
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+f 60 33 47
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+f 61 60 48
+f 61 33 60
+f 61 48 5
+f 61 5 43
+f 62 5 48
+f 62 57 5
+f 62 34 57
+f 62 49 34
+f 62 48 21
+f 62 21 49
+f 63 49 21
+f 63 32 49
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+f 64 23 37
+f 64 50 35
+f 64 35 51
+f 64 54 50
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\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_24.obj b/apple/apple_9/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5e03016c375a35f380220e66632fb5877da77fc
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_24.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.09352587 -0.44608207 0.25748622
+v -0.08737392 -0.41644515 0.31774107
+v -0.21247234 -0.37111815 0.30041121
+v -0.22432095 -0.00799151 0.42619331
+v -0.09030601 -0.00757576 0.25095071
+v -0.08638343 -0.28935980 0.43574436
+v -0.14474704 -0.41236010 0.29917710
+v -0.06668503 -0.02101813 0.39377653
+v -0.21542816 -0.40238673 0.24472276
+v -0.21848428 -0.18415804 0.41562470
+v -0.10119987 -0.41441445 0.31622076
+v -0.14183519 -0.35501846 0.37085144
+v -0.08505620 -0.34472129 0.40285266
+v -0.15114702 -0.00648296 0.43997203
+v -0.16091253 -0.43285171 0.24504073
+v -0.22666965 -0.00757576 0.25095071
+v -0.19802146 -0.38358902 0.29976694
+v -0.13065870 -0.20197439 0.44455714
+v -0.21290460 -0.31419610 0.35613812
+v -0.22051996 -0.12586464 0.42824800
+v -0.12962795 -0.39844636 0.32812274
+v -0.08587773 -0.38654889 0.36027526
+v -0.12769564 -0.32831853 0.39928600
+v -0.09129448 -0.14635557 0.44878973
+v -0.14783188 -0.43678140 0.24703198
+v -0.20713712 -0.00693785 0.43145817
+v -0.21250814 -0.39853920 0.25626189
+v -0.15919844 -0.42796921 0.25802355
+v -0.14273000 -0.25839015 0.42744728
+v -0.18570082 -0.37040660 0.32761308
+v -0.09961623 -0.38470022 0.35727813
+v -0.11250460 -0.31542019 0.41395785
+v -0.09935062 -0.34219160 0.40019649
+v -0.15554251 -0.32821211 0.38564598
+v -0.08646583 -0.24736472 0.44775888
+v -0.08989890 -0.08307025 0.43366756
+v -0.13398879 -0.14425621 0.44616647
+v -0.14626673 -0.43176583 0.25976309
+v -0.22267595 -0.04166638 0.42992033
+v -0.17273280 -0.21542397 0.42827326
+v -0.14188382 -0.36936829 0.35632097
+v -0.15694879 -0.39788767 0.31330678
+v -0.11442405 -0.28637386 0.42769270
+v -0.18496730 -0.34212161 0.35575181
+v -0.21370719 -0.27044081 0.38422404
+v -0.10065214 -0.24680942 0.44442632
+v -0.18560375 -0.24347235 0.41352552
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+f 19 10 9
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+f 20 4 9
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+f 25 15 5
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+f 28 9 15
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+f 36 24 8
+f 36 8 14
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+f 37 35 24
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+f 42 30 17
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+f 44 19 30
+f 45 10 19
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+f 46 29 6
+f 46 6 35
+f 46 40 29
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+f 47 34 32
+f 47 32 43
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+f 47 45 34
+f 47 29 40
+f 47 40 10
+f 47 10 45
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_25.obj b/apple/apple_9/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4406e28f8e99fea31988ec3a308d6769680a7802
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_25.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.24730135 0.36217487 0.23875739
+v 0.24873894 0.36531780 -0.22256455
+v 0.21517960 0.44498176 0.05132656
+v 0.13323232 0.46323288 0.15582396
+v 0.13696671 0.35606061 -0.21874626
+v 0.20132500 0.42796382 0.16866817
+v 0.23128068 0.42922999 0.08128397
+v 0.15501899 0.40251860 0.26651150
+v 0.13224537 0.44563872 -0.18241393
+v 0.15972535 0.45847969 0.14037856
+v 0.23043848 0.42875694 -0.04922057
+v 0.22970507 0.41339838 0.15447080
+v 0.13284195 0.43356173 0.22832463
+v 0.18711640 0.41152893 0.22638591
+v 0.13296702 0.43336373 -0.21360584
+v 0.13263245 0.46292918 -0.12463627
+v 0.20141818 0.44400462 0.11114078
+v 0.21602386 0.44461115 -0.00518435
+v 0.18662718 0.44209318 -0.12276598
+v 0.21625681 0.40004187 0.21148485
+v 0.14588876 0.44401210 0.19784023
+v 0.14642042 0.42988498 0.22661845
+v 0.13294875 0.44740548 0.19920479
+v 0.17308984 0.44384739 0.16897645
+v 0.21493899 0.42835365 0.13998450
+v 0.16026967 0.45718875 -0.10820261
+v 0.23017781 0.41391545 -0.12257499
+v 0.20083911 0.44351634 -0.07922666
+v 0.18696594 0.42838492 -0.16635599
+v 0.21494169 0.41382291 0.18274889
+v 0.14594486 0.45953527 0.15444236
+v 0.15884707 0.44194350 -0.16637994
+v 0.21789906 0.42663422 -0.10934264
+v 0.14578023 0.42980813 -0.21158870
+v 0.23180901 0.38678624 0.21338288
+v 0.14583887 0.45899048 -0.12350990
+v 0.22981253 0.38253515 -0.21064875
+v 0.14492277 0.44204335 -0.18088640
+f 5 2 1
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+f 20 14 1
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+f 23 4 16
+f 23 21 4
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+f 25 24 6
+f 25 17 24
+f 26 16 10
+f 26 10 18
+f 27 11 2
+f 28 18 11
+f 28 26 18
+f 28 19 26
+f 29 27 2
+f 30 12 6
+f 30 6 14
+f 30 14 20
+f 31 24 10
+f 31 10 4
+f 31 4 21
+f 31 21 24
+f 32 26 19
+f 32 19 29
+f 33 19 28
+f 33 29 19
+f 33 27 29
+f 33 28 11
+f 33 11 27
+f 34 2 15
+f 34 32 29
+f 35 30 20
+f 35 20 1
+f 35 1 12
+f 35 12 30
+f 36 32 16
+f 36 16 26
+f 36 26 32
+f 37 34 29
+f 37 29 2
+f 37 2 34
+f 38 34 15
+f 38 15 9
+f 38 32 34
+f 38 9 16
+f 38 16 32
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_26.obj b/apple/apple_9/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b069c3e7c1b7edd70a4c2c171f0750c7bc9f25a
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_26.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.15091207 -0.14393939 -0.33995838
+v -0.14869682 -0.14235473 -0.46718125
+v -0.14517879 0.22742406 -0.44703050
+v -0.24059154 0.24967430 -0.37176012
+v -0.22666965 -0.14393939 -0.33995838
+v -0.22056517 0.06661016 -0.45815435
+v -0.15091207 0.23484849 -0.35510990
+v -0.14638057 0.19946357 -0.46004102
+v -0.22171539 -0.14096220 -0.44865926
+v -0.15091207 -0.00757576 -0.33995838
+v -0.22666965 -0.00757576 -0.33995838
+v -0.15914667 0.19214506 -0.46058929
+v -0.22119970 -0.09637187 -0.45881944
+v -0.21453922 0.16845885 -0.44308558
+v -0.19202338 -0.14040642 -0.45801627
+v -0.20318361 0.12695658 -0.45816086
+v -0.21457810 0.22350354 -0.41380999
+v -0.18843682 0.16840823 -0.45623628
+v -0.15898602 0.22533758 -0.44288580
+f 1 2 3
+f 5 2 1
+f 7 3 4
+f 8 3 2
+f 9 5 4
+f 9 2 5
+f 10 1 3
+f 10 3 7
+f 10 5 1
+f 11 7 4
+f 11 4 5
+f 11 10 7
+f 11 5 10
+f 12 8 2
+f 12 2 6
+f 12 3 8
+f 13 9 4
+f 13 4 6
+f 13 6 2
+f 14 6 4
+f 15 13 2
+f 15 2 9
+f 15 9 13
+f 16 12 6
+f 16 6 14
+f 17 14 4
+f 17 12 14
+f 18 16 14
+f 18 14 12
+f 18 12 16
+f 19 17 4
+f 19 4 3
+f 19 3 12
+f 19 12 17
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_27.obj b/apple/apple_9/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6966539ac5f2c05294cba37afa4a89c35bb2fe61
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_27.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.26704570 -0.27190416 0.35122975
+v 0.44208775 -0.13962330 -0.10931685
+v 0.42519694 -0.13791694 0.17125622
+v 0.28648929 -0.15450038 0.38377475
+v 0.25817883 -0.14393939 -0.21874626
+v 0.36767518 -0.13850134 0.30322536
+v 0.39169059 -0.25392410 0.05106950
+v 0.41088898 -0.13950020 -0.21322317
+v 0.34650498 -0.25596638 0.24765199
+v 0.33318417 -0.18181994 0.32928584
+v 0.34252635 -0.14122911 0.33580774
+v 0.43649632 -0.16658345 0.06695892
+v 0.25817883 -0.26515151 -0.21874626
+v 0.37661373 -0.25343679 -0.16703866
+v 0.39350059 -0.13781793 0.25855522
+v 0.37546999 -0.25479722 0.14046876
+v 0.31426889 -0.22663528 0.32909722
+v 0.39162505 -0.25599923 -0.09477486
+v 0.44232984 -0.13871612 0.09710048
+v 0.40482129 -0.19603072 -0.16839012
+v 0.36063610 -0.25464330 -0.21044147
+v 0.37603676 -0.20999058 0.22842265
+v 0.42081797 -0.19501998 0.08025144
+v 0.30076671 -0.25453523 0.32720121
+v 0.36011315 -0.16682781 0.29878727
+v 0.43593096 -0.16538551 -0.09431869
+v 0.42164906 -0.15299018 -0.16820053
+v 0.39142791 -0.24069264 -0.13941041
+v 0.39044648 -0.19653537 -0.21152774
+v 0.38997861 -0.16483256 0.24286203
+v 0.38989769 -0.20920742 0.18503932
+v 0.39082521 -0.23871274 0.11104976
+v 0.40489516 -0.19501343 0.15539633
+v 0.42550836 -0.13966828 -0.16927770
+v 0.42089989 -0.16674292 -0.15339647
+v 0.38967933 -0.21099745 -0.19658229
+v 0.40699100 -0.15269222 -0.21155078
+v 0.38943503 -0.15225923 0.25555570
+v 0.40539917 -0.16646284 0.19800880
+v 0.36023745 -0.24067386 0.22930219
+v 0.43689605 -0.15223381 0.09630560
+v 0.38978623 -0.22387869 0.15484543
+v 0.43786006 -0.15306087 -0.10828254
+v 0.37539972 -0.23841474 -0.19665004
+v 0.42017518 -0.15129742 0.17063146
+v 0.36092994 -0.25490009 0.20073879
+f 5 1 4
+f 8 3 2
+f 11 6 5
+f 11 5 4
+f 11 10 6
+f 11 4 10
+f 13 1 5
+f 13 5 8
+f 15 3 8
+f 15 8 5
+f 15 5 6
+f 16 9 1
+f 16 1 7
+f 17 10 4
+f 17 4 1
+f 18 12 7
+f 18 7 1
+f 18 1 13
+f 19 12 2
+f 19 2 3
+f 21 18 13
+f 21 14 18
+f 23 7 12
+f 24 17 1
+f 24 1 9
+f 24 9 17
+f 25 6 10
+f 25 10 17
+f 25 15 6
+f 25 17 9
+f 26 2 12
+f 26 12 18
+f 28 18 14
+f 28 26 18
+f 28 20 26
+f 29 21 13
+f 29 13 8
+f 29 27 20
+f 30 9 22
+f 30 3 15
+f 32 16 7
+f 32 7 23
+f 34 27 8
+f 34 8 2
+f 34 2 27
+f 35 20 27
+f 36 28 14
+f 36 20 28
+f 36 29 20
+f 37 29 8
+f 37 8 27
+f 37 27 29
+f 38 25 9
+f 38 9 30
+f 38 30 15
+f 38 15 25
+f 39 30 22
+f 39 3 30
+f 39 22 31
+f 39 31 33
+f 40 31 22
+f 40 22 9
+f 41 33 23
+f 41 23 12
+f 41 12 19
+f 42 32 23
+f 42 23 33
+f 42 16 32
+f 42 33 31
+f 43 26 20
+f 43 20 35
+f 43 2 26
+f 43 35 27
+f 43 27 2
+f 44 36 14
+f 44 14 21
+f 44 21 29
+f 44 29 36
+f 45 39 33
+f 45 3 39
+f 45 33 41
+f 45 41 19
+f 45 19 3
+f 46 42 31
+f 46 31 40
+f 46 40 9
+f 46 9 16
+f 46 16 42
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_28.obj b/apple/apple_9/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faa674a7ec37e34c2d2279005db101f198b1b618
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_28.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.37423616 -0.26621827 0.13705871
+v -0.36418653 -0.26166099 -0.22671676
+v -0.34788177 -0.14393939 0.12973859
+v -0.42891152 -0.15036112 0.13676534
+v -0.45071594 -0.16776177 -0.08060971
+v -0.42093600 -0.22543715 -0.11036184
+v -0.43575004 -0.19704472 0.03584859
+v -0.34788177 -0.14393939 -0.21874626
+v -0.42910575 -0.14145651 -0.21532747
+v -0.40475247 -0.23839877 -0.15343799
+v -0.41326699 -0.20009309 0.12670361
+v -0.45369375 -0.14039894 0.03672055
+v -0.42008641 -0.22483151 0.05040593
+v -0.43396418 -0.18115509 -0.15273401
+v -0.42047515 -0.21084918 0.07971749
+v -0.45018316 -0.15497492 0.03630909
+v -0.45340584 -0.14022878 -0.12567345
+v -0.40525458 -0.24007290 0.07984911
+v -0.43590582 -0.19604328 -0.10987180
+v -0.39252611 -0.22660634 -0.21246485
+v -0.45019421 -0.16823446 0.00669670
+v -0.43982119 -0.13997970 -0.18297360
+v -0.40626049 -0.22485938 0.10990533
+v -0.45007463 -0.15315889 -0.12438282
+v -0.42107952 -0.16711814 -0.21266604
+v -0.39126170 -0.23949782 -0.19735050
+v -0.39300191 -0.24110093 0.12470005
+v -0.43558727 -0.15335820 -0.18316964
+v -0.41923815 -0.19500204 -0.18235689
+v -0.38235069 -0.24318985 -0.21407783
+v -0.40793853 -0.21228853 0.12500525
+v -0.40520945 -0.22384403 -0.18235250
+f 1 2 3
+f 1 3 4
+f 7 5 6
+f 8 3 2
+f 9 8 2
+f 10 2 1
+f 10 1 6
+f 11 1 4
+f 12 4 3
+f 13 7 6
+f 14 10 6
+f 15 11 4
+f 15 4 7
+f 15 7 13
+f 16 7 4
+f 16 4 12
+f 17 5 12
+f 18 13 6
+f 18 6 1
+f 19 14 6
+f 19 6 5
+f 21 16 12
+f 21 12 5
+f 21 5 7
+f 21 7 16
+f 22 8 9
+f 22 3 8
+f 22 17 12
+f 22 12 3
+f 23 15 13
+f 23 13 18
+f 23 11 15
+f 24 14 19
+f 24 17 22
+f 24 19 5
+f 24 5 17
+f 25 9 2
+f 25 2 20
+f 26 2 10
+f 27 23 18
+f 27 18 1
+f 28 24 22
+f 28 14 24
+f 28 25 14
+f 28 22 9
+f 28 9 25
+f 29 25 20
+f 29 14 25
+f 30 26 20
+f 30 20 2
+f 30 2 26
+f 31 27 1
+f 31 1 11
+f 31 11 23
+f 31 23 27
+f 32 29 20
+f 32 20 26
+f 32 26 10
+f 32 10 14
+f 32 14 29
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_29.obj b/apple/apple_9/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..544703ee06071e9e3fdf7cc13e1fa67faaf8d00e
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_29.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22648932 -0.40117239 -0.21858183
+v -0.21906284 -0.34385332 -0.31451521
+v -0.22666965 0.23484849 -0.21874626
+v -0.38022141 0.22715326 -0.21286338
+v -0.42507297 -0.15476125 -0.21611172
+v -0.22025586 0.12714520 -0.44972152
+v -0.24963938 -0.39085406 -0.21291456
+v -0.22120347 -0.39082466 -0.24303031
+v -0.21890392 0.21178089 -0.41844033
+v -0.39102786 0.06468626 -0.31334955
+v -0.31896072 -0.32845208 -0.21179786
+v -0.24477673 -0.35310378 -0.28123315
+v -0.23344850 -0.38604723 -0.24018255
+v -0.21983922 -0.27041239 -0.38644681
+v -0.21987795 0.22832599 -0.40659794
+v -0.44128878 0.08081403 -0.21354988
+v -0.31507699 0.15096428 -0.37042059
+v -0.28687833 -0.35476166 -0.22488708
+v -0.24667806 -0.38615579 -0.22588480
+v -0.21908990 0.18357759 -0.43357336
+v -0.30328380 -0.08156886 -0.41438190
+v -0.22128379 -0.30069173 -0.35935813
+v -0.33066464 -0.23732951 -0.31152665
+v -0.42044192 -0.05142229 -0.26985149
+v -0.40414365 0.12280393 -0.26878209
+v -0.42511875 0.13870327 -0.21256876
+v -0.43925909 -0.09613562 -0.21390210
+v -0.30131129 0.17946682 -0.36879367
+v -0.28983376 -0.35872621 -0.21226661
+v -0.25927704 -0.36958281 -0.23920324
+v -0.22107847 -0.18398451 -0.43415827
+v -0.27330263 0.13767935 -0.41282006
+v -0.23100321 -0.33899000 -0.31141258
+v -0.36460338 -0.27042821 -0.21268237
+v -0.28717817 -0.22293993 -0.36843195
+v -0.31439997 -0.29613059 -0.26888585
+v -0.42054491 0.04980418 -0.26811906
+v -0.36100370 -0.06697367 -0.35704328
+v -0.35969460 0.13710669 -0.32722424
+v -0.41878554 0.12240539 -0.24172607
+v -0.42075801 -0.11057623 -0.25491922
+v -0.43479927 -0.03650937 -0.24151034
+v -0.25778816 0.19446488 -0.39877468
+v -0.34498356 0.22312119 -0.28272351
+v -0.31491727 -0.32525946 -0.22565588
+v -0.27351850 -0.33971812 -0.26843920
+v -0.26204475 -0.08186950 -0.44315843
+v -0.25897534 0.12347081 -0.42781207
+v -0.25837083 0.16599063 -0.41307614
+v -0.30316870 0.03463860 -0.41351522
+v -0.37497021 -0.19432849 -0.28365150
+v -0.22948603 -0.26641181 -0.38315506
+v -0.31633045 -0.22283590 -0.34013793
+v -0.29010787 -0.13624274 -0.41226232
+v -0.34520993 -0.26797112 -0.25345692
+v -0.41972465 0.09355831 -0.25510781
+v -0.37537114 0.09312654 -0.32557278
+v -0.33134336 0.19478857 -0.32543453
+v -0.42040864 0.13649242 -0.22611227
+v -0.43467697 -0.09616209 -0.22735397
+v -0.38961076 -0.09524758 -0.31303261
+v -0.43532262 0.02202356 -0.24041344
+v -0.23043144 0.22464646 -0.40100134
+v -0.22794595 0.18154640 -0.42887203
+f 7 1 3
+f 7 3 4
+f 8 3 1
+f 9 8 2
+f 9 3 8
+f 11 7 4
+f 12 2 8
+f 13 8 1
+f 13 12 8
+f 15 4 3
+f 15 3 9
+f 19 13 1
+f 19 1 7
+f 20 9 2
+f 20 2 14
+f 22 14 2
+f 26 11 4
+f 27 26 16
+f 29 18 7
+f 29 7 11
+f 30 12 13
+f 30 13 19
+f 30 19 7
+f 30 7 18
+f 31 20 14
+f 31 6 20
+f 33 22 2
+f 33 2 12
+f 34 27 5
+f 34 11 26
+f 34 26 27
+f 37 10 24
+f 38 24 10
+f 40 16 26
+f 42 27 16
+f 42 24 41
+f 44 4 15
+f 44 39 25
+f 45 29 11
+f 45 18 29
+f 45 11 34
+f 46 30 18
+f 46 12 30
+f 46 45 36
+f 46 18 45
+f 46 33 12
+f 46 36 23
+f 46 23 22
+f 46 22 33
+f 47 6 31
+f 48 20 6
+f 49 32 17
+f 49 17 28
+f 49 28 43
+f 50 17 32
+f 50 38 10
+f 50 21 38
+f 50 32 48
+f 50 47 21
+f 50 48 6
+f 50 6 47
+f 51 34 5
+f 51 5 41
+f 52 14 22
+f 52 22 35
+f 52 35 31
+f 52 31 14
+f 53 35 22
+f 53 22 23
+f 53 23 51
+f 54 31 35
+f 54 47 31
+f 54 21 47
+f 54 35 53
+f 54 38 21
+f 55 23 36
+f 55 51 23
+f 55 34 51
+f 55 45 34
+f 55 36 45
+f 56 25 10
+f 56 10 37
+f 56 40 25
+f 56 37 16
+f 56 16 40
+f 57 10 25
+f 57 25 39
+f 57 50 10
+f 57 39 17
+f 57 17 50
+f 58 28 17
+f 58 17 39
+f 58 39 44
+f 59 40 26
+f 59 26 4
+f 59 25 40
+f 59 44 25
+f 59 4 44
+f 60 41 5
+f 60 5 27
+f 60 42 41
+f 60 27 42
+f 61 41 24
+f 61 24 38
+f 61 51 41
+f 61 38 54
+f 61 54 53
+f 61 53 51
+f 62 37 24
+f 62 24 42
+f 62 42 16
+f 62 16 37
+f 63 43 28
+f 63 15 9
+f 63 9 43
+f 63 28 58
+f 63 58 44
+f 63 44 15
+f 64 43 9
+f 64 9 20
+f 64 49 43
+f 64 20 48
+f 64 48 32
+f 64 32 49
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_3.obj b/apple/apple_9/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27c8efcde184e4684f4a40cfe7f6968275db4e28
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.07263299 -0.47340100 0.17064173
+v 0.38197927 -0.25774602 -0.13964891
+v 0.24895069 -0.25871292 0.37374697
+v -0.22666965 -0.26515151 0.25095071
+v -0.21870044 -0.41523281 -0.19663009
+v -0.22666965 -0.26515151 -0.20359474
+v -0.08587773 -0.38654889 0.36027526
+v 0.25840955 -0.38331359 0.21557270
+v 0.11526918 -0.44412560 -0.21063068
+v 0.35140590 -0.25693955 0.23240757
+v -0.21885752 -0.45898762 -0.03514650
+v -0.09030601 -0.26515151 0.37216283
+v 0.10086432 -0.39826333 0.33052776
+v 0.18870814 -0.45849597 -0.05026547
+v 0.35576463 -0.25915064 -0.21492161
+v 0.01545016 -0.45482235 -0.21579080
+v 0.37652334 -0.28406799 0.00698535
+v 0.27187198 -0.32602890 0.29893628
+v -0.21542816 -0.40238673 0.24472276
+v 0.19615027 -0.26397064 0.39942601
+v 0.01411087 -0.45912769 0.24458679
+v 0.18836135 -0.41155800 0.25707177
+v 0.36783867 -0.25808982 -0.18418826
+v 0.24322589 -0.38550637 -0.19462300
+v 0.16072789 -0.42761506 -0.21157422
+v 0.01575459 -0.26515151 -0.21874626
+v -0.11600779 -0.47268008 -0.13725069
+v 0.01403782 -0.49014915 -0.09439760
+v 0.34588731 -0.29773495 0.15641315
+v 0.38206005 -0.25789382 0.09719607
+v 0.28900754 -0.38552442 0.00880233
+v 0.30581125 -0.25818819 0.31759420
+v 0.30053254 -0.32789659 0.24361266
+v -0.21764671 -0.45932941 0.05261191
+v 0.22098592 -0.25956903 0.38965246
+v 0.07265838 -0.38472813 0.35875660
+v -0.11618335 -0.45849929 0.21372399
+v 0.18708804 -0.35382092 0.34199724
+v 0.24537767 -0.37032482 0.27068726
+v 0.17424558 -0.45923359 0.09685817
+v 0.13154660 -0.44267770 0.22929885
+v 0.33208859 -0.32611371 -0.13775156
+v 0.27331698 -0.35393571 -0.21004211
+v 0.18687810 -0.44277747 -0.13685096
+v -0.21765637 -0.44321785 -0.12211065
+v -0.08670487 -0.45824450 -0.19632317
+v 0.08919462 -0.47460880 -0.13828135
+v 0.36172693 -0.29799389 0.05137888
+v 0.36024437 -0.26944158 0.17037966
+v 0.30245813 -0.35624891 0.14212951
+v 0.27177511 -0.29769472 0.32679087
+v 0.30133622 -0.29865147 0.28540412
+v 0.34498154 -0.28360698 0.20006744
+v -0.11763104 -0.49000582 0.05245842
+v 0.02734952 -0.41339498 0.33132757
+v -0.07172524 -0.42874577 0.30117600
+v -0.20102175 -0.44292681 0.16894218
+v 0.18797285 -0.39743163 0.28526612
+v 0.20229291 -0.31332437 0.36982042
+v 0.13185253 -0.36758115 0.35823393
+v 0.24465908 -0.38401206 0.24459565
+v 0.24476348 -0.34008465 0.31250027
+v 0.27168184 -0.35445791 0.25745612
+v 0.23017279 -0.42948686 0.08147610
+f 10 2 6
+f 10 6 4
+f 10 4 3
+f 11 6 5
+f 11 4 6
+f 16 5 6
+f 19 12 4
+f 19 7 12
+f 20 12 7
+f 23 15 6
+f 23 6 2
+f 25 16 15
+f 25 9 16
+f 26 16 6
+f 26 6 15
+f 26 15 16
+f 30 17 2
+f 30 2 10
+f 32 10 3
+f 34 19 4
+f 34 4 11
+f 35 12 20
+f 35 3 4
+f 35 4 12
+f 36 20 7
+f 40 28 14
+f 40 1 28
+f 41 21 1
+f 41 40 22
+f 41 1 40
+f 42 15 23
+f 42 23 2
+f 42 2 17
+f 42 17 31
+f 42 31 14
+f 43 25 15
+f 43 24 25
+f 43 42 24
+f 43 15 42
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+f 44 9 25
+f 44 42 14
+f 44 24 42
+f 45 27 11
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+f 46 27 5
+f 46 5 16
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+f 46 16 28
+f 47 28 16
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+f 47 9 44
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+f 47 14 28
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+f 48 31 17
+f 49 30 10
+f 49 29 30
+f 50 33 8
+f 50 29 33
+f 50 48 29
+f 50 31 48
+f 51 32 3
+f 52 51 18
+f 52 32 51
+f 52 33 10
+f 52 10 32
+f 53 33 29
+f 53 10 33
+f 53 49 10
+f 53 29 49
+f 54 34 11
+f 54 11 27
+f 54 27 28
+f 54 28 1
+f 54 1 21
+f 54 21 37
+f 55 13 36
+f 55 41 13
+f 55 21 41
+f 55 36 7
+f 56 37 21
+f 56 7 19
+f 56 19 37
+f 56 55 7
+f 56 21 55
+f 57 37 19
+f 57 19 34
+f 57 54 37
+f 57 34 54
+f 58 22 39
+f 58 41 22
+f 58 13 41
+f 59 3 35
+f 59 35 20
+f 59 51 3
+f 60 36 13
+f 60 58 38
+f 60 13 58
+f 60 38 59
+f 60 59 20
+f 60 20 36
+f 61 39 22
+f 61 40 8
+f 61 22 40
+f 62 39 18
+f 62 58 39
+f 62 38 58
+f 62 59 38
+f 62 18 51
+f 62 51 59
+f 63 18 39
+f 63 52 18
+f 63 33 52
+f 63 39 61
+f 63 61 8
+f 63 8 33
+f 64 8 40
+f 64 50 8
+f 64 31 50
+f 64 40 14
+f 64 14 31
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_30.obj b/apple/apple_9/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be5f6212bac0e960c7a260d72bc0113384a7a9a3
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_30.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.31047907 0.22563694 0.34775480
+v 0.42746580 0.22879395 -0.10998132
+v 0.39059091 0.28249881 0.15539000
+v 0.23591215 0.42062836 0.11208854
+v 0.24302732 0.23484849 -0.21874626
+v 0.33540387 0.35453975 -0.06474883
+v 0.23432285 0.35970715 0.25851949
+v 0.42700552 0.22832181 0.14210965
+v 0.39577223 0.22795262 -0.21270544
+v 0.40667283 0.28329810 -0.03480226
+v 0.32145647 0.36919368 0.05213247
+v 0.23643435 0.37651919 -0.21456926
+v 0.34891362 0.29330297 0.22543010
+v 0.24228510 0.23362835 0.38571643
+v 0.26724803 0.22667802 0.37789904
+v 0.41097217 0.22681569 0.20035188
+v 0.37788791 0.29694290 -0.13804518
+v 0.42125356 0.25446867 0.09632440
+v 0.23496865 0.42072346 -0.08033706
+v 0.33453576 0.33851274 0.15556527
+v 0.23652776 0.25263430 0.37412809
+v 0.31995106 0.27928234 0.28297462
+v 0.35393776 0.22591646 0.30325291
+v 0.40589075 0.25383658 0.16999235
+v 0.36405990 0.32502603 -0.09398796
+v 0.32019146 0.32396325 -0.21073939
+v 0.40591999 0.26862053 -0.10823462
+v 0.42151328 0.25417658 -0.06486983
+v 0.39254424 0.29723019 0.09693096
+v 0.27705426 0.39881840 -0.03464331
+v 0.23450200 0.38984969 -0.18383415
+v 0.23393647 0.40469073 0.17074478
+v 0.34920137 0.33860593 0.11056616
+v 0.36262025 0.30912819 0.16892776
+v 0.29103269 0.26427585 0.32605943
+v 0.32053569 0.30802020 0.24022172
+v 0.34839165 0.23653440 0.29882017
+v 0.37558777 0.25224434 0.24030304
+v 0.42127259 0.23952710 0.14060266
+v 0.36162851 0.28141079 -0.21014701
+v 0.33482258 0.33910390 -0.13774313
+v 0.40733653 0.24055829 -0.16716667
+v 0.37699431 0.31102798 -0.09466454
+v 0.40699530 0.28347917 0.06764047
+v 0.42195454 0.24058535 -0.10918901
+v 0.32080081 0.36925187 -0.03493417
+v 0.27602110 0.39897210 0.06704455
+v 0.23459177 0.31331902 0.31562241
+v 0.27730262 0.35247779 -0.21113810
+v 0.24596370 0.41410325 0.11135808
+v 0.37952464 0.31000241 0.11164714
+v 0.34783786 0.31017256 0.19783618
+v 0.24766162 0.25023798 0.36961528
+v 0.28965854 0.25025213 0.34082521
+v 0.30520321 0.27882900 0.29784816
+v 0.27495353 0.32251666 0.26946087
+v 0.29131536 0.33676013 0.22577474
+v 0.34815113 0.25047243 0.28397557
+v 0.38245429 0.22646649 0.25944244
+v 0.39056846 0.25220423 0.21188688
+v 0.34813942 0.31074630 -0.18168282
+v 0.32161719 0.35221734 -0.12331378
+v 0.41183313 0.22923953 -0.16954268
+v 0.39120749 0.26705813 -0.16625248
+f 11 10 6
+f 12 9 5
+f 15 9 1
+f 15 5 9
+f 15 14 5
+f 16 9 2
+f 16 2 8
+f 18 8 2
+f 21 5 14
+f 21 14 15
+f 23 1 9
+f 23 9 16
+f 24 16 8
+f 24 18 3
+f 25 6 10
+f 26 9 12
+f 28 18 2
+f 28 27 10
+f 29 3 18
+f 30 19 4
+f 31 12 5
+f 31 5 21
+f 32 4 19
+f 32 19 31
+f 34 33 20
+f 36 22 13
+f 37 22 1
+f 37 1 23
+f 39 24 8
+f 39 8 18
+f 39 18 24
+f 40 9 26
+f 41 25 17
+f 41 6 25
+f 43 25 10
+f 43 10 27
+f 43 27 17
+f 43 17 25
+f 44 28 10
+f 44 18 28
+f 44 29 18
+f 44 10 11
+f 45 28 2
+f 45 27 28
+f 45 42 27
+f 45 2 42
+f 46 30 11
+f 46 11 6
+f 46 6 19
+f 46 19 30
+f 47 30 4
+f 47 11 30
+f 48 31 21
+f 48 32 31
+f 48 7 32
+f 49 26 12
+f 49 12 31
+f 49 41 26
+f 49 31 41
+f 50 32 20
+f 50 4 32
+f 50 20 33
+f 50 33 11
+f 50 47 4
+f 50 11 47
+f 51 11 33
+f 51 44 11
+f 51 29 44
+f 51 33 34
+f 51 34 3
+f 51 3 29
+f 52 34 20
+f 52 36 13
+f 52 20 32
+f 53 21 15
+f 53 48 21
+f 53 35 48
+f 54 15 1
+f 54 1 35
+f 54 53 15
+f 54 35 53
+f 55 35 1
+f 55 1 22
+f 55 48 35
+f 55 7 48
+f 56 36 7
+f 56 22 36
+f 56 55 22
+f 56 7 55
+f 57 32 7
+f 57 7 36
+f 57 52 32
+f 57 36 52
+f 58 13 22
+f 58 22 37
+f 58 38 13
+f 58 37 23
+f 59 23 16
+f 59 58 23
+f 59 38 58
+f 60 16 24
+f 60 24 3
+f 60 3 34
+f 60 13 38
+f 60 52 13
+f 60 34 52
+f 60 59 16
+f 60 38 59
+f 61 40 26
+f 61 17 40
+f 61 41 17
+f 61 26 41
+f 62 19 6
+f 62 6 41
+f 62 41 31
+f 62 31 19
+f 63 42 2
+f 63 2 9
+f 63 9 42
+f 64 17 27
+f 64 27 42
+f 64 40 17
+f 64 42 9
+f 64 9 40
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_31.obj b/apple/apple_9/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70fedd943ff7ce8da27fe5e9c4a55c9dd839306a
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.30054019 -0.29323633 0.29243584
+v 0.25817883 -0.14393939 0.26610223
+v 0.27069303 -0.14824792 0.39503019
+v 0.02424405 -0.10195572 0.39236959
+v 0.01575459 -0.26515151 0.26610223
+v 0.01575459 -0.26515151 0.37216283
+v 0.01575459 -0.14393939 0.26610223
+v 0.25468451 -0.26244009 0.36791905
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 6 3 4
+f 6 5 1
+f 7 4 2
+f 7 2 5
+f 7 6 4
+f 7 5 6
+f 8 6 1
+f 8 1 3
+f 8 3 6
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_4.obj b/apple/apple_9/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cd7e01493a0893345a30d826b00c71fb56f5b8d
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_4.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.26704570 -0.27190416 0.35122975
+v 0.39869482 -0.13971679 0.24572318
+v 0.36283213 -0.04742846 0.35857037
+v 0.30201174 0.12785734 0.41499920
+v 0.25817883 0.09848485 0.25095071
+v 0.42867978 0.10113338 0.25830987
+v 0.25717919 -0.00682415 0.44450221
+v 0.31660265 -0.19755695 0.34255758
+v 0.25817883 -0.14393939 0.25095071
+v 0.39245164 -0.01919634 0.32942485
+v 0.32026050 0.02519694 0.41606462
+v 0.25817883 0.09848485 0.37216283
+v 0.29315726 -0.25910282 0.33311856
+v 0.25101685 -0.21565882 0.39040968
+v 0.37574607 -0.10757812 0.31346063
+v 0.32167581 0.06655224 0.41546174
+v 0.37731187 0.02436644 0.35870971
+v 0.29599722 0.12463175 0.41974071
+v 0.27433824 -0.22737643 0.36989029
+v 0.25369688 -0.04866163 0.43419852
+v 0.25468451 -0.26244009 0.36791905
+v 0.30660343 -0.03235807 0.41386566
+v 0.39040259 -0.06211888 0.31506150
+v 0.39350059 -0.13781793 0.25855522
+v 0.37656597 -0.07674815 0.32843800
+v 0.28227230 -0.00475134 0.43493290
+v 0.39298676 0.09576857 0.33105803
+v 0.30639530 0.12114113 0.41458214
+v 0.28733886 -0.25584624 0.34199071
+v 0.28890577 -0.19839634 0.36993130
+v 0.25227633 -0.24578379 0.37803778
+v 0.32076045 -0.04677059 0.39913469
+v 0.39139851 -0.10760572 0.28580065
+v 0.34800489 -0.09173685 0.35619798
+v 0.27962980 -0.03185565 0.42951151
+v 0.31263755 0.12561789 0.40882980
+v 0.37776177 0.06699399 0.35910177
+v 0.27377426 -0.25497846 0.35610674
+v 0.26172529 -0.21356001 0.38459968
+v 0.26223527 -0.24197342 0.37304355
+f 6 5 4
+f 6 2 5
+f 9 5 2
+f 10 2 6
+f 13 9 2
+f 13 1 9
+f 14 5 9
+f 17 11 3
+f 17 3 10
+f 17 16 11
+f 18 12 7
+f 18 4 5
+f 18 5 12
+f 18 7 16
+f 20 12 5
+f 20 5 14
+f 20 14 7
+f 20 7 12
+f 21 9 1
+f 23 2 10
+f 24 13 2
+f 24 15 8
+f 24 8 13
+f 25 8 15
+f 25 15 23
+f 25 23 10
+f 25 10 3
+f 26 16 7
+f 26 11 16
+f 26 22 11
+f 27 10 6
+f 28 18 16
+f 28 4 18
+f 29 13 8
+f 29 8 19
+f 29 1 13
+f 30 19 8
+f 31 14 9
+f 31 9 21
+f 32 3 11
+f 32 11 22
+f 33 23 15
+f 33 15 24
+f 33 24 2
+f 33 2 23
+f 34 25 3
+f 34 8 25
+f 34 30 8
+f 34 32 30
+f 34 3 32
+f 35 26 7
+f 35 7 14
+f 35 14 22
+f 35 22 26
+f 36 27 6
+f 36 6 4
+f 36 4 28
+f 36 28 16
+f 37 16 17
+f 37 17 10
+f 37 10 27
+f 37 36 16
+f 37 27 36
+f 38 21 1
+f 38 1 29
+f 38 29 19
+f 39 22 14
+f 39 19 30
+f 39 14 31
+f 39 32 22
+f 39 30 32
+f 40 31 21
+f 40 39 31
+f 40 19 39
+f 40 38 19
+f 40 21 38
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_5.obj b/apple/apple_9/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6151b297ed69f36df25384c76fa1fe733f930821
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.39123799 0.23304436 -0.21709881
+v 0.38149179 0.22785290 -0.24218030
+v 0.17391760 0.41678939 -0.21271521
+v -0.10134813 0.43334642 -0.22683105
+v -0.37050089 0.22989264 -0.23005483
+v 0.11699278 0.22944176 -0.46199634
+v 0.30461791 0.32242796 -0.23928443
+v -0.36613991 0.22703063 -0.24251973
+v 0.38040219 0.25586261 -0.21160829
+v 0.01482149 0.44991783 -0.21357853
+v 0.17124218 0.31095343 -0.38428324
+v -0.26147268 0.22560655 -0.37386203
+v -0.24840937 0.35858327 -0.22661602
+v 0.01575459 0.23484849 -0.21874626
+v 0.29453897 0.34129616 -0.21297270
+v 0.37623027 0.23916864 -0.23989812
+v 0.02994535 0.44895845 -0.21288499
+v 0.18581863 0.33788960 -0.34110038
+v -0.05697394 0.32463070 -0.40099223
+v 0.26438008 0.22739209 -0.38778816
+v -0.33178065 0.26574299 -0.25360241
+v -0.20478728 0.38809924 -0.22559678
+v -0.36444515 0.24120843 -0.22765054
+v 0.34691162 0.28115759 -0.23905971
+v 0.18645265 0.39724666 -0.23977034
+v 0.10300211 0.39774662 -0.29787008
+v 0.07509349 0.29670628 -0.42960334
+v -0.04282491 0.38439715 -0.32818399
+v -0.08786572 0.22929442 -0.46239822
+v 0.15752236 0.26936858 -0.42666012
+v -0.20425860 0.22624878 -0.41890471
+v 0.36554817 0.22742887 -0.27118882
+v 0.24526471 0.30829513 -0.32624884
+v -0.27249693 0.27960897 -0.31125836
+v -0.30719039 0.22631525 -0.32842800
+v -0.14476165 0.41687423 -0.22652524
+v -0.34458070 0.23753540 -0.26857484
+v 0.36080103 0.25224270 -0.25384370
+v 0.29143610 0.33776488 -0.22650074
+v 0.23085996 0.33761500 -0.29842635
+v 0.13296702 0.43336373 -0.21360584
+v 0.15828846 0.39704496 -0.26868489
+v 0.14494078 0.36735442 -0.32784327
+v 0.04538389 0.42830480 -0.25589752
+v -0.05825037 0.42832199 -0.25362800
+v 0.04482085 0.35455943 -0.37190920
+v 0.05990435 0.25514744 -0.45844964
+v 0.16151449 0.22838034 -0.44808156
+v 0.23096298 0.26527260 -0.38386462
+v 0.14380642 0.29515813 -0.41368715
+v -0.14180089 0.28159413 -0.41262144
+v 0.36077476 0.23915638 -0.26830244
+v 0.33320578 0.26639291 -0.28228866
+v 0.23157316 0.29367291 -0.35570475
+v -0.27374975 0.32314086 -0.25306581
+v -0.17002787 0.29419652 -0.38485244
+v -0.34998530 0.22666107 -0.27136500
+v -0.25750853 0.23594950 -0.36903372
+v -0.30178787 0.25070454 -0.31062371
+v -0.10103686 0.38384825 -0.31266796
+v -0.36068314 0.23812518 -0.23925642
+v 0.37587709 0.25287473 -0.22444225
+v 0.28908842 0.30837469 -0.28209239
+v 0.18707436 0.38223600 -0.26844920
+f 8 2 1
+f 8 1 5
+f 14 5 1
+f 14 1 9
+f 15 3 9
+f 16 1 2
+f 17 9 3
+f 17 14 9
+f 22 13 10
+f 23 10 13
+f 23 17 10
+f 23 5 14
+f 23 14 17
+f 23 13 21
+f 24 15 9
+f 24 7 15
+f 31 20 12
+f 32 12 20
+f 32 2 8
+f 36 22 10
+f 36 10 4
+f 39 15 7
+f 39 25 3
+f 39 3 15
+f 40 33 18
+f 41 17 3
+f 42 26 41
+f 42 41 3
+f 42 3 25
+f 43 18 11
+f 43 26 42
+f 44 10 17
+f 44 41 26
+f 44 17 41
+f 45 4 10
+f 45 44 28
+f 45 10 44
+f 46 27 19
+f 46 19 28
+f 46 26 43
+f 46 44 26
+f 46 28 44
+f 47 27 6
+f 47 6 29
+f 47 29 19
+f 47 19 27
+f 48 30 20
+f 48 6 30
+f 48 20 31
+f 48 31 29
+f 48 29 6
+f 49 30 11
+f 49 20 30
+f 50 11 30
+f 50 43 11
+f 50 46 43
+f 50 27 46
+f 50 30 6
+f 50 6 27
+f 51 19 29
+f 51 29 31
+f 52 16 2
+f 52 2 32
+f 52 38 16
+f 53 7 24
+f 53 24 38
+f 53 38 52
+f 53 52 32
+f 53 32 20
+f 54 11 18
+f 54 18 33
+f 54 49 11
+f 54 53 20
+f 54 20 49
+f 55 34 21
+f 55 21 13
+f 55 13 22
+f 56 51 31
+f 56 55 22
+f 56 34 55
+f 57 35 12
+f 57 37 35
+f 57 8 37
+f 57 32 8
+f 57 12 32
+f 58 12 35
+f 58 34 56
+f 58 56 31
+f 58 31 12
+f 59 21 34
+f 59 58 35
+f 59 34 58
+f 59 37 21
+f 59 35 37
+f 60 36 4
+f 60 28 19
+f 60 19 51
+f 60 51 56
+f 60 56 22
+f 60 22 36
+f 60 45 28
+f 60 4 45
+f 61 23 21
+f 61 21 37
+f 61 37 8
+f 61 8 5
+f 61 5 23
+f 62 16 38
+f 62 9 1
+f 62 1 16
+f 62 38 24
+f 62 24 9
+f 63 40 7
+f 63 33 40
+f 63 7 53
+f 63 54 33
+f 63 53 54
+f 64 39 7
+f 64 7 40
+f 64 25 39
+f 64 42 25
+f 64 40 18
+f 64 43 42
+f 64 18 43
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_6.obj b/apple/apple_9/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c39cdb05d2e0858ae75521a91b6b3e0b5b2e33a7
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_6.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.01575459 0.35606061 0.23579920
+v 0.19539428 0.44319663 -0.09671535
+v 0.15501899 0.40251860 0.26651150
+v -0.08480991 0.47298283 0.12553277
+v -0.23715769 0.36455931 -0.23009578
+v 0.08813208 0.48980338 0.08210179
+v -0.20525879 0.36702852 0.22773211
+v 0.13696671 0.35606061 -0.21874626
+v 0.20163985 0.43961555 0.13210637
+v 0.01578812 0.44984424 0.22999638
+v -0.05743366 0.47314698 -0.13715371
+v -0.29531267 0.36205199 0.08181151
+v 0.13172976 0.45938386 0.16885817
+v 0.16096428 0.47447586 0.00936829
+v 0.19599480 0.42921246 0.17424238
+v -0.01336344 0.48963351 0.11139424
+v -0.08432552 0.44374491 0.21197996
+v 0.01522940 0.44473164 -0.22488106
+v -0.23367904 0.36129655 0.20034824
+v 0.01575459 0.35606061 -0.23389777
+v -0.21653692 0.42861809 -0.08006695
+v 0.14541359 0.47331959 0.09588362
+v 0.10249481 0.44219190 0.22561436
+v 0.18849546 0.45929663 0.06664853
+v 0.04446412 0.48991124 -0.06411863
+v 0.13190336 0.44241804 0.21097501
+v 0.18815610 0.44483193 0.14047724
+v -0.07152089 0.48930205 -0.03572436
+v 0.05892409 0.48969493 0.11054960
+v -0.05658498 0.47254820 0.15508066
+v -0.11430285 0.42952187 -0.22562237
+v 0.13296702 0.43336373 -0.21360584
+v -0.16809936 0.44450989 0.11167515
+v -0.29697572 0.36428382 -0.12586959
+v 0.08790474 0.47358701 0.15464797
+v 0.10321952 0.48956112 0.05267151
+v 0.18827584 0.45845774 -0.03355179
+v 0.16044283 0.47365314 0.05243206
+v -0.02707414 0.49057267 -0.08009610
+v 0.18987121 0.43412142 0.17034094
+v 0.13284195 0.43356173 0.22832463
+v 0.17360545 0.45889801 0.11108931
+v -0.07105695 0.48950317 0.03789011
+v -0.14388894 0.45795240 -0.10911506
+v -0.05614146 0.45774447 0.19747793
+v -0.04333423 0.44392022 -0.22537454
+v 0.13205273 0.45950832 -0.13834382
+v -0.22820971 0.38375713 0.16655243
+v -0.24656897 0.41371149 -0.00638003
+v -0.14219661 0.44347794 0.15360077
+v -0.21496341 0.41304898 -0.15177179
+v 0.08762733 0.45863723 0.19751449
+v 0.10289832 0.49004155 0.00950040
+v -0.05627007 0.49004462 0.06705143
+v -0.10019357 0.47270096 -0.10833227
+v 0.02957209 0.47442138 -0.13849023
+v -0.11439372 0.47467781 0.06628334
+v -0.08627214 0.44359509 -0.21155584
+v -0.20658061 0.37532774 -0.24609727
+v 0.13224537 0.44563872 -0.18241393
+v 0.17363033 0.45799617 -0.07866557
+v -0.25801386 0.38382862 0.10821525
+v -0.19820548 0.39853500 0.18124524
+v -0.24555594 0.41368472 -0.06521214
+f 7 1 3
+f 8 3 1
+f 9 8 2
+f 10 7 3
+f 15 3 8
+f 15 8 9
+f 17 7 10
+f 19 12 1
+f 19 1 7
+f 20 8 1
+f 20 1 12
+f 23 10 3
+f 29 16 10
+f 30 16 4
+f 30 4 17
+f 30 10 16
+f 32 2 8
+f 32 20 18
+f 32 8 20
+f 34 20 12
+f 34 5 20
+f 35 22 6
+f 35 13 22
+f 35 6 29
+f 35 29 10
+f 36 6 22
+f 37 24 9
+f 37 9 2
+f 37 14 24
+f 38 24 14
+f 38 36 22
+f 38 14 36
+f 40 13 26
+f 40 27 13
+f 40 15 9
+f 40 9 27
+f 41 3 15
+f 41 40 26
+f 41 15 40
+f 41 26 23
+f 41 23 3
+f 42 22 13
+f 42 13 27
+f 42 38 22
+f 42 24 38
+f 42 27 9
+f 42 9 24
+f 45 30 17
+f 45 17 10
+f 45 10 30
+f 48 12 19
+f 49 34 12
+f 50 17 4
+f 50 4 33
+f 51 5 34
+f 51 21 44
+f 51 44 31
+f 52 26 13
+f 52 13 35
+f 52 23 26
+f 52 35 10
+f 52 10 23
+f 53 6 36
+f 53 39 6
+f 53 25 39
+f 53 36 14
+f 53 47 25
+f 54 29 6
+f 54 6 39
+f 54 16 29
+f 54 39 28
+f 54 28 43
+f 54 4 16
+f 55 39 11
+f 55 28 39
+f 55 44 28
+f 56 39 25
+f 56 11 39
+f 56 46 11
+f 56 18 46
+f 56 25 47
+f 57 33 4
+f 57 54 43
+f 57 4 54
+f 57 49 33
+f 57 21 49
+f 57 43 28
+f 57 44 21
+f 57 28 44
+f 58 46 31
+f 58 11 46
+f 58 55 11
+f 58 31 44
+f 58 44 55
+f 59 46 18
+f 59 18 20
+f 59 20 5
+f 59 31 46
+f 59 51 31
+f 59 5 51
+f 60 47 2
+f 60 2 32
+f 60 56 47
+f 60 32 18
+f 60 18 56
+f 61 37 2
+f 61 2 47
+f 61 14 37
+f 61 53 14
+f 61 47 53
+f 62 48 33
+f 62 12 48
+f 62 49 12
+f 62 33 49
+f 63 48 19
+f 63 19 7
+f 63 7 17
+f 63 17 50
+f 63 50 33
+f 63 33 48
+f 64 49 21
+f 64 34 49
+f 64 51 34
+f 64 21 51
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_7.obj b/apple/apple_9/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dae932a0f2c0d3af2189638c27092826b89bba9a
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_7.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.25377086 -0.26068342 -0.35322210
+v 0.23386875 -0.23899240 -0.38536710
+v 0.25922295 0.25021208 -0.37479042
+v -0.15091207 0.23484849 -0.35510990
+v -0.24174277 -0.28271038 -0.36067066
+v -0.14754899 0.15523703 -0.47338945
+v 0.24302732 -0.00757576 -0.33995838
+v 0.23549202 -0.09549698 -0.44276958
+v 0.01697089 -0.25885140 -0.44851274
+v -0.11544767 0.22622203 -0.45749006
+v -0.22171539 -0.14096220 -0.44865926
+v 0.01575459 -0.26515151 -0.33995838
+v 0.23441638 -0.15369599 -0.42872351
+v 0.11486272 -0.24113464 -0.44131494
+v 0.13679116 0.12927198 -0.47590989
+v -0.14517879 0.22742406 -0.44703050
+v -0.22666965 -0.14393939 -0.33995838
+v -0.15917869 -0.25334341 -0.42702660
+v -0.14661715 -0.19814020 -0.45839208
+v 0.23227939 -0.19587834 -0.41206222
+v 0.15794075 -0.23891451 -0.42675823
+v 0.10069157 -0.21479428 -0.45623229
+v 0.07484897 0.21431420 -0.47342994
+v 0.21935657 0.11356514 -0.45815796
+v -0.14638057 0.19946357 -0.46004102
+v -0.15091207 -0.00757576 -0.33995838
+v -0.05895915 -0.25541586 -0.44306111
+v -0.21764135 -0.25385790 -0.39964830
+v -0.14906071 0.08411470 -0.47468036
+v 0.23309212 -0.22274409 -0.39682066
+v 0.21684664 -0.23786271 -0.39698417
+v 0.21758289 -0.18060024 -0.42630910
+v 0.20575645 -0.15250569 -0.44119065
+v 0.22303284 0.02343979 -0.45782510
+v 0.07337071 -0.22906514 -0.45823407
+v -0.08678763 0.19975477 -0.47332961
+v 0.13129518 0.22743852 -0.45882640
+v -0.11802788 -0.21351029 -0.45812599
+v -0.21849234 -0.16724893 -0.44184900
+v -0.17724899 -0.15653507 -0.45878637
+v 0.13262184 -0.17157193 -0.45723991
+v 0.23165681 0.15326165 -0.44338628
+v 0.12297562 0.11479200 -0.47560874
+v -0.05747598 0.21409054 -0.47307319
+v -0.13253522 0.16958814 -0.47328219
+v 0.13386124 0.17202411 -0.47340256
+v -0.01365607 -0.22915415 -0.45767287
+v -0.13163676 -0.23953357 -0.44285282
+v -0.16092761 -0.18494880 -0.45793215
+v -0.16042859 -0.22520809 -0.44283787
+v 0.23131939 0.22455583 -0.41277576
+v 0.10323114 0.20068205 -0.47335886
+v 0.18946078 0.16852454 -0.45785896
+v 0.17501957 0.22645099 -0.44319828
+v 0.23202122 0.19653035 -0.42665627
+v 0.21663590 0.18215865 -0.44169641
+f 7 1 3
+f 7 3 4
+f 8 3 1
+f 9 1 5
+f 12 5 1
+f 12 1 7
+f 13 8 1
+f 14 1 9
+f 16 4 3
+f 16 3 10
+f 16 11 4
+f 17 11 5
+f 17 4 11
+f 17 5 12
+f 17 12 7
+f 20 13 1
+f 21 1 14
+f 22 21 14
+f 25 16 10
+f 25 6 11
+f 25 11 16
+f 26 17 7
+f 26 7 4
+f 26 4 17
+f 27 9 5
+f 27 5 18
+f 28 18 5
+f 29 11 6
+f 30 20 1
+f 30 1 2
+f 31 2 1
+f 31 1 21
+f 31 30 2
+f 31 21 20
+f 31 20 30
+f 32 13 20
+f 32 20 21
+f 33 8 13
+f 33 13 32
+f 33 32 21
+f 33 21 22
+f 34 15 24
+f 35 22 14
+f 35 14 9
+f 36 25 10
+f 36 29 6
+f 36 15 29
+f 37 10 3
+f 38 9 27
+f 38 19 29
+f 38 29 35
+f 39 28 5
+f 39 5 11
+f 40 29 19
+f 40 11 29
+f 41 33 22
+f 41 8 33
+f 41 34 8
+f 41 15 34
+f 41 35 15
+f 41 22 35
+f 42 34 24
+f 42 3 8
+f 42 8 34
+f 43 35 29
+f 43 29 15
+f 43 15 35
+f 44 36 10
+f 44 23 15
+f 44 15 36
+f 44 37 23
+f 44 10 37
+f 45 36 6
+f 45 6 25
+f 45 25 36
+f 46 24 15
+f 47 38 35
+f 47 35 9
+f 47 9 38
+f 48 38 27
+f 48 27 18
+f 49 39 11
+f 49 40 19
+f 49 11 40
+f 50 18 28
+f 50 28 39
+f 50 48 18
+f 50 19 38
+f 50 38 48
+f 50 49 19
+f 50 39 49
+f 52 46 15
+f 52 15 23
+f 52 23 37
+f 52 37 46
+f 53 42 24
+f 53 24 46
+f 53 46 37
+f 54 37 3
+f 54 3 51
+f 54 53 37
+f 55 51 3
+f 55 3 42
+f 55 54 51
+f 56 42 53
+f 56 53 54
+f 56 55 42
+f 56 54 55
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_8.obj b/apple/apple_9/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ded7199c65658831206a8dde23a23fdc7c7e594
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_8.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01475689 -0.26211172 0.45316754
+v 0.01575459 -0.26515151 0.25095071
+v 0.01575459 -0.00757576 0.25095071
+v -0.06668503 -0.02101813 0.39377653
+v -0.09030601 -0.26515151 0.25095071
+v 0.02326264 -0.04117563 0.39911171
+v -0.08610942 -0.26086667 0.44500926
+v -0.09030601 -0.00757576 0.25095071
+v -0.09129448 -0.14635557 0.44878973
+v 0.01732308 -0.16481079 0.44759000
+f 5 2 1
+f 5 3 2
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 8 4 3
+f 8 3 5
+f 9 6 4
+f 9 7 1
+f 9 4 8
+f 9 8 5
+f 9 5 7
+f 10 9 1
+f 10 1 6
+f 10 6 9
\ No newline at end of file
diff --git a/apple/apple_9/collision/model_normalized_collision_9.obj b/apple/apple_9/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f70b63d5732c8eeceec5e57c6787538bfb1e36e
--- /dev/null
+++ b/apple/apple_9/collision/model_normalized_collision_9.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.39038653 -0.14812990 0.25647744
+v 0.45196700 -0.07781537 -0.13938670
+v 0.46203740 -0.00761824 0.14292336
+v 0.25817883 -0.00757576 0.25095071
+v 0.25817883 -0.14393939 -0.21874626
+v 0.25817883 -0.00757576 -0.21874626
+v 0.42454324 -0.01383146 0.27091474
+v 0.45236090 -0.13782625 0.02170290
+v 0.25817883 -0.14393939 0.25095071
+v 0.43472727 -0.00740241 -0.21701550
+v 0.45357195 -0.07886604 0.14118384
+v 0.46752959 -0.07872585 -0.04995179
+v 0.41088898 -0.13950020 -0.21322317
+v 0.44116089 -0.00723761 -0.19882134
+v 0.43735132 -0.13665620 0.12567052
+v 0.46695957 -0.07903076 0.05209748
+v 0.45204153 -0.13786430 -0.05003813
+v 0.43703429 -0.06531124 -0.19718318
+v 0.46973357 -0.00725169 0.09719530
+v 0.46877802 -0.00761442 -0.09483820
+v 0.43926577 -0.12297173 0.14071666
+v 0.45102963 -0.12248894 0.08182668
+v 0.43526868 -0.13731035 -0.13745951
+v 0.45038370 -0.12317200 -0.09386754
+v 0.42127615 -0.10755989 -0.21173691
+v 0.45269347 -0.05056853 -0.15327941
+v 0.46681922 -0.04975711 0.09678202
+v 0.46803519 -0.03556906 -0.09402013
+v 0.45125780 -0.10783222 0.11115446
+v 0.43550001 -0.09334359 -0.18249676
+v 0.45508579 -0.00766694 -0.15427112
+v 0.42211998 -0.13761056 -0.18301862
+f 6 5 4
+f 7 3 4
+f 9 5 1
+f 9 4 5
+f 9 7 4
+f 9 1 7
+f 10 5 6
+f 11 7 1
+f 11 3 7
+f 13 5 10
+f 13 1 5
+f 14 10 6
+f 14 6 4
+f 15 1 8
+f 16 8 12
+f 17 12 8
+f 17 8 1
+f 17 1 13
+f 18 10 14
+f 19 14 4
+f 19 4 3
+f 19 16 12
+f 20 19 12
+f 20 14 19
+f 21 11 1
+f 21 1 15
+f 22 15 8
+f 22 8 16
+f 23 17 13
+f 24 2 12
+f 24 12 17
+f 24 23 2
+f 24 17 23
+f 25 13 10
+f 25 10 18
+f 26 18 14
+f 26 2 18
+f 27 19 3
+f 27 3 11
+f 27 11 16
+f 27 16 19
+f 28 20 12
+f 28 12 2
+f 28 2 26
+f 29 22 16
+f 29 16 11
+f 29 11 21
+f 29 21 15
+f 29 15 22
+f 30 25 18
+f 30 18 2
+f 30 2 23
+f 31 26 14
+f 31 14 20
+f 31 28 26
+f 31 20 28
+f 32 30 23
+f 32 23 13
+f 32 13 25
+f 32 25 30
\ No newline at end of file
diff --git a/apple/apple_9/model.xml b/apple/apple_9/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..56c63ab9b763fb0070284068b30fe65bcc17df96
--- /dev/null
+++ b/apple/apple_9/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="apple_19">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.07 0.07 0.07" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Apple_LOD0_u0_v0" texture="image0" specular="0.5" shininess="0.18734514200000002"/>
+  </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_LOD0_u0_v0"/>
+        <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="0.00010392970000000002 1.4823200000000372e-05 -0.0333136923" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00010392970000000002 1.4823200000000372e-05 0.0336884464" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.032926617500000005 0.034340086900000004 0.00018737704999999995" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/apple/apple_9/visual/material.mtl b/apple/apple_9/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0c5bd6256ac65417ea4fe07a83c3c2e2658e0a75
--- /dev/null
+++ b/apple/apple_9/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 187.34514200
+map_Kd material_0.png
\ No newline at end of file
diff --git a/mango/.DS_Store b/mango/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..ba0fcd93f3ce476a862faf1a76d57e1f93bb21a0
Binary files /dev/null and b/mango/.DS_Store differ
diff --git a/mango/mango_1/collision/model_normalized_collision_0.obj b/mango/mango_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7b73f0d1036b3324cf63288277c3fa3c3675c85
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.00869775 -0.31983860 0.26056973
+v 0.17205149 -0.26404117 0.26052991
+v 0.03544979 -0.11502328 0.48950633
+v -0.17528051 0.24451314 0.28409642
+v 0.15573835 -0.27401259 0.25764120
+v 0.20578498 0.25258876 0.29956364
+v -0.14653267 -0.18219993 0.41602545
+v -0.14980233 -0.28862881 0.26149906
+v 0.06571859 -0.21026780 0.41664251
+v 0.16379912 -0.09950277 0.42833529
+v -0.03207917 0.14125247 0.45937029
+v 0.08095684 -0.30306840 0.25805768
+v -0.07551729 -0.27120486 0.35697808
+v 0.12167920 -0.23914946 0.34297864
+v 0.10540632 -0.15506737 0.44380396
+v -0.03324140 0.23347306 0.37809941
+v 0.10865548 0.10121624 0.45899933
+v -0.07381599 -0.10471465 0.48913965
+v -0.06261391 -0.31798455 0.26084133
+v 0.02131358 -0.28418482 0.33035949
+v -0.14724202 -0.26896705 0.31643064
+v 0.16552601 -0.25388990 0.28478164
+v 0.07849955 -0.28282313 0.29988817
+v 0.07739068 -0.11538561 0.47438075
+v 0.03700976 -0.15334814 0.47417750
+v 0.12043569 -0.19394680 0.40190652
+v -0.11736811 0.19605148 0.38517480
+v 0.16378012 0.10058023 0.42784655
+v 0.09596935 0.19843691 0.41358463
+v 0.02411147 -0.00040055 0.49119616
+v -0.06193469 -0.31418549 0.27349507
+v 0.02202887 -0.29938213 0.30151948
+v 0.00641570 -0.26943042 0.35892934
+v 0.07854871 -0.23760183 0.37414409
+v -0.11787567 -0.25621615 0.35667899
+v 0.13711339 -0.26765856 0.28444567
+v 0.16302890 -0.15535584 0.39996806
+v 0.07897200 -0.29799475 0.26998076
+v 0.13393722 -0.11390509 0.44357151
+v 0.09409924 0.03006797 0.47433573
+v 0.06436892 -0.18176922 0.44575921
+v -0.06151313 -0.12803507 0.48829207
+v 0.07776242 -0.15420664 0.45911469
+v 0.16579630 -0.22458691 0.32737004
+v -0.03182063 0.18245867 0.42965992
+v -0.14544440 0.13006003 0.41380362
+v 0.06598703 0.14278549 0.45798935
+v 0.11350791 0.23293475 0.37726684
+v 0.16779265 0.20376113 0.37311853
+v -0.07135355 -0.09136807 0.48964067
+v -0.08958644 -0.29920188 0.30192517
+v 0.00778350 -0.31481394 0.27227824
+v -0.09022214 -0.28586226 0.33004364
+v -0.06232037 -0.15400851 0.47423207
+v 0.04914844 -0.26814108 0.34413402
+v 0.09301436 -0.20935033 0.40301504
+v -0.14551631 -0.24136347 0.35662063
+v 0.15300999 -0.26883533 0.26935218
+v 0.11906990 -0.18149951 0.41564334
+v 0.09077261 -0.14243470 0.45851291
+v 0.15053270 -0.07175552 0.44344360
+v 0.14758979 -0.12692886 0.42917223
+v 0.09275783 -0.07271250 0.47412412
+v 0.03764242 -0.01555242 0.49048261
+f 6 5 4
+f 6 2 5
+f 8 4 5
+f 8 7 4
+f 10 2 6
+f 12 8 5
+f 16 6 4
+f 19 12 1
+f 19 8 12
+f 21 7 8
+f 22 5 2
+f 25 24 3
+f 27 16 4
+f 28 10 6
+f 31 19 1
+f 32 1 12
+f 32 23 20
+f 33 32 20
+f 36 22 14
+f 36 14 23
+f 37 2 10
+f 38 12 5
+f 38 36 23
+f 38 5 36
+f 38 32 12
+f 38 23 32
+f 40 17 30
+f 40 28 17
+f 41 33 9
+f 42 25 3
+f 42 3 18
+f 42 18 7
+f 43 24 25
+f 43 41 15
+f 43 25 41
+f 44 26 14
+f 44 14 22
+f 44 37 26
+f 44 22 2
+f 44 2 37
+f 45 27 11
+f 45 16 27
+f 45 29 16
+f 46 11 27
+f 46 7 18
+f 46 27 4
+f 46 4 7
+f 47 17 29
+f 47 30 17
+f 47 11 30
+f 47 45 11
+f 47 29 45
+f 48 6 16
+f 48 16 29
+f 49 28 6
+f 49 48 29
+f 49 6 48
+f 49 29 17
+f 49 17 28
+f 50 18 3
+f 50 3 30
+f 50 30 11
+f 50 46 18
+f 50 11 46
+f 51 21 8
+f 51 8 19
+f 51 19 31
+f 52 31 1
+f 52 1 32
+f 53 33 13
+f 53 32 33
+f 53 52 32
+f 53 31 52
+f 53 51 31
+f 53 13 35
+f 53 35 21
+f 53 21 51
+f 54 13 33
+f 54 25 42
+f 54 42 7
+f 54 35 13
+f 54 7 35
+f 54 41 25
+f 54 33 41
+f 55 33 20
+f 55 20 23
+f 55 23 14
+f 55 14 34
+f 55 34 9
+f 55 9 33
+f 56 9 34
+f 56 41 9
+f 56 34 14
+f 56 14 26
+f 57 35 7
+f 57 7 21
+f 57 21 35
+f 58 36 5
+f 58 5 22
+f 58 22 36
+f 59 37 15
+f 59 26 37
+f 59 15 41
+f 59 56 26
+f 59 41 56
+f 60 39 24
+f 60 15 39
+f 60 43 15
+f 60 24 43
+f 61 39 10
+f 61 24 39
+f 61 10 28
+f 61 28 40
+f 62 37 10
+f 62 10 39
+f 62 39 15
+f 62 15 37
+f 63 3 24
+f 63 61 40
+f 63 24 61
+f 64 40 30
+f 64 30 3
+f 64 63 40
+f 64 3 63
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_1.obj b/mango/mango_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3090fe4b3388d64bd2e2daaa3db062ab08f5468c
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.17157986 -0.16625755 0.26515153
+v -0.17157986 -0.16625755 0.00757577
+v -0.16508272 0.28778931 0.19967474
+v -0.16546734 0.30406523 0.14049772
+v -0.36561926 0.04146832 0.08397372
+v -0.33504200 -0.15559683 0.14102044
+v -0.16999480 0.31463503 0.00784427
+v -0.29032583 0.21509154 0.12620916
+v -0.34055394 -0.11160210 -0.04242874
+v -0.32824394 -0.15996924 0.00966250
+v -0.24979073 0.25608213 0.14007301
+v -0.29074300 0.21701266 0.00935894
+v -0.33548592 0.01138260 0.25665925
+v -0.36583981 -0.10074279 0.07022650
+v -0.32228270 -0.15059978 -0.03766278
+v -0.21982001 0.27023975 0.16835392
+v -0.22177738 0.28471824 0.09553859
+v -0.33450675 0.12927675 0.14074122
+v -0.35060469 0.07091097 0.01043787
+v -0.22380675 0.28819563 0.00881737
+v -0.30393193 -0.15318703 0.25890036
+v -0.16683770 0.26236364 0.26016669
+v -0.36539392 -0.07007273 0.17110918
+v -0.33508486 -0.15471513 0.02656918
+v -0.17817678 0.28283336 0.19813232
+v -0.19237818 0.30102696 0.09545153
+v -0.23443751 0.27096274 0.12486008
+v -0.27437019 0.17167241 0.25448423
+v -0.36491217 0.01212518 0.16993190
+v -0.31975407 0.15951836 0.00987545
+v -0.36547265 -0.00189248 0.01071290
+v -0.33301694 -0.09750171 0.25777554
+v -0.36652913 -0.08560583 0.03998516
+v -0.35016228 -0.12809354 0.14135513
+v -0.34970548 -0.12731775 0.02654900
+v -0.32705011 -0.14412823 -0.03490157
+v -0.17844325 0.29889513 0.13927272
+v -0.21889339 0.25483645 0.21190900
+v -0.19413130 0.30438505 0.00866703
+v -0.20675603 0.28480476 0.13961896
+v -0.33396221 0.09877939 0.19805649
+v -0.31928727 0.06968803 0.25584904
+v -0.26066131 0.22612893 0.19689988
+v -0.35037205 0.08548491 0.14140789
+v -0.35015258 -0.07103093 0.22893338
+v -0.33506522 0.12996236 0.03952360
+v -0.36578146 0.02652017 0.03991980
+v -0.34517989 -0.10291704 -0.03580405
+v -0.36578383 -0.10088996 0.08314402
+v -0.34854783 -0.11204194 0.18407429
+v -0.34954800 -0.11422756 -0.00289909
+v -0.20623245 0.26875052 0.19686363
+v -0.20543444 0.24240049 0.25677302
+v -0.34852240 0.01136233 0.22778171
+v -0.30419613 0.15639504 0.21133176
+v -0.30324084 0.11373055 0.25504747
+v -0.27610277 0.22651830 0.15365403
+v -0.24579511 0.24123775 0.19665827
+v -0.36537759 0.04124247 0.11279766
+v -0.35063058 0.07029678 0.16991019
+v -0.35028217 0.08582299 0.03989574
+v -0.36577465 -0.05807056 0.01074763
+v -0.36380910 -0.08508777 0.15546359
+v -0.33433904 -0.12529741 0.21430198
+f 1 2 3
+f 3 2 4
+f 7 4 2
+f 10 2 1
+f 10 1 6
+f 15 9 7
+f 15 7 2
+f 15 2 10
+f 18 8 12
+f 20 7 9
+f 20 9 12
+f 20 11 17
+f 20 12 8
+f 20 8 11
+f 21 6 1
+f 22 13 1
+f 22 1 3
+f 24 10 6
+f 24 6 14
+f 25 3 4
+f 25 22 3
+f 26 4 7
+f 26 20 17
+f 27 17 11
+f 27 11 16
+f 30 12 9
+f 30 9 19
+f 32 21 1
+f 32 1 13
+f 33 23 5
+f 35 24 14
+f 35 14 33
+f 36 15 10
+f 36 10 24
+f 36 24 35
+f 36 9 15
+f 37 25 4
+f 37 4 26
+f 39 26 7
+f 39 7 20
+f 39 20 26
+f 40 26 17
+f 40 37 26
+f 40 16 25
+f 40 25 37
+f 40 27 16
+f 40 17 27
+f 42 13 22
+f 45 29 23
+f 45 32 13
+f 46 18 12
+f 46 12 30
+f 46 44 18
+f 46 5 44
+f 46 30 19
+f 47 19 31
+f 47 33 5
+f 47 31 33
+f 48 31 19
+f 48 19 9
+f 49 33 14
+f 49 23 33
+f 49 14 6
+f 49 6 34
+f 50 45 23
+f 50 32 45
+f 51 36 35
+f 51 9 36
+f 51 48 9
+f 51 35 33
+f 51 33 48
+f 52 25 16
+f 52 16 38
+f 52 22 25
+f 53 28 22
+f 53 52 38
+f 53 22 52
+f 53 43 28
+f 54 42 41
+f 54 13 42
+f 54 45 13
+f 54 29 45
+f 55 8 18
+f 55 18 41
+f 55 28 43
+f 56 42 22
+f 56 22 28
+f 56 28 55
+f 56 55 41
+f 56 41 42
+f 57 11 8
+f 57 55 43
+f 57 8 55
+f 58 38 16
+f 58 16 11
+f 58 57 43
+f 58 11 57
+f 58 53 38
+f 58 43 53
+f 59 44 5
+f 59 5 23
+f 59 23 29
+f 60 41 18
+f 60 18 44
+f 60 54 41
+f 60 29 54
+f 60 59 29
+f 60 44 59
+f 61 46 19
+f 61 5 46
+f 61 47 5
+f 61 19 47
+f 62 48 33
+f 62 33 31
+f 62 31 48
+f 63 49 34
+f 63 23 49
+f 63 50 23
+f 63 34 50
+f 64 21 32
+f 64 32 50
+f 64 6 21
+f 64 50 34
+f 64 34 6
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_10.obj b/mango/mango_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba2f940933e8f24e6211e3ec4d1232c32db14726
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.04994843 -0.34685364 0.00766388
+v 0.02576884 -0.28546603 -0.23372415
+v 0.02538984 0.16707579 0.00757577
+v -0.15642835 0.16707579 0.00757577
+v -0.15133122 -0.24194193 -0.22799878
+v -0.09000075 -0.33345116 0.00931761
+v 0.02538984 -0.30262119 0.00757577
+v 0.01806963 -0.34051957 -0.11168103
+v -0.18587054 0.19457913 -0.25825819
+v -0.15088932 -0.30676943 0.00861703
+v -0.04567959 -0.30168028 -0.16751617
+v -0.04517399 -0.33311284 -0.07926137
+v 0.02538984 0.16707579 -0.23484848
+v -0.13273732 -0.31596048 0.00918108
+v -0.06080561 -0.26966988 -0.22568572
+v -0.08878084 -0.33007953 -0.01917393
+v -0.05926786 -0.29809543 -0.16649833
+v -0.14792669 -0.29815929 -0.06328346
+v -0.12026353 -0.25304452 -0.22610108
+v -0.13298456 -0.31404942 -0.00494359
+v -0.14835925 -0.26701804 -0.16722699
+v -0.05846204 -0.32869244 -0.07832059
+v -0.08929317 -0.28242036 -0.18084624
+v -0.13401175 -0.26726227 -0.18157566
+v -0.08837460 -0.31349934 -0.09342330
+f 6 3 4
+f 7 2 3
+f 7 6 1
+f 7 3 6
+f 8 7 1
+f 8 2 7
+f 9 2 5
+f 9 4 3
+f 10 9 5
+f 10 4 9
+f 11 2 8
+f 12 8 1
+f 13 9 3
+f 13 3 2
+f 13 2 9
+f 14 6 4
+f 14 4 10
+f 15 2 11
+f 16 12 1
+f 16 1 6
+f 17 11 8
+f 17 8 12
+f 18 10 5
+f 19 15 11
+f 19 5 2
+f 19 2 15
+f 19 11 17
+f 20 16 6
+f 20 6 14
+f 20 18 16
+f 20 14 10
+f 20 10 18
+f 21 18 5
+f 22 12 16
+f 22 16 18
+f 23 19 17
+f 23 5 19
+f 24 23 17
+f 24 21 5
+f 24 5 23
+f 25 12 22
+f 25 21 24
+f 25 24 17
+f 25 17 12
+f 25 22 18
+f 25 18 21
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_11.obj b/mango/mango_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9258be4f731e6ad239500daaf29f359e332c231b
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.15535403 -0.28520101 0.26455933
+v -0.14979214 -0.27401762 0.30388141
+v -0.33911050 -0.07296833 0.25910567
+v -0.17528051 0.24451314 0.28409642
+v -0.14876647 0.21596984 0.34499781
+v -0.22224403 0.22987056 0.25664963
+v -0.27908107 -0.18619375 0.26006983
+v -0.15621490 0.22734472 0.32548014
+v -0.15024936 -0.14636200 0.43663843
+v -0.21150814 0.23562791 0.26042569
+v -0.26019363 0.09915842 0.32575132
+v -0.22179724 -0.24376433 0.25973701
+v -0.16084587 0.21072819 0.34210808
+v -0.14792005 0.14598643 0.40479351
+v -0.24669162 -0.18066403 0.32977016
+v -0.20772229 0.23070814 0.27235990
+v -0.29431407 0.13043183 0.25783423
+v -0.22005684 -0.11706184 0.40005610
+v -0.17620747 -0.27035616 0.27418790
+v -0.17832257 -0.27342642 0.26139957
+v -0.32671314 0.04237176 0.25823184
+v -0.14887832 -0.08172815 0.43387431
+v -0.14909109 0.18647051 0.37469273
+v -0.18908566 -0.20987934 0.35656672
+v -0.20311169 -0.23997745 0.30081701
+v -0.24670233 -0.20948446 0.28612477
+v -0.32066160 -0.11377133 0.27393900
+v -0.24526308 0.15519652 0.31100831
+v -0.17394275 0.11549616 0.39854604
+v -0.16005852 -0.27016261 0.30111087
+v -0.25104977 0.20160092 0.25695973
+v -0.28919768 0.12837521 0.26838929
+v -0.30599712 -0.01874634 0.31283478
+v -0.14960719 -0.17377676 0.42072662
+v -0.16194561 -0.14370916 0.43086123
+v -0.20325189 -0.21174259 0.34164586
+v -0.21919396 -0.24025409 0.27357708
+v -0.27540381 -0.16807292 0.30003646
+v -0.23083577 -0.19705684 0.32912074
+v -0.31042234 -0.14269359 0.26019788
+v -0.27539323 -0.12849192 0.34413844
+v -0.24657670 0.19732718 0.26890799
+v -0.18763399 0.15510686 0.36934898
+v -0.22107291 -0.07962407 0.39718302
+v -0.14988254 -0.25918057 0.33136809
+v -0.27958852 0.15951077 0.25750595
+v -0.29178559 0.04108413 0.31097151
+v -0.25910928 0.12860770 0.31173948
+v -0.27882015 -0.00436546 0.33801236
+v -0.33452762 -0.01801013 0.26933117
+v -0.21770507 -0.15465065 0.38488530
+v -0.16111731 -0.16922007 0.41661610
+v -0.27598075 -0.18385056 0.27251338
+v -0.32490942 -0.11546990 0.26032479
+v -0.30634191 -0.14079160 0.27386664
+v -0.32019910 -0.05877396 0.30044399
+v -0.26055140 -0.15191254 0.34345326
+v -0.21846797 0.22494712 0.26857200
+v -0.15947771 0.18354675 0.36972804
+v -0.18703116 0.12853270 0.38396606
+v -0.25078289 -0.03579894 0.36673032
+v -0.16002817 -0.25552574 0.32737785
+v -0.27431461 0.15648905 0.26960356
+v -0.32045009 0.04046961 0.26952086
+f 5 2 1
+f 8 5 1
+f 8 1 4
+f 10 4 1
+f 10 1 6
+f 12 7 3
+f 13 5 8
+f 14 2 5
+f 16 8 4
+f 16 4 10
+f 16 13 8
+f 16 10 6
+f 20 12 6
+f 20 6 1
+f 20 19 12
+f 20 1 19
+f 21 12 3
+f 21 6 12
+f 22 2 14
+f 23 14 5
+f 23 5 13
+f 26 7 12
+f 29 22 14
+f 30 19 1
+f 30 1 2
+f 30 25 19
+f 31 6 21
+f 32 17 21
+f 34 22 9
+f 34 2 22
+f 35 22 18
+f 35 9 22
+f 37 12 19
+f 37 19 25
+f 37 26 12
+f 37 25 26
+f 38 26 15
+f 39 26 25
+f 39 15 26
+f 39 25 36
+f 40 3 7
+f 43 42 28
+f 43 13 42
+f 44 18 22
+f 44 22 29
+f 45 30 2
+f 45 34 24
+f 45 2 34
+f 46 31 21
+f 46 21 17
+f 48 43 28
+f 48 47 11
+f 48 32 47
+f 49 47 33
+f 49 11 47
+f 50 21 3
+f 51 36 24
+f 51 39 36
+f 51 15 39
+f 51 18 41
+f 51 35 18
+f 52 34 9
+f 52 9 35
+f 52 35 51
+f 52 51 24
+f 52 24 34
+f 53 7 26
+f 53 26 38
+f 53 40 7
+f 54 27 3
+f 54 3 40
+f 55 54 40
+f 55 27 54
+f 55 41 27
+f 55 38 41
+f 55 53 38
+f 55 40 53
+f 56 41 18
+f 56 18 33
+f 56 3 27
+f 56 27 41
+f 56 50 3
+f 56 33 50
+f 57 41 38
+f 57 38 15
+f 57 51 41
+f 57 15 51
+f 58 42 13
+f 58 13 16
+f 58 16 6
+f 58 6 31
+f 58 31 42
+f 59 23 13
+f 59 13 43
+f 59 43 14
+f 59 14 23
+f 60 29 14
+f 60 14 43
+f 60 49 29
+f 60 11 49
+f 60 48 11
+f 60 43 48
+f 61 33 18
+f 61 18 44
+f 61 49 33
+f 61 44 29
+f 61 29 49
+f 62 45 24
+f 62 24 36
+f 62 36 25
+f 62 25 30
+f 62 30 45
+f 63 42 31
+f 63 31 46
+f 63 28 42
+f 63 48 28
+f 63 32 48
+f 63 46 17
+f 63 17 32
+f 64 47 32
+f 64 32 21
+f 64 33 47
+f 64 50 33
+f 64 21 50
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_12.obj b/mango/mango_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7180025f3826d97fe22a725438bdb1031bca7b7b
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.21373791 0.26862647 0.27320495
+v 0.25332687 0.29005892 -0.23540483
+v 0.20227093 0.34613175 0.06653076
+v -0.01559345 0.34472249 0.14020107
+v -0.15000302 0.24952235 -0.22941976
+v 0.04328965 0.36144112 -0.06507747
+v 0.09823667 0.31412544 0.25603864
+v 0.25910373 0.30063299 -0.19320374
+v 0.07049014 0.36156550 0.11033090
+v -0.19611687 0.30295242 0.00412146
+v 0.03125449 0.31422696 -0.22831224
+v 0.17100894 0.31376157 0.22563432
+v 0.20222374 0.34498938 -0.08035246
+v -0.00061299 0.36142971 0.05136798
+v 0.01199026 0.31499777 0.25743723
+v -0.17155440 0.25793992 0.26512947
+v 0.21864654 0.29783329 -0.24881036
+v -0.13567712 0.31451038 -0.07944856
+v 0.17098057 0.29931519 0.25479948
+v 0.19800030 0.29871818 0.23899331
+v 0.15785132 0.34516698 0.13909717
+v 0.14418420 0.36162756 -0.03667000
+v 0.04342451 0.36120689 0.11037766
+v -0.12036376 0.33110289 0.06624416
+v -0.08971557 0.29872097 0.24292738
+v 0.14418146 0.33035629 -0.19953297
+v 0.20217394 0.33075083 -0.15419982
+v 0.21661018 0.31439292 -0.19865194
+v 0.02902217 0.34519081 -0.12360509
+v -0.06065250 0.34562138 -0.02061779
+v -0.14809492 0.28280560 -0.16582076
+v 0.19960849 0.28833827 0.25559497
+v 0.12902089 0.36075936 0.08090658
+v 0.17163728 0.34518331 0.12506003
+v 0.01289743 0.36201733 -0.03487518
+v 0.01322254 0.36086773 0.08125762
+v -0.03138879 0.31384191 0.24281335
+v -0.16436335 0.30104214 0.15474603
+v -0.06118411 0.30137281 0.25750992
+v 0.17295581 0.31634445 -0.22930513
+v 0.11449102 0.36204939 -0.06543482
+v 0.24839287 0.30721966 -0.18595580
+v 0.23084444 0.30041291 -0.22893257
+v -0.12020650 0.29817919 -0.15171265
+v 0.05978504 0.32992009 -0.19862058
+v -0.00080449 0.36146644 -0.00624426
+v -0.16426061 0.31485624 -0.01996037
+v -0.07448025 0.28308122 -0.22698639
+v -0.18733934 0.30237775 -0.04252179
+v 0.11386967 0.36076157 0.09605839
+v 0.14295496 0.36153855 0.05166983
+v -0.04563503 0.34545500 -0.04950320
+v -0.09113858 0.33024061 0.12525891
+v -0.06145164 0.34578854 0.06646182
+v -0.16375133 0.31467837 0.08126576
+v -0.16328781 0.28403170 0.21236318
+v -0.11894733 0.28356166 0.25633390
+v 0.20145638 0.31426762 -0.21371615
+v 0.17269673 0.32957775 -0.18428054
+v 0.14440216 0.34520312 -0.13958742
+v 0.24559628 0.29975233 -0.21377889
+v 0.01543793 0.32910222 -0.16819802
+v -0.14893171 0.29880731 -0.12197125
+v 0.05903554 0.34669439 -0.13916991
+f 5 2 1
+f 8 1 2
+f 8 3 1
+f 13 3 8
+f 15 7 9
+f 15 1 7
+f 16 10 5
+f 16 5 1
+f 16 1 15
+f 17 2 5
+f 17 5 11
+f 19 12 7
+f 19 7 1
+f 20 1 3
+f 20 12 19
+f 21 9 7
+f 21 7 12
+f 22 3 13
+f 23 9 14
+f 23 15 9
+f 32 20 19
+f 32 19 1
+f 32 1 20
+f 34 20 3
+f 34 33 21
+f 34 3 33
+f 34 21 12
+f 34 12 20
+f 35 14 9
+f 35 6 29
+f 36 23 14
+f 36 4 23
+f 37 23 4
+f 37 15 23
+f 38 10 16
+f 39 16 15
+f 39 37 25
+f 39 15 37
+f 40 17 11
+f 41 22 13
+f 41 6 35
+f 41 35 9
+f 42 27 13
+f 42 13 8
+f 42 28 27
+f 42 8 2
+f 43 2 17
+f 43 28 42
+f 45 40 11
+f 45 26 40
+f 46 30 24
+f 46 24 14
+f 46 35 30
+f 46 14 35
+f 47 30 18
+f 47 10 24
+f 47 24 30
+f 48 11 5
+f 48 5 31
+f 48 44 11
+f 48 31 44
+f 49 31 5
+f 49 5 10
+f 49 10 47
+f 49 47 18
+f 50 9 21
+f 50 21 33
+f 51 50 33
+f 51 9 50
+f 51 41 9
+f 51 22 41
+f 51 33 3
+f 51 3 22
+f 52 18 30
+f 52 30 35
+f 52 35 29
+f 52 29 18
+f 53 4 36
+f 53 38 25
+f 53 37 4
+f 53 25 37
+f 54 36 14
+f 54 14 24
+f 54 53 36
+f 54 24 53
+f 55 24 10
+f 55 10 38
+f 55 53 24
+f 55 38 53
+f 56 38 16
+f 56 25 38
+f 57 39 25
+f 57 16 39
+f 57 56 16
+f 57 25 56
+f 58 17 40
+f 58 43 17
+f 58 28 43
+f 58 27 28
+f 59 40 26
+f 59 58 40
+f 59 27 58
+f 60 41 13
+f 60 13 27
+f 60 27 59
+f 60 59 26
+f 61 43 42
+f 61 42 2
+f 61 2 43
+f 62 11 44
+f 62 45 11
+f 62 29 45
+f 62 44 18
+f 62 18 29
+f 63 44 31
+f 63 18 44
+f 63 49 18
+f 63 31 49
+f 64 45 29
+f 64 29 6
+f 64 6 41
+f 64 41 60
+f 64 60 26
+f 64 26 45
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_13.obj b/mango/mango_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da613219ebbf47199d8add4a049ee2f31e09e4de
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.17327155 -0.21818411 -0.25665577
+v -0.15642835 -0.18140907 -0.09848484
+v -0.32956618 -0.10295329 -0.09570159
+v -0.25676810 0.18956235 -0.16430227
+v -0.15642835 0.15192427 -0.11363635
+v -0.29052099 0.08565293 -0.21141316
+v -0.29515880 -0.17203400 -0.09591615
+v -0.19265354 0.18262838 -0.26279671
+v -0.15642835 0.15192427 -0.09848484
+v -0.27464805 -0.11499484 -0.22534468
+v -0.30178191 0.15552510 -0.10056344
+v -0.27539430 0.11071306 -0.22356994
+v -0.32577990 -0.11517870 -0.09492100
+v -0.30428447 -0.07209453 -0.18039388
+v -0.25952258 -0.17030887 -0.21001848
+v -0.30883389 0.10218954 -0.15457111
+v -0.24607747 0.15415542 -0.22286807
+v -0.30337010 -0.12953778 -0.15061344
+v -0.28957709 -0.07287398 -0.21061348
+v -0.24850793 -0.17196961 -0.22759596
+v -0.29066896 -0.16913909 -0.12518812
+v -0.30402654 0.08548477 -0.18178836
+v -0.28779759 0.14122671 -0.16741009
+v -0.27450467 0.15323800 -0.17933494
+v -0.23738613 0.17405252 -0.21267150
+v -0.31905440 -0.11331610 -0.12174708
+v -0.27248634 -0.14433932 -0.21013179
+v -0.28883664 -0.11635254 -0.19542918
+v -0.25845166 -0.15696434 -0.22552685
+v -0.28963766 -0.15728718 -0.15404074
+v -0.32220517 -0.10147392 -0.12244509
+v -0.28941230 0.11514631 -0.19499752
+v -0.29199050 0.14431293 -0.15274771
+v -0.26169705 0.17119080 -0.17970743
+v -0.27040966 0.17774439 -0.15539526
+v -0.23809044 0.15952372 -0.22801154
+v -0.27380090 -0.15548876 -0.19552236
+v -0.30478111 0.10100322 -0.16840177
+v -0.24556578 0.16832529 -0.20774948
+f 5 2 1
+f 7 1 2
+f 8 5 1
+f 9 2 5
+f 9 8 4
+f 9 5 8
+f 10 8 1
+f 11 9 4
+f 12 10 6
+f 12 8 10
+f 13 7 2
+f 13 2 9
+f 13 11 3
+f 13 9 11
+f 16 3 11
+f 19 14 6
+f 19 6 10
+f 20 1 15
+f 21 15 1
+f 21 1 7
+f 21 7 13
+f 22 3 16
+f 22 6 14
+f 24 17 12
+f 25 4 8
+f 26 13 3
+f 28 27 18
+f 28 10 27
+f 28 19 10
+f 28 14 19
+f 29 10 1
+f 29 1 20
+f 29 27 10
+f 29 20 15
+f 29 15 27
+f 30 15 21
+f 30 21 13
+f 30 26 18
+f 30 13 26
+f 31 22 14
+f 31 3 22
+f 31 26 3
+f 31 14 28
+f 31 28 18
+f 31 18 26
+f 32 12 6
+f 32 6 22
+f 32 24 12
+f 32 23 24
+f 33 16 11
+f 33 23 32
+f 34 17 24
+f 35 24 23
+f 35 34 24
+f 35 4 34
+f 35 23 33
+f 35 33 11
+f 35 11 4
+f 36 25 8
+f 36 8 12
+f 36 12 17
+f 37 27 15
+f 37 15 30
+f 37 30 18
+f 37 18 27
+f 38 32 22
+f 38 22 16
+f 38 33 32
+f 38 16 33
+f 39 17 34
+f 39 36 17
+f 39 25 36
+f 39 34 4
+f 39 4 25
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_14.obj b/mango/mango_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4c7f92cb07d183d1ba5e0deff692657cdaa5637
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.20747892 0.30406833 0.21998735
+v 0.21712785 0.32905931 0.13539634
+v 0.11399835 0.34509754 0.16951786
+v -0.00127022 0.34786506 0.14066768
+v -0.12119892 0.32056583 0.13481939
+v 0.14328377 0.34799220 0.13982183
+v -0.06770548 0.31224691 0.22278684
+v 0.02804285 0.34658676 0.16976940
+v -0.07726172 0.33359558 0.12589549
+v 0.17145634 0.32984752 0.18329681
+v -0.12034218 0.31724105 0.15108479
+v 0.11391473 0.33076564 0.21252754
+v -0.00063831 0.34505841 0.15525168
+v 0.20368334 0.33608165 0.12631432
+v 0.20011923 0.31649569 0.19791967
+v 0.14255911 0.34448635 0.15407411
+v -0.07472726 0.32875681 0.15351856
+v -0.00130829 0.32977738 0.21329150
+v -0.10885492 0.32538900 0.12723497
+v 0.20202591 0.32991199 0.15443208
+v 0.18696937 0.31492436 0.21277930
+v -0.10822797 0.32280690 0.14187054
+v -0.07667360 0.33095634 0.14054802
+v -0.06134992 0.31611221 0.21465892
+v 0.20281289 0.30838733 0.21498597
+f 5 2 1
+f 8 6 4
+f 8 3 6
+f 11 5 1
+f 11 1 7
+f 12 7 1
+f 12 3 8
+f 12 10 3
+f 13 8 4
+f 14 9 4
+f 14 4 6
+f 15 1 2
+f 16 6 3
+f 16 3 10
+f 18 12 8
+f 18 7 12
+f 18 8 13
+f 19 14 2
+f 19 2 5
+f 19 9 14
+f 20 14 6
+f 20 10 15
+f 20 15 2
+f 20 2 14
+f 20 16 10
+f 20 6 16
+f 21 12 1
+f 21 15 10
+f 21 10 12
+f 22 5 11
+f 22 11 17
+f 22 19 5
+f 22 9 19
+f 23 4 9
+f 23 22 17
+f 23 9 22
+f 23 17 13
+f 23 13 4
+f 24 7 18
+f 24 17 11
+f 24 11 7
+f 24 18 13
+f 24 13 17
+f 25 21 1
+f 25 1 15
+f 25 15 21
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_15.obj b/mango/mango_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81d5d6e6e6b4ef97fd0440ba297c1d98fcf15045
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.02277736 -0.18657847 -0.37305654
+v 0.02656693 -0.15619523 -0.40517646
+v 0.02538984 0.13677275 -0.35606060
+v 0.01137718 0.19614986 -0.41455148
+v -0.12603860 -0.16605563 -0.35586742
+v 0.03152732 0.10189254 -0.46417764
+v -0.03271556 -0.15167175 -0.40139493
+v -0.12900733 0.13851530 -0.36005232
+v 0.03280414 0.14549277 -0.44741123
+v -0.09059854 -0.15137859 -0.38589541
+v 0.02737753 -0.05366572 -0.47481835
+v 0.03006285 0.04339889 -0.47856374
+v 0.02857145 0.19361281 -0.42453142
+v -0.08415898 0.05310075 -0.42754868
+v -0.00275332 -0.08016536 -0.45971395
+v 0.02415123 0.19918933 -0.41945803
+v 0.03199223 0.17683407 -0.43390944
+v -0.10018485 0.12782718 -0.38354196
+v -0.05586584 0.05391374 -0.44175987
+v -0.11651037 -0.06884879 -0.43000489
+v 0.02630146 -0.08077777 -0.46194384
+v -0.00326081 -0.12270182 -0.42964823
+v -0.04654020 -0.09389755 -0.44432173
+v 0.01652302 0.19147610 -0.41964357
+v -0.09891797 0.06728405 -0.41265086
+v -0.11648404 0.13082982 -0.37205051
+v 0.01869092 0.09967483 -0.45903753
+v -0.02796524 0.04042169 -0.45799114
+v -0.11684770 -0.12257796 -0.39835503
+v -0.05990213 -0.05620898 -0.45844391
+v 0.02649024 -0.12406542 -0.43110236
+v -0.03187309 -0.13662210 -0.41477033
+v -0.11460944 -0.00475399 -0.42896840
+v -0.11395758 0.11199585 -0.38233175
+v -0.11979170 -0.15258463 -0.37220420
+v -0.08868930 -0.13694840 -0.39954508
+v -0.07432485 -0.08117622 -0.44399716
+v -0.00196634 -0.04186310 -0.47400964
+v -0.04610763 -0.06807238 -0.45808211
+v -0.05883662 -0.01757354 -0.45928979
+v -0.11430565 0.03938347 -0.41419405
+v -0.08682474 -0.00385283 -0.44456504
+v -0.08873860 -0.06867611 -0.44421953
+v 0.01292110 -0.05367984 -0.47321438
+v 0.01682576 0.04192589 -0.47409098
+v 0.00067362 0.01300463 -0.47356989
+f 1 2 3
+f 5 1 3
+f 7 2 1
+f 8 5 3
+f 8 3 4
+f 9 3 2
+f 10 7 1
+f 10 1 5
+f 12 9 2
+f 12 6 9
+f 12 2 11
+f 16 4 3
+f 16 3 13
+f 17 13 3
+f 17 3 9
+f 19 17 9
+f 20 5 8
+f 21 15 11
+f 22 15 21
+f 23 15 22
+f 24 16 13
+f 24 4 16
+f 24 13 17
+f 24 19 14
+f 24 17 19
+f 25 24 14
+f 25 18 4
+f 25 4 24
+f 26 8 4
+f 26 4 18
+f 26 18 25
+f 27 19 9
+f 27 9 6
+f 27 6 19
+f 28 19 6
+f 29 5 20
+f 31 21 11
+f 31 11 2
+f 31 22 21
+f 31 2 22
+f 32 22 2
+f 32 2 7
+f 32 23 22
+f 33 20 8
+f 34 26 25
+f 34 25 8
+f 34 8 26
+f 35 10 5
+f 35 5 29
+f 36 35 29
+f 36 10 35
+f 36 23 32
+f 36 32 7
+f 36 7 10
+f 37 36 29
+f 37 23 36
+f 38 12 11
+f 39 15 23
+f 39 37 30
+f 39 23 37
+f 39 30 38
+f 40 38 30
+f 41 33 8
+f 41 8 25
+f 41 25 14
+f 41 14 33
+f 42 33 14
+f 42 14 19
+f 42 19 28
+f 42 28 40
+f 42 40 20
+f 42 20 33
+f 43 37 29
+f 43 29 20
+f 43 30 37
+f 43 40 30
+f 43 20 40
+f 44 39 38
+f 44 38 11
+f 44 11 15
+f 44 15 39
+f 45 40 28
+f 45 12 40
+f 45 28 6
+f 45 6 12
+f 46 40 12
+f 46 12 38
+f 46 38 40
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_16.obj b/mango/mango_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6bd7bea58d8cff0a03a66a5362810451f6af7de
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.21733951 -0.29043581 -0.22782403
+v 0.33192182 -0.16722337 -0.23605368
+v 0.31712219 -0.20621725 -0.23106145
+v -0.12612532 -0.16625755 -0.23484848
+v -0.03400901 -0.15890650 -0.39424766
+v -0.09226969 -0.25960294 -0.22872254
+v 0.31293109 -0.15985163 -0.28676968
+v 0.27159722 -0.26056127 -0.22869115
+v 0.10226979 -0.28451124 -0.25356619
+v -0.12296977 -0.15944541 -0.36415758
+v 0.31046169 -0.20133693 -0.25605157
+v 0.20221019 -0.15776770 -0.38926008
+v -0.03170084 -0.22339683 -0.31289742
+v 0.04253182 -0.29147454 -0.22846336
+v -0.12399830 -0.24955376 -0.23118074
+v -0.09310368 -0.15804441 -0.37840884
+v 0.30025620 -0.23169904 -0.23035602
+v 0.17398994 -0.25520640 -0.29718333
+v 0.24229237 -0.20972715 -0.32541030
+v 0.07296727 -0.23988324 -0.31294469
+v 0.17343826 -0.28477872 -0.25409825
+v -0.03231472 -0.27554405 -0.22838162
+v 0.05869670 -0.26937014 -0.26876664
+v -0.09108606 -0.23810692 -0.26899518
+v -0.07670716 -0.19322121 -0.34262450
+v 0.28328800 -0.22663555 -0.26765284
+v 0.20140745 -0.22635770 -0.32709619
+v 0.24192269 -0.25549520 -0.26879039
+v 0.25414374 -0.18522097 -0.33929648
+v 0.11738428 -0.25518924 -0.29807709
+v 0.20450494 -0.27024797 -0.26853120
+v -0.00075201 -0.26817532 -0.25361495
+v 0.04362419 -0.28543309 -0.23932664
+v -0.12076496 -0.23809877 -0.25542872
+v -0.09064141 -0.17839611 -0.35669952
+v -0.07640842 -0.22340241 -0.29868636
+v -0.01698593 -0.19387795 -0.35716659
+v 0.29623650 -0.22973692 -0.24189324
+v 0.19989785 -0.16743546 -0.38322324
+v 0.26938707 -0.25595833 -0.24156071
+v 0.23156895 -0.23987496 -0.29743996
+v 0.26691094 -0.24043839 -0.26913478
+v 0.23026371 -0.15827994 -0.37372518
+v 0.29516890 -0.18436529 -0.29723049
+v -0.03255879 -0.16608049 -0.38695816
+v 0.21486343 -0.28463745 -0.23923770
+v -0.03084556 -0.26961084 -0.23981830
+v -0.11928925 -0.19312774 -0.32671684
+v -0.09109778 -0.25403877 -0.24014596
+v -0.11997492 -0.16708778 -0.35751045
+v 0.22732325 -0.16900307 -0.36845365
+v 0.30864991 -0.17357168 -0.28429675
+v 0.29555210 -0.19980826 -0.28294477
+v -0.09074011 -0.16515215 -0.37187801
+v -0.03229354 -0.17953988 -0.37176410
+f 3 2 4
+f 6 3 4
+f 7 4 2
+f 8 6 1
+f 8 3 6
+f 11 7 2
+f 11 2 3
+f 15 6 4
+f 15 4 10
+f 16 10 4
+f 16 4 7
+f 16 7 12
+f 16 12 5
+f 17 11 3
+f 17 3 8
+f 21 14 9
+f 21 1 14
+f 22 14 1
+f 22 1 6
+f 23 13 20
+f 29 26 19
+f 30 23 20
+f 30 9 23
+f 30 21 9
+f 30 18 21
+f 30 27 18
+f 30 5 27
+f 31 21 18
+f 31 18 27
+f 32 13 23
+f 33 23 9
+f 33 9 14
+f 33 32 23
+f 33 14 32
+f 34 6 15
+f 36 25 13
+f 36 32 24
+f 36 13 32
+f 37 20 13
+f 37 13 25
+f 38 17 8
+f 38 26 11
+f 38 11 17
+f 39 27 5
+f 39 5 12
+f 39 19 27
+f 40 8 1
+f 40 1 28
+f 40 38 8
+f 40 26 38
+f 41 27 19
+f 41 31 27
+f 41 28 31
+f 42 19 26
+f 42 40 28
+f 42 26 40
+f 42 41 19
+f 42 28 41
+f 43 12 7
+f 44 43 7
+f 44 29 43
+f 45 30 20
+f 45 5 30
+f 45 20 37
+f 46 1 21
+f 46 21 31
+f 46 31 28
+f 46 28 1
+f 47 32 14
+f 47 14 22
+f 47 24 32
+f 47 34 24
+f 47 22 34
+f 48 34 15
+f 48 15 10
+f 48 35 25
+f 48 25 36
+f 48 36 24
+f 48 24 34
+f 49 34 22
+f 49 22 6
+f 49 6 34
+f 50 10 16
+f 50 48 10
+f 50 35 48
+f 51 29 19
+f 51 19 39
+f 51 43 29
+f 51 39 12
+f 51 12 43
+f 52 44 7
+f 52 7 11
+f 53 11 26
+f 53 26 29
+f 53 29 44
+f 53 52 11
+f 53 44 52
+f 54 16 5
+f 54 5 45
+f 54 50 16
+f 54 35 50
+f 55 45 37
+f 55 37 25
+f 55 25 35
+f 55 54 45
+f 55 35 54
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_17.obj b/mango/mango_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4893c738264b0b318a201e98f411cbeacb6b40f4
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.20348337 -0.31032316 0.14039524
+v 0.35772474 -0.08809241 0.14119675
+v 0.19954024 -0.24732292 0.25909922
+v 0.20623853 0.33123855 0.14329354
+v 0.25752873 -0.27482254 0.13710011
+v 0.31135487 0.13006534 0.25565174
+v 0.20205267 0.32051696 0.18530169
+v 0.21438928 -0.30556459 0.13760374
+v 0.34441406 0.17814481 0.13941870
+v 0.28070133 -0.17044932 0.25405014
+v 0.19877386 -0.27554755 0.21254566
+v 0.20104211 -0.30544049 0.15322380
+v 0.20407315 0.28245039 0.26125301
+v 0.32775496 -0.18934357 0.13850946
+v 0.35579193 0.04448834 0.18425874
+v 0.27590317 0.29474123 0.14091885
+v 0.26755848 -0.21096362 0.22378362
+v 0.32392147 -0.07095886 0.25572503
+v 0.20065900 0.30338561 0.22782877
+v 0.22536250 -0.28449119 0.16416134
+v 0.21128148 -0.30101825 0.15054760
+v 0.29969299 -0.23084635 0.13770294
+v 0.33903750 0.10252320 0.21192612
+v 0.35952172 0.10419317 0.14109370
+v 0.23013000 0.31480718 0.16838344
+v 0.26489059 0.23233699 0.25267899
+v 0.23285641 0.32160326 0.14085438
+v 0.21046938 -0.24160308 0.25501795
+v 0.31013471 -0.11376935 0.25526104
+v 0.32536916 0.07347375 0.25565048
+v 0.35553015 -0.04296318 0.18474345
+v 0.33964496 -0.08505599 0.21208405
+v 0.22448144 -0.26852481 0.19355617
+v 0.28108921 -0.22697887 0.17934563
+v 0.32593179 0.19078467 0.18092531
+v 0.35509820 0.08933523 0.16914648
+v 0.22633636 0.30017454 0.21074679
+v 0.26097307 0.30627871 0.14068907
+v 0.32446083 -0.18630615 0.15214188
+v 0.32396019 0.11572739 0.23978854
+v 0.34044797 0.05827180 0.22751813
+v 0.34418964 -0.14675745 0.14056934
+v 0.34023656 -0.05613118 0.22706731
+v 0.35481511 -0.07201834 0.16993219
+v 0.32482944 -0.11386617 0.22638568
+v 0.25427262 -0.27056107 0.14973783
+v 0.29599733 -0.22786224 0.15084162
+v 0.29651078 -0.19883602 0.19500302
+v 0.33922554 0.14715709 0.18222189
+v 0.29454933 0.17412268 0.25345332
+v 0.26662464 0.27196964 0.20813851
+v 0.35649387 0.10340099 0.15490240
+v 0.21514375 0.31618674 0.18264946
+v 0.21380091 0.29871976 0.22567472
+v 0.25734001 0.29979492 0.16830689
+v 0.31004969 -0.19986991 0.16586828
+v 0.32336690 0.15981605 0.21085965
+v 0.34089479 -0.14536043 0.15417775
+v 0.35536900 -0.08724751 0.15510144
+v 0.25327989 -0.25452438 0.17840986
+v 0.28177554 -0.18291236 0.23842590
+v 0.34054698 0.17656723 0.15386953
+v 0.26781067 0.28589549 0.18145477
+v 0.24022012 0.28456389 0.22358561
+f 8 1 4
+f 12 7 4
+f 12 4 1
+f 12 11 7
+f 14 9 2
+f 18 13 3
+f 19 11 3
+f 19 7 11
+f 19 3 13
+f 20 8 5
+f 21 11 12
+f 21 20 11
+f 21 8 20
+f 21 12 1
+f 21 1 8
+f 22 5 9
+f 22 9 14
+f 24 2 9
+f 25 4 7
+f 26 13 6
+f 27 8 4
+f 27 4 25
+f 27 5 8
+f 27 9 5
+f 28 17 10
+f 28 10 3
+f 29 18 3
+f 29 3 10
+f 30 6 13
+f 30 13 18
+f 31 24 15
+f 31 2 24
+f 33 3 11
+f 33 11 20
+f 33 28 3
+f 35 9 16
+f 36 15 24
+f 37 7 19
+f 38 27 25
+f 38 16 9
+f 38 9 27
+f 40 30 23
+f 40 6 30
+f 41 23 30
+f 41 36 23
+f 41 15 36
+f 41 31 15
+f 42 14 2
+f 43 32 31
+f 43 18 32
+f 43 31 41
+f 43 41 30
+f 43 30 18
+f 44 2 31
+f 44 31 32
+f 45 32 18
+f 45 18 29
+f 46 33 20
+f 46 20 5
+f 46 5 34
+f 47 34 5
+f 47 5 22
+f 48 17 34
+f 48 34 47
+f 48 29 10
+f 48 45 29
+f 48 39 45
+f 49 23 36
+f 49 40 23
+f 50 35 26
+f 50 26 6
+f 51 26 35
+f 52 36 24
+f 52 24 9
+f 52 49 36
+f 52 9 49
+f 53 37 25
+f 53 25 7
+f 53 7 37
+f 54 37 19
+f 54 19 13
+f 55 38 25
+f 55 25 37
+f 55 16 38
+f 56 22 14
+f 56 14 39
+f 56 47 22
+f 56 48 47
+f 56 39 48
+f 57 6 40
+f 57 50 6
+f 57 35 50
+f 57 49 35
+f 57 40 49
+f 58 39 14
+f 58 14 42
+f 58 45 39
+f 58 32 45
+f 59 42 2
+f 59 2 44
+f 59 58 42
+f 59 44 32
+f 59 32 58
+f 60 17 28
+f 60 28 33
+f 60 33 46
+f 60 46 34
+f 60 34 17
+f 61 48 10
+f 61 10 17
+f 61 17 48
+f 62 49 9
+f 62 9 35
+f 62 35 49
+f 63 51 35
+f 63 35 16
+f 63 16 55
+f 64 13 26
+f 64 26 51
+f 64 54 13
+f 64 37 54
+f 64 51 63
+f 64 63 55
+f 64 55 37
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_18.obj b/mango/mango_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc8569e1c6ea88dd1b70450211572eb2b9b2e10b
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.36438796 0.16549850 0.00721193
+v 0.35836121 0.16421292 -0.17195336
+v 0.21864654 0.29783329 -0.24881036
+v -0.17772179 0.31128328 0.00403552
+v -0.15642835 0.16707579 0.00757577
+v 0.33448745 0.25259344 0.00715534
+v -0.18587054 0.19457913 -0.25825819
+v 0.35632976 0.20562032 -0.08286058
+v 0.34352644 0.16544329 -0.22985200
+v -0.15000302 0.24952235 -0.22941976
+v 0.35613971 0.20705446 -0.02313632
+v 0.35633365 0.19376171 -0.14262376
+v 0.34335761 0.23675179 0.00684646
+v 0.33903856 0.20701874 -0.21491615
+v 0.33393215 0.25241720 -0.09780024
+v 0.35821006 0.19354869 0.00697584
+v 0.35564273 0.17890067 -0.17198317
+v 0.32347451 0.23267615 -0.22974880
+v 0.33996058 0.23202098 -0.15592381
+v 0.33969464 0.19225430 -0.22923606
+f 5 2 1
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 5 4
+f 9 7 3
+f 9 2 5
+f 9 5 7
+f 10 7 4
+f 10 4 3
+f 10 3 7
+f 11 1 8
+f 12 8 1
+f 12 1 2
+f 13 11 8
+f 15 13 8
+f 15 6 13
+f 15 3 6
+f 16 13 6
+f 16 6 1
+f 16 1 11
+f 16 11 13
+f 17 14 12
+f 17 12 2
+f 18 3 15
+f 19 15 8
+f 19 8 12
+f 19 12 14
+f 19 18 15
+f 19 14 18
+f 20 17 2
+f 20 2 9
+f 20 14 17
+f 20 18 14
+f 20 9 3
+f 20 3 18
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_19.obj b/mango/mango_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..343f10eddd16549d5b8a1895b11bec9be6fd6325
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_19.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.33427184 -0.16344960 -0.23224996
+v 0.32572070 -0.16116871 -0.25907398
+v 0.34314378 0.15190941 -0.23471310
+v -0.12612532 0.13677275 -0.23484848
+v -0.12612532 -0.16625755 -0.23484848
+v -0.12900733 0.13851530 -0.36005232
+v 0.32482668 -0.05895908 -0.28766916
+v 0.21297146 -0.17727455 -0.37048221
+v 0.02538984 0.15192427 -0.23484848
+v 0.32384364 -0.14618926 -0.27137349
+v -0.12603860 -0.16605563 -0.35586742
+v 0.29915644 0.15096148 -0.34974951
+v 0.29867289 -0.01201858 -0.34808576
+v 0.28394202 -0.15916614 -0.32716748
+v 0.02538984 0.15192427 -0.35606060
+v 0.32515074 0.12105863 -0.28840128
+v 0.30953501 -0.07302414 -0.31523002
+v 0.30885484 -0.14736792 -0.29946839
+v 0.29510651 -0.15970900 -0.31344074
+v 0.32917931 0.15095432 -0.27483607
+v 0.29528439 -0.11818849 -0.32712770
+v 0.31195213 0.15104656 -0.31906451
+f 5 1 4
+f 6 5 4
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 6 4
+f 9 1 3
+f 9 4 1
+f 10 7 1
+f 10 1 2
+f 11 8 5
+f 11 5 6
+f 11 6 8
+f 13 12 7
+f 13 8 12
+f 14 8 13
+f 15 12 8
+f 15 8 6
+f 15 6 9
+f 15 9 3
+f 15 3 12
+f 16 3 7
+f 16 7 12
+f 17 13 7
+f 17 7 10
+f 18 10 2
+f 18 17 10
+f 18 13 17
+f 19 2 8
+f 19 8 14
+f 19 18 2
+f 20 3 16
+f 21 19 14
+f 21 14 13
+f 21 13 18
+f 21 18 19
+f 22 20 16
+f 22 16 12
+f 22 12 3
+f 22 3 20
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_2.obj b/mango/mango_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..340e7282baee400511399bfffe1f7ae9099dc601
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v -0.16522322 -0.28919766 0.23134452
+v -0.15133122 -0.24194193 -0.22799878
+v -0.17157986 -0.16625755 0.26515153
+v -0.29847231 -0.15999425 0.26127195
+v -0.30622832 -0.19776653 0.04118448
+v -0.24214024 -0.17790011 -0.23215248
+v -0.16697013 -0.27977113 0.26309470
+v -0.15642835 -0.18140907 0.00757577
+v -0.15691242 -0.30355074 0.00748603
+v -0.27778082 -0.22531326 0.14182148
+v -0.17157986 -0.16625755 0.00757577
+v -0.32824394 -0.15996924 0.00966250
+v -0.15055586 -0.28907330 -0.09510133
+v -0.32687272 -0.15848478 0.17135914
+v -0.23276994 -0.24031658 0.24475721
+v -0.19162863 -0.28472585 0.15759910
+v -0.23538292 -0.25510253 0.00991462
+v -0.17327155 -0.21818411 -0.25665577
+v -0.27559607 -0.18519894 -0.13934938
+v -0.25353199 -0.17514636 -0.21461988
+v -0.29055997 -0.19809288 0.19943885
+v -0.32102365 -0.18311468 0.09758250
+v -0.20514868 -0.25698453 0.25895676
+v -0.23453219 -0.25416847 0.18567780
+v -0.27868558 -0.22476717 0.04033996
+v -0.19092298 -0.28486351 0.02364357
+v -0.17844472 -0.28426297 -0.06383911
+v -0.32162340 -0.17095863 0.01104367
+v -0.28254441 -0.17426652 -0.14075670
+v -0.23216488 -0.21047479 -0.19615903
+v -0.29257465 -0.16926992 0.25967670
+v -0.24807517 -0.24015489 0.20037208
+v -0.30710859 -0.19727829 0.12631632
+v -0.20459885 -0.26894550 0.21635567
+v -0.26285603 -0.22550378 -0.03430101
+v -0.20542190 -0.26918374 -0.05065806
+v -0.29098166 -0.19643075 -0.03368089
+v -0.32118198 -0.18287873 0.06987531
+v -0.26752936 -0.17566301 -0.18464485
+v -0.24485802 -0.19845347 -0.19668700
+v -0.21745675 -0.20975570 -0.22477868
+v -0.32019695 -0.16880354 0.16979407
+v -0.27678414 -0.19688293 0.24354678
+v -0.29148349 -0.21200222 0.14139461
+v -0.17536047 -0.28369462 0.22975892
+v -0.23261088 -0.22518850 -0.15422715
+v -0.21882232 -0.25429076 -0.07910512
+v -0.26096717 -0.19744063 -0.15448935
+v -0.24731010 -0.18539111 -0.21295935
+v -0.19144079 -0.21057090 -0.25340940
+v -0.19287410 -0.23716366 -0.19738410
+v -0.17832257 -0.27342642 0.26139957
+v -0.23336897 -0.23961142 -0.09495921
+v -0.20445590 -0.25334181 -0.12344533
+v -0.26176740 -0.18382259 -0.18388024
+v -0.23159860 -0.19578897 -0.22457114
+v -0.16318766 -0.23812748 -0.22666966
+v -0.19137164 -0.25214971 -0.15331593
+v -0.16343041 -0.28382032 -0.09378942
+f 7 3 4
+f 8 7 1
+f 8 3 7
+f 11 3 8
+f 13 8 1
+f 13 1 9
+f 13 2 8
+f 14 11 12
+f 14 4 3
+f 14 3 11
+f 16 9 1
+f 17 16 10
+f 18 11 8
+f 18 8 2
+f 18 6 11
+f 20 12 11
+f 20 11 6
+f 22 14 12
+f 23 7 4
+f 24 10 16
+f 25 17 10
+f 26 9 16
+f 26 16 17
+f 27 13 9
+f 27 9 26
+f 29 28 12
+f 29 19 28
+f 31 4 14
+f 31 23 4
+f 31 15 23
+f 32 10 24
+f 33 25 10
+f 33 5 25
+f 34 23 15
+f 34 32 24
+f 34 15 32
+f 34 24 16
+f 35 25 5
+f 36 27 26
+f 36 26 17
+f 37 28 19
+f 37 5 28
+f 37 35 5
+f 38 22 12
+f 38 12 28
+f 38 28 5
+f 38 33 22
+f 38 5 33
+f 39 19 29
+f 39 29 12
+f 39 12 20
+f 41 30 40
+f 42 31 14
+f 42 21 31
+f 42 33 21
+f 42 14 22
+f 42 22 33
+f 43 31 21
+f 43 15 31
+f 43 32 15
+f 43 21 32
+f 44 32 21
+f 44 10 32
+f 44 33 10
+f 44 21 33
+f 45 1 7
+f 45 34 16
+f 45 16 1
+f 46 40 30
+f 47 17 25
+f 47 25 35
+f 47 36 17
+f 47 27 36
+f 48 37 19
+f 48 35 37
+f 48 40 46
+f 49 20 6
+f 49 39 20
+f 50 6 18
+f 51 46 30
+f 51 30 41
+f 51 41 50
+f 52 45 7
+f 52 7 23
+f 52 23 34
+f 52 34 45
+f 53 47 35
+f 53 46 47
+f 53 48 46
+f 53 35 48
+f 54 47 46
+f 54 27 47
+f 54 46 51
+f 55 48 19
+f 55 19 39
+f 55 40 48
+f 55 49 40
+f 55 39 49
+f 56 41 40
+f 56 40 49
+f 56 49 6
+f 56 50 41
+f 56 6 50
+f 57 2 13
+f 57 13 51
+f 57 18 2
+f 57 51 50
+f 57 50 18
+f 58 54 51
+f 58 51 13
+f 58 27 54
+f 59 58 13
+f 59 13 27
+f 59 27 58
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_20.obj b/mango/mango_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9134632a71749f664e7c9fc8c32a0d07c173403
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.17205149 -0.26404117 0.26052991
+v 0.31732812 -0.08710815 0.25945304
+v 0.17042452 0.10302381 0.42250851
+v 0.17426136 0.29529841 0.26034971
+v 0.28492961 0.19088377 0.25613755
+v 0.16868231 -0.25900153 0.27259059
+v 0.18405627 -0.25867484 0.25753351
+v 0.29570119 0.02875867 0.31238619
+v 0.18014846 0.21647472 0.35548662
+v 0.16828254 0.14665306 0.40536298
+v 0.16750489 -0.11484557 0.41953300
+v 0.28599159 -0.15862696 0.25742233
+v 0.18807885 0.29209007 0.25813565
+v 0.27953598 0.11518101 0.31128652
+v 0.31762055 0.10322144 0.25903755
+v 0.17207795 0.28930914 0.27170598
+v 0.19372160 -0.07188350 0.41448780
+v 0.30139730 -0.13012058 0.25796442
+v 0.16840546 -0.15955314 0.39221239
+v 0.25859712 0.23611004 0.25781121
+v 0.23640943 0.08715495 0.37002536
+v 0.31084570 -0.05666090 0.28547194
+v 0.30989909 0.07257834 0.28326323
+v 0.29452241 0.12958960 0.28310422
+v 0.16955980 0.21954063 0.36052742
+v 0.25056446 -0.11145436 0.34160424
+v 0.16863903 -0.23027578 0.31740494
+v 0.21281377 0.27273142 0.26853008
+v 0.21670530 0.27775903 0.25811994
+v 0.24941561 0.20237835 0.29632456
+v 0.26614441 0.07341744 0.34131799
+v 0.19394289 0.04455847 0.41517950
+v 0.19359451 0.11483518 0.40008641
+v 0.29541304 -0.04190734 0.31376908
+v 0.29409298 0.10124601 0.29747184
+v 0.16882265 0.17571601 0.38982984
+v 0.20809198 -0.08546778 0.39981825
+v 0.25104423 -0.16782276 0.29680693
+v 0.28005275 -0.14025611 0.28252731
+v 0.28073098 -0.09745584 0.31245662
+v 0.18081016 -0.25373789 0.26888927
+v 0.25277399 0.23249088 0.26822925
+v 0.18311493 0.25727956 0.31261091
+v 0.19708879 0.27148147 0.28293188
+v 0.27894518 0.18749357 0.26740381
+v 0.27949876 0.14378668 0.29635281
+v 0.28076425 0.05861535 0.32672075
+v 0.20767462 0.07315082 0.40033759
+v 0.23566697 0.12881883 0.35482613
+v 0.31183854 0.10161925 0.27002979
+v 0.17879033 0.14319891 0.39903800
+v 0.19150199 -0.13998265 0.38466567
+v 0.17959529 -0.22493998 0.31365280
+v 0.20792786 -0.22451014 0.28379885
+v 0.29577560 -0.12725581 0.26943917
+v 0.28055253 -0.15548218 0.26847004
+v 0.29554801 -0.08366073 0.29859639
+v 0.25181346 -0.08351301 0.35611924
+v 0.19330395 0.20127115 0.35483632
+v 0.17085927 0.26033009 0.31632409
+v 0.18020502 0.10077891 0.41602883
+v 0.22116837 0.12846407 0.36923745
+v 0.23572023 0.15842946 0.33954822
+v 0.17778736 -0.11201320 0.41297397
+f 6 4 1
+f 7 1 4
+f 7 6 1
+f 11 10 6
+f 11 3 10
+f 12 7 5
+f 13 7 4
+f 13 5 7
+f 16 4 6
+f 16 13 4
+f 17 3 11
+f 18 12 5
+f 18 15 2
+f 18 5 15
+f 22 2 15
+f 23 22 15
+f 23 8 22
+f 24 15 5
+f 25 16 6
+f 25 6 10
+f 27 19 11
+f 27 11 6
+f 29 20 5
+f 29 5 13
+f 29 28 20
+f 31 14 21
+f 32 3 17
+f 32 8 31
+f 34 22 8
+f 34 32 17
+f 34 8 32
+f 35 24 14
+f 35 14 31
+f 36 25 10
+f 36 9 25
+f 37 17 11
+f 37 34 17
+f 39 26 38
+f 40 26 39
+f 41 27 6
+f 41 6 7
+f 42 28 9
+f 42 20 28
+f 42 30 20
+f 43 25 9
+f 43 9 28
+f 44 29 13
+f 44 28 29
+f 44 43 28
+f 45 5 20
+f 45 20 30
+f 46 14 24
+f 46 45 30
+f 46 24 5
+f 46 5 45
+f 47 31 8
+f 47 8 23
+f 47 35 31
+f 47 23 35
+f 48 21 33
+f 48 32 31
+f 48 31 21
+f 49 21 14
+f 50 35 23
+f 50 23 15
+f 50 15 24
+f 50 24 35
+f 51 36 10
+f 51 10 3
+f 51 3 33
+f 52 26 37
+f 52 38 26
+f 52 19 38
+f 53 38 19
+f 53 19 27
+f 54 7 12
+f 54 12 38
+f 54 38 53
+f 54 41 7
+f 54 53 27
+f 54 27 41
+f 55 39 12
+f 55 12 18
+f 55 40 39
+f 55 18 2
+f 56 39 38
+f 56 38 12
+f 56 12 39
+f 57 2 22
+f 57 22 34
+f 57 55 2
+f 57 40 55
+f 58 37 26
+f 58 26 40
+f 58 34 37
+f 58 57 34
+f 58 40 57
+f 59 42 9
+f 59 30 42
+f 59 9 36
+f 59 36 51
+f 60 16 25
+f 60 25 43
+f 60 13 16
+f 60 44 13
+f 60 43 44
+f 61 3 32
+f 61 32 48
+f 61 48 33
+f 61 33 3
+f 62 33 21
+f 62 21 49
+f 62 51 33
+f 62 59 51
+f 63 49 14
+f 63 14 46
+f 63 46 30
+f 63 30 59
+f 63 62 49
+f 63 59 62
+f 64 52 37
+f 64 37 11
+f 64 11 19
+f 64 19 52
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_21.obj b/mango/mango_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65f197737160e5e73d0057649d2c55dec0108239
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.20055534 -0.31897295 0.12310996
+v 0.33795774 -0.20943196 0.00901152
+v 0.34132019 0.17581104 0.15199765
+v 0.20292056 0.33318905 0.14008487
+v 0.20716517 0.34873362 0.00757110
+v 0.20348337 -0.31032316 0.14039524
+v 0.21045099 -0.33984991 0.00812929
+v 0.36169383 0.17891612 0.00943038
+v 0.28148283 -0.27268785 0.09345277
+v 0.24496454 -0.32106183 0.00639624
+v 0.29498170 0.30258926 0.00819494
+v 0.25429080 -0.28578584 0.12080063
+v 0.31840995 -0.19978497 0.14592670
+v 0.29017071 -0.28109595 0.00676199
+v 0.24134540 -0.31515095 0.06458062
+v 0.24240061 0.33030537 0.08011434
+v 0.32923353 0.26130084 0.00901589
+v 0.21323363 -0.31378637 0.12099912
+v 0.28649717 -0.24624800 0.13820456
+v 0.24749876 0.33473466 0.00701799
+v 0.26891129 -0.28564787 0.09265326
+v 0.28281228 0.28809914 0.14387364
+v 0.22573199 -0.29973061 0.13457606
+v 0.28322031 -0.25823186 0.12192419
+v 0.24297500 0.31670948 0.13923041
+v 0.31202340 0.25050731 0.14831146
+v 0.21470007 0.32911189 0.13883677
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 7 1 5
+f 8 3 2
+f 10 7 5
+f 13 9 2
+f 13 2 3
+f 13 3 6
+f 14 2 9
+f 14 8 2
+f 15 1 7
+f 15 7 10
+f 15 10 14
+f 16 5 4
+f 17 3 8
+f 17 8 11
+f 18 6 1
+f 18 15 12
+f 18 1 15
+f 19 13 6
+f 20 11 8
+f 20 8 14
+f 20 16 11
+f 20 5 16
+f 20 14 10
+f 20 10 5
+f 21 12 15
+f 21 15 14
+f 21 14 9
+f 22 17 11
+f 22 11 16
+f 23 18 12
+f 23 6 18
+f 23 19 6
+f 23 12 19
+f 24 9 13
+f 24 13 19
+f 24 21 9
+f 24 19 12
+f 24 12 21
+f 25 22 16
+f 25 4 22
+f 26 22 4
+f 26 4 3
+f 26 3 17
+f 26 17 22
+f 27 25 16
+f 27 16 4
+f 27 4 25
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_22.obj b/mango/mango_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2261917b8401c53afb096b78cd39e4575993b971
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.30455428 -0.19081318 0.00457599
+v -0.28960838 -0.17907452 -0.09784519
+v -0.28777291 0.14952962 -0.15709523
+v -0.31805140 0.16176884 0.00392915
+v -0.35061426 -0.04436282 -0.06332155
+v -0.35625922 -0.10185539 0.01014003
+v -0.30418652 -0.10935826 -0.16398809
+v -0.33453960 0.07154130 -0.07948791
+v -0.32162340 -0.17095863 0.01104367
+v -0.33373013 -0.07249546 -0.10759489
+v -0.32032587 -0.12781987 -0.09404991
+v -0.30434651 0.12772546 -0.13917223
+v -0.35422344 0.05767270 0.00978749
+v -0.32474660 0.14666283 0.00952471
+v -0.35042816 -0.07215381 -0.04843402
+v -0.31894925 0.05816254 -0.15237795
+v -0.30544132 -0.15594187 -0.09485352
+v -0.31024642 -0.10330546 -0.15396230
+v -0.33416346 -0.11430231 -0.06343724
+v -0.30423546 0.14437026 -0.10927576
+v -0.33632174 0.11568388 0.01021395
+v -0.35014370 0.02724693 -0.04913119
+v -0.35028983 -0.00114733 -0.06380521
+v -0.31937768 -0.05788410 -0.15069638
+v -0.30501421 0.11619466 -0.15336053
+v -0.29515880 -0.17203400 -0.09591615
+v -0.31929492 -0.16959962 -0.00281065
+v -0.35059468 -0.09967720 -0.01830443
+v -0.29199050 0.14431293 -0.15274771
+v -0.31863520 0.11521990 -0.09493665
+v -0.34957557 0.05677806 -0.01946156
+v -0.33403719 0.04286830 -0.10909672
+v -0.32010023 -0.08644544 -0.13775978
+v -0.31851956 0.14445442 -0.03430920
+v -0.33424945 0.09992051 -0.03451462
+v -0.33427967 0.11497113 -0.00435528
+f 1 2 3
+f 1 3 4
+f 7 3 2
+f 9 2 1
+f 14 9 1
+f 14 1 4
+f 15 6 5
+f 15 5 10
+f 16 3 7
+f 17 11 7
+f 18 7 11
+f 19 9 6
+f 19 15 10
+f 19 18 11
+f 19 10 18
+f 20 4 3
+f 21 13 6
+f 21 6 9
+f 21 9 14
+f 23 5 6
+f 23 6 13
+f 23 13 22
+f 23 16 5
+f 24 10 5
+f 24 5 16
+f 24 16 7
+f 24 7 18
+f 25 3 16
+f 26 17 7
+f 26 7 2
+f 27 11 17
+f 27 19 11
+f 27 9 19
+f 27 17 26
+f 27 26 2
+f 27 2 9
+f 28 19 6
+f 28 6 15
+f 28 15 19
+f 29 20 3
+f 29 12 20
+f 29 25 12
+f 29 3 25
+f 30 20 12
+f 30 25 8
+f 30 12 25
+f 31 22 13
+f 31 8 22
+f 32 22 8
+f 32 23 22
+f 32 16 23
+f 32 25 16
+f 32 8 25
+f 33 24 18
+f 33 18 10
+f 33 10 24
+f 34 14 4
+f 34 4 20
+f 34 20 30
+f 35 30 8
+f 35 8 31
+f 35 31 13
+f 36 34 30
+f 36 21 14
+f 36 14 34
+f 36 30 35
+f 36 35 13
+f 36 13 21
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_23.obj b/mango/mango_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a370f399cb3b895615ca4a1de1e3727ce2797fe
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.16779265 0.20376113 0.37311853
+v 0.20578498 0.25258876 0.29956364
+v 0.06869815 0.25640814 0.35834676
+v -0.04679467 0.30439957 0.25885323
+v -0.22302283 0.22033838 0.27027259
+v 0.14348471 0.30491802 0.25787673
+v 0.13959662 0.24185741 0.35710679
+v -0.12089208 0.20268271 0.37659878
+v -0.00214449 0.29972050 0.28630007
+v -0.21150814 0.23562791 0.26042569
+v 0.16731153 0.24165653 0.34172659
+v 0.09730028 0.24113813 0.37283114
+v -0.21090199 0.20479146 0.30456232
+v 0.08418361 0.28534955 0.31436048
+v -0.01658286 0.24140815 0.37272527
+v -0.19563085 0.24694848 0.25973485
+v 0.17426136 0.29529841 0.26034971
+v 0.13863723 0.22874287 0.37125426
+v 0.16448668 0.21391772 0.36829931
+v -0.20394666 0.22579193 0.28429084
+v -0.00202604 0.28421158 0.31527645
+v 0.09769261 0.29960161 0.28515308
+v 0.11285834 0.27024079 0.32898929
+v -0.11862308 0.25380777 0.31366757
+v 0.17042528 0.27201988 0.29983678
+v -0.19263584 0.24218194 0.27088111
+v -0.17567231 0.22476793 0.31302299
+v -0.00251776 0.25543451 0.35812471
+v -0.04606618 0.28452523 0.30004910
+v 0.14210806 0.29887974 0.26981551
+v -0.13672126 0.27569644 0.25957652
+v -0.07550572 0.23967954 0.35661677
+v 0.17207795 0.28930914 0.27170598
+v 0.15585600 0.26902338 0.31300203
+v -0.19043956 0.21326254 0.31450897
+v -0.13185830 0.23942092 0.32665498
+v -0.04585276 0.29912232 0.27111187
+v -0.06035735 0.25447726 0.34231750
+v -0.13486847 0.27096430 0.27177178
+v -0.07461252 0.22681466 0.37288286
+v -0.20553681 0.21317234 0.29927472
+v -0.19569788 0.20498526 0.31886820
+v -0.11730450 0.21098642 0.37014737
+v -0.07465411 0.26907624 0.31390935
+v -0.07462031 0.28481326 0.28574603
+v -0.11909763 0.26960457 0.28560861
+f 5 2 1
+f 9 6 4
+f 12 8 1
+f 13 5 1
+f 13 1 8
+f 15 12 3
+f 15 8 12
+f 16 4 6
+f 16 6 10
+f 17 10 6
+f 17 2 5
+f 17 5 10
+f 18 11 7
+f 18 12 1
+f 18 7 12
+f 19 1 2
+f 19 2 11
+f 19 18 1
+f 19 11 18
+f 20 10 5
+f 20 5 13
+f 21 14 9
+f 21 3 14
+f 22 6 9
+f 22 9 14
+f 23 14 3
+f 23 3 12
+f 23 12 7
+f 25 11 2
+f 26 16 10
+f 26 10 20
+f 27 26 20
+f 28 15 3
+f 28 3 21
+f 29 21 9
+f 30 17 6
+f 30 6 22
+f 30 22 14
+f 30 14 23
+f 31 4 16
+f 33 25 2
+f 33 2 17
+f 33 17 30
+f 34 7 11
+f 34 11 25
+f 34 23 7
+f 34 25 33
+f 34 33 30
+f 34 30 23
+f 35 27 20
+f 35 8 27
+f 36 26 27
+f 36 32 24
+f 37 29 9
+f 37 9 4
+f 38 28 21
+f 38 21 29
+f 38 32 15
+f 38 15 28
+f 39 36 24
+f 39 26 36
+f 39 31 16
+f 39 16 26
+f 40 8 15
+f 40 15 32
+f 41 35 20
+f 41 20 13
+f 41 13 35
+f 42 35 13
+f 42 13 8
+f 42 8 35
+f 43 36 27
+f 43 27 8
+f 43 8 40
+f 43 40 32
+f 43 32 36
+f 44 38 29
+f 44 24 32
+f 44 32 38
+f 45 37 4
+f 45 4 31
+f 45 31 39
+f 45 44 29
+f 45 29 37
+f 46 45 39
+f 46 39 24
+f 46 24 44
+f 46 44 45
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_24.obj b/mango/mango_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d896b339640b069c7145560b509cf1ea6f4b312b
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.09167900 -0.01631374 0.44299794
+v -0.09375114 0.04651319 0.44479021
+v -0.12411634 0.00995429 0.46428103
+v -0.14659570 0.03305269 0.46125433
+v -0.17249432 -0.02031155 0.36534742
+v -0.12842464 0.03255792 0.46424083
+v -0.11191609 -0.01134705 0.41223135
+v -0.17220105 0.04165899 0.37756327
+v -0.15854565 0.00034876 0.45123886
+v -0.14942204 0.00800476 0.46320849
+v -0.15621131 -0.01451942 0.37120146
+v -0.15870089 0.03181341 0.45347690
+v -0.15887455 0.03911995 0.37856605
+v -0.11429439 0.03764106 0.41688508
+f 1 2 3
+f 6 3 2
+f 6 2 4
+f 7 2 1
+f 8 4 2
+f 9 5 1
+f 9 8 5
+f 10 6 4
+f 10 3 6
+f 10 9 1
+f 10 1 3
+f 11 7 1
+f 11 1 5
+f 12 4 8
+f 12 8 9
+f 12 10 4
+f 12 9 10
+f 13 11 5
+f 13 5 8
+f 13 8 2
+f 14 13 2
+f 14 2 7
+f 14 7 11
+f 14 11 13
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_25.obj b/mango/mango_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee753a16a882e75d4592d4f13a62a46a493e6cbf
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.34823732 0.16381049 0.14092718
+v 0.36438796 0.16549850 0.00721193
+v 0.32923353 0.26130084 0.00901589
+v 0.28856933 0.23703831 0.21344368
+v 0.29811711 0.16707579 0.00757577
+v 0.32508822 0.23263359 0.13812833
+v 0.35902519 0.16423177 0.08156146
+v 0.30230097 0.19906114 0.22204436
+v 0.34335761 0.23675179 0.00684646
+v 0.30842615 0.23292865 0.18014194
+v 0.34033241 0.22037009 0.09556873
+v 0.30697314 0.19475718 0.21655083
+v 0.35821006 0.19354869 0.00697584
+v 0.29339119 0.23341175 0.20902173
+v 0.33901448 0.17981122 0.15568780
+v 0.35606251 0.17730601 0.08109324
+v 0.34062117 0.23576931 0.05080632
+v 0.30871165 0.21807330 0.19414533
+v 0.35538635 0.19278684 0.05103311
+v 0.34008462 0.20526000 0.12373054
+v 0.31677072 0.19270146 0.19924123
+v 0.34064421 0.19214919 0.13870430
+f 5 4 3
+f 7 5 2
+f 7 1 5
+f 8 4 5
+f 9 5 3
+f 10 6 3
+f 10 3 4
+f 12 8 5
+f 12 5 1
+f 13 2 5
+f 13 5 9
+f 14 10 4
+f 14 4 8
+f 15 6 10
+f 16 1 7
+f 17 9 3
+f 17 3 6
+f 17 6 11
+f 17 13 9
+f 18 8 12
+f 18 14 8
+f 18 10 14
+f 19 7 2
+f 19 2 13
+f 19 16 7
+f 19 13 17
+f 19 17 11
+f 19 11 16
+f 20 11 6
+f 20 16 11
+f 20 1 16
+f 21 12 1
+f 21 1 15
+f 21 18 12
+f 21 15 10
+f 21 10 18
+f 22 20 6
+f 22 6 15
+f 22 15 1
+f 22 1 20
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_26.obj b/mango/mango_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb694bfa5bebf92390074a7b48718f6e4538d4fe
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.12399830 -0.24955376 -0.23118074
+v -0.11998344 -0.11192675 -0.40456127
+v -0.12612532 0.13677275 -0.23484848
+v -0.25661108 0.13322807 -0.23089614
+v -0.26355010 -0.14458983 -0.22698185
+v -0.12276029 0.13469854 -0.36621652
+v -0.11793431 0.05571354 -0.40508505
+v -0.17382843 -0.18062287 -0.31078723
+v -0.13747166 -0.24580090 -0.22973495
+v -0.26859818 0.11595181 -0.22898656
+v -0.12092375 -0.21106460 -0.30044240
+v -0.11957571 0.11669483 -0.37642764
+v -0.19981836 -0.11237455 -0.34024484
+v -0.20867066 -0.21376510 -0.22772010
+v -0.23065974 0.11197398 -0.28074448
+v -0.11928653 -0.08548654 -0.42115725
+v -0.12293498 -0.17342691 -0.34931346
+v -0.17826391 -0.20837594 -0.26933999
+v -0.16333905 -0.22402233 -0.25448193
+v -0.12238694 -0.24386848 -0.24321920
+v -0.21522523 -0.15405089 -0.29598935
+v -0.17372937 -0.15175501 -0.33910660
+v -0.24513529 -0.04372449 -0.29869444
+v -0.28073239 0.08703847 -0.22823804
+v -0.24533641 0.12602104 -0.25252348
+v -0.18673654 0.08383390 -0.33866931
+v -0.14722525 -0.19364865 -0.31232796
+v -0.21549829 -0.18180568 -0.26710767
+v -0.18103956 -0.22932217 -0.22847657
+v -0.13499637 -0.20778760 -0.29833427
+v -0.13592929 -0.24052039 -0.24143952
+v -0.25877070 -0.11526678 -0.25503521
+v -0.14540260 -0.13898079 -0.36992780
+v -0.15723303 -0.05849578 -0.40091035
+v -0.26053325 0.10006638 -0.25213397
+v -0.26333077 0.11265151 -0.23946493
+v -0.14384084 0.12811449 -0.35414426
+v -0.20543175 -0.20894212 -0.24043950
+v -0.24850793 -0.17196961 -0.22759596
+v -0.17869232 -0.22408773 -0.24100039
+v -0.24408357 -0.15522917 -0.25302595
+v -0.22977317 -0.08623884 -0.31312767
+v -0.28051691 -0.07378771 -0.22896802
+v -0.14348519 -0.09611445 -0.39917126
+v -0.12908658 0.01000232 -0.41434396
+v -0.24443543 0.08387613 -0.28071523
+v -0.17154682 0.11314975 -0.33877529
+v -0.12999237 0.11482009 -0.37022004
+v -0.25775618 -0.14213529 -0.23943882
+v -0.24388728 -0.16946233 -0.23862616
+v -0.25965558 -0.07239130 -0.26990861
+v -0.18618341 -0.05817334 -0.37146004
+v -0.27458601 -0.07318461 -0.24099651
+v -0.13053026 -0.10960481 -0.39978901
+v -0.13022832 -0.08265167 -0.41537854
+v -0.17074743 -0.07090563 -0.38544567
+v -0.17194144 -0.11042298 -0.36868841
+v -0.14168589 0.02446669 -0.39953846
+v -0.11852347 0.01199167 -0.42110617
+v -0.24554036 0.01443862 -0.29644663
+v -0.25995885 0.07220058 -0.26637960
+v -0.12834333 0.05393793 -0.39846088
+v -0.21601642 0.04232139 -0.32470373
+v -0.17110911 -0.01752180 -0.38523838
+f 6 4 3
+f 9 1 3
+f 10 3 4
+f 10 9 3
+f 12 7 6
+f 12 6 3
+f 16 11 2
+f 16 7 11
+f 17 2 11
+f 20 3 1
+f 20 12 3
+f 20 11 7
+f 20 7 12
+f 22 21 13
+f 22 8 21
+f 24 5 14
+f 24 14 9
+f 24 9 10
+f 27 17 11
+f 27 8 17
+f 27 18 8
+f 28 8 18
+f 28 21 8
+f 29 19 9
+f 29 9 14
+f 30 11 20
+f 30 27 11
+f 30 19 18
+f 30 18 27
+f 31 20 1
+f 31 1 9
+f 31 9 19
+f 31 30 20
+f 31 19 30
+f 33 17 8
+f 33 8 22
+f 33 2 17
+f 35 24 10
+f 35 25 15
+f 36 10 4
+f 36 4 25
+f 36 35 10
+f 36 25 35
+f 37 25 4
+f 37 4 6
+f 37 15 25
+f 38 28 18
+f 38 14 28
+f 39 28 14
+f 39 14 5
+f 40 18 19
+f 40 19 29
+f 40 38 18
+f 40 29 14
+f 40 14 38
+f 41 32 21
+f 41 39 5
+f 41 21 28
+f 42 13 21
+f 42 21 32
+f 43 32 5
+f 43 5 24
+f 46 35 15
+f 46 15 26
+f 47 26 15
+f 47 15 37
+f 48 37 6
+f 48 6 7
+f 49 41 5
+f 49 5 32
+f 49 32 41
+f 50 41 28
+f 50 28 39
+f 50 39 41
+f 51 42 32
+f 51 23 42
+f 52 13 42
+f 52 42 23
+f 53 43 24
+f 53 24 23
+f 53 23 51
+f 53 51 32
+f 53 32 43
+f 54 44 16
+f 54 16 2
+f 54 2 33
+f 54 33 44
+f 55 16 44
+f 56 55 44
+f 56 34 55
+f 56 52 34
+f 56 13 52
+f 57 44 33
+f 57 33 22
+f 57 22 13
+f 57 56 44
+f 57 13 56
+f 59 7 16
+f 59 34 45
+f 59 55 34
+f 59 16 55
+f 60 23 24
+f 60 52 23
+f 61 24 35
+f 61 35 46
+f 61 60 24
+f 62 47 37
+f 62 45 58
+f 62 59 45
+f 62 7 59
+f 62 58 26
+f 62 26 47
+f 62 48 7
+f 62 37 48
+f 63 46 26
+f 63 26 58
+f 63 61 46
+f 63 60 61
+f 64 58 45
+f 64 45 34
+f 64 63 58
+f 64 34 52
+f 64 52 60
+f 64 60 63
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_27.obj b/mango/mango_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03d78dc5172d1a939860bf9f36fda220cd03013c
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.15642835 0.15192427 0.00757577
+v -0.15000302 0.24952235 -0.22941976
+v -0.15532873 0.31575354 -0.03746309
+v -0.16999480 0.31463503 0.00784427
+v -0.32251487 0.15169816 0.00765952
+v -0.15157599 0.30553238 -0.09486501
+v -0.24352756 0.14888522 -0.23209993
+v -0.30617954 0.18930805 0.00973413
+v -0.14972153 0.25939602 -0.21253239
+v -0.24648678 0.25947975 -0.06292332
+v -0.19265354 0.18262838 -0.26279671
+v -0.30916554 0.14662830 -0.08067410
+v -0.19413130 0.30438505 0.00866703
+v -0.20624687 0.27016704 -0.12212697
+v -0.29519025 0.14638893 -0.14001367
+v -0.30407037 0.17339418 -0.04943070
+v -0.22380675 0.28819563 0.00881737
+v -0.17256232 0.31340255 0.00484278
+v -0.16250568 0.26975369 -0.18071028
+v -0.20151422 0.24160914 -0.17803211
+v -0.19134713 0.29904208 -0.04992628
+v -0.30428781 0.15992531 -0.07974291
+v -0.30458485 0.18853072 -0.00485770
+v -0.29074300 0.21701266 0.00935894
+v -0.19124610 0.28437232 -0.10753960
+v -0.15020427 0.27420860 -0.18283802
+v -0.15868754 0.25618105 -0.20875919
+v -0.16045512 0.24425772 -0.22524304
+v -0.23023968 0.21255382 -0.17717979
+v -0.17360589 0.25447065 -0.19378000
+v -0.17928597 0.29889772 -0.07911192
+v -0.22021955 0.28582971 -0.03464708
+v -0.27457357 0.21675789 -0.07808905
+v -0.28952092 0.21621739 -0.00511758
+v -0.17479830 0.26976635 -0.16493117
+v -0.16500553 0.30089825 -0.09358043
+v -0.23250115 0.17010232 -0.22388427
+v -0.26065648 0.18416888 -0.16485709
+v -0.23082999 0.24274345 -0.13414600
+v -0.20637666 0.28448781 -0.07832151
+v -0.29044676 0.20204437 -0.04942697
+v -0.25992125 0.24319688 -0.06351048
+v -0.29090835 0.15640163 -0.13820114
+v -0.23248421 0.25558275 -0.10561777
+v -0.27455034 0.18538472 -0.13602716
+v -0.24475601 0.24298437 -0.10559671
+f 1 3 4
+f 6 3 1
+f 8 5 1
+f 9 6 1
+f 9 1 2
+f 11 2 1
+f 11 1 7
+f 12 1 5
+f 13 8 1
+f 13 1 4
+f 15 7 1
+f 15 1 12
+f 17 8 13
+f 18 13 4
+f 18 4 3
+f 21 18 3
+f 21 13 18
+f 22 12 5
+f 22 5 16
+f 22 15 12
+f 23 16 5
+f 23 5 8
+f 24 17 10
+f 24 8 17
+f 26 6 9
+f 26 9 19
+f 27 19 9
+f 27 9 2
+f 28 2 11
+f 28 11 20
+f 29 20 11
+f 30 20 14
+f 30 19 27
+f 30 28 20
+f 30 27 2
+f 30 2 28
+f 31 21 3
+f 31 3 6
+f 32 17 13
+f 32 13 21
+f 32 10 17
+f 34 23 8
+f 34 8 24
+f 35 25 19
+f 35 14 25
+f 35 30 14
+f 35 19 30
+f 36 6 26
+f 36 31 6
+f 36 25 31
+f 36 26 19
+f 36 19 25
+f 37 29 11
+f 37 11 7
+f 38 37 7
+f 38 29 37
+f 39 14 20
+f 39 20 29
+f 39 29 38
+f 40 31 25
+f 40 25 14
+f 40 14 10
+f 40 10 32
+f 40 32 21
+f 40 21 31
+f 41 22 16
+f 41 16 23
+f 41 23 34
+f 42 34 24
+f 42 24 10
+f 42 41 34
+f 42 33 41
+f 43 38 7
+f 43 7 15
+f 43 41 33
+f 43 15 22
+f 43 22 41
+f 44 10 14
+f 44 14 39
+f 45 39 38
+f 45 43 33
+f 45 38 43
+f 46 33 42
+f 46 45 33
+f 46 39 45
+f 46 44 39
+f 46 42 10
+f 46 10 44
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_28.obj b/mango/mango_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d3eddd7264945659b707abcffe5e7600d28f729
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.21715120 -0.22396927 0.27376253
+v 0.20720802 -0.21171210 0.00757577
+v 0.21373791 0.26862647 0.27320495
+v -0.17155440 0.25793992 0.26512947
+v -0.20180686 -0.25070759 0.28090565
+v -0.19611687 0.30295242 0.00412146
+v 0.20720802 0.25798488 0.00757577
+v -0.17157986 -0.21171210 0.00757577
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_29.obj b/mango/mango_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d173a421da51d4d591a42627328e6f66b406b0e1
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.23732124 -0.32567666 0.00986827
+v 0.21733951 -0.29043581 -0.22782403
+v 0.22235954 0.16707579 -0.23484848
+v 0.02538984 0.16707579 0.00757577
+v 0.02538984 -0.30262119 0.00757577
+v 0.22235954 0.16707579 0.00757577
+v 0.02789078 -0.28939969 -0.22742934
+v 0.02538984 0.16707579 -0.23484848
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 8 3 2
+f 8 2 7
+f 8 4 3
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_3.obj b/mango/mango_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0bd19f7e24d34da42bb10d46ec51ac07ff5c596
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.34314378 0.15190941 -0.23471310
+v 0.32917931 0.15095432 -0.27483607
+v 0.28613892 0.27339516 -0.22968859
+v 0.05870395 0.31994276 -0.22967788
+v -0.25661108 0.13322807 -0.23089614
+v 0.18756468 0.14484061 -0.47882012
+v 0.31094746 0.23024146 -0.27305159
+v 0.00051573 0.13213051 -0.43656193
+v -0.25165388 0.14328140 -0.22703178
+v 0.20369996 0.25534564 -0.36132789
+v 0.32446189 0.19400723 -0.27417239
+v 0.32927654 0.22045702 -0.23122107
+v 0.02538984 0.13677275 -0.23484848
+v 0.21357668 0.14564510 -0.46506932
+v -0.19038459 0.21658305 -0.22590723
+v 0.15958238 0.31898603 -0.23011769
+v 0.25723899 0.25298410 -0.33119024
+v 0.04622426 0.23997849 -0.38866978
+v 0.31392603 0.24610935 -0.23008787
+v 0.32590210 0.21918052 -0.24386290
+v -0.18941955 0.12890220 -0.31363100
+v 0.26837215 0.14906806 -0.40669077
+v 0.21435132 0.22469683 -0.40176772
+v 0.07460092 0.30043665 -0.28666129
+v -0.17666803 0.23046288 -0.22617996
+v 0.29551530 0.24382601 -0.28858612
+v 0.21798879 0.30417061 -0.23018580
+v 0.10619851 0.15609566 -0.47257740
+v -0.25113998 0.12972098 -0.24158320
+v -0.08386658 0.19825235 -0.35473872
+v 0.30982573 0.18026451 -0.31867265
+v 0.21333287 0.19707627 -0.42960445
+v 0.23069084 0.23992453 -0.37360453
+v 0.15929657 0.22564983 -0.41800922
+v 0.14412548 0.29955074 -0.28691145
+v 0.15894680 0.31466609 -0.24388427
+v -0.13415696 0.25934921 -0.22719229
+v 0.28242137 0.25519875 -0.28822655
+v 0.26646573 0.21476686 -0.37156827
+v 0.31108293 0.24426459 -0.24355059
+v 0.25827991 0.28488208 -0.24383959
+v 0.10515769 0.14523531 -0.47777329
+v -0.24675602 0.13943863 -0.23789395
+v -0.11648404 0.13082982 -0.37205051
+v 0.03351957 0.21283320 -0.41382621
+v -0.20033172 0.15445158 -0.28172527
+v 0.31195213 0.15104656 -0.31906451
+v 0.29325253 0.21673373 -0.33095106
+v 0.19900880 0.16886998 -0.45919928
+v 0.18819747 0.24118204 -0.39000482
+v 0.23171862 0.26903554 -0.31786616
+v 0.10163433 0.25503017 -0.37592308
+v 0.17423197 0.21169698 -0.43148103
+v 0.20168220 0.29934061 -0.25840667
+v -0.04230678 0.26858335 -0.28558553
+v -0.09949310 0.22503370 -0.31278667
+v 0.28244990 0.24158504 -0.31708387
+v 0.28376081 0.27040569 -0.24377731
+v 0.25627150 0.22701943 -0.37118407
+v 0.25112472 0.17405249 -0.41609511
+v 0.26005438 0.28846328 -0.23003195
+v -0.20030756 0.18320131 -0.25224651
+v -0.17452728 0.12919683 -0.32776739
+v -0.05433053 0.18678401 -0.38229247
+f 8 2 1
+f 9 5 1
+f 11 1 2
+f 12 1 11
+f 12 9 1
+f 13 8 1
+f 13 1 5
+f 14 8 6
+f 14 2 8
+f 19 3 15
+f 19 15 9
+f 19 9 12
+f 20 12 11
+f 20 11 7
+f 20 7 12
+f 21 8 13
+f 22 2 14
+f 25 15 3
+f 25 3 16
+f 25 16 4
+f 27 16 3
+f 29 21 13
+f 29 13 5
+f 31 11 2
+f 36 24 4
+f 36 4 16
+f 36 35 24
+f 37 25 4
+f 40 7 26
+f 40 19 12
+f 40 12 7
+f 40 26 3
+f 40 3 19
+f 41 38 17
+f 42 28 6
+f 42 6 8
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+f 43 5 9
+f 45 42 8
+f 45 28 42
+f 45 34 28
+f 45 18 34
+f 46 21 29
+f 46 29 43
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+f 47 22 31
+f 48 7 11
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+f 48 31 22
+f 48 22 39
+f 48 26 7
+f 49 32 14
+f 49 14 6
+f 50 33 23
+f 50 10 33
+f 50 35 10
+f 51 33 10
+f 51 17 33
+f 51 10 35
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+f 51 41 17
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+f 52 34 18
+f 52 18 24
+f 52 50 34
+f 52 24 35
+f 52 35 50
+f 53 23 32
+f 53 32 49
+f 53 49 6
+f 53 6 28
+f 53 28 34
+f 53 50 23
+f 53 34 50
+f 54 36 16
+f 54 16 27
+f 54 51 36
+f 54 27 51
+f 55 37 4
+f 55 4 24
+f 55 24 18
+f 56 25 37
+f 56 30 46
+f 56 37 55
+f 56 55 18
+f 56 45 30
+f 56 18 45
+f 57 38 26
+f 57 17 38
+f 57 26 48
+f 57 48 39
+f 58 3 26
+f 58 26 38
+f 58 38 41
+f 59 33 17
+f 59 57 39
+f 59 17 57
+f 59 23 33
+f 59 32 23
+f 60 39 22
+f 60 22 14
+f 60 14 32
+f 60 59 39
+f 60 32 59
+f 61 41 27
+f 61 27 3
+f 61 58 41
+f 61 3 58
+f 62 43 9
+f 62 9 15
+f 62 46 43
+f 62 15 25
+f 62 56 46
+f 62 25 56
+f 63 44 8
+f 63 8 21
+f 63 30 44
+f 63 46 30
+f 63 21 46
+f 64 44 30
+f 64 30 45
+f 64 45 8
+f 64 8 44
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_30.obj b/mango/mango_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d19dbeaba97b2adaf2ae6b4c9b1ab6dc913521b
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.33795774 -0.20943196 0.00901152
+v 0.31864471 -0.19926667 -0.23662104
+v 0.36169383 0.17891612 0.00943038
+v 0.22235954 0.16707579 0.00757577
+v 0.22235954 -0.19656058 0.00757577
+v 0.33899533 0.16950815 -0.24273034
+v 0.22235954 -0.19656058 -0.23484848
+v 0.22235954 0.16707579 -0.23484848
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 7 6 2
+f 8 4 3
+f 8 3 6
+f 8 7 4
+f 8 6 7
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_31.obj b/mango/mango_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..601d4215d1b08e490419c583e8512a6fbe0cdfe7
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.15642835 -0.18140907 0.00757577
+v -0.15642835 -0.18140907 -0.09848484
+v -0.15642835 0.15192427 0.00757577
+v -0.31805140 0.16176884 0.00392915
+v -0.30455428 -0.19081318 0.00457599
+v -0.15642835 0.15192427 -0.09848484
+v -0.30178191 0.15552510 -0.10056344
+v -0.28960838 -0.17907452 -0.09784519
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 6 2
+f 7 4 6
+f 8 5 4
+f 8 4 7
+f 8 7 2
+f 8 2 5
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_4.obj b/mango/mango_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07d95da56901573064c9726858735835aa1f5d55
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.21581112 -0.18520374 -0.36269801
+v 0.28811790 -0.13344646 -0.33209098
+v 0.02277736 -0.18657847 -0.37305654
+v 0.02538984 0.15192427 -0.35606060
+v 0.18689955 0.11825071 -0.48852585
+v 0.27570865 -0.16262827 -0.33387408
+v 0.29655695 0.15176635 -0.35534604
+v 0.14453769 -0.02478042 -0.48893719
+v 0.09281322 0.14400763 -0.47472405
+v 0.30182710 -0.04366806 -0.33374374
+v 0.13009617 -0.10768608 -0.44470426
+v 0.20884867 -0.03624563 -0.46000493
+v 0.19848974 0.14330120 -0.47514752
+v 0.26837215 0.14906806 -0.40669077
+v 0.07598406 0.07311872 -0.48893832
+v 0.30035492 0.12110341 -0.35065608
+v 0.18483677 -0.15409448 -0.39888493
+v 0.02630146 -0.08077777 -0.46194384
+v 0.23891814 -0.15689215 -0.36856357
+v 0.23390004 -0.03775857 -0.43272835
+v 0.18445368 0.03261866 -0.48935186
+v 0.13417200 0.13014276 -0.48999992
+v 0.21052857 0.13004706 -0.47390513
+v 0.03280414 0.14549277 -0.44741123
+v 0.30477603 -0.01346246 -0.33663463
+v 0.28003427 0.13507062 -0.39185456
+v 0.02656693 -0.15619523 -0.40517646
+v 0.17073328 -0.05014764 -0.47418339
+v 0.15684206 -0.08000385 -0.46052755
+v 0.07327831 -0.01244094 -0.49012116
+v 0.26900207 -0.15927198 -0.34252409
+v 0.25125657 0.03299105 -0.43375697
+v 0.17353216 0.13024072 -0.48910854
+v 0.10603401 0.11622369 -0.48879055
+v 0.22220912 0.14387874 -0.45957533
+v 0.20911565 0.01858024 -0.47430770
+v 0.04925977 0.10058174 -0.47251650
+v 0.02737753 -0.05366572 -0.47481835
+v 0.28510769 0.15002797 -0.37901122
+v 0.29503479 0.12084818 -0.36313259
+v 0.05647611 -0.10799155 -0.44471904
+v 0.02649024 -0.12406542 -0.43110236
+v 0.19453207 -0.07872844 -0.44469274
+v 0.17238841 0.00333793 -0.48970508
+v 0.15782100 -0.12290024 -0.42895053
+v 0.28009566 0.03298309 -0.39112974
+v 0.23486936 0.00408478 -0.44756896
+v 0.25131865 0.13324816 -0.43374768
+v 0.09235224 0.10142276 -0.48876192
+v 0.04997226 0.14307796 -0.45694468
+v 0.03298747 0.07162425 -0.47368484
+v 0.08730160 -0.02569906 -0.48891758
+v 0.29491619 0.01650536 -0.36179855
+v 0.20723087 -0.06305510 -0.44569170
+v 0.19598390 -0.02408988 -0.47346394
+v 0.26426039 -0.00946005 -0.40362932
+v 0.22298923 0.00396001 -0.46013540
+v 0.23681202 0.14416910 -0.44580496
+v 0.03328949 0.11521705 -0.46019035
+f 6 2 4
+f 6 4 3
+f 6 3 1
+f 10 4 2
+f 14 9 4
+f 14 4 7
+f 14 13 9
+f 16 7 4
+f 17 1 3
+f 18 3 4
+f 20 2 6
+f 22 9 13
+f 23 5 13
+f 24 4 9
+f 25 16 4
+f 25 4 10
+f 27 17 3
+f 27 11 17
+f 29 18 8
+f 29 11 18
+f 29 8 28
+f 30 15 22
+f 31 19 12
+f 31 6 1
+f 31 1 19
+f 31 20 6
+f 31 12 20
+f 33 22 13
+f 33 13 5
+f 33 5 21
+f 33 21 22
+f 34 9 22
+f 35 23 13
+f 35 13 14
+f 36 21 5
+f 36 5 23
+f 36 23 32
+f 38 18 4
+f 38 4 24
+f 39 26 14
+f 39 14 7
+f 39 7 26
+f 40 26 7
+f 40 7 16
+f 41 18 11
+f 41 11 27
+f 42 27 3
+f 42 3 18
+f 42 41 27
+f 42 18 41
+f 43 28 12
+f 43 19 1
+f 43 1 17
+f 43 29 28
+f 43 17 29
+f 44 28 8
+f 44 8 30
+f 44 30 22
+f 44 22 21
+f 45 29 17
+f 45 17 11
+f 45 11 29
+f 46 10 2
+f 46 32 26
+f 46 26 40
+f 47 2 20
+f 47 20 12
+f 48 32 23
+f 48 14 26
+f 48 26 32
+f 49 34 22
+f 49 22 15
+f 49 37 9
+f 49 9 34
+f 50 24 9
+f 50 9 37
+f 51 38 24
+f 51 15 30
+f 51 30 38
+f 51 49 15
+f 51 37 49
+f 52 38 30
+f 52 30 8
+f 52 8 18
+f 52 18 38
+f 53 40 16
+f 53 16 25
+f 53 46 40
+f 53 25 10
+f 53 10 46
+f 54 43 12
+f 54 12 19
+f 54 19 43
+f 55 44 21
+f 55 21 36
+f 55 12 28
+f 55 28 44
+f 56 46 2
+f 56 32 46
+f 56 47 32
+f 56 2 47
+f 57 36 32
+f 57 32 47
+f 57 47 12
+f 57 55 36
+f 57 12 55
+f 58 35 14
+f 58 14 48
+f 58 48 23
+f 58 23 35
+f 59 50 37
+f 59 24 50
+f 59 51 24
+f 59 37 51
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_5.obj b/mango/mango_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fc5af4b9ada0a4ddef543baad5ef00e62a8d91e
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.11397770 -0.36242297 0.08017692
+v 0.21899005 -0.29502809 -0.21598177
+v 0.21859633 -0.32490775 0.08094295
+v -0.15424000 -0.28239981 -0.11207976
+v 0.04427738 -0.35945070 -0.06361222
+v -0.13828085 -0.27987617 -0.14133462
+v 0.11645530 -0.34856577 0.12895580
+v 0.20096612 -0.34416471 -0.05153593
+v -0.06302686 -0.34210457 0.00403356
+v -0.04397585 -0.32966107 -0.09347353
+v 0.15461068 -0.34352763 0.10797023
+v 0.14434480 -0.34078695 0.12621596
+v 0.23435933 -0.32604544 -0.08236953
+v 0.15723077 -0.36035545 0.00649276
+v 0.15940521 -0.34426366 -0.12456406
+v 0.01274273 -0.36251437 0.00825708
+v -0.15580801 -0.28603251 -0.09804359
+v -0.04315279 -0.34373898 -0.03480105
+v 0.02576884 -0.28546603 -0.23372415
+v 0.12625883 -0.35981239 0.07938024
+v 0.14050014 -0.34352337 0.12183516
+v 0.23732124 -0.32567666 0.00986827
+v 0.21336905 -0.32916281 -0.12420372
+v 0.14213826 -0.35899237 -0.06498353
+v 0.11377903 -0.35083457 0.12472789
+v 0.15773717 -0.36036910 -0.00694420
+v -0.14916295 -0.28571480 -0.10842038
+v 0.02869711 -0.36024105 -0.04869564
+v -0.15055586 -0.28907330 -0.09510133
+v -0.04531887 -0.34851222 0.00863666
+v -0.03060847 -0.28538371 -0.21081996
+v -0.00348555 -0.28081160 -0.23110124
+v 0.18867681 -0.29859841 -0.22551416
+v 0.07336909 -0.32850737 -0.16628707
+v 0.14185925 -0.36061121 0.04986787
+v 0.23292138 -0.32588400 0.03719381
+v 0.19884659 -0.34544516 0.00618192
+v 0.22848441 -0.32908364 -0.08044429
+v 0.21290904 -0.31256768 -0.18203845
+v 0.18578259 -0.34383618 -0.09454990
+v -0.11872575 -0.29783087 -0.10751821
+v 0.01554356 -0.33844604 -0.11623477
+v 0.01327720 -0.36044490 -0.02065206
+v -0.02950936 -0.31333497 -0.15090307
+v 0.19078290 -0.29539551 -0.23133092
+v -0.03363852 -0.28156754 -0.21665746
+v 0.02899143 -0.31446526 -0.18025583
+v 0.05772001 -0.34403011 -0.12229794
+v 0.16018050 -0.33030805 -0.16612232
+v 0.18497257 -0.34382887 0.06471331
+v 0.22690839 -0.32989795 0.03622819
+v -0.13397477 -0.28294518 -0.13723885
+v 0.02905344 -0.34425994 -0.10703195
+v -0.12344547 -0.28024861 -0.15663181
+v -0.01494733 -0.32869246 -0.12191914
+v 0.18818210 -0.31308055 -0.19725579
+v 0.07338417 -0.29882478 -0.22403916
+v -0.00110150 -0.28484465 -0.22484364
+v 0.21316386 -0.32848689 0.07749224
+v -0.11896037 -0.28331465 -0.15251618
+v 0.21430892 -0.29963076 -0.21082038
+v 0.02882201 -0.29962817 -0.20951530
+f 6 3 2
+f 6 4 3
+f 12 11 3
+f 17 9 7
+f 17 7 12
+f 17 12 3
+f 17 3 4
+f 21 12 7
+f 21 11 12
+f 22 13 2
+f 22 8 13
+f 24 5 15
+f 25 16 1
+f 25 7 9
+f 25 1 20
+f 25 20 11
+f 25 21 7
+f 25 11 21
+f 26 14 1
+f 26 1 16
+f 26 16 24
+f 26 24 8
+f 27 17 4
+f 27 4 6
+f 28 18 10
+f 28 24 16
+f 28 5 24
+f 29 10 18
+f 29 17 27
+f 29 18 9
+f 29 9 17
+f 30 9 18
+f 30 25 9
+f 30 16 25
+f 32 6 2
+f 35 20 1
+f 35 1 14
+f 36 22 2
+f 36 2 3
+f 37 8 22
+f 37 26 8
+f 37 14 26
+f 38 23 13
+f 38 13 8
+f 38 8 23
+f 39 23 15
+f 39 2 13
+f 39 13 23
+f 40 23 8
+f 40 8 24
+f 40 24 15
+f 40 15 23
+f 41 29 27
+f 41 10 29
+f 42 28 10
+f 43 28 16
+f 43 16 30
+f 43 30 18
+f 43 18 28
+f 45 32 2
+f 45 19 32
+f 47 44 31
+f 47 42 44
+f 48 15 5
+f 48 47 34
+f 48 42 47
+f 49 48 34
+f 49 15 48
+f 49 39 15
+f 50 11 20
+f 50 20 35
+f 50 35 14
+f 50 14 37
+f 51 37 22
+f 51 22 36
+f 51 50 37
+f 51 36 3
+f 52 41 27
+f 52 27 6
+f 52 10 41
+f 53 5 28
+f 53 28 42
+f 53 48 5
+f 53 42 48
+f 54 31 44
+f 54 46 31
+f 54 6 32
+f 54 32 46
+f 54 52 6
+f 55 44 42
+f 55 42 10
+f 55 10 44
+f 56 33 45
+f 56 49 33
+f 56 39 49
+f 57 19 45
+f 57 45 33
+f 57 49 34
+f 57 33 49
+f 58 46 32
+f 58 31 46
+f 58 32 19
+f 59 3 11
+f 59 11 50
+f 59 51 3
+f 59 50 51
+f 60 54 44
+f 60 44 10
+f 60 10 52
+f 60 52 54
+f 61 56 45
+f 61 45 2
+f 61 2 39
+f 61 39 56
+f 62 19 57
+f 62 58 19
+f 62 47 31
+f 62 31 58
+f 62 57 34
+f 62 34 47
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_6.obj b/mango/mango_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7811d80686b324fe021232612002d37b2bf13bb
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.11344921 -0.35913778 0.09369881
+v 0.20466244 -0.34263937 0.00714128
+v 0.21715120 -0.22396927 0.27376253
+v -0.20180686 -0.25070759 0.28090565
+v -0.16826023 -0.29624657 -0.00696032
+v 0.05056758 -0.31349024 0.25578683
+v 0.19830741 -0.31469984 0.13663535
+v 0.01274273 -0.36251437 0.00825708
+v 0.20720802 -0.21171210 0.00757577
+v -0.10999246 -0.29981809 0.27933668
+v 0.19899639 -0.33043676 0.09316272
+v 0.12501694 -0.34306658 0.13703156
+v 0.13810859 -0.28361974 0.25454692
+v 0.11574674 -0.36933678 0.00723140
+v -0.15631753 -0.30240840 -0.00755520
+v -0.17157986 -0.21171210 0.00757577
+v -0.16231801 -0.29873391 0.18731026
+v -0.03256401 -0.34504038 0.16984800
+v 0.03768175 -0.34509716 0.18350670
+v 0.18253872 -0.32855823 0.12105856
+v 0.19392399 -0.25446054 0.25459873
+v 0.13867760 -0.31389835 0.19550910
+v -0.16232487 -0.28307712 0.26004988
+v -0.10423593 -0.32989757 0.14254353
+v 0.02695205 -0.36156676 0.11222910
+v 0.08092831 -0.34383675 0.16686453
+v -0.04921712 -0.32977031 0.23012573
+v 0.15387169 -0.32815295 0.15033793
+v -0.13143243 -0.31394835 0.18684835
+v -0.12376036 -0.29555292 0.27800484
+v -0.16209841 -0.29956568 -0.00581798
+v -0.06022618 -0.34521671 0.02472022
+v 0.08262980 -0.36074057 0.10999047
+v 0.00988545 -0.34508843 0.18480208
+v -0.00096110 -0.36142610 0.05304221
+v 0.03644659 -0.32955863 0.22644446
+v 0.09567610 -0.32824157 0.19554306
+v -0.07725428 -0.31535618 0.26008303
+v -0.08906131 -0.33024249 0.18679058
+v -0.14700550 -0.29807261 0.23118579
+v -0.15031755 -0.30563361 -0.00642700
+v 0.01181331 -0.36142928 0.09706608
+v -0.00050214 -0.36083179 0.02355171
+v -0.06050586 -0.34459898 0.12682871
+v -0.04557558 -0.34542100 0.15721819
+v -0.10354556 -0.31255875 0.24409115
+v -0.13152116 -0.29787630 0.25963639
+v -0.10349754 -0.32835422 0.01020165
+v -0.10571958 -0.30276458 0.27512901
+v -0.11937519 -0.29849170 0.27365594
+f 9 3 2
+f 10 6 3
+f 10 3 4
+f 11 1 2
+f 11 2 3
+f 11 3 7
+f 13 3 6
+f 14 2 1
+f 15 9 2
+f 15 5 9
+f 15 2 14
+f 15 14 8
+f 16 9 5
+f 16 5 4
+f 16 4 3
+f 16 3 9
+f 17 4 5
+f 20 11 7
+f 20 12 1
+f 20 1 11
+f 21 13 7
+f 21 7 3
+f 21 3 13
+f 22 13 6
+f 22 7 13
+f 23 4 17
+f 26 1 12
+f 28 12 20
+f 28 20 7
+f 28 7 22
+f 29 17 24
+f 30 10 4
+f 30 4 23
+f 31 5 15
+f 31 24 17
+f 31 17 5
+f 33 25 14
+f 33 14 1
+f 33 19 25
+f 33 26 19
+f 33 1 26
+f 34 25 19
+f 34 18 25
+f 34 27 18
+f 34 19 27
+f 35 8 14
+f 36 19 26
+f 36 27 19
+f 37 22 6
+f 37 36 26
+f 37 6 36
+f 37 26 12
+f 37 28 22
+f 37 12 28
+f 38 6 10
+f 38 36 6
+f 38 27 36
+f 39 29 24
+f 39 27 38
+f 40 23 17
+f 40 17 29
+f 41 31 15
+f 41 24 31
+f 41 15 8
+f 42 35 14
+f 42 14 25
+f 43 35 32
+f 43 32 8
+f 43 8 35
+f 44 24 32
+f 44 32 35
+f 44 35 42
+f 44 39 24
+f 45 18 27
+f 45 27 39
+f 45 39 44
+f 45 44 42
+f 45 42 25
+f 45 25 18
+f 46 39 38
+f 46 40 29
+f 46 29 39
+f 47 30 23
+f 47 23 40
+f 47 40 46
+f 48 32 24
+f 48 24 41
+f 48 41 8
+f 48 8 32
+f 49 46 38
+f 49 38 10
+f 49 10 30
+f 50 47 46
+f 50 30 47
+f 50 49 30
+f 50 46 49
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_7.obj b/mango/mango_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47002304121533f9d5eb1883f371d46c44241d16
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.22289200 -0.33406136 0.00766665
+v 0.33021876 -0.19015987 -0.21542053
+v 0.29616078 -0.27374765 0.00582378
+v 0.32374022 -0.19362556 0.14213045
+v 0.22235954 -0.19656058 -0.23484848
+v 0.34535522 -0.19143304 0.02191685
+v 0.29001363 -0.24955223 0.12478854
+v 0.25538860 -0.29991265 -0.15351796
+v 0.33071067 -0.19096102 0.12525288
+v 0.32500450 -0.23125096 -0.11225533
+v 0.28232993 -0.28687463 0.03613727
+v 0.22235954 -0.19656058 0.00757577
+v 0.21733951 -0.29043581 -0.22782403
+v 0.34513307 -0.19100034 -0.09748890
+v 0.31085749 -0.24456782 0.06487987
+v 0.31123318 -0.21599788 0.13782296
+v 0.32567314 -0.23080068 0.02126204
+v 0.29632234 -0.25663567 -0.18400849
+v 0.26826985 -0.30178660 0.02067929
+v 0.29256714 -0.23744912 0.14138982
+v 0.32267240 -0.19366742 -0.23295337
+v 0.21675788 -0.32009976 -0.15624805
+v 0.32584691 -0.21724795 -0.17124306
+v 0.34088110 -0.20241035 0.02168971
+v 0.29706292 -0.25895177 0.07962637
+v 0.32557856 -0.20088768 0.12326443
+v 0.29609950 -0.27411446 -0.09749402
+v 0.27101761 -0.26942526 -0.21267706
+v 0.29969299 -0.23084635 0.13770294
+v 0.31275669 -0.20607602 0.15018266
+v 0.24090633 -0.31587142 -0.12536097
+v 0.21659933 -0.30479215 -0.19819425
+v 0.33992434 -0.20339773 -0.09754397
+v 0.31189789 -0.24424788 -0.15651968
+v 0.31351615 -0.21519777 -0.22790617
+v 0.32439782 -0.21570564 0.09419335
+v 0.29605086 -0.24377476 0.12206164
+v 0.28230889 -0.28641734 -0.11091561
+v 0.28170513 -0.27070503 -0.18280408
+v 0.24173616 -0.29996147 -0.18380111
+v 0.26791915 -0.30212342 -0.09686702
+v 0.32456671 -0.20169574 -0.21513461
+v 0.29638011 -0.24476297 -0.21362998
+v 0.25714830 -0.27133596 -0.22576326
+v 0.22945542 -0.31510686 -0.15375199
+v 0.23076371 -0.28643380 -0.22516120
+v 0.24496454 -0.32106183 0.00639624
+v 0.22967356 -0.30011103 -0.19590385
+f 12 4 9
+f 12 9 2
+f 12 2 5
+f 13 12 5
+f 14 9 6
+f 14 2 9
+f 15 11 3
+f 17 15 3
+f 19 11 7
+f 19 7 1
+f 19 3 11
+f 20 12 1
+f 20 1 7
+f 21 13 5
+f 21 5 2
+f 22 1 12
+f 23 2 14
+f 24 14 6
+f 24 17 10
+f 24 6 9
+f 25 7 11
+f 25 11 15
+f 26 9 4
+f 26 4 16
+f 27 17 3
+f 27 10 17
+f 27 3 19
+f 30 16 4
+f 30 4 12
+f 30 12 20
+f 30 29 16
+f 30 20 29
+f 31 1 22
+f 32 22 12
+f 32 12 13
+f 33 23 14
+f 33 10 23
+f 33 24 10
+f 33 14 24
+f 34 23 10
+f 34 27 18
+f 34 10 27
+f 35 34 18
+f 35 23 34
+f 36 24 9
+f 36 17 24
+f 36 9 26
+f 36 15 17
+f 36 25 15
+f 36 26 16
+f 37 7 25
+f 37 16 29
+f 37 29 20
+f 37 20 7
+f 37 36 16
+f 37 25 36
+f 38 18 27
+f 39 28 18
+f 39 8 28
+f 39 18 38
+f 40 8 31
+f 40 22 32
+f 40 28 8
+f 41 1 31
+f 41 31 8
+f 41 39 38
+f 41 8 39
+f 41 38 27
+f 41 27 19
+f 42 35 21
+f 42 21 2
+f 42 2 23
+f 42 23 35
+f 43 35 18
+f 43 18 28
+f 44 13 21
+f 44 21 35
+f 44 28 40
+f 44 43 28
+f 44 35 43
+f 45 40 31
+f 45 31 22
+f 45 22 40
+f 46 32 13
+f 46 44 40
+f 46 13 44
+f 47 41 19
+f 47 19 1
+f 47 1 41
+f 48 46 40
+f 48 40 32
+f 48 32 46
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_8.obj b/mango/mango_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26fb198412ffb420667adfbc0d0331240c020a85
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.28856933 0.23703831 0.21344368
+v 0.33201335 0.23628091 -0.18665878
+v 0.29665985 0.28959917 0.09447487
+v 0.20338901 0.34975470 0.00716008
+v 0.20720802 0.24283336 -0.09848484
+v 0.27278526 0.31575239 -0.09624902
+v 0.24921502 0.31238616 0.14230139
+v 0.33109300 0.23557815 0.11060547
+v 0.29876904 0.23596078 0.19675842
+v 0.20720802 0.25798488 0.00757577
+v 0.32682675 0.26025077 -0.12625796
+v 0.27199205 0.31657775 0.06509792
+v 0.21167756 0.30303418 -0.23961654
+v 0.32059108 0.23703800 -0.23242436
+v 0.31018638 0.25941023 0.13772694
+v 0.27658125 0.25396440 0.21581064
+v 0.32554097 0.26236598 0.05153374
+v 0.21747169 0.34606857 -0.00715400
+v 0.26889379 0.30084932 0.13896305
+v 0.24615598 0.32208911 0.11097616
+v 0.20383861 0.32177610 -0.18623008
+v 0.22206091 0.29546638 -0.25281498
+v 0.32591090 0.24758345 -0.18542417
+v 0.28184774 0.24215487 0.21896484
+v 0.29495945 0.24600540 0.19376511
+v 0.32480271 0.24695391 0.10917822
+v 0.31234352 0.27461176 0.08072809
+v 0.28373502 0.30104955 0.09391700
+v 0.28168458 0.27375463 0.18179993
+v 0.25785941 0.31587997 0.10957642
+v 0.21673635 0.34613672 0.00683718
+v 0.20316470 0.33350992 -0.14056096
+v 0.28389113 0.28566764 -0.19859070
+v 0.23035841 0.31469316 -0.18363433
+v 0.26373406 0.30191771 0.14868989
+v 0.27450397 0.27879161 0.18437616
+v 0.20336264 0.34990265 -0.00724395
+v 0.24545907 0.32921343 -0.09554738
+v 0.28613892 0.27339516 -0.22968859
+v 0.29873721 0.28610822 -0.15480956
+v 0.26005438 0.28846328 -0.23003195
+v 0.21737948 0.32994580 -0.13977826
+v 0.25832184 0.31617539 -0.13947861
+v 0.23050831 0.32943034 -0.12463604
+v 0.28502389 0.30133693 -0.13970729
+v 0.31092085 0.27435969 -0.15592414
+v 0.24874131 0.29298541 -0.23156439
+v 0.25789270 0.29957571 -0.19867717
+v 0.31214929 0.25962759 -0.19978229
+v 0.24521568 0.31336253 -0.16874898
+v 0.31392603 0.24610935 -0.23008787
+f 9 1 5
+f 9 2 8
+f 10 5 1
+f 10 7 4
+f 11 8 2
+f 14 9 5
+f 14 2 9
+f 15 9 8
+f 16 7 10
+f 17 8 11
+f 17 11 6
+f 17 6 12
+f 18 12 6
+f 20 4 7
+f 21 13 5
+f 22 14 5
+f 22 5 13
+f 23 11 2
+f 23 2 14
+f 24 16 10
+f 24 10 1
+f 24 1 16
+f 25 16 1
+f 25 1 9
+f 25 9 15
+f 26 15 8
+f 26 8 17
+f 27 3 15
+f 27 26 17
+f 27 15 26
+f 27 17 12
+f 27 12 3
+f 28 19 3
+f 28 3 12
+f 28 12 19
+f 29 15 3
+f 29 3 19
+f 29 25 15
+f 29 16 25
+f 30 19 12
+f 30 12 20
+f 30 20 7
+f 31 4 20
+f 31 20 12
+f 31 12 18
+f 32 21 5
+f 32 10 4
+f 32 5 10
+f 34 22 13
+f 34 13 21
+f 35 29 19
+f 35 30 7
+f 35 19 30
+f 36 7 16
+f 36 16 29
+f 36 35 7
+f 36 29 35
+f 37 32 4
+f 37 31 18
+f 37 4 31
+f 38 18 6
+f 38 37 18
+f 39 14 22
+f 41 39 22
+f 41 33 39
+f 42 34 21
+f 42 21 32
+f 43 38 6
+f 44 32 37
+f 44 37 38
+f 44 42 32
+f 44 38 43
+f 44 34 42
+f 45 6 11
+f 45 43 6
+f 45 40 33
+f 45 33 43
+f 46 11 23
+f 46 45 11
+f 46 40 45
+f 47 41 22
+f 47 22 34
+f 48 43 33
+f 48 33 41
+f 48 41 47
+f 48 47 34
+f 49 46 23
+f 49 23 14
+f 49 39 33
+f 49 33 40
+f 49 40 46
+f 50 48 34
+f 50 43 48
+f 50 44 43
+f 50 34 44
+f 51 49 14
+f 51 14 39
+f 51 39 49
\ No newline at end of file
diff --git a/mango/mango_1/collision/model_normalized_collision_9.obj b/mango/mango_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1df7176be1e29fca3d6b10db6c8c5de88c488f2c
--- /dev/null
+++ b/mango/mango_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.31840995 -0.19978497 0.14592670
+v 0.34062458 -0.13340757 -0.22975993
+v 0.37297888 -0.04402503 0.02209885
+v 0.34132019 0.17581104 0.15199765
+v 0.33899533 0.16950815 -0.24273034
+v 0.35543935 -0.10199238 0.14070930
+v 0.31864471 -0.19926667 -0.23662104
+v 0.37246927 0.03139248 -0.08168943
+v 0.35563107 0.13243247 0.13950439
+v 0.35588656 -0.16099910 -0.06710307
+v 0.32755625 -0.16601927 -0.24970266
+v 0.35608992 0.01634501 -0.18590117
+v 0.37296021 0.00088276 0.05198067
+v 0.37300138 0.10574619 -0.05266233
+v 0.35587331 -0.16155150 0.02185846
+v 0.37278408 -0.04394908 -0.03707401
+v 0.33875641 0.15176777 -0.24830603
+v 0.34081889 -0.17539926 -0.18612349
+v 0.35652680 -0.08952517 -0.15686673
+v 0.35554377 0.16392009 -0.18529593
+v 0.37304757 -0.02939472 0.03679676
+v 0.35500436 0.16300915 0.11094815
+v 0.37268201 0.09031305 0.03687841
+v 0.35507560 -0.14598220 0.08121698
+v 0.34012555 -0.18964190 -0.15679882
+v 0.32394467 -0.17931346 -0.24805649
+v 0.34098039 -0.02970907 -0.24449175
+v 0.32652525 -0.17670739 -0.24413299
+v 0.35620017 -0.04413485 -0.17148926
+v 0.37218273 -0.01393088 -0.06691452
+v 0.35619157 -0.11899362 -0.14189707
+v 0.37223830 0.09091194 -0.08248403
+v 0.34352644 0.16544329 -0.22985200
+v 0.34823732 0.16381049 0.14092718
+v 0.37262805 0.07521012 0.05196113
+v 0.37288030 0.10540552 0.00726192
+v 0.35508455 -0.11706334 0.12559268
+v 0.34051009 -0.18931747 0.08094413
+v 0.32670010 -0.18806818 -0.22928570
+v 0.34018479 0.15128041 -0.24413484
+v 0.35605269 -0.13376016 -0.12677399
+v 0.34063183 -0.15937491 0.13874300
+v 0.32775496 -0.18934357 0.13850946
+v 0.33866457 -0.17319389 0.12416120
+f 5 1 4
+f 6 4 1
+f 7 1 5
+f 9 4 6
+f 13 9 6
+f 15 10 3
+f 16 3 10
+f 16 14 3
+f 16 8 14
+f 17 7 5
+f 20 5 4
+f 21 13 6
+f 21 6 3
+f 21 3 14
+f 22 20 4
+f 22 14 20
+f 23 22 9
+f 24 15 3
+f 25 1 7
+f 25 10 15
+f 25 18 10
+f 26 17 11
+f 26 7 17
+f 27 2 11
+f 27 11 17
+f 27 12 2
+f 27 20 12
+f 28 11 2
+f 28 2 18
+f 28 26 11
+f 29 12 8
+f 29 8 19
+f 29 19 2
+f 29 2 12
+f 30 19 8
+f 30 8 16
+f 31 18 2
+f 31 2 19
+f 31 30 16
+f 31 19 30
+f 32 8 12
+f 32 12 20
+f 32 20 14
+f 32 14 8
+f 33 5 20
+f 34 22 4
+f 34 4 9
+f 34 9 22
+f 35 23 9
+f 35 9 13
+f 36 14 22
+f 36 22 23
+f 36 21 14
+f 36 13 21
+f 36 35 13
+f 36 23 35
+f 37 24 3
+f 37 3 6
+f 38 15 24
+f 38 25 15
+f 38 1 25
+f 39 25 7
+f 39 18 25
+f 39 28 18
+f 39 7 26
+f 39 26 28
+f 40 27 17
+f 40 20 27
+f 40 33 20
+f 40 17 5
+f 40 5 33
+f 41 10 18
+f 41 18 31
+f 41 31 16
+f 41 16 10
+f 42 37 6
+f 42 6 1
+f 42 24 37
+f 43 42 1
+f 43 1 38
+f 44 38 24
+f 44 24 42
+f 44 43 38
+f 44 42 43
\ No newline at end of file
diff --git a/mango/mango_1/model.xml b/mango/mango_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..04bfaebfb6f75700983a69f253d2eb10d99c69aa
--- /dev/null
+++ b/mango/mango_1/model.xml
@@ -0,0 +1,85 @@
+<mujoco model="mango_18">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="0.7071067811865475 0.7071067811865475 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <texture type="2d" name="image3" file="visual/image3.png"/>
+    <material name="mango1" texture="image0" specular="0.5" shininess="0.25"/>
+    <material name="stem" texture="image3" 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="stem"/>
+        <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="mango1"/>
+        <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"/>
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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="0.00029332980000000054 4.837499999999965e-05 -0.03258444509999999" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00029332980000000054 4.837499999999965e-05 0.033240310199999984" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03357428129999999 0.044207654399999984 0.0003279325499999976" name="horizontal_radius_site"/>
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+  </worldbody>
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diff --git a/mango/mango_1/visual/material.mtl b/mango/mango_1/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/mango/mango_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 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/mango/mango_1/visual/model_normalized_0.obj b/mango/mango_1/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16f83638fc5ced385eaedfbe5738c7929eb7f980
--- /dev/null
+++ b/mango/mango_1/visual/model_normalized_0.obj
@@ -0,0 +1,4104 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/mango/mango_1/visual/model_normalized_1.obj b/mango/mango_1/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d85dd5951454dc2dc7fb29e6f83bfe2b5c3d3b1b
--- /dev/null
+++ b/mango/mango_1/visual/model_normalized_1.obj
@@ -0,0 +1,19081 @@
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\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_0.obj b/mango/mango_10/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..636d1a56679b6f52433c9113effed271f7711988
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23322515 -0.24383862 0.17120461
+v -0.23104800 -0.23763356 0.18317211
+v -0.45604656 -0.03560951 0.17687674
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+v -0.25748833 -0.23104176 0.17785371
+v -0.23001197 -0.09245653 0.29580343
+v -0.23387353 0.08211015 0.27150715
+v -0.33047342 -0.00721730 0.26110574
+v -0.35783128 -0.11636978 0.21810329
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+v -0.26016824 -0.23611162 0.16704624
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+v -0.36947708 -0.14421963 0.18883967
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+v -0.24441889 -0.21664433 0.20609861
+v -0.23106225 -0.13337991 0.27917471
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\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_1.obj b/mango/mango_10/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c20bc0df6c50c6705618ccc11dd1029dc789de0c
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_1.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.00633009 -0.28098341 0.09589905
+v 0.15786300 -0.22989138 0.14157428
+v -0.02329422 -0.24475904 0.20789799
+v -0.23247470 -0.15075181 0.26898535
+v -0.23484848 -0.17225683 0.09772140
+v 0.12426736 -0.15015487 0.25152168
+v -0.24059301 -0.26386773 0.09992413
+v 0.04987659 -0.25937040 0.15095183
+v 0.00757576 -0.17225683 0.09772140
+v 0.10662954 -0.20125697 0.21900108
+v 0.00368151 -0.16313852 0.27755426
+v -0.23484848 -0.15710532 0.17347898
+v -0.15394072 -0.27542496 0.13742652
+v -0.15803016 -0.28316179 0.09612971
+v 0.10971343 -0.24871527 0.13827464
+v -0.02416746 -0.27573146 0.13836337
+v 0.15392721 -0.23293861 0.13873367
+v 0.14114491 -0.15191062 0.24289909
+v 0.09384677 -0.22912469 0.19021014
+v 0.00618274 -0.15096547 0.28303874
+v -0.14079768 -0.18793853 0.26289430
+v 0.09364487 -0.17446191 0.24745188
+v -0.23131750 -0.23121731 0.19312601
+v -0.20130640 -0.26497877 0.13939907
+v 0.00476772 -0.27545026 0.12520556
+v -0.02449034 -0.25965354 0.18104261
+v 0.15779572 -0.19036298 0.20223467
+v 0.01849075 -0.23015643 0.21965828
+v 0.09339360 -0.24325685 0.16435251
+v -0.17258489 -0.15002235 0.28413882
+v 0.12264504 -0.15959938 0.24627422
+v -0.21355081 -0.18846128 0.24748680
+v -0.11074324 -0.24532275 0.20825417
+v -0.22979070 -0.24720177 0.16670150
+v 0.01984454 -0.25997136 0.16494353
+v 0.15525258 -0.22516274 0.15463525
+v 0.13596050 -0.20103563 0.20406679
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+v 0.10703186 -0.24440414 0.15225473
+v -0.00875930 -0.19227075 0.26171586
+v 0.10700825 -0.18932033 0.23044747
+v -0.23095028 -0.16111554 0.26291376
+v -0.20119527 -0.17350053 0.26218389
+v -0.15662341 -0.23060393 0.21977376
+v -0.14256207 -0.25977167 0.17924124
+v -0.23281816 -0.25599549 0.14059518
+v 0.03369788 -0.24495528 0.19104116
+v 0.13632443 -0.22822075 0.16312968
+v 0.15111146 -0.22975857 0.14942621
+v 0.13515080 -0.17247017 0.23093089
+v -0.21504531 -0.21578933 0.22058373
+v -0.15638773 -0.20297199 0.24806769
+v -0.17174292 -0.16150507 0.27694678
+v -0.18556770 -0.24452498 0.19285827
+v -0.18423686 -0.25880475 0.16716086
+v -0.19871041 -0.26165642 0.15238484
+v -0.21480074 -0.24591123 0.17805017
+f 9 1 5
+f 12 4 6
+f 12 7 4
+f 12 5 7
+f 12 9 5
+f 12 6 9
+f 14 7 5
+f 14 5 1
+f 16 14 1
+f 16 13 14
+f 17 9 2
+f 17 1 9
+f 17 15 1
+f 18 9 6
+f 18 2 9
+f 20 11 6
+f 22 6 11
+f 23 4 7
+f 24 14 13
+f 24 7 14
+f 25 15 8
+f 25 1 15
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+f 27 2 18
+f 28 19 10
+f 30 20 6
+f 30 6 4
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+f 31 18 6
+f 31 6 22
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+f 35 25 8
+f 35 16 25
+f 35 26 16
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+f 38 28 10
+f 38 22 11
+f 39 29 8
+f 39 8 15
+f 39 15 17
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+f 40 3 28
+f 40 28 38
+f 41 31 22
+f 41 37 27
+f 41 10 37
+f 41 38 10
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+f 42 4 23
+f 42 30 4
+f 43 42 32
+f 43 30 42
+f 45 26 33
+f 45 13 16
+f 45 16 26
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+f 46 7 24
+f 47 28 3
+f 47 3 26
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+f 47 19 28
+f 47 35 29
+f 47 29 19
+f 48 19 29
+f 48 29 39
+f 48 37 19
+f 48 36 37
+f 49 17 2
+f 49 2 36
+f 49 39 17
+f 49 48 39
+f 49 36 48
+f 50 41 27
+f 50 27 18
+f 50 18 31
+f 50 31 41
+f 51 42 23
+f 51 32 42
+f 52 43 32
+f 52 21 43
+f 52 51 44
+f 52 32 51
+f 52 44 33
+f 52 40 21
+f 52 33 40
+f 53 43 21
+f 53 21 30
+f 53 30 43
+f 54 45 33
+f 54 33 44
+f 54 51 23
+f 54 44 51
+f 55 13 45
+f 55 45 54
+f 56 46 24
+f 56 34 46
+f 56 55 34
+f 56 24 13
+f 56 13 55
+f 57 54 23
+f 57 23 34
+f 57 55 54
+f 57 34 55
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_10.obj b/mango/mango_10/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd73010db370dbac59f893fa6164245a2f62e210
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_10.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v -0.34006339 -0.17072299 -0.14375360
+v -0.33271930 -0.11681272 -0.20651921
+v -0.31810619 0.23872268 -0.18094506
+v -0.32542924 0.25125246 -0.14451438
+v -0.46150746 0.09396560 -0.13900984
+v -0.32575757 0.13077347 -0.14470284
+v -0.46509079 -0.04571737 -0.13565054
+v -0.32165588 0.12855539 -0.27384047
+v -0.41788344 0.18178797 -0.13755032
+v -0.36385489 -0.16199141 -0.13561059
+v -0.33302517 -0.14425044 -0.17934686
+v -0.37487544 0.01308904 -0.24785021
+v -0.37805505 0.22482558 -0.13941371
+v -0.41726059 0.10952494 -0.20507455
+v -0.44483543 -0.07184829 -0.14676461
+v -0.33626828 -0.16567070 -0.15275472
+v -0.31800648 0.16763223 -0.25462604
+v -0.34527765 -0.14130086 -0.17444329
+v -0.33319954 -0.00201727 -0.26762222
+v -0.34620156 0.23277747 -0.16503945
+v -0.35023186 0.24144388 -0.14042650
+v -0.44088974 0.09610492 -0.17944884
+v -0.37301931 0.11049920 -0.24730756
+v -0.38667287 0.17872328 -0.18926946
+v -0.45079067 -0.07443975 -0.13661480
+v -0.38887759 -0.04296508 -0.21794521
+v -0.36084779 -0.15486502 -0.14756803
+v -0.33465939 -0.13003965 -0.19328113
+v -0.38714484 -0.07078894 -0.20354691
+v -0.34641148 0.12074683 -0.26266418
+v -0.45681823 0.09411317 -0.15023533
+v -0.41354389 0.13458515 -0.19220780
+v -0.46084357 -0.00162321 -0.16204815
+v -0.38459789 0.19300539 -0.17747493
+v -0.35858526 0.13668193 -0.24729831
+v -0.45815572 -0.04429915 -0.14678901
+v -0.33448718 -0.07255141 -0.23609783
+v -0.34637021 -0.00210241 -0.26140751
+v -0.34473676 -0.11263008 -0.20281882
+v -0.41612824 -0.05691312 -0.18774284
+v -0.41346843 0.17978309 -0.14982429
+v -0.45759720 0.06549445 -0.16589289
+v -0.41666800 -0.02916311 -0.20215953
+v -0.37222252 0.20538414 -0.17856740
+v -0.35727565 0.18035706 -0.21753835
+v -0.32146515 0.14060919 -0.26961976
+v -0.33429887 -0.04325038 -0.25145757
+v -0.34463748 -0.07150652 -0.23081846
+v -0.42898371 -0.05683772 -0.17491746
+v -0.37387310 0.22211450 -0.15092504
+v -0.43027553 -0.02855353 -0.18885620
+v -0.34289795 0.20610680 -0.20651524
+v -0.33108644 0.16415285 -0.24971244
+v -0.34587501 -0.04097427 -0.24579004
+v -0.33011101 0.23356630 -0.18007668
+v -0.34380771 0.19200509 -0.21843371
+f 6 3 4
+f 9 5 7
+f 10 6 4
+f 10 1 6
+f 10 9 7
+f 16 6 1
+f 16 11 3
+f 16 3 6
+f 17 3 11
+f 17 11 2
+f 17 2 8
+f 18 11 16
+f 19 8 2
+f 20 4 3
+f 21 10 4
+f 21 20 13
+f 21 4 20
+f 21 13 9
+f 21 9 10
+f 23 12 14
+f 25 15 10
+f 25 10 7
+f 27 16 1
+f 27 1 10
+f 27 18 16
+f 27 10 15
+f 28 2 11
+f 28 11 18
+f 29 27 15
+f 30 8 19
+f 30 12 23
+f 31 5 9
+f 32 14 22
+f 33 7 5
+f 35 23 14
+f 35 32 24
+f 35 14 32
+f 35 30 23
+f 36 25 7
+f 36 15 25
+f 36 7 33
+f 38 26 12
+f 38 30 19
+f 38 12 30
+f 39 28 18
+f 39 18 27
+f 39 27 29
+f 39 2 28
+f 39 37 2
+f 40 29 15
+f 40 26 29
+f 41 31 9
+f 41 22 31
+f 41 32 22
+f 41 24 32
+f 41 34 24
+f 41 9 13
+f 42 22 14
+f 42 14 12
+f 42 12 33
+f 42 31 22
+f 42 33 5
+f 42 5 31
+f 43 33 12
+f 43 12 26
+f 43 26 40
+f 44 24 34
+f 45 35 24
+f 45 24 44
+f 46 17 8
+f 46 8 30
+f 46 30 35
+f 47 19 2
+f 47 2 37
+f 47 38 19
+f 48 29 26
+f 48 47 37
+f 48 39 29
+f 48 37 39
+f 49 40 15
+f 49 15 36
+f 49 43 40
+f 50 41 13
+f 50 34 41
+f 50 44 34
+f 50 13 20
+f 50 20 44
+f 51 36 33
+f 51 33 43
+f 51 49 36
+f 51 43 49
+f 52 45 44
+f 52 3 17
+f 53 35 45
+f 53 46 35
+f 53 17 46
+f 54 26 38
+f 54 38 47
+f 54 48 26
+f 54 47 48
+f 55 52 44
+f 55 44 20
+f 55 20 3
+f 55 3 52
+f 56 52 17
+f 56 17 53
+f 56 53 45
+f 56 45 52
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_11.obj b/mango/mango_10/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5ec1b4ff271a1beea636176d378aeee36bfc87b
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.24445461 -0.21992086 0.03466092
+v 0.47903278 -0.01443361 -0.08430899
+v 0.38729174 -0.06044034 0.11424976
+v 0.25000001 -0.02074168 0.12802443
+v 0.26208266 -0.01591676 -0.26909955
+v 0.39361309 -0.01893879 0.12158336
+v 0.24534168 -0.19446357 0.12405934
+v 0.41525283 -0.09773437 0.03034311
+v 0.31494183 -0.13923814 -0.14674139
+v 0.25000001 -0.02074168 0.00681231
+v 0.27697423 -0.01402449 -0.26623292
+v 0.46338458 -0.01275776 -0.13838677
+v 0.24299098 -0.20319641 0.10793352
+v 0.37071362 -0.08723841 0.11585237
+v 0.46484105 -0.01713430 0.01722592
+v 0.26050433 -0.15987450 -0.15067102
+v 0.35871420 -0.15454695 -0.03640852
+v 0.25978371 -0.02814115 -0.26490316
+v 0.44542989 -0.01695753 0.05677505
+v 0.37392001 -0.06761072 -0.18782289
+v 0.32537825 -0.15646537 0.08891705
+v 0.24411916 -0.22008233 0.00679022
+v 0.41315525 -0.06949337 0.07270676
+v 0.45881281 -0.05499665 -0.02447082
+v 0.44468356 -0.06652378 -0.09551902
+v 0.47950144 -0.01551079 -0.03955699
+v 0.42748129 -0.04368379 0.07084992
+v 0.37903625 -0.01399932 -0.22232392
+v 0.27404252 -0.11150745 -0.20334672
+v 0.26681711 -0.18455005 0.11775218
+v 0.38810241 -0.09583520 0.08545232
+v 0.32813815 -0.17031461 0.04778997
+v 0.26016226 -0.11353854 -0.20653275
+v 0.31471704 -0.18510318 -0.02239437
+v 0.40060711 -0.05938201 0.09869677
+v 0.45645224 -0.04218489 0.01393761
+v 0.44359108 -0.07212042 0.00089451
+v 0.45962823 -0.03973889 -0.10945272
+v 0.45953766 -0.05549956 -0.06571623
+v 0.38727242 -0.10808492 -0.12081616
+v 0.42124605 -0.01264534 -0.19133154
+v 0.31682641 -0.05323730 -0.23184361
+v 0.33117494 -0.10858478 -0.17624218
+v 0.25487099 -0.19887356 0.10263617
+v 0.34107072 -0.12519321 0.11552018
+v 0.34232461 -0.15403595 0.06184663
+v 0.41345667 -0.08361476 0.05697079
+v 0.35778207 -0.15519320 0.01984181
+v 0.26034159 -0.05686712 -0.24994245
+v 0.26026698 -0.12785539 -0.19187772
+v 0.25656642 -0.21490686 0.00863874
+v 0.31335949 -0.18536114 0.02047628
+v 0.26058359 -0.18963021 -0.09441483
+v 0.38484331 -0.08657501 0.09854618
+v 0.44239273 -0.02791716 0.05587447
+v 0.47373732 -0.02910188 -0.03848154
+v 0.40460791 -0.10791798 -0.09152906
+v 0.47441709 -0.02500630 -0.08126241
+v 0.43002383 -0.05190080 -0.14698880
+v 0.32967545 -0.15361270 -0.10591194
+v 0.41634831 -0.02248621 -0.18949056
+v 0.32101902 -0.01498306 -0.25099115
+v 0.34729633 -0.05103868 -0.21814172
+v 0.34499374 -0.13822148 -0.11988495
+f 7 6 4
+f 10 4 5
+f 11 5 4
+f 13 7 4
+f 13 4 10
+f 14 3 6
+f 14 6 7
+f 18 10 5
+f 18 5 11
+f 19 2 12
+f 19 12 4
+f 19 4 6
+f 22 13 10
+f 22 1 13
+f 22 10 18
+f 26 19 15
+f 26 2 19
+f 27 19 6
+f 35 3 14
+f 35 23 27
+f 35 27 6
+f 35 6 3
+f 36 27 23
+f 36 26 15
+f 37 24 36
+f 38 12 2
+f 39 24 37
+f 39 37 17
+f 39 25 38
+f 41 28 11
+f 41 11 4
+f 41 4 12
+f 43 20 40
+f 44 30 7
+f 44 7 13
+f 44 13 1
+f 44 32 21
+f 44 21 30
+f 45 30 21
+f 45 14 7
+f 45 7 30
+f 45 31 14
+f 45 21 31
+f 46 31 21
+f 46 8 31
+f 46 21 32
+f 47 31 8
+f 47 23 31
+f 47 36 23
+f 47 37 36
+f 47 8 37
+f 48 46 32
+f 48 8 46
+f 48 37 8
+f 48 17 37
+f 48 34 17
+f 49 33 22
+f 49 22 18
+f 49 42 29
+f 49 29 33
+f 50 16 22
+f 50 22 33
+f 50 33 29
+f 50 29 43
+f 50 43 9
+f 50 9 16
+f 51 1 22
+f 51 22 34
+f 52 51 34
+f 52 1 51
+f 52 44 1
+f 52 32 44
+f 52 48 32
+f 52 34 48
+f 53 34 22
+f 53 22 16
+f 53 16 9
+f 54 31 23
+f 54 23 35
+f 54 35 14
+f 54 14 31
+f 55 36 15
+f 55 15 19
+f 55 19 27
+f 55 27 36
+f 56 36 24
+f 56 26 36
+f 56 24 39
+f 56 2 26
+f 57 39 17
+f 57 25 39
+f 58 39 38
+f 58 38 2
+f 58 56 39
+f 58 2 56
+f 59 38 25
+f 59 57 40
+f 59 25 57
+f 59 12 38
+f 59 40 20
+f 60 17 34
+f 60 34 53
+f 60 53 9
+f 60 57 17
+f 61 20 28
+f 61 28 41
+f 61 59 20
+f 61 41 12
+f 61 12 59
+f 62 11 28
+f 62 42 49
+f 62 49 18
+f 62 18 11
+f 63 28 20
+f 63 20 43
+f 63 43 29
+f 63 29 42
+f 63 62 28
+f 63 42 62
+f 64 43 40
+f 64 9 43
+f 64 60 9
+f 64 40 57
+f 64 57 60
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_12.obj b/mango/mango_10/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a14e143b900517cc80cfde5a98fd3f0f48e78e7a
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_12.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.24534168 -0.19446357 0.12405934
+v 0.39192684 -0.03333786 0.12011275
+v 0.24207145 -0.07848093 0.22096770
+v 0.37821321 0.03703414 0.13296415
+v 0.25000001 -0.02074168 0.12802443
+v 0.33161557 -0.02121022 0.17404309
+v 0.30980423 -0.11500876 0.15822690
+v 0.25635429 -0.18958791 0.12065761
+v 0.39450659 0.03833716 0.11914468
+v 0.24199090 -0.18981890 0.13688356
+v 0.24475577 -0.02147947 0.22468153
+v 0.31300761 -0.08959381 0.17083723
+v 0.34592960 -0.11661444 0.11829175
+v 0.38527333 0.03949902 0.12661594
+v 0.38628231 -0.03327683 0.12669007
+v 0.38725789 0.03591236 0.12590550
+v 0.24233662 -0.12142800 0.20522176
+v 0.25343837 -0.18449300 0.13397911
+v 0.28586804 -0.02105659 0.20242267
+v 0.28327197 -0.06173066 0.20034001
+v 0.37011589 -0.07405809 0.12614327
+v 0.37577381 -0.07488097 0.11915845
+v 0.32599444 -0.05988415 0.17104043
+v 0.28169616 -0.13029614 0.17080058
+v 0.30150142 -0.15845919 0.12110216
+v 0.25420767 -0.07705514 0.21461127
+v 0.25695558 -0.02337326 0.21850887
+v 0.35487829 -0.07266280 0.14167469
+v 0.34052689 -0.11163257 0.12949345
+v 0.25217608 -0.11698256 0.20081364
+v 0.26754571 -0.15755375 0.15758623
+v 0.29591628 -0.15557095 0.13165393
+v 0.26699579 -0.14351495 0.17181867
+f 8 1 5
+f 9 8 5
+f 10 5 1
+f 10 3 5
+f 11 5 3
+f 11 4 5
+f 13 8 9
+f 14 9 5
+f 14 5 4
+f 15 2 9
+f 16 4 6
+f 16 15 9
+f 16 6 15
+f 16 14 4
+f 16 9 14
+f 17 3 10
+f 18 10 1
+f 18 1 8
+f 19 6 4
+f 19 4 11
+f 20 6 19
+f 21 2 15
+f 22 13 9
+f 22 9 2
+f 22 2 21
+f 23 15 6
+f 23 20 12
+f 23 6 20
+f 24 7 12
+f 25 18 8
+f 25 8 13
+f 26 12 20
+f 26 3 17
+f 27 20 19
+f 27 19 11
+f 27 26 20
+f 27 11 3
+f 27 3 26
+f 28 12 7
+f 28 7 21
+f 28 23 12
+f 28 21 15
+f 28 15 23
+f 29 21 7
+f 29 22 21
+f 29 13 22
+f 30 24 12
+f 30 17 24
+f 30 26 17
+f 30 12 26
+f 31 17 10
+f 31 10 18
+f 32 25 13
+f 32 13 29
+f 32 29 7
+f 32 7 24
+f 32 24 31
+f 32 31 18
+f 32 18 25
+f 33 31 24
+f 33 24 17
+f 33 17 31
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_13.obj b/mango/mango_10/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f2247f6a65b257190cb4f8ece92434c9325ffc6
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_13.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.01949672 -0.27639439 0.10836520
+v 0.26286881 -0.16523140 -0.14090934
+v 0.24501706 -0.16580454 0.16793040
+v 0.00757576 -0.17225683 0.17347898
+v 0.00827280 -0.20019380 -0.16351532
+v 0.00902531 -0.25654600 0.17758040
+v 0.28049264 -0.20374828 0.00646370
+v 0.08033335 -0.26019615 -0.03229742
+v 0.18289116 -0.22801710 0.12038105
+v 0.00784793 -0.27718549 -0.00485555
+v 0.12705412 -0.21359646 -0.11888716
+v 0.16832704 -0.24448641 0.08112441
+v 0.19848887 -0.22740407 -0.04876208
+v 0.12262278 -0.24487114 0.13732643
+v 0.23858771 -0.20028006 0.12183583
+v 0.00502476 -0.27850025 0.10935205
+v 0.00676919 -0.26385217 -0.04770447
+v 0.15661514 -0.19970607 -0.13352130
+v 0.04997762 -0.27585055 0.02280721
+v 0.25648335 -0.19769731 -0.07799880
+v 0.21464352 -0.22909773 -0.01921165
+v 0.13818297 -0.24328612 -0.04953306
+v 0.06408567 -0.25987428 0.13837447
+v 0.15166290 -0.24394316 0.10881958
+v 0.16557456 -0.21522947 0.16456161
+v 0.24065353 -0.18519821 0.14582607
+v 0.24151414 -0.21408672 0.07832317
+v 0.00560709 -0.27059542 0.14089585
+v 0.00532943 -0.21912396 -0.13649977
+v 0.05081703 -0.25932209 -0.04725671
+v 0.01943100 -0.27568941 -0.00477192
+v 0.04909242 -0.27593202 0.06731649
+v 0.16985280 -0.21298310 -0.10408317
+v 0.26250461 -0.21200172 0.00682953
+v 0.16754782 -0.24405723 -0.01848979
+v 0.24293988 -0.21540704 -0.03392942
+v 0.08212191 -0.24388420 0.17088754
+v 0.21089616 -0.22807010 0.07889868
+v 0.16609365 -0.23022872 0.13299302
+v 0.09368135 -0.26051549 0.10871846
+v 0.22371348 -0.18478968 0.16211838
+v 0.22525855 -0.21274405 0.10615863
+v 0.06388412 -0.21430677 -0.13366096
+v 0.08057858 -0.24419832 -0.07591960
+v 0.10994050 -0.26067505 0.07971221
+v 0.21527585 -0.18567637 -0.13228503
+v 0.21451455 -0.21344384 -0.07496176
+v 0.10996849 -0.25979675 -0.00641443
+v 0.03388424 -0.27533581 0.09597156
+v 0.24118579 -0.17352099 0.16179965
+v 0.24409700 -0.18321926 -0.12024202
+v 0.25932924 -0.17089423 -0.13386075
+v 0.24336158 -0.19670517 -0.09268119
+f 3 2 4
+f 5 4 2
+f 6 3 4
+f 7 2 3
+f 17 10 16
+f 18 5 2
+f 19 16 10
+f 20 2 7
+f 26 15 7
+f 26 7 3
+f 26 25 15
+f 27 7 15
+f 28 6 4
+f 28 4 16
+f 28 23 6
+f 28 16 1
+f 28 1 23
+f 29 16 4
+f 29 4 5
+f 29 17 16
+f 30 8 10
+f 30 10 17
+f 31 19 10
+f 31 10 8
+f 31 8 19
+f 32 1 16
+f 32 16 19
+f 33 11 18
+f 34 12 21
+f 34 7 27
+f 35 21 12
+f 35 22 13
+f 35 13 21
+f 36 20 7
+f 36 34 21
+f 36 7 34
+f 36 21 13
+f 36 13 20
+f 37 23 14
+f 37 6 23
+f 37 14 25
+f 37 25 3
+f 37 3 6
+f 38 24 12
+f 38 9 24
+f 38 27 9
+f 38 34 27
+f 38 12 34
+f 39 24 9
+f 39 14 24
+f 39 25 14
+f 39 9 15
+f 39 15 25
+f 40 24 14
+f 40 14 23
+f 40 23 1
+f 40 12 24
+f 41 3 25
+f 41 25 26
+f 42 27 15
+f 42 15 9
+f 42 9 27
+f 43 18 11
+f 43 29 5
+f 43 5 18
+f 44 22 8
+f 44 8 30
+f 44 33 22
+f 44 11 33
+f 44 43 11
+f 44 30 17
+f 44 17 29
+f 44 29 43
+f 45 32 19
+f 45 40 32
+f 45 12 40
+f 45 35 12
+f 46 33 18
+f 46 18 2
+f 47 20 13
+f 47 13 22
+f 47 22 33
+f 48 19 8
+f 48 8 22
+f 48 22 35
+f 48 45 19
+f 48 35 45
+f 49 40 1
+f 49 1 32
+f 49 32 40
+f 50 41 26
+f 50 26 3
+f 50 3 41
+f 51 33 46
+f 52 51 46
+f 52 46 2
+f 52 2 20
+f 53 20 47
+f 53 47 33
+f 53 33 51
+f 53 52 20
+f 53 51 52
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_14.obj b/mango/mango_10/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..027fdfa3b2a715944ffe8fed6a80534a77f274d9
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_14.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.00618274 -0.15096547 0.28303874
+v 0.00757576 -0.15710532 0.17347898
+v 0.00757576 0.08531893 0.17347898
+v -0.23387353 0.08211015 0.27150715
+v -0.23484848 -0.15710532 0.17347898
+v 0.00416600 0.03133177 0.29297541
+v 0.00743808 0.08478040 0.26359261
+v -0.23033103 -0.10594282 0.29149585
+v -0.23484848 0.08531893 0.17347898
+v 0.00569905 -0.07942568 0.30680323
+v -0.11383374 0.06120636 0.29194999
+v -0.23247470 -0.15075181 0.26898535
+v 0.00435813 -0.02270430 0.30743455
+v -0.14168406 -0.10479825 0.30755570
+v -0.02620490 0.07351916 0.27668536
+v -0.23143181 0.03319941 0.29100840
+v -0.07029966 0.01917924 0.30713841
+v -0.03882190 -0.10546973 0.30647302
+v -0.12713458 -0.14876366 0.29089868
+v 0.00405334 0.06225266 0.27845129
+v -0.20151027 -0.00858297 0.30646233
+v -0.20159116 0.04885853 0.29068136
+v -0.02485747 0.00453542 0.30636009
+v -0.02481852 0.04547689 0.29157939
+v 0.00415180 -0.13381810 0.29172041
+v -0.04106044 -0.14987709 0.29088515
+v -0.18601647 -0.13157810 0.29180949
+v 0.00574428 0.07808933 0.26861728
+v -0.19958506 -0.07838914 0.30657236
+v -0.14370669 0.06059664 0.29188136
+v -0.23138755 0.06526711 0.27901473
+v -0.15740290 0.02013654 0.30596262
+v -0.00907636 -0.09273350 0.30642019
+v -0.23106225 -0.13337991 0.27917471
+v -0.21511261 -0.14631022 0.27670963
+v -0.21332245 -0.11723854 0.29167897
+v -0.21651928 0.07702550 0.27671250
+v -0.18664374 0.00519341 0.30617133
+f 5 2 1
+f 5 3 2
+f 7 1 2
+f 7 2 3
+f 9 5 4
+f 9 3 5
+f 9 7 3
+f 9 4 7
+f 10 1 7
+f 12 5 1
+f 12 4 5
+f 13 10 7
+f 13 7 6
+f 14 10 13
+f 15 7 4
+f 15 4 11
+f 16 12 8
+f 16 4 12
+f 17 14 13
+f 18 10 14
+f 20 6 7
+f 21 16 8
+f 21 14 17
+f 23 17 13
+f 23 13 6
+f 23 6 17
+f 24 15 11
+f 24 11 17
+f 24 17 6
+f 24 20 15
+f 24 6 20
+f 25 1 10
+f 26 19 12
+f 26 12 1
+f 26 1 25
+f 26 25 18
+f 26 18 14
+f 26 14 19
+f 27 19 14
+f 28 20 7
+f 28 7 15
+f 28 15 20
+f 29 21 8
+f 29 14 21
+f 29 27 14
+f 30 17 11
+f 31 4 16
+f 31 16 22
+f 32 30 22
+f 32 17 30
+f 33 25 10
+f 33 10 18
+f 33 18 25
+f 34 8 12
+f 35 12 19
+f 35 19 27
+f 35 34 12
+f 35 27 34
+f 36 29 8
+f 36 27 29
+f 36 34 27
+f 36 8 34
+f 37 30 11
+f 37 11 4
+f 37 22 30
+f 37 31 22
+f 37 4 31
+f 38 16 21
+f 38 21 17
+f 38 17 32
+f 38 32 22
+f 38 22 16
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_15.obj b/mango/mango_10/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38fb882e4d9fcf05685793ed056ae6d76d1de013
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_15.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.26191922 0.10798592 0.16387724
+v 0.26515152 0.11562196 0.00681231
+v 0.27409407 0.21537366 0.02820407
+v -0.27759312 0.27283092 -0.01003818
+v -0.46825038 0.11410491 0.00577133
+v 0.11118253 0.25096674 0.00389525
+v -0.31779798 0.18868077 0.16022045
+v 0.22199651 0.22965409 0.01528159
+v -0.23439418 0.27901534 -0.00879108
+v -0.40769258 0.11037907 0.16609768
+v -0.41744699 0.20373442 0.01722184
+v -0.07249696 0.20458137 0.16210800
+v -0.23370816 0.24908714 0.08744353
+v -0.43197860 0.10942231 0.13401361
+v -0.32026327 0.24732961 0.04374381
+v -0.43215786 0.19293379 0.00375311
+v -0.38881395 0.17206500 0.11969781
+v 0.18598601 0.17248833 0.12936667
+v -0.02555010 0.24724808 0.07432228
+v -0.27436430 0.20312573 0.15967185
+v -0.27485389 0.26394223 0.03193054
+v -0.44882983 0.11018446 0.10583314
+v -0.33592257 0.25339679 0.00342122
+v -0.46139271 0.13991563 0.00414853
+v -0.34639601 0.17584654 0.15797534
+v -0.34471424 0.21812325 0.08840142
+v -0.42796028 0.14841554 0.10168212
+v 0.09381374 0.17341677 0.15921110
+v 0.26185949 0.17400816 0.09973803
+v -0.01092715 0.26284603 0.03110164
+v -0.11549396 0.23349686 0.11830316
+v 0.06478540 0.21786035 0.10125455
+v -0.29078958 0.23196877 0.10356909
+v -0.24664647 0.26337646 0.04720799
+v -0.23778827 0.27662971 0.00051222
+v -0.41873615 0.20585725 0.00373017
+v -0.29051479 0.26451083 0.01604494
+v -0.44278172 0.16354907 0.04832286
+v -0.45859225 0.12573252 0.04850100
+v -0.40410233 0.12023974 0.16219808
+v -0.40465721 0.20386251 0.04383968
+v -0.34473822 0.20360101 0.11633170
+v -0.44517348 0.12134912 0.10256540
+v 0.22938486 0.13313177 0.15645091
+v 0.00565663 0.26429501 0.01791488
+v -0.07075476 0.26470959 0.04459818
+v 0.01940151 0.24710747 0.05913563
+v -0.02579471 0.23277782 0.10261380
+v -0.21835099 0.21888655 0.14792036
+v 0.04948272 0.20355235 0.13017451
+v -0.33164876 0.21727932 0.10334629
+v -0.30503758 0.20405332 0.14526483
+v -0.27780073 0.24761846 0.07431533
+v -0.43054501 0.19119921 0.01740126
+v -0.39143657 0.21789931 0.03065080
+v -0.29069865 0.26684449 0.00366175
+v -0.33264968 0.24728929 0.02986994
+v -0.46014266 0.14006517 0.01845535
+v -0.46089622 0.11471767 0.05070268
+v -0.42920227 0.11869187 0.13029079
+v -0.40338148 0.18962309 0.07325051
+v -0.44351152 0.13613527 0.08907998
+v 0.22872042 0.15909425 0.12969911
+v 0.25763602 0.11839983 0.15729804
+f 1 2 3
+f 5 2 1
+f 5 4 2
+f 8 3 2
+f 8 2 6
+f 9 6 2
+f 9 2 4
+f 12 10 1
+f 14 1 10
+f 20 7 10
+f 20 10 12
+f 22 5 1
+f 22 1 14
+f 24 16 4
+f 24 4 5
+f 25 10 7
+f 28 12 1
+f 29 1 3
+f 35 9 4
+f 35 4 21
+f 35 21 34
+f 36 23 4
+f 36 4 16
+f 37 21 4
+f 37 15 21
+f 40 25 17
+f 40 10 25
+f 40 17 27
+f 42 17 25
+f 42 25 7
+f 43 22 14
+f 44 28 1
+f 45 30 8
+f 45 8 6
+f 45 6 9
+f 46 19 30
+f 46 31 19
+f 46 13 31
+f 46 34 13
+f 46 35 34
+f 46 9 35
+f 46 45 9
+f 46 30 45
+f 47 30 19
+f 47 3 8
+f 47 8 30
+f 47 32 3
+f 47 19 32
+f 48 31 12
+f 48 19 31
+f 48 32 19
+f 49 20 12
+f 49 12 31
+f 49 31 13
+f 49 33 20
+f 49 13 33
+f 50 12 28
+f 50 28 18
+f 50 18 29
+f 50 29 3
+f 50 3 32
+f 50 48 12
+f 50 32 48
+f 51 33 15
+f 51 15 26
+f 51 26 42
+f 52 7 20
+f 52 20 33
+f 52 33 51
+f 52 51 42
+f 52 42 7
+f 53 21 15
+f 53 15 33
+f 53 34 21
+f 53 33 13
+f 53 13 34
+f 54 36 16
+f 54 11 36
+f 54 16 38
+f 54 41 11
+f 54 38 41
+f 55 36 11
+f 55 23 36
+f 55 11 41
+f 55 41 26
+f 56 37 4
+f 56 4 23
+f 56 23 37
+f 57 37 23
+f 57 15 37
+f 57 23 55
+f 57 55 26
+f 57 26 15
+f 58 38 16
+f 58 16 24
+f 58 39 38
+f 58 24 5
+f 59 5 22
+f 59 22 39
+f 59 58 5
+f 59 39 58
+f 60 40 27
+f 60 14 10
+f 60 10 40
+f 60 43 14
+f 60 27 43
+f 61 27 17
+f 61 17 42
+f 61 42 26
+f 61 26 41
+f 61 41 38
+f 61 38 27
+f 62 43 27
+f 62 27 38
+f 62 38 39
+f 62 39 22
+f 62 22 43
+f 63 18 28
+f 63 28 44
+f 63 44 29
+f 63 29 18
+f 64 44 1
+f 64 1 29
+f 64 29 44
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_16.obj b/mango/mango_10/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..454b23e11d98eba1151565415ab627146c0c5a64
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_16.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.26528338 -0.21070620 0.00440148
+v 0.28363029 -0.01977904 0.20364903
+v -0.36907960 0.12946321 0.18863688
+v -0.38439062 -0.20779493 0.00008717
+v 0.26515152 0.11562196 0.00681231
+v -0.25419204 -0.21368375 0.20436887
+v 0.26191922 0.10798592 0.16387724
+v -0.35606060 0.11562196 0.00681231
+v 0.24501706 -0.16580454 0.16793040
+v -0.36158127 -0.16243229 0.18017400
+f 5 1 4
+f 5 2 1
+f 6 4 1
+f 6 2 3
+f 7 5 3
+f 7 3 2
+f 7 2 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
+f 9 6 1
+f 9 1 2
+f 9 2 6
+f 10 6 3
+f 10 3 4
+f 10 4 6
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_17.obj b/mango/mango_10/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15cdc29464bfa83f5c011b0dda7c9ec667021991
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_17.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.26326464 -0.12056923 -0.19838600
+v 0.26989630 -0.09403230 -0.22036845
+v -0.34306760 -0.08384537 -0.22465824
+v -0.33824677 -0.07854345 -0.23044403
+v -0.00764644 -0.08546997 -0.27838591
+v 0.26233201 -0.07288336 -0.23907951
+v 0.09469767 -0.11220002 -0.24930598
+v -0.21620077 -0.11480235 -0.24912170
+v -0.15808347 -0.07396668 -0.28445552
+v 0.17002899 -0.11229170 -0.23384714
+v 0.12705805 -0.07567061 -0.26810686
+v -0.27361874 -0.11324306 -0.23448479
+v 0.05164364 -0.09994338 -0.26351893
+v 0.14704941 -0.13739390 -0.21581947
+v -0.29091166 -0.07396442 -0.25394223
+v -0.15731945 -0.08540225 -0.27755245
+v 0.22927718 -0.11197919 -0.21882677
+v 0.15683930 -0.09802635 -0.24831226
+v -0.00830219 -0.07495121 -0.28392082
+v -0.31813260 -0.08844515 -0.23487877
+v -0.31981758 -0.11978376 -0.21106957
+v 0.12716720 -0.08584113 -0.26192581
+v 0.15110688 -0.10834004 -0.24156036
+v -0.24638273 -0.07445903 -0.26818272
+v -0.20311043 -0.10135737 -0.26201668
+v 0.26016226 -0.11353854 -0.20653275
+v 0.26018057 -0.08287238 -0.23240316
+v 0.20188632 -0.07497950 -0.25473513
+v -0.28719465 -0.08466145 -0.24943693
+v -0.31990947 -0.07677725 -0.24071051
+v -0.33641075 -0.10575657 -0.21319325
+v -0.31479999 -0.11377748 -0.21830064
+v -0.24521255 -0.08514783 -0.26172680
+v 0.19871137 -0.08453330 -0.24877314
+v -0.33216394 -0.09851459 -0.22068904
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 13 8 5
+f 13 7 8
+f 13 5 11
+f 14 8 7
+f 15 4 6
+f 15 6 9
+f 16 9 5
+f 16 5 8
+f 17 14 10
+f 17 1 14
+f 19 9 6
+f 19 6 11
+f 19 11 5
+f 19 5 9
+f 20 3 4
+f 21 14 1
+f 21 12 8
+f 21 8 14
+f 22 13 11
+f 22 7 13
+f 22 18 7
+f 23 14 7
+f 23 10 14
+f 23 18 10
+f 23 7 18
+f 24 15 9
+f 25 16 8
+f 25 9 16
+f 25 24 9
+f 26 17 2
+f 26 2 1
+f 26 1 17
+f 27 6 2
+f 27 2 17
+f 28 11 6
+f 28 22 11
+f 28 18 22
+f 29 15 24
+f 30 20 4
+f 30 4 15
+f 30 29 20
+f 30 15 29
+f 31 21 1
+f 31 1 3
+f 32 12 21
+f 32 29 12
+f 32 20 29
+f 32 21 31
+f 33 24 25
+f 33 29 24
+f 33 12 29
+f 33 25 8
+f 33 8 12
+f 34 28 6
+f 34 6 27
+f 34 27 17
+f 34 17 10
+f 34 10 18
+f 34 18 28
+f 35 31 3
+f 35 3 20
+f 35 32 31
+f 35 20 32
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_18.obj b/mango/mango_10/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9924631f1dfa0fea056f4357b6c5cbc8c5767f82
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_18.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.14033783 0.06563585 0.23902472
+v 0.19178816 0.12169595 0.18030036
+v -0.08738116 0.14480955 0.23408498
+v -0.29097584 0.19449598 0.16489251
+v 0.00757576 0.07016741 0.17347898
+v -0.04030172 0.19608331 0.16658098
+v 0.04800300 0.11631358 0.23150383
+v 0.18514848 0.10777377 0.19399455
+v -0.33609658 0.08130963 0.23928858
+v -0.22058978 0.19045803 0.18949560
+v 0.15573936 0.15098277 0.16448770
+v -0.11503868 0.07866278 0.28316671
+v -0.01138343 0.15960758 0.20404794
+v 0.07672695 0.08858305 0.24558180
+v 0.04968370 0.06334207 0.26827237
+v -0.36636088 0.10872457 0.20615410
+v -0.12987808 0.19067675 0.18942060
+v -0.29063504 0.14663267 0.21749199
+v 0.03618312 0.18168992 0.16549722
+v 0.18725312 0.13861492 0.16597669
+v -0.20373959 0.13191934 0.24822967
+v -0.01017831 0.13011170 0.23282689
+v 0.10841037 0.14474183 0.18734290
+v 0.15929401 0.09766316 0.21166737
+v 0.10952023 0.06319635 0.25166130
+v -0.26197254 0.07964722 0.26640540
+v -0.33845990 0.17103763 0.16930668
+v -0.10109464 0.17529069 0.20440143
+v -0.28878736 0.18925001 0.17364763
+v -0.33215359 0.10339576 0.23057373
+v -0.03983659 0.19004585 0.17490769
+v -0.11453996 0.13278879 0.24701165
+v -0.24584069 0.15907508 0.21895127
+v 0.00454370 0.08869509 0.26164660
+v 0.10822001 0.12961562 0.20255170
+v 0.04671410 0.16080768 0.18749762
+v 0.15320172 0.14355583 0.17389496
+v 0.18412467 0.11703261 0.18714663
+v 0.10663858 0.07244726 0.24689681
+v 0.00678010 0.06720084 0.27495171
+v -0.23123080 0.10387584 0.26124592
+v -0.32152037 0.18204029 0.16706211
+v -0.08610848 0.15986518 0.21852445
+v -0.28874035 0.10648405 0.24645376
+v -0.31816146 0.13210637 0.21803230
+v -0.14360949 0.09029671 0.27668953
+v -0.23239866 0.14726151 0.23166774
+v 0.04898819 0.07376936 0.26213102
+v 0.03494723 0.10140054 0.24665930
+v -0.05660329 0.10385312 0.26179739
+v 0.09244271 0.10173702 0.23096560
+v 0.15306867 0.13060857 0.18639550
+v 0.13719420 0.10161316 0.21626603
+v 0.13934116 0.07496050 0.23405082
+v -0.14357238 0.07901469 0.28243427
+v -0.31811590 0.17630799 0.17555930
+v -0.26042345 0.09276324 0.26143435
+v -0.30591610 0.09371874 0.24721180
+v -0.33572408 0.16497314 0.17824420
+v -0.11469168 0.09008237 0.27649630
+v -0.26214016 0.11944446 0.24644387
+v -0.02596738 0.11708667 0.24667515
+v 0.18424958 0.13231312 0.17360903
+v -0.30579775 0.08079775 0.25254354
+f 8 5 2
+f 8 1 5
+f 10 6 4
+f 11 5 4
+f 15 9 5
+f 16 5 9
+f 17 6 10
+f 19 11 4
+f 19 4 6
+f 20 2 5
+f 20 5 11
+f 21 17 10
+f 22 13 3
+f 22 7 13
+f 23 11 19
+f 25 15 5
+f 25 5 1
+f 25 14 15
+f 27 5 16
+f 29 10 4
+f 30 16 9
+f 31 19 6
+f 31 13 19
+f 31 28 13
+f 31 6 17
+f 31 17 28
+f 32 3 28
+f 32 28 17
+f 32 17 21
+f 33 29 18
+f 33 10 29
+f 35 23 13
+f 35 13 7
+f 36 23 19
+f 36 19 13
+f 36 13 23
+f 37 20 11
+f 37 11 23
+f 37 23 35
+f 38 24 8
+f 38 8 2
+f 39 24 14
+f 39 14 25
+f 40 26 15
+f 42 4 5
+f 42 5 27
+f 42 29 4
+f 43 28 3
+f 43 3 13
+f 43 13 28
+f 45 16 30
+f 45 44 18
+f 45 30 44
+f 46 32 21
+f 46 21 41
+f 47 21 10
+f 47 10 33
+f 48 15 14
+f 48 40 15
+f 48 34 40
+f 49 14 7
+f 49 7 22
+f 49 48 14
+f 49 34 48
+f 50 3 32
+f 50 40 34
+f 50 12 40
+f 51 35 7
+f 51 7 14
+f 52 37 35
+f 52 38 2
+f 53 24 38
+f 53 35 51
+f 53 51 14
+f 53 14 24
+f 53 52 35
+f 53 38 52
+f 54 39 25
+f 54 25 1
+f 54 24 39
+f 54 1 8
+f 54 8 24
+f 55 40 12
+f 55 26 40
+f 55 12 46
+f 55 46 41
+f 55 41 26
+f 56 18 29
+f 56 29 42
+f 57 26 41
+f 58 44 30
+f 58 30 9
+f 58 57 44
+f 58 26 57
+f 59 27 16
+f 59 16 45
+f 59 45 18
+f 59 18 56
+f 59 56 42
+f 59 42 27
+f 60 46 12
+f 60 32 46
+f 60 50 32
+f 60 12 50
+f 61 47 33
+f 61 33 18
+f 61 18 44
+f 61 41 21
+f 61 21 47
+f 61 57 41
+f 61 44 57
+f 62 22 3
+f 62 3 50
+f 62 49 22
+f 62 50 34
+f 62 34 49
+f 63 52 2
+f 63 2 20
+f 63 20 37
+f 63 37 52
+f 64 58 9
+f 64 26 58
+f 64 9 15
+f 64 15 26
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_19.obj b/mango/mango_10/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..040b9f482e9628b5279b2966a87926f15cd5f6a2
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_19.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v 0.18666314 -0.19016454 -0.13691229
+v 0.27346252 -0.14785629 -0.16051439
+v -0.33665867 -0.17716270 -0.13724521
+v -0.33828752 -0.12200327 -0.19943633
+v -0.06853280 -0.11900610 -0.25687539
+v -0.35282942 -0.14664471 -0.16275744
+v 0.26286881 -0.16523140 -0.14090934
+v 0.09535355 -0.12803741 -0.23500426
+v -0.15951438 -0.22046655 -0.13825799
+v 0.26326464 -0.12056923 -0.19838600
+v -0.31686588 -0.15686258 -0.17521706
+v 0.18549793 -0.18292807 -0.14970688
+v 0.24571572 -0.17311825 -0.13808493
+v -0.30570684 -0.19206595 -0.13618668
+v -0.03918059 -0.15691400 -0.22075950
+v 0.09711307 -0.11842869 -0.24316232
+v -0.33465939 -0.13003965 -0.19328113
+v -0.33176988 -0.17229312 -0.14746296
+v -0.23024075 -0.12897559 -0.23519946
+v 0.23052873 -0.13910713 -0.19033404
+v -0.05349633 -0.22283935 -0.13753451
+v 0.25807269 -0.15282653 -0.16180179
+v -0.01071889 -0.14148124 -0.23524304
+v 0.06561567 -0.18604368 -0.17610726
+v -0.31981758 -0.11978376 -0.21106957
+v -0.30358855 -0.18532117 -0.14710019
+v -0.15765005 -0.15456048 -0.22343719
+v 0.17225887 -0.11865059 -0.22805391
+v -0.26306994 -0.20535857 -0.13706305
+v 0.24335538 -0.16838255 -0.14664928
+v 0.26026698 -0.12785539 -0.19187772
+v -0.06736807 -0.12848470 -0.24948021
+v 0.01990545 -0.20103801 -0.16245888
+v 0.16987166 -0.15530075 -0.19048919
+v 0.09474534 -0.16920952 -0.19270565
+v -0.29141318 -0.11931817 -0.22365833
+v -0.31997280 -0.12721663 -0.20466617
+v -0.24361241 -0.17128321 -0.19015757
+v -0.12954903 -0.17101916 -0.20664292
+v -0.12703402 -0.12003962 -0.25687589
+v 0.23285924 -0.11815878 -0.21199183
+v -0.25963712 -0.19965723 -0.14746941
+v 0.09596512 -0.20737998 -0.13753916
+v 0.10977945 -0.15467286 -0.20572361
+v 0.14256642 -0.18393726 -0.16227551
+v -0.23217586 -0.11920185 -0.24220132
+v -0.28909317 -0.12645182 -0.21881350
+v -0.28951733 -0.15709746 -0.18939898
+v -0.24632421 -0.14268447 -0.21918093
+v -0.15662080 -0.21469373 -0.14794850
+v -0.05179918 -0.21544587 -0.14851754
+v -0.12706151 -0.12800756 -0.24966076
+v 0.16929188 -0.12699694 -0.22064972
+v 0.22963298 -0.12551765 -0.20547089
+v -0.20105658 -0.20004473 -0.16269648
+v 0.09524580 -0.19982463 -0.14929848
+v -0.27449022 -0.18442496 -0.16238375
+v -0.11521695 -0.17248886 -0.20501978
+v 0.11016336 -0.14074666 -0.21969195
+v -0.23235262 -0.18418309 -0.17798223
+f 7 6 3
+f 7 2 6
+f 10 6 2
+f 10 4 6
+f 13 7 3
+f 13 1 12
+f 14 13 3
+f 14 1 13
+f 17 11 6
+f 17 6 4
+f 18 3 6
+f 18 6 11
+f 18 14 3
+f 21 1 14
+f 22 2 7
+f 22 12 20
+f 23 16 8
+f 23 5 16
+f 25 4 10
+f 26 18 11
+f 26 14 18
+f 28 8 16
+f 29 21 14
+f 29 9 21
+f 30 22 7
+f 30 7 13
+f 30 13 12
+f 30 12 22
+f 31 22 20
+f 31 10 2
+f 31 2 22
+f 32 23 15
+f 32 5 23
+f 32 15 27
+f 33 15 24
+f 34 20 12
+f 35 24 15
+f 35 15 23
+f 37 17 4
+f 37 4 25
+f 37 11 17
+f 39 27 15
+f 40 27 19
+f 40 5 32
+f 41 10 31
+f 41 25 10
+f 41 36 25
+f 41 28 16
+f 41 16 36
+f 42 29 14
+f 42 14 26
+f 43 1 21
+f 43 21 33
+f 44 34 35
+f 44 35 23
+f 44 23 8
+f 45 35 34
+f 45 34 12
+f 45 24 35
+f 45 12 1
+f 45 1 43
+f 46 36 16
+f 46 16 5
+f 46 5 40
+f 46 40 19
+f 46 19 36
+f 47 37 25
+f 47 25 36
+f 47 36 19
+f 48 26 11
+f 48 11 37
+f 48 37 47
+f 49 19 27
+f 49 27 38
+f 49 38 48
+f 49 48 47
+f 49 47 19
+f 50 21 9
+f 51 33 21
+f 51 21 50
+f 51 15 33
+f 52 40 32
+f 52 32 27
+f 52 27 40
+f 53 28 41
+f 53 34 44
+f 53 8 28
+f 54 20 34
+f 54 53 41
+f 54 34 53
+f 54 41 31
+f 54 31 20
+f 55 9 29
+f 55 29 42
+f 55 50 9
+f 55 27 39
+f 55 39 50
+f 56 45 43
+f 56 24 45
+f 56 43 33
+f 56 33 24
+f 57 42 26
+f 57 26 48
+f 57 48 38
+f 58 51 50
+f 58 50 39
+f 58 39 15
+f 58 15 51
+f 59 53 44
+f 59 44 8
+f 59 8 53
+f 60 55 42
+f 60 38 27
+f 60 27 55
+f 60 57 38
+f 60 42 57
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_2.obj b/mango/mango_10/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0c9de0a7992649a14dd50866dd0489a78b8b383
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_2.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.00636308 -0.28076278 0.01035243
+v 0.08234936 -0.22603260 -0.11019799
+v 0.00757576 -0.15710532 0.00681231
+v -0.15909091 -0.15710532 0.00681231
+v -0.16213856 -0.19377447 -0.17609839
+v -0.17263641 -0.27847962 0.01042727
+v 0.08222790 -0.24152894 -0.08105586
+v 0.01107553 -0.19449914 -0.17144258
+v -0.17407564 -0.27502110 -0.00749115
+v 0.08423399 -0.23806818 -0.08707382
+v -0.15706667 -0.23072585 -0.12018353
+v -0.17418085 -0.27771449 0.00694820
+v -0.14341100 -0.27491058 -0.01717114
+v 0.08028277 -0.22935899 -0.10473344
+v -0.15951438 -0.22046655 -0.13825799
+v -0.17263376 -0.27576773 -0.00490705
+v -0.14151217 -0.26043109 -0.06069724
+v 0.02165887 -0.24484028 -0.08958155
+v -0.15624635 -0.24557819 -0.09184086
+v -0.00823602 -0.27487788 -0.01818195
+v 0.00532943 -0.21912396 -0.13649977
+v -0.00843928 -0.25918964 -0.06190391
+v 0.00784793 -0.27718549 -0.00485555
+v 0.00602799 -0.22954621 -0.11898448
+f 5 4 3
+f 6 1 3
+f 6 3 4
+f 7 3 1
+f 8 5 3
+f 8 3 2
+f 9 4 5
+f 10 2 3
+f 10 3 7
+f 12 6 4
+f 12 4 9
+f 13 1 6
+f 14 10 7
+f 14 2 10
+f 15 5 8
+f 15 9 5
+f 16 12 9
+f 16 6 12
+f 16 13 6
+f 16 9 13
+f 17 13 9
+f 18 14 7
+f 18 2 14
+f 19 15 11
+f 19 9 15
+f 19 17 9
+f 19 11 18
+f 20 1 13
+f 20 13 17
+f 21 8 2
+f 21 15 8
+f 22 19 18
+f 22 17 19
+f 22 20 17
+f 22 18 7
+f 22 7 20
+f 23 20 7
+f 23 7 1
+f 23 1 20
+f 24 21 2
+f 24 2 18
+f 24 18 11
+f 24 11 15
+f 24 15 21
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_20.obj b/mango/mango_10/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc1eedd77399f4a8c4e8b48aa78d248e644c57c5
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_20.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.00905746 -0.11270733 -0.25899262
+v 0.00630035 -0.07469734 -0.28313289
+v 0.01159705 0.19918431 -0.24666661
+v -0.24804672 0.24225328 -0.21382814
+v -0.34306760 -0.08384537 -0.22465824
+v -0.23355969 0.09892544 -0.30913248
+v -0.05429543 0.24101119 -0.21189803
+v 0.00555390 0.05286434 -0.31008919
+v -0.21553473 -0.07138528 -0.27640151
+v -0.23261439 0.18193501 -0.27650545
+v -0.03862854 0.23369117 -0.21880819
+v -0.32050396 0.21518548 -0.21317883
+v 0.00526827 0.01172380 -0.30943751
+v -0.15699851 -0.05756572 -0.29258270
+v -0.27378832 -0.07266823 -0.26169130
+v -0.11453788 0.15241420 -0.29280881
+v -0.05412996 0.23504894 -0.22074794
+v -0.25870320 0.20741816 -0.24953704
+v -0.33319062 0.12555875 -0.26873288
+v 0.00571519 -0.04580932 -0.29591686
+v -0.15811559 -0.01458008 -0.30873805
+v -0.11439539 0.11044577 -0.30865688
+v -0.24636260 0.15067639 -0.29212068
+v -0.11622020 0.17995539 -0.27768013
+v 0.00575971 0.12608639 -0.29340728
+v -0.24589887 0.23626249 -0.22220855
+v -0.03882628 0.22624550 -0.22796944
+v -0.36163430 0.14099722 -0.24162862
+v -0.33191771 0.04180275 -0.27746759
+v -0.28754174 0.17632830 -0.26434802
+v -0.00858223 -0.05848745 -0.29195845
+v -0.05283930 -0.01643699 -0.30875514
+v -0.19983120 -0.04285208 -0.29364354
+v -0.18925876 0.11193626 -0.30945894
+v -0.28929916 0.11106239 -0.29356699
+v -0.03960721 0.13830515 -0.29297204
+v -0.02388793 0.08089489 -0.30885061
+v -0.28950906 0.22254048 -0.22232844
+v -0.05737177 0.20673193 -0.25011938
+v -0.33294660 -0.01419622 -0.26355274
+v -0.33058815 0.09732886 -0.27767544
+v -0.23098966 0.02791260 -0.30866977
+v -0.27518612 0.16619576 -0.27603436
+v -0.31350628 0.18011442 -0.24868676
+v -0.00838585 -0.00287330 -0.30895388
+v -0.27310320 -0.03945827 -0.27828429
+v -0.04015668 0.16591848 -0.27840352
+v -0.05594672 0.09718094 -0.30817265
+v -0.25948960 0.22253485 -0.23456890
+v -0.29191082 0.22870032 -0.21404736
+v -0.29963363 0.20683683 -0.23434414
+v -0.33058610 -0.05597003 -0.24673601
+v -0.31838317 0.12460002 -0.27704475
+v -0.20205695 -0.00139970 -0.30775750
+v -0.28890060 0.02789240 -0.29399497
+v -0.31852183 0.20863505 -0.22108094
+v 0.00523702 0.15135416 -0.28178669
+v -0.07068224 0.19310592 -0.26371620
+v -0.33448718 -0.07255141 -0.23609783
+v -0.25924562 -0.01526515 -0.29202822
+v -0.31610775 0.00118101 -0.27715499
+v 0.00631308 0.16862033 -0.27096365
+v -0.27455814 0.00106731 -0.29201254
+f 7 5 1
+f 8 3 1
+f 11 7 1
+f 11 1 3
+f 12 7 4
+f 12 5 7
+f 13 8 1
+f 14 2 1
+f 14 1 9
+f 15 9 1
+f 15 1 5
+f 17 4 7
+f 17 7 11
+f 20 13 1
+f 20 1 2
+f 21 8 13
+f 23 10 16
+f 24 16 10
+f 25 3 8
+f 26 4 17
+f 26 10 18
+f 26 24 10
+f 27 17 11
+f 27 11 3
+f 28 5 12
+f 31 20 2
+f 31 2 14
+f 32 21 13
+f 32 20 31
+f 32 31 14
+f 32 14 21
+f 33 21 14
+f 33 14 9
+f 34 22 8
+f 34 6 23
+f 34 23 16
+f 34 16 22
+f 35 23 6
+f 36 25 22
+f 36 22 16
+f 37 25 8
+f 37 8 22
+f 39 26 17
+f 39 24 26
+f 39 17 27
+f 39 27 3
+f 40 5 28
+f 40 28 29
+f 41 29 28
+f 41 28 19
+f 41 35 29
+f 42 8 21
+f 42 34 8
+f 42 6 34
+f 43 30 18
+f 43 18 10
+f 43 10 23
+f 43 23 35
+f 44 19 28
+f 45 32 13
+f 45 13 20
+f 45 20 32
+f 46 33 9
+f 46 9 15
+f 47 16 24
+f 48 37 22
+f 48 22 25
+f 48 25 37
+f 49 26 18
+f 49 4 26
+f 50 12 4
+f 50 49 38
+f 50 4 49
+f 51 18 30
+f 51 30 44
+f 51 50 38
+f 51 12 50
+f 51 49 18
+f 51 38 49
+f 52 5 40
+f 52 46 15
+f 52 40 46
+f 53 41 19
+f 53 35 41
+f 53 43 35
+f 53 30 43
+f 53 44 30
+f 53 19 44
+f 54 42 21
+f 54 21 33
+f 55 35 6
+f 55 6 42
+f 55 29 35
+f 56 44 28
+f 56 28 12
+f 56 51 44
+f 56 12 51
+f 57 36 16
+f 57 16 47
+f 57 25 36
+f 57 3 25
+f 58 39 3
+f 58 47 24
+f 58 24 39
+f 59 52 15
+f 59 15 5
+f 59 5 52
+f 60 54 33
+f 60 33 46
+f 60 42 54
+f 61 40 29
+f 61 29 55
+f 61 60 46
+f 61 46 40
+f 62 57 47
+f 62 47 58
+f 62 58 3
+f 62 3 57
+f 63 55 42
+f 63 42 60
+f 63 61 55
+f 63 60 61
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_21.obj b/mango/mango_10/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..159f9f1aa21731246970d59d314bb9bc7b1db136
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_21.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.12680228 -0.14470284
+v 0.00820753 -0.14083199 -0.23474536
+v 0.00727843 0.26460852 -0.14396696
+v -0.27586469 0.26783930 -0.14104158
+v -0.35282942 -0.14664471 -0.16275744
+v -0.36163430 0.14099722 -0.24162862
+v -0.00977518 0.26808207 -0.13999200
+v -0.34090909 0.13077347 -0.14470284
+v 0.00586815 0.23400508 -0.20837369
+v -0.33271930 -0.11681272 -0.20651921
+v -0.32076567 0.25448302 -0.14075614
+v -0.23112106 0.24848314 -0.20920149
+v -0.08532549 0.26385625 -0.18040662
+v -0.09900405 0.24952361 -0.20972850
+v -0.28809215 0.24914656 -0.18219183
+v -0.04243520 0.26404149 -0.16671763
+v -0.21768117 0.26375637 -0.18251802
+v 0.00380044 0.25055590 -0.18096829
+v -0.27528387 0.26368625 -0.15478174
+v -0.31889692 0.21935393 -0.20956815
+v -0.26201544 0.26293159 -0.16602796
+v -0.01099697 0.26356579 -0.15484693
+v -0.31970098 0.25017191 -0.15524465
+v -0.28795256 0.23462130 -0.20864120
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 8 5 1
+f 8 6 5
+f 9 3 2
+f 9 2 6
+f 10 6 2
+f 10 2 5
+f 10 5 6
+f 11 7 4
+f 11 1 7
+f 11 8 1
+f 11 6 8
+f 14 9 6
+f 14 6 12
+f 16 13 7
+f 16 7 3
+f 17 4 7
+f 17 7 13
+f 17 14 12
+f 17 13 14
+f 18 14 13
+f 18 9 14
+f 18 13 16
+f 18 3 9
+f 19 11 4
+f 21 17 12
+f 21 12 15
+f 21 15 19
+f 21 19 4
+f 21 4 17
+f 22 18 16
+f 22 16 3
+f 22 3 18
+f 23 19 15
+f 23 11 19
+f 23 20 6
+f 23 6 11
+f 24 15 12
+f 24 12 6
+f 24 6 20
+f 24 23 15
+f 24 20 23
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_22.obj b/mango/mango_10/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca9c513da4ca3591b3cb4d5bc25c880c11660ff0
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_22.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.26989630 -0.09403230 -0.22036845
+v 0.27849038 -0.04519900 -0.25093804
+v 0.14393940 -0.02074168 -0.20530890
+v 0.00757576 -0.02074168 -0.22046042
+v 0.00630035 -0.07469734 -0.28313289
+v 0.20195532 -0.01556668 -0.28177818
+v 0.16966242 -0.07045776 -0.26349363
+v 0.00905746 -0.11270733 -0.25899262
+v 0.27336118 -0.03120315 -0.25965584
+v 0.00632647 -0.01860814 -0.30424742
+v 0.21740301 -0.07311036 -0.25176852
+v 0.17047512 -0.04196621 -0.27767743
+v 0.08050285 -0.07180596 -0.27630218
+v 0.00571519 -0.04580932 -0.29591686
+v 0.08188353 -0.01690023 -0.29693571
+v 0.26441693 -0.07973889 -0.23331786
+v 0.15110688 -0.10834004 -0.24156036
+v 0.21430725 -0.05625836 -0.26229348
+v 0.03684743 -0.04525432 -0.29313077
+v 0.08104859 -0.02998594 -0.29378293
+v 0.20275685 -0.02980898 -0.27707517
+f 1 2 3
+f 1 3 4
+f 6 4 3
+f 8 1 4
+f 8 4 5
+f 9 6 3
+f 9 3 2
+f 13 8 5
+f 13 12 7
+f 14 5 4
+f 14 4 10
+f 15 10 4
+f 15 4 6
+f 16 11 2
+f 16 2 1
+f 16 1 11
+f 17 7 11
+f 17 13 7
+f 17 8 13
+f 17 11 1
+f 17 1 8
+f 18 9 2
+f 18 2 11
+f 18 11 7
+f 18 7 12
+f 19 13 5
+f 19 5 14
+f 19 12 13
+f 20 15 6
+f 20 6 12
+f 20 12 19
+f 20 10 15
+f 20 19 14
+f 20 14 10
+f 21 18 12
+f 21 12 6
+f 21 6 9
+f 21 9 18
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_23.obj b/mango/mango_10/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..782a2d4c2fe5f3484a98d74225fb7820747f7211
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_23.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.23484848 0.13077347 0.00681231
+v -0.23484848 0.13077347 -0.14470284
+v -0.23237273 0.28157238 -0.11104821
+v -0.27832303 0.26949465 0.00380166
+v -0.46549164 0.12720681 0.00626708
+v -0.24030854 0.27246883 0.01752130
+v -0.44790128 0.12434403 -0.13945518
+v -0.23324710 0.28204916 -0.02548849
+v -0.41873615 0.20585725 0.00373017
+v -0.46210737 0.12459782 -0.09520081
+v -0.23392194 0.27554662 -0.14315767
+v -0.23439418 0.27901534 -0.00879108
+v -0.32231732 0.26359755 -0.02607019
+v -0.34853109 0.24822694 0.00288440
+v -0.43215786 0.19293379 0.00375311
+v -0.24579675 0.28047404 -0.02441541
+v -0.31851535 0.26400839 -0.09683372
+v -0.37656210 0.23497514 0.00240802
+v -0.30566186 0.26339970 0.00310526
+v -0.44362435 0.16883997 -0.09252611
+v -0.26162110 0.27998330 -0.06885763
+v -0.30371307 0.26433135 -0.12454344
+v -0.36222769 0.24916676 -0.05334276
+v -0.45806232 0.13789632 -0.09353766
+v -0.46139271 0.13991563 0.00414853
+v -0.40140716 0.22014896 -0.09610041
+v -0.26306318 0.27967632 -0.05414368
+v -0.24744493 0.27927571 -0.11159477
+v -0.38591923 0.21910299 -0.13756163
+v -0.40384229 0.22077856 -0.01184303
+v -0.44322265 0.14990641 -0.12045350
+v -0.43142631 0.19096179 -0.08174898
+v -0.34631969 0.24788693 -0.12483922
+v -0.29099877 0.26386668 -0.14056969
+v -0.36338272 0.24857364 -0.06779379
+v -0.42822061 0.16691592 -0.13635593
+v -0.40084786 0.20468594 -0.13745187
+v -0.37438247 0.23232321 -0.12448211
+v -0.33447385 0.24925851 -0.13930248
+v -0.44314357 0.13566623 -0.13770550
+v -0.41518820 0.20601205 -0.09650314
+f 1 2 3
+f 6 5 1
+f 7 2 1
+f 8 1 3
+f 10 7 1
+f 10 1 5
+f 11 3 2
+f 11 2 7
+f 12 6 1
+f 12 1 8
+f 12 4 6
+f 15 5 6
+f 15 6 9
+f 16 12 8
+f 16 4 12
+f 16 13 4
+f 18 9 6
+f 18 6 14
+f 19 14 6
+f 19 6 4
+f 19 4 13
+f 19 13 14
+f 21 8 3
+f 21 17 13
+f 23 18 14
+f 23 14 13
+f 24 10 5
+f 24 7 10
+f 25 5 15
+f 25 15 20
+f 25 24 5
+f 25 20 24
+f 27 16 8
+f 27 8 21
+f 27 21 13
+f 27 13 16
+f 28 3 11
+f 28 21 3
+f 28 22 17
+f 28 17 21
+f 30 9 18
+f 30 18 23
+f 30 15 9
+f 31 24 20
+f 31 7 24
+f 32 20 15
+f 32 30 26
+f 32 15 30
+f 33 17 22
+f 34 28 11
+f 34 22 28
+f 35 30 23
+f 35 26 30
+f 35 17 33
+f 35 23 13
+f 35 13 17
+f 36 31 20
+f 37 26 29
+f 37 7 36
+f 37 36 20
+f 38 29 26
+f 38 35 33
+f 38 26 35
+f 39 33 22
+f 39 22 34
+f 39 38 33
+f 39 29 38
+f 39 37 29
+f 39 7 37
+f 39 34 11
+f 39 11 7
+f 40 36 7
+f 40 7 31
+f 40 31 36
+f 41 32 26
+f 41 26 37
+f 41 37 20
+f 41 20 32
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_24.obj b/mango/mango_10/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baaa047af5ea6b011327f7a4471aa5bafefac638
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_24.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.14393940 0.11562196 0.00681231
+v 0.14393940 0.11562196 -0.22046042
+v 0.14160755 0.25163336 -0.14079312
+v 0.00579261 0.26747346 0.00360837
+v 0.00757576 0.11562196 -0.22046042
+v 0.14719105 0.24235947 0.01306205
+v 0.00757576 0.11562196 0.00681231
+v 0.00580652 0.22857035 -0.21519589
+v 0.08135307 0.26535433 -0.05537537
+v 0.14367142 0.22110729 -0.21137521
+v 0.00380044 0.25055590 -0.18096829
+v 0.14042563 0.25015088 -0.01230645
+v 0.14272952 0.23664768 -0.18256921
+v 0.00485632 0.26663277 -0.13898325
+v 0.06438083 0.26506422 -0.02802195
+v 0.03561201 0.26339094 0.00281468
+v 0.08032089 0.26507159 -0.09828689
+v 0.12736253 0.24846258 -0.15573764
+v 0.12628363 0.24894513 0.00155579
+v 0.05116894 0.26412677 -0.12684848
+f 5 2 1
+f 6 1 2
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 2 5
+f 10 6 2
+f 10 2 8
+f 11 7 4
+f 11 10 8
+f 11 8 5
+f 11 5 7
+f 12 6 3
+f 12 3 9
+f 13 3 6
+f 13 6 10
+f 13 10 11
+f 14 11 4
+f 14 4 9
+f 15 12 9
+f 15 9 4
+f 16 4 6
+f 16 15 4
+f 16 12 15
+f 17 14 9
+f 17 9 3
+f 18 14 3
+f 18 3 13
+f 18 13 11
+f 18 11 14
+f 19 16 6
+f 19 6 12
+f 19 12 16
+f 20 17 3
+f 20 3 14
+f 20 14 17
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_25.obj b/mango/mango_10/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..961c241bf5b09f4a5a91ba345b94648cc7e7aa33
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_25.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.45256095 -0.04254546 0.02290653
+v 0.49305758 0.02800279 -0.08409642
+v 0.47563650 0.02272309 0.01190852
+v 0.40151516 0.02471287 0.00681231
+v 0.39527620 -0.01412513 -0.21162614
+v 0.48426049 0.02661526 -0.01127526
+v 0.47578680 -0.01192313 -0.10885250
+v 0.40761179 0.03018979 -0.22406240
+v 0.47531500 -0.01481796 -0.01372570
+v 0.45915149 -0.00899578 -0.14917950
+v 0.39802651 0.02663901 -0.22901833
+v 0.46504500 0.03032636 -0.16890783
+v 0.49043019 0.01462852 -0.05496313
+v 0.46676014 -0.02158125 0.00795764
+v 0.39547847 0.01331522 -0.22523166
+v 0.48143656 0.02933392 -0.13938016
+v 0.44624919 0.00471853 -0.17697279
+v 0.49253730 0.02691321 -0.05397168
+v 0.49037860 0.01508119 -0.08243480
+v 0.41810856 0.00470326 -0.20415496
+v 0.47295937 0.00314647 -0.13589636
+v 0.46208390 0.01847449 -0.16609026
+v 0.40470713 -0.01172440 -0.20571578
+v 0.40676723 0.01783114 -0.21953361
+v 0.45381664 0.02934009 -0.18286692
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 9 1 7
+f 10 7 1
+f 10 1 5
+f 11 4 8
+f 12 6 2
+f 12 8 4
+f 12 4 6
+f 13 6 9
+f 14 9 6
+f 14 6 3
+f 14 3 1
+f 14 1 9
+f 15 5 4
+f 15 4 11
+f 16 12 2
+f 18 13 2
+f 18 2 6
+f 18 6 13
+f 19 2 13
+f 19 16 2
+f 19 7 16
+f 19 13 9
+f 19 9 7
+f 21 16 7
+f 21 7 10
+f 22 10 17
+f 22 21 10
+f 22 12 16
+f 22 16 21
+f 23 17 10
+f 23 10 5
+f 23 20 17
+f 23 5 20
+f 24 8 20
+f 24 15 11
+f 24 11 8
+f 24 20 5
+f 24 5 15
+f 25 20 8
+f 25 8 12
+f 25 17 20
+f 25 22 17
+f 25 12 22
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_26.obj b/mango/mango_10/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..374bfa2c116ec86a709d0cb022781af4d4082b90
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_26.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.01107553 -0.19449914 -0.17144258
+v 0.00757576 -0.15710532 0.00681231
+v -0.24096770 -0.18951820 -0.16720032
+v -0.23210773 0.27973978 -0.01122631
+v 0.00485632 0.26663277 -0.13898325
+v -0.23484848 -0.15710532 0.00681231
+v 0.00579261 0.26747346 0.00360837
+v -0.23392194 0.27554662 -0.14315767
+v -0.23391270 0.27582405 0.00519625
+v -0.03979866 0.28026050 -0.04056239
+v -0.09971542 0.27914040 -0.14125489
+v -0.11341986 0.27967469 0.00258953
+v -0.04043562 0.27977956 -0.09742876
+v -0.20209932 0.27993326 -0.14001031
+v -0.06938035 0.27925466 -0.01146496
+v -0.18795271 0.27938170 0.00154809
+v -0.07058534 0.27964404 -0.12480827
+v -0.23216379 0.27907745 -0.12751597
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 7 1 5
+f 8 1 3
+f 9 3 6
+f 9 8 3
+f 9 4 8
+f 9 6 2
+f 9 2 7
+f 10 7 5
+f 11 5 1
+f 11 1 8
+f 12 9 7
+f 12 10 4
+f 13 10 5
+f 14 11 8
+f 14 4 10
+f 15 12 7
+f 15 7 10
+f 15 10 12
+f 16 12 4
+f 16 4 9
+f 16 9 12
+f 17 13 5
+f 17 5 11
+f 17 11 14
+f 17 14 10
+f 17 10 13
+f 18 14 8
+f 18 8 4
+f 18 4 14
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_27.obj b/mango/mango_10/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49bf0ef2ad244339db19a0a17859e09c5c795170
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.28049264 -0.20374828 0.00646370
+v 0.26286881 -0.16523140 -0.14090934
+v 0.26515152 0.11562196 0.00681231
+v 0.00757576 0.11562196 0.00681231
+v 0.00827280 -0.20019380 -0.16351532
+v 0.00757576 -0.17225683 0.00681231
+v 0.26515152 0.11562196 -0.14470284
+v 0.00757576 0.11562196 -0.14470284
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 1 2
+f 7 3 1
+f 7 2 5
+f 7 4 3
+f 8 6 4
+f 8 5 6
+f 8 7 5
+f 8 4 7
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_28.obj b/mango/mango_10/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab8dcb0e324d48bb031b3157a822ade600bb038e
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00633009 -0.28098341 0.09589905
+v 0.00636308 -0.28076278 0.01035243
+v 0.00757576 -0.17225683 0.09772140
+v -0.15909091 -0.17225683 0.09772140
+v -0.15803016 -0.28316179 0.09612971
+v -0.15909091 -0.17225683 0.00681231
+v 0.00757576 -0.17225683 0.00681231
+v -0.15716555 -0.28006175 0.00954703
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+f 8 2 5
+f 8 5 6
+f 8 7 2
+f 8 6 7
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_29.obj b/mango/mango_10/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9709b418e137d8d25e2c3d4cb49b4a75f165e199
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.38439062 -0.20779493 0.00008717
+v -0.24096770 -0.18951820 -0.16720032
+v -0.23484848 -0.15710532 0.00681231
+v -0.35606060 0.13077347 0.00681231
+v -0.35606060 0.13077347 -0.14470284
+v -0.35696226 -0.15837901 -0.14586405
+v -0.23484848 0.13077347 -0.14470284
+v -0.23484848 0.13077347 0.00681231
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 5 2
+f 6 2 1
+f 6 1 5
+f 7 3 2
+f 7 2 5
+f 7 5 4
+f 8 7 4
+f 8 4 3
+f 8 3 7
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_3.obj b/mango/mango_10/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f49576c4a90416216c5070ca7fc98288782cdfeb
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.37246385 -0.01797191 0.14164161
+v 0.49060266 0.02939829 -0.10932641
+v 0.46053033 0.16073571 -0.01986486
+v 0.26331598 0.23743393 -0.02793697
+v 0.26208266 -0.01591676 -0.26909955
+v 0.26059920 0.13347016 0.14362388
+v 0.47344372 0.01364695 0.01396063
+v 0.39184310 0.19303870 -0.21751139
+v 0.38785916 0.10642135 0.09631239
+v 0.36250808 0.20319714 0.00974481
+v 0.26315228 -0.02134424 0.21490998
+v 0.25913981 0.16296209 0.11415285
+v 0.48937044 0.12516710 -0.04520426
+v 0.47265130 -0.01883618 -0.00960039
+v 0.43308878 0.07491430 -0.21819492
+v 0.26391341 0.15525563 -0.26453831
+v 0.42929843 0.04983639 0.08430727
+v 0.42388279 0.21970694 -0.10335863
+v 0.40582003 0.17331202 0.02353941
+v 0.25818715 0.03416905 0.20493599
+v 0.26081937 0.19310893 0.07375283
+v 0.48865123 0.02654088 -0.02799897
+v 0.38831885 -0.01066168 -0.21826074
+v 0.44542989 -0.01695753 0.05677505
+v 0.28586804 -0.02105659 0.20242267
+v 0.48997555 0.14560275 -0.15218611
+v 0.26388161 0.23502606 -0.17004890
+v 0.26187620 0.02880450 -0.28091527
+v 0.47443963 0.08084274 0.01221494
+v 0.43071405 0.11926851 0.05182729
+v 0.32191687 0.23329795 -0.04363565
+v 0.45026879 0.20178668 -0.07533982
+v 0.36163131 0.17428552 0.05216420
+v 0.28701902 0.10413614 0.15524077
+v 0.25931978 0.09127979 0.17627600
+v 0.26234333 0.22311381 0.01585449
+v 0.48941798 0.09868476 -0.02925918
+v 0.47507172 -0.00074747 0.00177963
+v 0.29125014 -0.01451684 -0.26178373
+v 0.47663076 0.03095058 -0.15055202
+v 0.42966978 -0.00109327 0.08530098
+v 0.28616892 0.00602052 0.19935906
+v 0.49039579 0.15802112 -0.14084914
+v 0.46167874 0.17161178 -0.18866910
+v 0.26387107 0.22271124 -0.19880548
+v 0.36680047 0.21710305 -0.19767951
+v 0.35067098 0.11159566 -0.26288499
+v 0.47309099 0.13851948 -0.01729857
+v 0.41602977 0.09126670 0.08166100
+v 0.40231412 0.13329939 0.06704072
+v 0.45875310 0.11062372 0.02398235
+v 0.41078815 0.21912393 -0.07343040
+v 0.35438772 0.23455509 -0.14350316
+v 0.37742456 0.18842164 0.02400999
+v 0.44657174 0.17500034 -0.01974580
+v 0.47539392 0.18072693 -0.07571944
+v 0.30381543 0.17316916 0.08360094
+v 0.36022392 0.08977912 0.12512001
+v 0.27251024 0.13101397 0.14099559
+v 0.30521760 0.20193290 0.04228847
+v 0.29243422 0.23404950 -0.03008463
+v 0.35104999 0.21838137 -0.01612052
+v 0.47865118 -0.00160195 -0.01225592
+v 0.46018218 -0.01616802 0.02894508
+f 14 11 5
+f 20 5 11
+f 22 14 2
+f 24 1 14
+f 25 14 1
+f 25 11 14
+f 28 20 12
+f 28 5 20
+f 29 7 22
+f 35 6 12
+f 35 12 20
+f 36 12 21
+f 36 27 12
+f 36 4 27
+f 37 22 2
+f 37 29 22
+f 38 22 7
+f 39 23 14
+f 39 14 5
+f 39 5 28
+f 39 15 23
+f 40 2 14
+f 40 14 23
+f 40 23 15
+f 40 26 2
+f 40 15 26
+f 41 17 1
+f 41 1 24
+f 41 24 7
+f 41 29 17
+f 41 7 29
+f 42 20 11
+f 42 11 25
+f 42 25 1
+f 42 1 17
+f 43 2 26
+f 43 37 2
+f 43 13 37
+f 44 26 15
+f 44 43 26
+f 44 18 43
+f 45 16 28
+f 45 28 12
+f 45 12 27
+f 46 45 27
+f 46 8 16
+f 46 16 45
+f 46 44 8
+f 46 18 44
+f 47 28 16
+f 47 16 8
+f 47 39 28
+f 47 15 39
+f 47 44 15
+f 47 8 44
+f 48 37 13
+f 48 29 37
+f 49 30 9
+f 50 9 30
+f 50 19 33
+f 50 30 3
+f 51 17 29
+f 51 29 48
+f 51 48 3
+f 51 3 30
+f 51 49 17
+f 51 30 49
+f 52 18 31
+f 52 32 18
+f 52 10 32
+f 53 27 4
+f 53 4 31
+f 53 31 18
+f 53 46 27
+f 53 18 46
+f 54 32 10
+f 54 33 19
+f 55 50 3
+f 55 19 50
+f 55 54 19
+f 55 32 54
+f 56 13 43
+f 56 43 18
+f 56 18 32
+f 56 48 13
+f 56 3 48
+f 56 55 3
+f 56 32 55
+f 57 21 12
+f 58 50 34
+f 58 9 50
+f 58 20 42
+f 58 49 9
+f 58 42 17
+f 58 17 49
+f 58 35 20
+f 58 34 35
+f 59 35 34
+f 59 6 35
+f 59 34 50
+f 59 50 33
+f 59 33 57
+f 59 57 12
+f 59 12 6
+f 60 36 21
+f 60 21 57
+f 60 54 10
+f 60 57 33
+f 60 33 54
+f 61 31 4
+f 61 4 36
+f 62 61 36
+f 62 31 61
+f 62 52 31
+f 62 10 52
+f 62 60 10
+f 62 36 60
+f 63 38 14
+f 63 14 22
+f 63 22 38
+f 64 24 14
+f 64 14 38
+f 64 38 7
+f 64 7 24
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_30.obj b/mango/mango_10/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f14e52c1a5afb8b97b529b428b01bee00186127
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.15223770 -0.16996301 -0.17752551
+v 0.14436832 -0.12993716 -0.22374733
+v 0.14393940 -0.02074168 -0.14470284
+v 0.00757576 -0.02074168 -0.14470284
+v 0.00588530 -0.17475511 -0.19622175
+v 0.00757576 -0.02074168 -0.22046042
+v 0.00757576 -0.12680228 -0.14470284
+v 0.14393940 -0.02074168 -0.22046042
+v 0.00820753 -0.14083199 -0.23474536
+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 1 2
+f 8 3 1
+f 8 6 3
+f 9 2 1
+f 9 1 5
+f 9 5 6
+f 9 8 2
+f 9 6 8
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_31.obj b/mango/mango_10/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..515c36d5e19e045ca86708d2457eb9074996c49a
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_31.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.14393940 -0.02074168 -0.14470284
+v 0.14324317 -0.01841532 -0.28936589
+v 0.14393940 0.11562196 -0.14470284
+v 0.00757576 0.11562196 -0.14470284
+v 0.00632647 -0.01860814 -0.30424742
+v 0.14365209 0.11356193 -0.28804560
+v 0.00757576 -0.02074168 -0.14470284
+v 0.14274962 0.08256288 -0.29573927
+v 0.00651415 0.11247124 -0.29779828
+v 0.14113194 -0.00087563 -0.29390580
+v 0.12854710 0.09681134 -0.29386914
+v 0.12529178 -0.01693998 -0.29218493
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 2
+f 9 5 4
+f 9 4 6
+f 9 8 5
+f 10 8 2
+f 10 5 8
+f 11 9 6
+f 11 6 8
+f 11 8 9
+f 12 10 2
+f 12 2 5
+f 12 5 10
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_4.obj b/mango/mango_10/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5456b1cf99ad667640af6dfa9bd028fbce16f631
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.34947158 -0.21961151 0.09463726
+v -0.34859828 -0.19021378 -0.10823921
+v -0.35606060 0.13077347 0.00681231
+v -0.36907960 0.12946321 0.18863688
+v -0.48865638 -0.08916655 -0.02125724
+v -0.34647183 -0.20513117 0.13709251
+v -0.43279165 -0.17164118 -0.00551086
+v -0.44790128 0.12434403 -0.13945518
+v -0.45603090 -0.03687801 0.17270997
+v -0.34996380 -0.22114005 -0.03499972
+v -0.35606060 0.13077347 -0.14470284
+v -0.44531731 -0.11362362 -0.10336641
+v -0.44414962 -0.14352264 0.08891382
+v -0.46549164 0.12720681 0.00626708
+v -0.35177014 -0.18187580 0.16927465
+v -0.40327031 -0.18528761 -0.04506055
+v -0.41692908 -0.18599132 0.03738509
+v -0.35303978 -0.16544631 -0.14066975
+v -0.45950631 -0.12977488 -0.04654777
+v -0.47462724 -0.01548549 -0.13536912
+v -0.40232118 -0.18583625 0.09034413
+v -0.47532438 -0.10172739 0.07787910
+v -0.44431154 0.10766024 0.11630901
+v -0.48853074 -0.03972648 0.06177390
+v -0.42839928 -0.13049225 0.13178296
+v -0.38916490 -0.19899144 -0.03294210
+v -0.40379420 -0.15509548 -0.10221490
+v -0.36073744 -0.21491721 0.09044891
+v -0.44593248 -0.15747947 0.05040215
+v -0.45692728 0.10556514 -0.13940014
+v -0.47202271 -0.10405144 -0.06258218
+v -0.43065179 -0.15485220 -0.06164946
+v -0.44627660 -0.08613292 -0.13224481
+v -0.38797744 -0.18421768 0.11727494
+v -0.45599437 0.00864964 0.17063143
+v -0.48961192 -0.06551671 0.06303450
+v -0.49085667 0.02179812 -0.08147046
+v -0.38518212 -0.15779464 0.15987717
+v -0.46052444 -0.12965563 0.07635843
+v -0.44455266 -0.10375686 0.12955227
+v -0.41855475 -0.18526412 0.00998821
+v -0.37520046 -0.19858627 -0.06251856
+v -0.37187390 -0.17079921 -0.11650551
+v -0.36194510 -0.21510340 -0.03470740
+v -0.38836081 -0.20065248 0.07751790
+v -0.35714046 -0.19973535 0.13321494
+v -0.44723837 -0.15718463 -0.00610359
+v -0.43265637 -0.17128162 0.04838306
+v -0.47365269 0.05324169 -0.13709169
+v -0.45884962 0.12393099 -0.10813036
+v -0.47441289 -0.11634639 -0.02175028
+v -0.45945824 -0.11419738 -0.07616005
+v -0.48831973 -0.03250613 -0.09448991
+v -0.45979360 -0.05944340 -0.13506658
+v -0.37495839 -0.15809440 -0.13112473
+v -0.42791208 -0.14410321 0.11831684
+v -0.41462928 0.10690859 0.16084255
+v -0.45881373 0.11267208 0.06490372
+v -0.47350920 -0.07748957 0.10234989
+v -0.46160623 0.00322907 0.15926405
+v -0.48926420 -0.08893577 0.03575654
+v -0.48921481 0.02030891 -0.01220603
+v -0.41509901 -0.11710488 0.15978081
+v -0.37083950 -0.17059846 0.16223402
+f 6 3 4
+f 10 6 1
+f 10 2 6
+f 11 6 2
+f 11 3 6
+f 14 4 3
+f 14 11 8
+f 14 3 11
+f 15 6 4
+f 15 4 9
+f 18 11 2
+f 23 4 14
+f 26 7 16
+f 28 10 1
+f 28 1 6
+f 29 21 13
+f 30 8 11
+f 30 11 18
+f 32 16 7
+f 32 12 27
+f 35 9 4
+f 38 15 9
+f 39 25 22
+f 39 29 13
+f 40 25 9
+f 40 9 22
+f 40 22 25
+f 41 7 26
+f 42 26 16
+f 42 2 10
+f 42 32 27
+f 42 16 32
+f 43 18 2
+f 43 42 27
+f 43 2 42
+f 44 10 28
+f 44 17 41
+f 44 41 26
+f 44 42 10
+f 44 26 42
+f 45 28 21
+f 45 44 28
+f 45 17 44
+f 46 28 6
+f 46 21 28
+f 46 34 21
+f 46 6 15
+f 47 32 7
+f 47 19 32
+f 48 21 29
+f 48 45 21
+f 48 17 45
+f 48 41 17
+f 48 7 41
+f 48 47 7
+f 48 29 47
+f 49 30 18
+f 49 18 20
+f 50 14 8
+f 50 8 30
+f 50 37 14
+f 50 49 37
+f 50 30 49
+f 51 31 19
+f 51 5 31
+f 51 19 47
+f 51 47 29
+f 52 19 31
+f 52 32 19
+f 52 12 32
+f 52 33 12
+f 53 31 5
+f 53 5 37
+f 53 49 20
+f 53 37 49
+f 54 20 18
+f 54 18 33
+f 54 53 20
+f 54 31 53
+f 54 52 31
+f 54 33 52
+f 55 27 12
+f 55 12 33
+f 55 33 18
+f 55 43 27
+f 55 18 43
+f 56 13 21
+f 56 21 34
+f 56 38 25
+f 56 39 13
+f 56 25 39
+f 57 35 4
+f 57 4 23
+f 57 23 35
+f 58 23 14
+f 59 36 22
+f 59 22 9
+f 59 9 36
+f 60 24 36
+f 60 58 24
+f 60 35 23
+f 60 23 58
+f 60 36 9
+f 60 9 35
+f 61 22 36
+f 61 5 51
+f 61 39 22
+f 61 51 29
+f 61 29 39
+f 61 37 5
+f 61 36 37
+f 62 37 36
+f 62 36 24
+f 62 14 37
+f 62 58 14
+f 62 24 58
+f 63 38 9
+f 63 9 25
+f 63 25 38
+f 64 15 38
+f 64 46 15
+f 64 34 46
+f 64 56 34
+f 64 38 56
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_5.obj b/mango/mango_10/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2705dfd240dda5629b4cc9e81a4228d0e991f7e4
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_5.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.15601784 -0.27837910 0.12541798
+v -0.15706667 -0.23072585 -0.12018353
+v -0.15909091 -0.17225683 0.09772140
+v -0.36158127 -0.16243229 0.18017400
+v -0.34773651 -0.22932578 0.00869398
+v -0.35696226 -0.15837901 -0.14586405
+v -0.23484848 -0.15710532 0.17347898
+v -0.15624635 -0.24557819 -0.09184086
+v -0.31574278 -0.22931254 0.12138138
+v -0.16213856 -0.19377447 -0.17609839
+v -0.16123872 -0.26849131 0.15310228
+v -0.15909091 -0.15710532 0.00681231
+v -0.18739870 -0.27614402 0.00852416
+v -0.30306607 -0.21296861 -0.10476385
+v -0.25900034 -0.26067291 0.08026845
+v -0.34532180 -0.21282416 0.12013399
+v -0.15821227 -0.27299446 0.14197590
+v -0.22979070 -0.24720177 0.16670150
+v -0.15716555 -0.28006175 0.00954703
+v -0.23039415 -0.21491963 -0.13241341
+v -0.34864025 -0.21351148 -0.06214906
+v -0.23167976 -0.24333982 -0.07710258
+v -0.34713508 -0.22911169 0.05183243
+v -0.20149166 -0.27546412 0.09448078
+v -0.26069816 -0.26023594 0.00884470
+v -0.33142716 -0.20194890 0.16321796
+v -0.27327134 -0.24352311 0.13707561
+v -0.22751215 -0.25881487 0.13730042
+v -0.17225350 -0.24435095 -0.09134407
+v -0.15951438 -0.22046655 -0.13825799
+v -0.28999311 -0.19993686 -0.13401502
+v -0.34703592 -0.18681727 -0.11654135
+v -0.26056713 -0.24356666 -0.06130127
+v -0.20230370 -0.25918602 -0.04783842
+v -0.27414686 -0.21414043 -0.11899330
+v -0.30221927 -0.24322994 0.09401053
+v -0.30516761 -0.24508509 -0.00409979
+v -0.33043152 -0.22993806 0.09399559
+v -0.20109041 -0.27581121 0.02335401
+v -0.34382857 -0.20119907 0.14882246
+v -0.24496182 -0.24401918 0.16229547
+v -0.17129995 -0.27584948 0.12511629
+v -0.17431755 -0.22982590 -0.11863813
+v -0.33308369 -0.18518988 -0.13007000
+v -0.27431412 -0.22764286 -0.09252984
+v -0.24617415 -0.25869740 -0.02003594
+v -0.15909013 -0.26414038 -0.04802752
+v -0.33409791 -0.22879039 -0.03238740
+v -0.34594680 -0.18963092 0.16542972
+v -0.34963357 -0.17360045 -0.13343328
+v -0.28891207 -0.24397302 -0.03380675
+v -0.23011586 -0.25897180 -0.03242082
+f 6 5 4
+f 7 6 4
+f 11 3 7
+f 12 7 3
+f 12 6 7
+f 12 10 6
+f 12 2 10
+f 12 8 2
+f 12 3 1
+f 12 1 8
+f 17 1 3
+f 17 3 11
+f 18 11 7
+f 18 7 4
+f 19 8 1
+f 21 5 6
+f 23 16 4
+f 23 4 5
+f 24 19 1
+f 26 18 4
+f 27 26 9
+f 28 11 18
+f 28 15 24
+f 29 2 8
+f 29 22 20
+f 30 20 10
+f 30 10 2
+f 31 6 10
+f 31 10 20
+f 32 21 6
+f 32 14 21
+f 34 19 13
+f 34 33 22
+f 34 22 29
+f 35 20 22
+f 35 31 20
+f 35 14 31
+f 36 23 15
+f 36 27 9
+f 36 28 27
+f 36 15 28
+f 37 23 5
+f 37 15 23
+f 37 25 15
+f 38 9 16
+f 38 16 23
+f 38 36 9
+f 38 23 36
+f 39 13 19
+f 39 19 24
+f 39 24 15
+f 39 15 25
+f 40 16 9
+f 40 9 26
+f 40 4 16
+f 41 18 26
+f 41 26 27
+f 41 28 18
+f 41 27 28
+f 42 17 11
+f 42 11 28
+f 42 1 17
+f 42 28 24
+f 42 24 1
+f 43 29 20
+f 43 2 29
+f 43 30 2
+f 43 20 30
+f 44 31 14
+f 44 14 32
+f 44 6 31
+f 45 21 14
+f 45 14 35
+f 45 35 22
+f 45 22 33
+f 46 39 25
+f 46 13 39
+f 47 34 29
+f 47 29 8
+f 47 8 19
+f 47 19 34
+f 48 37 5
+f 48 5 21
+f 49 40 26
+f 49 26 4
+f 49 4 40
+f 50 44 32
+f 50 32 6
+f 50 6 44
+f 51 45 33
+f 51 21 45
+f 51 48 21
+f 51 37 48
+f 51 33 46
+f 51 46 25
+f 51 25 37
+f 52 34 13
+f 52 13 46
+f 52 46 33
+f 52 33 34
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_6.obj b/mango/mango_10/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91ea2004bd5b8081ad083948da823f57c6042797
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_6.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.12666692 -0.22827413 0.17082302
+v 0.28363029 -0.01977904 0.20364903
+v 0.00416600 0.03133177 0.29297541
+v 0.18928781 0.13049585 0.17319168
+v 0.24501706 -0.16580454 0.16793040
+v 0.21117688 0.05987235 0.21459894
+v 0.00757576 0.07016741 0.17347898
+v 0.26191922 0.10798592 0.16387724
+v 0.03364809 -0.11942890 0.29190699
+v 0.12200731 -0.00822207 0.27474614
+v 0.14148460 0.10896216 0.20954123
+v 0.25784815 0.04707133 0.20030664
+v 0.23060124 0.12345850 0.16409896
+v 0.23996685 -0.10330961 0.21524292
+v 0.06231342 -0.18877506 0.24726301
+v 0.00762543 -0.20294017 0.24967357
+v 0.07861709 0.03120542 0.27571705
+v 0.07796524 -0.02168576 0.29098181
+v 0.00405334 0.06225266 0.27845129
+v 0.18128386 0.10170213 0.20026106
+v 0.25861553 0.10152656 0.16972809
+v 0.25654041 0.00584745 0.21483555
+v 0.18087791 0.01798617 0.24463422
+v 0.18619935 0.12371159 0.18059770
+v 0.21235868 -0.19094187 0.16350937
+v 0.23720276 -0.13050364 0.20258788
+v 0.16645371 -0.06482086 0.26138553
+v 0.10520860 -0.14935072 0.25864062
+v 0.00624852 -0.12210995 0.29625984
+v 0.00757576 -0.15710532 0.17347898
+v 0.12446035 -0.22269544 0.18238312
+v 0.13702728 0.05838337 0.24416217
+v 0.01836923 0.03145316 0.29001703
+v 0.24029900 0.03161741 0.21410434
+v 0.16631360 -0.02388163 0.26033332
+v 0.16512637 -0.17211714 0.21617427
+v 0.22440377 -0.07755428 0.23099529
+v 0.07941140 -0.07704061 0.29108709
+v 0.01992070 -0.16175558 0.27525651
+v 0.14957588 -0.10314318 0.26062618
+v 0.00368151 -0.16313852 0.27755426
+v 0.15260777 -0.21997928 0.16626192
+v 0.01834330 0.06011148 0.27657962
+v 0.22606196 0.00361079 0.22909495
+v 0.25695558 -0.02337326 0.21850887
+v 0.16482371 -0.18653810 0.20328472
+v 0.20913576 -0.15882548 0.20098762
+v 0.07709644 -0.13416059 0.27536778
+v 0.04818390 -0.17548854 0.26092889
+v 0.12208478 -0.07978953 0.27653540
+v 0.19648624 -0.07505695 0.24604250
+v 0.00588817 -0.19648014 0.25526283
+v 0.21017639 -0.18470042 0.17360123
+v 0.15073637 -0.21462432 0.17647020
+v 0.23995119 -0.16003199 0.17761565
+v 0.10702145 -0.10857981 0.27559109
+f 8 2 5
+f 12 2 8
+f 13 7 4
+f 18 10 17
+f 19 11 4
+f 19 4 7
+f 20 13 11
+f 20 8 13
+f 21 12 8
+f 21 6 12
+f 21 20 6
+f 21 8 20
+f 22 2 12
+f 23 17 10
+f 24 13 4
+f 24 4 11
+f 24 11 13
+f 25 7 13
+f 25 13 8
+f 25 8 5
+f 26 5 2
+f 26 2 14
+f 29 18 3
+f 30 1 16
+f 31 16 1
+f 31 15 16
+f 32 20 11
+f 32 6 20
+f 32 23 6
+f 32 17 23
+f 33 18 17
+f 33 3 18
+f 34 22 12
+f 34 12 6
+f 34 6 23
+f 35 23 10
+f 35 10 18
+f 35 18 27
+f 36 28 15
+f 36 26 28
+f 37 14 2
+f 38 27 18
+f 38 29 9
+f 38 18 29
+f 39 9 29
+f 40 28 26
+f 40 26 14
+f 41 29 3
+f 41 39 29
+f 41 3 19
+f 41 19 7
+f 41 7 30
+f 42 1 30
+f 42 31 1
+f 42 30 7
+f 42 7 25
+f 43 17 32
+f 43 33 17
+f 43 19 3
+f 43 3 33
+f 43 32 11
+f 43 11 19
+f 44 34 23
+f 44 22 34
+f 44 35 22
+f 44 23 35
+f 45 35 27
+f 45 2 22
+f 45 22 35
+f 45 37 2
+f 46 36 15
+f 46 15 31
+f 47 26 36
+f 47 36 46
+f 48 9 39
+f 49 15 28
+f 49 48 39
+f 49 28 48
+f 49 39 41
+f 50 40 27
+f 50 27 38
+f 51 27 40
+f 51 45 27
+f 51 37 45
+f 51 40 14
+f 51 14 37
+f 52 41 30
+f 52 30 16
+f 52 49 41
+f 52 16 15
+f 52 15 49
+f 53 25 5
+f 53 47 46
+f 54 46 31
+f 54 31 42
+f 54 53 46
+f 54 42 25
+f 54 25 53
+f 55 5 26
+f 55 26 47
+f 55 53 5
+f 55 47 53
+f 56 48 28
+f 56 28 40
+f 56 40 50
+f 56 50 38
+f 56 38 9
+f 56 9 48
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_7.obj b/mango/mango_10/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfbd920101c4e1b4bf7bb61f652e0ba43027194c
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_7.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 0.11562196 0.00681231
+v 0.26515152 0.11562196 -0.20530890
+v 0.26388161 0.23502606 -0.17004890
+v 0.12868414 0.25108922 -0.00851168
+v 0.14393940 0.11562196 0.00681231
+v 0.14426728 0.22764758 -0.19977662
+v 0.26894927 0.18963148 0.07556229
+v 0.26387107 0.22271124 -0.19880548
+v 0.14160755 0.25163336 -0.14079312
+v 0.14393940 0.11562196 -0.20530890
+v 0.26171630 0.23354607 -0.01419174
+v 0.13134170 0.21993404 0.07345468
+v 0.14272952 0.23664768 -0.18256921
+v 0.20241059 0.25005202 -0.05673091
+v 0.22505146 0.19848276 0.07903622
+v 0.12681637 0.22622280 0.06282093
+v 0.14132018 0.25264567 -0.02567787
+v 0.20297171 0.25074414 -0.11314166
+v 0.26125043 0.21807066 0.02883050
+v 0.12633538 0.23391090 0.04532954
+v 0.18722636 0.24989016 -0.12832200
+v 0.26153196 0.20294343 0.05848965
+v 0.13492341 0.24305849 0.01709309
+v 0.14230833 0.23255119 0.04271857
+v 0.18642238 0.21781903 0.05801441
+v 0.13348142 0.24806743 0.00017301
+f 5 2 1
+f 7 5 1
+f 7 1 2
+f 8 2 6
+f 8 7 2
+f 8 3 7
+f 10 6 2
+f 10 2 5
+f 11 7 3
+f 13 8 6
+f 13 3 8
+f 13 9 3
+f 13 4 9
+f 13 10 4
+f 13 6 10
+f 15 12 5
+f 15 5 7
+f 16 10 5
+f 16 5 12
+f 17 9 4
+f 17 4 11
+f 17 11 14
+f 18 14 11
+f 18 11 3
+f 18 17 14
+f 18 9 17
+f 19 7 11
+f 20 4 10
+f 20 10 16
+f 21 18 3
+f 21 3 9
+f 21 9 18
+f 22 15 7
+f 22 7 19
+f 22 12 15
+f 23 4 20
+f 23 19 11
+f 24 20 16
+f 24 16 19
+f 24 23 20
+f 24 19 23
+f 25 22 19
+f 25 19 16
+f 25 16 12
+f 25 12 22
+f 26 23 11
+f 26 11 4
+f 26 4 23
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_8.obj b/mango/mango_10/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03d590af308a0a20cba2d271f3334c726552f984
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_8.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 0.11562196 -0.20530890
+v 0.39236928 0.16688396 -0.23253671
+v 0.21929052 0.22415043 -0.19939393
+v -0.03862854 0.23369117 -0.21880819
+v 0.00651415 0.11247124 -0.29779828
+v 0.35172612 0.19202336 -0.23296814
+v 0.14393940 0.11562196 -0.20530890
+v 0.38316450 0.20036804 -0.21501247
+v 0.26499209 0.11486134 -0.27784082
+v 0.33955620 0.21038316 -0.21449292
+v -0.03920080 0.17243872 -0.27427775
+v 0.14426728 0.22764758 -0.19977662
+v 0.02175012 0.11080783 -0.29695987
+v 0.00757576 0.11562196 -0.22046042
+v 0.37917055 0.18048713 -0.23153358
+v 0.38176584 0.15791038 -0.24112080
+v 0.33965381 0.20514091 -0.22190903
+v 0.26502901 0.21983452 -0.20427358
+v 0.21838869 0.16892916 -0.26205305
+v 0.23434301 0.11184767 -0.28203755
+v 0.37994261 0.19506243 -0.22157339
+v 0.35338016 0.15632274 -0.25131089
+v 0.00575971 0.12608639 -0.29340728
+v -0.03342561 0.20097636 -0.25057369
+v 0.23226232 0.12479731 -0.27839824
+v 0.35070996 0.16607499 -0.24789257
+v 0.30946089 0.17998456 -0.24776420
+v -0.03882628 0.22624550 -0.22796944
+v 0.17294429 0.13978484 -0.27712517
+v -0.03956331 0.18165282 -0.26808177
+f 7 1 3
+f 8 1 2
+f 8 3 1
+f 12 7 3
+f 12 3 4
+f 12 4 7
+f 13 1 7
+f 14 7 4
+f 14 13 7
+f 14 5 13
+f 14 11 5
+f 14 4 11
+f 16 2 1
+f 16 1 9
+f 16 15 2
+f 17 4 10
+f 17 10 8
+f 17 8 6
+f 18 10 4
+f 18 4 3
+f 18 3 8
+f 18 8 10
+f 20 9 1
+f 20 1 13
+f 20 13 5
+f 21 8 2
+f 21 2 15
+f 21 15 6
+f 21 6 8
+f 22 16 9
+f 23 5 11
+f 23 11 19
+f 25 9 20
+f 25 22 9
+f 25 20 5
+f 25 5 23
+f 26 6 15
+f 26 15 16
+f 26 16 22
+f 27 17 6
+f 27 6 26
+f 27 25 19
+f 27 26 22
+f 27 22 25
+f 28 4 17
+f 28 27 24
+f 28 17 27
+f 29 25 23
+f 29 23 19
+f 29 19 25
+f 30 27 19
+f 30 19 11
+f 30 24 27
+f 30 28 24
+f 30 11 4
+f 30 4 28
\ No newline at end of file
diff --git a/mango/mango_10/collision/model_normalized_collision_9.obj b/mango/mango_10/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bdc0fded93b02f7c594d498b5f7efb004aaed66
--- /dev/null
+++ b/mango/mango_10/collision/model_normalized_collision_9.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.27346252 -0.14785629 -0.16051439
+v 0.26326464 -0.12056923 -0.19838600
+v 0.26515152 0.11562196 -0.14470284
+v 0.14393940 0.11562196 -0.14470284
+v 0.15223770 -0.16996301 -0.17752551
+v 0.14274962 0.08256288 -0.29573927
+v 0.26283140 0.11135909 -0.27896372
+v 0.14704941 -0.13739390 -0.21581947
+v 0.26207834 0.01308414 -0.27765805
+v 0.14365209 0.11356193 -0.28804560
+v 0.14173455 0.01120090 -0.29598578
+v 0.26034159 -0.05686712 -0.24994245
+v 0.17201083 0.08360465 -0.29349197
+v 0.21740301 -0.07311036 -0.25176852
+v 0.17219221 0.02641476 -0.29441691
+v 0.24381622 -0.06960597 -0.24701373
+v 0.14324317 -0.01841532 -0.28936589
+v 0.15620781 0.01230444 -0.29509405
+v 0.24484805 -0.04258694 -0.26198368
+v 0.23004570 -0.01424101 -0.27712852
+v 0.25978371 -0.02814115 -0.26490316
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 3 1
+f 8 5 4
+f 8 2 5
+f 9 7 1
+f 10 6 4
+f 10 4 3
+f 10 3 7
+f 11 8 4
+f 11 4 6
+f 12 9 1
+f 12 1 2
+f 13 10 7
+f 13 6 10
+f 14 2 8
+f 15 11 6
+f 15 6 13
+f 15 13 7
+f 15 7 9
+f 16 12 2
+f 16 2 14
+f 17 14 8
+f 17 8 11
+f 18 15 9
+f 18 11 15
+f 18 17 11
+f 19 16 14
+f 19 12 16
+f 19 14 17
+f 20 18 9
+f 20 17 18
+f 20 19 17
+f 21 9 12
+f 21 12 19
+f 21 20 9
+f 21 19 20
\ No newline at end of file
diff --git a/mango/mango_10/model.xml b/mango/mango_10/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c336f56f3b884964e734d468f75ad26fbdc144c6
--- /dev/null
+++ b/mango/mango_10/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="mango_7">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.105 0.105 0.105" refquat="0.4999999999999999 0.5 -0.5 0.4999999999999999"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material.046" texture="image0" specular="0.5" shininess="0.0"/>
+  </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.046"/>
+        <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="-0.00013300864305655912 -0.00011554761227362473 -0.029615160194318202" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00013300864305655912 -0.00011554761227362473 0.029731986779462028" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03229334568843849 0.05153994741440283 5.841329257191274e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/mango/mango_10/visual/material.mtl b/mango/mango_10/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f68742fe8420aadeab267568817d347d5678c9d5
--- /dev/null
+++ b/mango/mango_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 0.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/mango/mango_11/.DS_Store b/mango/mango_11/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..0ef28d1ee5cc23fe78839d32372f8c80cb5e0bd9
Binary files /dev/null and b/mango/mango_11/.DS_Store differ
diff --git a/mango/mango_11/collision/model_normalized_collision_0.obj b/mango/mango_11/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..150b1b4d1d3407234e0e556c39ffab35541870a3
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_0.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.11791211 -0.35600523 0.20133802
+v -0.12023996 -0.34548498 0.00950070
+v -0.17034536 -0.13975935 0.26515150
+v -0.30726201 -0.13375017 0.21570167
+v -0.25907430 -0.23233308 0.07070235
+v -0.26709911 -0.16090467 0.28523766
+v -0.12489081 -0.23066844 0.26515150
+v -0.17192549 -0.32021607 0.08486871
+v -0.17034536 -0.13975935 0.00757576
+v -0.24466044 -0.24600322 0.17073672
+v -0.11700276 -0.35598984 0.04015960
+v -0.12088500 -0.33114846 0.26252838
+v -0.15618822 -0.31916379 0.01269638
+v -0.12489081 -0.23066844 0.00757576
+v -0.30332967 -0.13816077 0.00856274
+v -0.17194024 -0.31984161 0.17132783
+v -0.27428178 -0.18831638 0.22933478
+v -0.28789479 -0.18854090 0.17151780
+v -0.11754808 -0.34105453 0.24541831
+v -0.12742716 -0.34984808 0.19961816
+v -0.18579749 -0.30456575 0.05568775
+v -0.13042250 -0.33866204 0.01163427
+v -0.30976408 -0.13468939 0.02562796
+v -0.25840391 -0.21605273 0.01367558
+v -0.22886525 -0.24628217 0.22887314
+v -0.25972092 -0.23180163 0.15709268
+v -0.26780953 -0.17928929 0.26175134
+v -0.28851483 -0.17334276 0.21497545
+v -0.12796130 -0.33477413 0.24310687
+v -0.24461606 -0.24599756 0.05699022
+v -0.12709610 -0.34918405 0.04225974
+v -0.30388639 -0.16109754 0.17160540
+v -0.28925152 -0.17496925 0.02690341
+v -0.18535218 -0.30552023 0.18579597
+v -0.28904938 -0.18960523 0.07064110
+v -0.27276698 -0.20322927 0.19992338
+v -0.30216458 -0.14643294 0.21458234
+v -0.26153826 -0.19053269 0.25871288
+v -0.14054486 -0.31892416 0.25650973
+v -0.29218762 -0.16232808 0.01143534
+v -0.21438592 -0.27578415 0.18602679
+v -0.15518484 -0.31914653 0.22788157
+v -0.30363843 -0.16047165 0.05627907
+v -0.25881789 -0.21666252 0.21362498
+v -0.22928225 -0.23111994 0.25693042
+v -0.30436348 -0.14636621 0.02704914
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+f 41 25 10
+f 41 10 26
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+f 43 35 32
+f 43 32 23
+f 43 33 35
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+f 44 10 25
+f 44 36 26
+f 44 26 10
+f 45 38 25
+f 45 25 39
+f 45 39 6
+f 45 6 38
+f 46 40 33
+f 46 33 43
+f 46 43 23
+f 46 23 40
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_1.obj b/mango/mango_11/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aac84c0b10e9ae568b7965623712a4a6ade5f87c
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.08428808 -0.23584220 -0.22768865
+v 0.31419312 -0.01338796 -0.22987850
+v 0.22664049 -0.15842609 -0.22651419
+v -0.08938143 0.36088648 -0.22874005
+v -0.00002462 0.01685611 -0.48946417
+v 0.19828747 0.31385474 -0.22869540
+v -0.13179007 -0.20344950 -0.22545583
+v 0.19290305 -0.03794706 -0.41510322
+v 0.26999012 0.24371499 -0.22914669
+v 0.05327298 0.22584451 -0.44480692
+v 0.17085320 -0.20137749 -0.22680155
+v 0.01196386 -0.12362213 -0.40250482
+v -0.25864941 0.14431925 -0.25493895
+v 0.23518409 -0.06623575 -0.34472372
+v 0.26966150 -0.10099904 -0.22788645
+v 0.25183910 0.11394077 -0.37228861
+v 0.05333467 0.34095170 -0.30105228
+v 0.13741676 0.08469170 -0.47445819
+v -0.12620186 -0.06664974 -0.38428025
+v -0.06114241 -0.23500909 -0.22797161
+v 0.08403132 -0.05222963 -0.46004692
+v -0.26387076 0.17398971 -0.22916847
+v -0.12619318 0.17173085 -0.41558621
+v 0.16670931 -0.10697827 -0.37322885
+v 0.27981272 -0.05240258 -0.27229818
+v 0.26537853 -0.09784317 -0.24128693
+v 0.31594051 0.14398955 -0.23064628
+v 0.15128241 0.22395680 -0.39986054
+v 0.25198268 0.01610079 -0.37345526
+v -0.02912253 0.29724930 -0.37238052
+v 0.08342194 0.36332530 -0.22984894
+v 0.07017931 0.12849608 -0.49008410
+v -0.07100407 -0.13821054 -0.35759906
+v -0.02748495 -0.06584636 -0.44300785
+v -0.24808104 -0.04313422 -0.22856450
+v -0.00251374 -0.19799878 -0.29858562
+v 0.12438401 0.00116804 -0.47356063
+v -0.24644011 0.21642636 -0.22808038
+v -0.18418004 0.04406275 -0.37278022
+v 0.23501010 -0.05261042 -0.35908827
+v 0.15180253 -0.07896919 -0.41448154
+v 0.15242038 -0.13662267 -0.34354898
+v 0.19571709 -0.10749746 -0.34408709
+v 0.29403841 -0.02550515 -0.27165864
+v 0.26454873 -0.06742356 -0.28693380
+v 0.26480457 0.18439667 -0.31448862
+v 0.30051184 0.18733562 -0.23008023
+v 0.15328144 0.29595353 -0.31344386
+v 0.19467832 0.15506449 -0.41567544
+v 0.18174913 0.09863947 -0.44462911
+v 0.31113024 0.04398043 -0.27313931
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+v -0.02752416 0.19839928 -0.45757304
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+v -0.09644796 -0.12373080 -0.35619668
+v -0.10389091 -0.21941927 -0.22693698
+v -0.06973785 0.00289904 -0.45885408
+v -0.04176367 -0.09594222 -0.41494127
+v 0.00053681 -0.05303249 -0.45986236
+v -0.19733122 -0.09689587 -0.26915074
+v -0.26423227 0.00042080 -0.22935783
+v 0.05495622 -0.16745952 -0.34476653
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+f 9 6 3
+f 11 7 1
+f 11 3 7
+f 15 9 3
+f 20 1 7
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+f 26 3 14
+f 36 1 20
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+f 37 21 5
+f 37 32 18
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+f 50 29 8
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+f 55 31 4
+f 55 4 6
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+f 56 49 50
+f 56 54 10
+f 56 32 54
+f 58 33 20
+f 58 20 7
+f 58 57 33
+f 58 7 57
+f 59 34 19
+f 59 19 39
+f 59 39 23
+f 59 23 5
+f 60 12 33
+f 60 33 57
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+f 60 19 34
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+f 61 60 34
+f 61 12 60
+f 61 5 21
+f 61 59 5
+f 61 34 59
+f 62 7 35
+f 62 57 7
+f 62 19 57
+f 62 39 19
+f 62 35 39
+f 63 22 13
+f 63 39 35
+f 63 13 39
+f 63 38 22
+f 63 35 38
+f 64 36 12
+f 64 1 36
+f 64 42 1
+f 64 12 41
+f 64 41 42
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_10.obj b/mango/mango_11/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e67397ae91186939d831906c892193b3f0daf54
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_10.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.22823669 -0.22815439 0.26349412
+v -0.17034536 -0.13975935 0.14393939
+v -0.17034536 0.07236187 0.26515150
+v -0.30513608 0.15445074 0.22585572
+v -0.33520865 -0.08912861 0.14225384
+v -0.17034536 0.07236187 0.14393939
+v -0.28993934 0.14738027 0.26426881
+v -0.17034536 -0.13975935 0.26515150
+v -0.23881329 -0.23724439 0.22250755
+v -0.34558934 0.11575752 0.14271318
+v -0.35241935 0.08497564 0.14142748
+v -0.31748575 -0.04614636 0.25726468
+v -0.32030989 -0.13220410 0.14296270
+v -0.26125445 0.11781641 0.14393939
+v -0.31871483 0.06971823 0.25569484
+v -0.30426721 -0.10380459 0.25768653
+v -0.34952237 -0.00182499 0.17094369
+v -0.31708824 0.12549450 0.22666996
+v -0.31741530 -0.11699368 0.20015342
+v -0.27350664 -0.17320217 0.25795418
+v -0.35241120 -0.01686012 0.14236800
+v -0.33385732 0.04077622 0.22734132
+v -0.30364047 0.12555048 0.25580499
+v -0.31368311 0.14485025 0.21622309
+v -0.33350864 0.08450542 0.21351299
+v -0.33384062 -0.08859025 0.15733970
+v -0.33268400 -0.04511249 0.21390171
+v -0.25900674 -0.20265929 0.24343207
+v -0.28783303 -0.14663096 0.25832085
+v -0.28714827 -0.16006591 0.24250059
+v -0.34950053 0.05570999 0.17020135
+v -0.33383253 -0.00177687 0.22811686
+v -0.30461139 0.14036952 0.24130369
+v -0.33189181 0.11178624 0.19804576
+v -0.31875105 -0.13262931 0.15637083
+v -0.31726910 -0.07506903 0.24346307
+v -0.33344787 -0.07476860 0.18541156
+v -0.24619898 -0.21832525 0.24388374
+v -0.23601741 -0.22171393 0.26011377
+v -0.26513038 -0.20731509 0.21596794
+v -0.34985026 0.08458695 0.15578973
+v -0.29474086 0.14264400 0.25924269
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+v -0.25230795 -0.22354407 0.21660834
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+f 29 1 16
+f 29 16 19
+f 30 29 19
+f 30 20 29
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+f 34 24 10
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+f 44 38 28
+f 44 9 38
+f 44 28 40
+f 44 40 13
+f 44 13 9
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_11.obj b/mango/mango_11/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe23692a999fd8cc23829564121e2bda7bc7775d
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.24109366 -0.01973835 0.38787438
+v 0.32817158 -0.01873969 0.24951025
+v 0.20830900 0.25334064 0.26826562
+v 0.01182854 0.33917938 0.24646334
+v 0.01147282 -0.01854722 0.24999999
+v 0.25472102 0.21496547 0.24219383
+v 0.08344844 0.15549865 0.42884418
+v 0.31326267 -0.02051594 0.28702466
+v 0.14141138 0.31621273 0.24222408
+v 0.31653162 0.05370650 0.24522722
+v 0.23694231 0.11065442 0.35723083
+v 0.01299898 -0.01772890 0.46691112
+v 0.18614759 0.28912438 0.24284341
+v 0.12413687 0.22408809 0.36979313
+v 0.08407753 0.33252542 0.24289578
+v 0.30077140 0.11317661 0.24387345
+v 0.31037169 0.03819728 0.27230360
+v 0.22140024 0.18084198 0.32695319
+v 0.28151192 0.03742868 0.32931530
+v 0.16828302 0.11147669 0.41343688
+v 0.01226373 0.18316274 0.41636760
+v 0.13898371 0.28222281 0.29613627
+v 0.26535923 0.15421086 0.28423689
+v 0.31162011 -0.00602324 0.28685627
+v 0.31195309 0.05248402 0.25871355
+v 0.22172867 0.22563242 0.28271703
+v 0.16667013 0.19483857 0.36943519
+v 0.25157658 0.02454226 0.37180395
+v 0.28104897 0.09570041 0.30044883
+v 0.09754576 -0.01760280 0.46104243
+v 0.02616203 0.08319519 0.45979599
+v -0.00606936 0.05942549 0.46066317
+v 0.06985013 0.26864245 0.34196132
+v 0.13945750 0.31071582 0.25353267
+v 0.16559409 0.25315548 0.31173979
+v 0.27092609 0.18675775 0.24326377
+v 0.25156065 0.12364245 0.32878668
+v 0.24987146 0.16777614 0.29788040
+v 0.29801919 -0.01992650 0.31534252
+v 0.29438990 0.05254364 0.30110970
+v 0.24984044 0.21173835 0.25470153
+v 0.11128058 0.19480700 0.39866575
+v 0.19464817 0.13963129 0.38422160
+v 0.20696611 0.16628900 0.35628177
+v 0.23702487 0.08129843 0.37025081
+v 0.23889058 0.02388831 0.38521370
+v 0.29565461 0.11131189 0.25673095
+v 0.11060594 0.09790862 0.44305920
+v 0.01257599 0.12653385 0.44514706
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+v 0.01318251 0.26841478 0.34249892
+v 0.12440632 0.26670133 0.32580191
+v 0.06939429 0.31151384 0.28353609
+v 0.18246003 0.28356584 0.25466926
+v 0.11242966 0.31150392 0.26880393
+v 0.15136425 0.23748888 0.34081887
+v 0.26587156 0.18416224 0.25585025
+v 0.29654733 -0.00536242 0.31477126
+v 0.26729378 -0.00498772 0.35751141
+v 0.29422141 0.09626764 0.27174292
+v 0.13890968 0.15301399 0.41207628
+v 0.08364502 0.23884932 0.37038557
+f 8 5 2
+f 8 1 5
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+f 10 2 5
+f 12 5 1
+f 13 3 6
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+f 15 9 5
+f 15 5 4
+f 16 10 5
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+f 17 2 10
+f 24 8 2
+f 24 2 17
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+f 29 11 19
+f 30 12 1
+f 32 4 5
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+f 34 13 9
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+f 50 48 7
+f 50 7 31
+f 51 4 32
+f 51 49 21
+f 51 31 49
+f 52 32 12
+f 52 12 31
+f 52 51 32
+f 52 31 51
+f 53 33 4
+f 53 51 21
+f 53 4 51
+f 54 35 22
+f 55 15 4
+f 55 4 33
+f 56 34 22
+f 56 13 34
+f 56 22 35
+f 56 35 3
+f 56 3 13
+f 57 34 9
+f 57 9 15
+f 57 15 55
+f 57 54 22
+f 57 22 34
+f 57 55 33
+f 57 33 54
+f 58 14 27
+f 58 27 35
+f 58 54 14
+f 58 35 54
+f 59 38 23
+f 59 23 36
+f 59 41 38
+f 59 36 6
+f 59 6 41
+f 60 39 24
+f 60 19 39
+f 60 40 19
+f 60 24 40
+f 61 39 19
+f 61 19 28
+f 61 28 1
+f 61 1 39
+f 62 25 16
+f 62 16 47
+f 62 47 29
+f 62 29 40
+f 62 40 17
+f 62 17 25
+f 63 42 7
+f 63 27 42
+f 63 43 27
+f 63 20 43
+f 63 48 20
+f 63 7 48
+f 64 42 14
+f 64 21 42
+f 64 53 21
+f 64 33 53
+f 64 54 33
+f 64 14 54
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_12.obj b/mango/mango_11/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4e7119f55c5483da6abc546db9ae7ea2b2978aa
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_12.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.33500226 -0.05677402 0.00170214
+v -0.26125445 0.08751338 -0.09848485
+v -0.26125445 0.08751338 0.00757576
+v -0.33382209 0.13860366 -0.04275412
+v -0.30690986 -0.01559470 -0.11746748
+v -0.32142980 0.13604876 -0.10203098
+v -0.35163431 0.08578056 0.00930937
+v -0.26125445 -0.00339571 0.00757576
+v -0.33368622 0.11535571 -0.06400119
+v -0.33398643 0.01507293 -0.06255812
+v -0.30516554 -0.04837268 -0.09780413
+v -0.33977298 -0.04542919 0.01004063
+v -0.34965658 0.08604124 -0.00432077
+v -0.33448378 0.12928918 -0.04985490
+v -0.32410269 0.13092068 -0.09522054
+v -0.32015306 -0.04422421 -0.06212823
+v -0.33301454 -0.01349003 -0.04740060
+v -0.35246069 0.02823126 0.00994057
+v -0.33696132 0.12980004 -0.03531960
+v -0.35006486 0.02846046 -0.00442106
+v -0.30824771 -0.04482758 -0.09303894
+v -0.33385885 -0.04427150 -0.01764814
+v -0.31764321 -0.01387002 -0.09089074
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 3 4
+f 8 2 3
+f 10 6 5
+f 11 5 2
+f 11 2 8
+f 11 8 1
+f 12 1 8
+f 12 8 3
+f 14 4 6
+f 14 9 13
+f 15 10 9
+f 15 6 10
+f 15 14 6
+f 15 9 14
+f 16 11 1
+f 18 12 3
+f 18 3 7
+f 18 7 13
+f 19 13 7
+f 19 7 4
+f 19 14 13
+f 19 4 14
+f 20 13 9
+f 20 9 10
+f 20 18 13
+f 20 10 17
+f 20 17 12
+f 20 12 18
+f 21 5 11
+f 21 11 16
+f 22 1 12
+f 22 12 17
+f 22 17 16
+f 22 16 1
+f 23 17 10
+f 23 10 5
+f 23 16 17
+f 23 21 16
+f 23 5 21
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_13.obj b/mango/mango_11/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf044c042c84b04527a9a2f1f11f08b895975d80
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_13.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.00893413 -0.38507430 0.27322343
+v 0.01364854 -0.35275781 0.33087780
+v -0.30754553 -0.09053257 0.25889992
+v -0.06176207 0.31951763 0.25875635
+v 0.01155876 0.32822673 0.26400596
+v -0.05229286 -0.01793404 0.47684866
+v -0.11476902 -0.33728042 0.25845091
+v -0.24419810 0.12528969 0.33997654
+v -0.01415730 0.18063744 0.41438560
+v -0.12004599 0.30189519 0.25716290
+v -0.08663070 -0.35511000 0.26044447
+v -0.15571509 -0.19108946 0.38535560
+v -0.00141384 0.26758012 0.34119709
+v -0.18990732 0.12566035 0.38274977
+v 0.01196849 -0.13657016 0.46210823
+v -0.26407684 0.20097085 0.25757058
+v -0.04263810 -0.34956754 0.31571503
+v -0.25923539 -0.18614089 0.27109718
+v -0.20396380 -0.04600311 0.39917153
+v -0.04493724 0.29650536 0.29690128
+v -0.04400580 0.14019852 0.42853167
+v 0.01200839 0.05605996 0.46420088
+v -0.02852863 -0.26570560 0.39978698
+v -0.13075057 -0.16364946 0.41566621
+v -0.26153826 -0.19053269 0.25871288
+v -0.31056169 0.09997909 0.25942922
+v -0.17557556 0.23800486 0.31095283
+v -0.01485931 -0.34948630 0.32790638
+v -0.08351611 -0.31839765 0.32798888
+v -0.25825733 -0.11771751 0.32641106
+v -0.21825300 0.06749369 0.38300305
+v 0.01221555 0.31420669 0.28439523
+v -0.01582256 0.31206536 0.28290554
+v -0.10335730 0.28162929 0.29645232
+v -0.05623187 0.00621976 0.47331390
+v -0.13290049 0.19546490 0.36747126
+v 0.01257599 0.12653385 0.44514706
+v 0.01262253 -0.29527079 0.38635674
+v -0.05753229 -0.16247933 0.44193548
+v -0.10052179 -0.24790394 0.38386566
+v -0.21608831 -0.11791490 0.37008559
+v -0.13246482 -0.10697849 0.42851062
+v -0.29285522 -0.13368242 0.26013824
+v -0.19952651 -0.24593295 0.28351689
+v -0.27283144 0.13910023 0.29784914
+v -0.20923535 0.25952981 0.25833919
+v -0.20200313 0.16687645 0.35394480
+v -0.08390273 -0.35130528 0.27235470
+v -0.02856558 -0.30617693 0.36961478
+v -0.25859583 -0.14490154 0.31172012
+v -0.28862699 -0.04562725 0.31355940
+v -0.23114083 0.12414823 0.35358523
+v -0.06022131 0.31311169 0.26881139
+v 0.01318251 0.26841478 0.34249892
+v -0.08914317 0.29637705 0.28262988
+v -0.13235575 0.28091921 0.28192168
+v -0.06000832 0.28201214 0.31109610
+v -0.14765837 0.09633304 0.41189729
+v -0.17805283 0.02555094 0.41361200
+v -0.07317098 0.18006936 0.39746455
+v -0.14768656 0.22368132 0.33938135
+v -0.01461433 0.15535288 0.42938164
+v 0.01155830 -0.19373067 0.44575223
+v -0.01588677 -0.13615694 0.45965146
+f 5 2 1
+f 10 4 7
+f 11 5 1
+f 11 7 4
+f 11 4 5
+f 16 10 7
+f 17 11 1
+f 22 6 15
+f 25 16 7
+f 25 3 16
+f 26 16 3
+f 28 17 1
+f 28 1 2
+f 32 2 5
+f 33 5 4
+f 33 32 5
+f 33 20 13
+f 35 6 22
+f 37 35 22
+f 37 22 15
+f 37 15 2
+f 38 2 15
+f 40 24 12
+f 40 39 24
+f 40 23 39
+f 41 24 19
+f 41 12 24
+f 42 6 19
+f 42 19 24
+f 42 39 6
+f 42 24 39
+f 43 25 18
+f 43 3 25
+f 44 25 7
+f 44 18 25
+f 44 7 29
+f 44 40 12
+f 44 29 40
+f 45 26 8
+f 45 16 26
+f 46 10 16
+f 47 14 36
+f 47 45 8
+f 47 16 45
+f 47 46 16
+f 47 27 46
+f 48 29 7
+f 48 7 11
+f 48 11 17
+f 48 17 29
+f 49 40 29
+f 49 23 40
+f 49 38 23
+f 49 28 2
+f 49 2 38
+f 49 29 17
+f 49 17 28
+f 50 41 30
+f 50 12 41
+f 50 44 12
+f 50 18 44
+f 50 43 18
+f 50 30 3
+f 50 3 43
+f 51 26 3
+f 51 3 30
+f 51 19 31
+f 51 41 19
+f 51 30 41
+f 51 31 8
+f 51 8 26
+f 52 31 14
+f 52 8 31
+f 52 47 8
+f 52 14 47
+f 53 33 4
+f 53 20 33
+f 54 33 13
+f 54 32 33
+f 54 13 9
+f 54 9 37
+f 54 37 2
+f 54 2 32
+f 55 4 10
+f 55 53 4
+f 55 20 53
+f 56 27 34
+f 56 46 27
+f 56 10 46
+f 56 55 10
+f 56 34 55
+f 57 13 20
+f 57 55 34
+f 57 20 55
+f 58 35 21
+f 58 21 14
+f 58 14 31
+f 59 31 19
+f 59 19 6
+f 59 6 35
+f 59 58 31
+f 59 35 58
+f 60 9 36
+f 60 36 14
+f 60 14 21
+f 61 34 27
+f 61 47 36
+f 61 27 47
+f 61 57 34
+f 61 13 57
+f 61 36 9
+f 61 9 13
+f 62 37 9
+f 62 21 35
+f 62 35 37
+f 62 60 21
+f 62 9 60
+f 63 38 15
+f 63 23 38
+f 63 39 23
+f 64 15 6
+f 64 6 39
+f 64 63 15
+f 64 39 63
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_14.obj b/mango/mango_11/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1494d785157bdd536a188f6f27bb0657fdccd182
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_14.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.17021763 -0.36865682 0.23014683
+v 0.34466903 -0.13618492 0.01073538
+v 0.32764564 -0.13674856 0.24388520
+v 0.19329100 -0.13975935 0.24999999
+v 0.17813948 -0.23066844 0.00757576
+v 0.17345702 -0.35977912 0.24680995
+v 0.29672990 -0.26401303 0.17175890
+v 0.17813948 -0.23066844 0.24999999
+v 0.19329100 -0.13975935 0.00757576
+v 0.34177287 -0.16576873 0.14205822
+v 0.22352739 -0.33460196 0.21397157
+v 0.32656155 -0.20640607 0.05470620
+v 0.34519824 -0.13773816 0.15690233
+v 0.32642701 -0.19310297 0.20110032
+v 0.18440216 -0.35369782 0.24443117
+v 0.32596620 -0.20750275 0.15740220
+v 0.34218479 -0.16423640 0.04006526
+v 0.22467439 -0.33465781 0.04273143
+v 0.29452830 -0.23459280 0.24211673
+v 0.34291394 -0.15198942 0.15685252
+v 0.18047219 -0.36266861 0.22817468
+v 0.31161809 -0.23730066 0.17245359
+v 0.32678354 -0.19148118 0.01154785
+v 0.28227138 -0.27907159 0.05722043
+v 0.17381497 -0.35928884 0.01022272
+v 0.26593742 -0.27700996 0.24124804
+v 0.32517099 -0.15044378 0.24292010
+v 0.20966618 -0.33510707 0.24223227
+v 0.19684848 -0.36430848 0.08582739
+v 0.29626594 -0.26479339 0.08538176
+v 0.31165062 -0.22214059 0.21448398
+v 0.34154339 -0.15086696 0.01150678
+v 0.31109654 -0.21964789 0.01231074
+v 0.17171326 -0.36994506 0.04127529
+v 0.25234921 -0.30608796 0.21358948
+v 0.29640247 -0.24937626 0.21349224
+v 0.19604057 -0.36337542 0.18586946
+v 0.25403648 -0.32145190 0.11414004
+v 0.29585283 -0.24859252 0.02674864
+v 0.28179930 -0.26324608 0.01279970
+v 0.18328694 -0.36407605 0.04301763
+v 0.28117382 -0.27727985 0.19869310
+v 0.21038299 -0.35017184 0.05776627
+v 0.26815584 -0.29201065 0.04244687
+v 0.25357349 -0.32181987 0.14314241
+v 0.21037620 -0.33626946 0.01324822
+v 0.18482217 -0.35362672 0.01215287
+f 3 2 4
+f 8 5 1
+f 8 4 5
+f 8 1 6
+f 8 6 3
+f 8 3 4
+f 9 5 4
+f 9 4 2
+f 9 2 5
+f 13 2 3
+f 15 6 1
+f 16 12 10
+f 16 10 14
+f 17 10 12
+f 17 13 10
+f 17 2 13
+f 19 3 6
+f 20 13 3
+f 20 3 14
+f 20 14 10
+f 20 10 13
+f 21 15 1
+f 22 12 16
+f 22 16 14
+f 23 17 12
+f 25 5 2
+f 25 2 23
+f 26 19 6
+f 27 14 3
+f 27 3 19
+f 28 21 11
+f 28 15 21
+f 28 26 6
+f 28 6 15
+f 30 22 7
+f 30 12 22
+f 31 7 22
+f 31 22 14
+f 31 27 19
+f 31 14 27
+f 32 23 2
+f 32 2 17
+f 32 17 23
+f 33 23 12
+f 33 12 30
+f 34 1 5
+f 34 5 25
+f 34 29 1
+f 35 28 11
+f 35 26 28
+f 36 19 26
+f 36 31 19
+f 36 7 31
+f 37 11 21
+f 37 21 1
+f 37 1 29
+f 38 30 7
+f 38 24 30
+f 39 33 30
+f 39 30 24
+f 40 25 23
+f 40 23 33
+f 40 33 39
+f 40 39 24
+f 41 34 25
+f 41 29 34
+f 42 7 36
+f 42 36 26
+f 42 26 35
+f 43 38 29
+f 43 18 38
+f 43 29 41
+f 44 38 18
+f 44 24 38
+f 44 40 24
+f 45 37 29
+f 45 29 38
+f 45 11 37
+f 45 35 11
+f 45 42 35
+f 45 38 7
+f 45 7 42
+f 46 25 40
+f 46 18 43
+f 46 44 18
+f 46 40 44
+f 47 46 43
+f 47 43 41
+f 47 41 25
+f 47 25 46
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_15.obj b/mango/mango_11/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c80ce8f3f805f8209d9656dfd25e87443fa387c
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_15.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.05506228 -0.25645722 0.40980623
+v 0.07050518 -0.24354214 0.41263639
+v 0.01088507 -0.12623068 0.46355411
+v -0.07892351 -0.12432503 0.44556093
+v 0.01147282 -0.12460782 0.40151514
+v -0.02666109 -0.21999184 0.42726348
+v 0.05363022 -0.20998911 0.43409884
+v -0.13278707 -0.20892636 0.39104269
+v 0.05280329 -0.22223999 0.42867651
+v 0.00942528 -0.23070117 0.42859557
+v 0.07442800 -0.21894654 0.42402490
+v -0.11981233 -0.16610028 0.42012411
+v 0.05220501 -0.25057378 0.41407268
+v -0.01684505 -0.25634216 0.40906932
+v 0.07076119 -0.21359314 0.42769071
+v 0.06719064 -0.23776116 0.41689129
+v -0.12715363 -0.20410538 0.39780062
+v -0.07319270 -0.17771136 0.42999725
+v -0.15304380 -0.16888118 0.39891865
+v -0.01406273 -0.24981066 0.41377753
+v -0.11828147 -0.17793562 0.41567336
+v -0.04226813 -0.23534540 0.41312132
+v -0.14700294 -0.16561048 0.40452355
+v -0.15059518 -0.18149844 0.39501870
+v -0.09330099 -0.13488162 0.43784111
+v -0.14543896 -0.17730940 0.40088982
+f 5 2 1
+f 5 4 3
+f 6 3 4
+f 8 5 1
+f 10 7 3
+f 10 3 6
+f 10 9 7
+f 11 2 5
+f 13 1 2
+f 13 10 1
+f 13 9 10
+f 14 8 1
+f 14 1 10
+f 15 11 5
+f 15 5 3
+f 15 3 7
+f 15 7 9
+f 15 9 11
+f 16 11 9
+f 16 2 11
+f 16 13 2
+f 16 9 13
+f 17 8 14
+f 18 12 6
+f 18 6 4
+f 18 4 12
+f 19 4 5
+f 20 14 10
+f 20 10 6
+f 20 6 14
+f 21 6 12
+f 22 17 14
+f 22 14 6
+f 22 21 17
+f 22 6 21
+f 23 4 19
+f 24 19 5
+f 24 5 8
+f 24 8 17
+f 25 23 12
+f 25 12 4
+f 25 4 23
+f 26 21 12
+f 26 12 23
+f 26 23 19
+f 26 19 24
+f 26 24 17
+f 26 17 21
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_16.obj b/mango/mango_11/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7aa3d2f1a0cb8b6125d152ddada45440be68522d
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_16.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.26125445 0.07236187 0.14393939
+v -0.26125445 0.08751338 -0.09848485
+v -0.26286284 0.19459986 0.26613710
+v -0.26125445 0.07236187 0.00757576
+v -0.35433900 0.07093404 0.14130283
+v -0.29596936 0.20851060 -0.10822379
+v -0.35320235 0.07154587 0.00987482
+v -0.28811547 0.12864075 0.28130905
+v -0.33347155 0.17161874 0.08141215
+v -0.32518134 0.08811239 -0.10466002
+v -0.29858185 0.12040335 0.26898486
+v -0.31748261 0.18405844 0.13915322
+v -0.34904083 0.11395478 0.02505874
+v -0.29004034 0.15525524 0.25704548
+v -0.34862852 0.11305682 0.12635170
+v -0.33373873 0.17147228 0.02421206
+v -0.32410269 0.13092068 -0.09522054
+v -0.29474086 0.14264400 0.25924269
+v -0.30172749 0.18258438 0.19778702
+v -0.33376400 0.15532796 0.12562218
+v -0.32544252 0.11408643 0.21536332
+v -0.31853599 0.18655506 -0.04990417
+v -0.34303532 0.08674899 -0.03577384
+v -0.27478488 0.18385004 0.25652055
+v -0.33257335 0.12577851 0.18269264
+v -0.31722244 0.14003586 0.21222568
+v -0.31837781 0.15810737 -0.09392016
+v -0.33397636 0.14399984 -0.03511218
+v -0.34970847 0.09956733 0.01002964
+v -0.31724945 0.16891447 0.16926383
+v -0.34974789 0.09946961 0.14126367
+v -0.30810490 0.18829176 -0.09501239
+v -0.31780534 0.17215623 -0.07897887
+v -0.33577339 0.11379684 0.18439819
+f 1 2 3
+f 2 1 4
+f 5 4 1
+f 6 3 2
+f 7 2 4
+f 7 4 5
+f 8 1 3
+f 10 6 2
+f 10 2 7
+f 11 5 1
+f 11 1 8
+f 12 3 6
+f 12 6 9
+f 13 7 5
+f 14 8 3
+f 15 13 5
+f 15 9 13
+f 16 13 9
+f 17 6 10
+f 18 11 8
+f 18 8 14
+f 19 3 12
+f 20 12 9
+f 20 9 15
+f 21 5 11
+f 22 16 9
+f 22 9 6
+f 23 17 10
+f 23 10 7
+f 24 19 14
+f 24 14 3
+f 24 3 19
+f 25 20 15
+f 26 18 14
+f 26 14 19
+f 26 25 21
+f 26 21 11
+f 26 11 18
+f 27 6 17
+f 28 13 16
+f 28 16 22
+f 28 27 17
+f 28 17 23
+f 29 23 7
+f 29 7 13
+f 29 28 23
+f 29 13 28
+f 30 19 12
+f 30 12 20
+f 30 20 25
+f 30 26 19
+f 30 25 26
+f 31 25 15
+f 31 15 5
+f 32 22 6
+f 32 6 27
+f 33 28 22
+f 33 27 28
+f 33 32 27
+f 33 22 32
+f 34 31 5
+f 34 5 21
+f 34 21 25
+f 34 25 31
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_17.obj b/mango/mango_11/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39af836d3d2b40e1f28121a094a23bfe11d4dbc6
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_17.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00571221 -0.37916436 0.28525715
+v 0.18612944 -0.34942272 0.00290650
+v 0.17813948 -0.23066844 0.24999999
+v -0.12489081 -0.23066844 0.26515150
+v -0.12705063 -0.33965167 0.00669700
+v 0.01147282 -0.23066844 0.26515150
+v 0.18578176 -0.34750948 0.25540095
+v -0.12088500 -0.33114846 0.26252838
+v 0.17813948 -0.23066844 0.00757576
+v -0.12489081 -0.23066844 0.00757576
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 3 2
+f 9 4 3
+f 10 9 2
+f 10 2 5
+f 10 5 4
+f 10 4 9
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_18.obj b/mango/mango_11/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66c4f53d37668af328ce72ba7f8bb272bf9de08a
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_18.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.00860604 -0.39084669 0.25895360
+v 0.31636530 -0.18137877 0.24470458
+v 0.14009500 -0.22091363 0.39702224
+v 0.00633402 -0.02048851 0.46571434
+v 0.01147282 -0.01854722 0.24999999
+v 0.24109366 -0.01973835 0.38787438
+v 0.01126529 -0.21733783 0.43548145
+v 0.18144904 -0.34993492 0.25669042
+v 0.18440216 -0.35369782 0.24443117
+v 0.26908827 -0.16194735 0.34166212
+v 0.14360074 -0.12040013 0.43074394
+v 0.19003335 -0.01856181 0.42528462
+v 0.32817158 -0.01873969 0.24951025
+v 0.08178046 -0.33552141 0.33967393
+v 0.28412950 -0.25094513 0.24345657
+v 0.13903068 -0.34936919 0.29705697
+v 0.21300890 -0.13435753 0.39792310
+v 0.06719064 -0.23776116 0.41689129
+v 0.11495129 -0.12300266 0.43851178
+v 0.33117214 -0.03471764 0.24548067
+v 0.26773278 -0.01957046 0.35848677
+v 0.01364854 -0.35275781 0.33087780
+v 0.23720573 -0.29162531 0.27021970
+v 0.28136411 -0.22089219 0.28340761
+v 0.16806507 -0.35115623 0.27060767
+v 0.16851905 -0.29172543 0.33920730
+v 0.18489759 -0.13405061 0.41228266
+v 0.25627449 -0.11930384 0.37013491
+v 0.11234622 -0.15181733 0.43333496
+v 0.33048758 -0.10842697 0.24510351
+v 0.29801919 -0.01992650 0.31534252
+v 0.01262253 -0.29527079 0.38635674
+v 0.08153138 -0.34944024 0.32525687
+v 0.20885181 -0.32018570 0.27035857
+v 0.29550110 -0.22117026 0.25807587
+v 0.25264326 -0.26303190 0.28412835
+v 0.10931239 -0.30802641 0.35308855
+v 0.12536248 -0.27842259 0.36798981
+v 0.16673905 -0.33377852 0.29699883
+v 0.19551844 -0.24954329 0.35317423
+v 0.19802753 -0.16222464 0.39679837
+v 0.23986970 -0.15957761 0.36983473
+v 0.23970107 -0.12014402 0.38367324
+v 0.07993170 -0.23559116 0.41341670
+v 0.29994184 -0.22329987 0.24400427
+v 0.31006701 -0.13605651 0.28605868
+v 0.31326267 -0.02051594 0.28702466
+v 0.26794062 -0.10861590 0.35713714
+v 0.01215320 -0.26876595 0.40509930
+v 0.06745096 -0.30756392 0.36890350
+v 0.18044088 -0.33441324 0.28305161
+v 0.28057232 -0.24793862 0.25544856
+v 0.25374363 -0.23675217 0.30942518
+v 0.18354684 -0.26170076 0.35316334
+v 0.21158811 -0.17528346 0.38225433
+v 0.31009193 -0.16461678 0.27158075
+v 0.32654842 -0.03460998 0.25819955
+v 0.32585254 -0.10792146 0.25790870
+v 0.29628813 -0.12198862 0.31487468
+v 0.28208283 -0.15085982 0.32913273
+v 0.05297872 -0.29301924 0.38382821
+v 0.26792789 -0.19010188 0.32539571
+v 0.22365588 -0.23541356 0.33914809
+v 0.31179443 -0.17912928 0.25723956
+f 5 1 4
+f 7 4 1
+f 9 1 5
+f 12 5 4
+f 13 5 12
+f 15 9 5
+f 19 4 7
+f 19 12 4
+f 19 11 12
+f 20 5 13
+f 20 15 5
+f 21 13 12
+f 21 12 6
+f 23 9 15
+f 25 9 8
+f 25 16 1
+f 25 1 9
+f 27 17 12
+f 27 12 11
+f 28 21 6
+f 29 11 19
+f 29 27 11
+f 29 19 7
+f 29 7 18
+f 30 15 20
+f 31 13 21
+f 32 1 22
+f 33 16 14
+f 33 14 22
+f 33 22 1
+f 33 1 16
+f 34 8 9
+f 34 9 23
+f 36 34 23
+f 36 26 34
+f 37 14 16
+f 37 16 26
+f 38 37 26
+f 39 26 16
+f 39 16 25
+f 41 17 27
+f 41 3 40
+f 41 29 3
+f 41 27 29
+f 42 10 28
+f 42 17 41
+f 43 28 6
+f 43 6 12
+f 43 12 17
+f 43 42 28
+f 43 17 42
+f 44 29 18
+f 44 3 29
+f 44 38 3
+f 44 18 38
+f 45 30 2
+f 45 15 30
+f 45 35 15
+f 45 2 35
+f 47 13 31
+f 48 31 21
+f 48 21 28
+f 49 7 1
+f 49 1 32
+f 49 18 7
+f 50 32 22
+f 50 22 14
+f 50 14 37
+f 50 38 18
+f 50 37 38
+f 51 25 8
+f 51 8 34
+f 51 39 25
+f 51 34 26
+f 51 26 39
+f 52 35 24
+f 52 15 35
+f 52 24 36
+f 52 36 23
+f 52 23 15
+f 53 36 24
+f 53 40 26
+f 53 26 36
+f 54 38 26
+f 54 26 40
+f 54 40 3
+f 54 3 38
+f 55 42 41
+f 55 41 40
+f 55 40 42
+f 56 2 30
+f 56 24 35
+f 57 20 13
+f 57 13 47
+f 58 57 47
+f 58 30 20
+f 58 20 57
+f 58 56 30
+f 58 46 56
+f 59 47 31
+f 59 58 47
+f 59 46 58
+f 59 31 48
+f 60 48 28
+f 60 28 10
+f 60 59 48
+f 60 46 59
+f 60 56 46
+f 60 24 56
+f 61 49 32
+f 61 32 50
+f 61 50 18
+f 61 18 49
+f 62 53 24
+f 62 60 10
+f 62 24 60
+f 63 42 40
+f 63 40 53
+f 63 53 62
+f 63 62 10
+f 63 10 42
+f 64 56 35
+f 64 35 2
+f 64 2 56
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_19.obj b/mango/mango_11/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d38e6f9c7d782592ae804c1e95f78196edd38fb
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_19.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.10238191 0.29963459 -0.09848485
+v 0.11618222 0.34291933 -0.25343815
+v 0.11614833 0.38451825 -0.10478903
+v -0.03220342 0.40574602 -0.09671965
+v -0.16471344 0.31006253 -0.24065147
+v 0.03889874 0.38727387 -0.18482470
+v 0.07068301 0.39835882 -0.09734266
+v -0.18956000 0.34359223 -0.10931552
+v 0.09569486 0.37061243 -0.19867935
+v -0.07436983 0.37204341 -0.21267186
+v 0.02531905 0.40573125 -0.09634027
+v -0.15203121 0.36935767 -0.09749477
+v 0.05280960 0.37180919 -0.22806504
+v 0.06780215 0.38914913 -0.15553471
+v -0.04605382 0.38687470 -0.18404686
+v -0.12939392 0.35525554 -0.19741164
+v 0.02439542 0.40366828 -0.11070496
+v -0.10423309 0.39051615 -0.09665599
+v 0.08111973 0.37086065 -0.21227321
+v -0.04533847 0.37274680 -0.22803433
+v 0.09908231 0.38012357 -0.15686856
+v -0.10235768 0.35660131 -0.22695641
+v -0.14283143 0.34190511 -0.21157083
+v -0.14460861 0.35625139 -0.16875860
+v -0.03210014 0.40358884 -0.11114945
+v -0.10268099 0.38640143 -0.12537978
+v -0.13460725 0.37819258 -0.09694622
+v 0.09702407 0.35943833 -0.22832345
+v -0.11573658 0.37070048 -0.16885895
+v -0.12973454 0.34304123 -0.22713578
+v -0.13069020 0.37181867 -0.13944687
+v -0.14559886 0.33198238 -0.22894412
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 8 5 1
+f 9 3 2
+f 11 1 7
+f 12 8 1
+f 14 7 3
+f 17 4 11
+f 17 14 6
+f 17 11 7
+f 17 7 14
+f 18 11 4
+f 18 1 11
+f 19 13 6
+f 19 14 9
+f 19 6 14
+f 20 13 2
+f 20 2 5
+f 20 10 15
+f 20 15 6
+f 20 6 13
+f 21 14 3
+f 21 3 9
+f 21 9 14
+f 22 20 5
+f 22 10 20
+f 23 5 8
+f 24 8 12
+f 24 23 8
+f 24 16 23
+f 25 4 17
+f 25 18 4
+f 25 17 6
+f 25 6 15
+f 26 15 10
+f 26 25 15
+f 26 18 25
+f 27 12 1
+f 27 1 18
+f 27 18 26
+f 28 19 9
+f 28 9 2
+f 28 2 13
+f 28 13 19
+f 29 22 16
+f 29 10 22
+f 29 26 10
+f 29 16 24
+f 30 22 5
+f 30 23 16
+f 30 16 22
+f 31 27 26
+f 31 26 29
+f 31 12 27
+f 31 29 24
+f 31 24 12
+f 32 30 5
+f 32 5 23
+f 32 23 30
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_2.obj b/mango/mango_11/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a5043a89c7168c01aaffe5a7c91124b4e2ff9f2
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_2.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.19329100 -0.23066844 0.24999999
+v 0.19329100 -0.23066844 0.00757576
+v 0.23121261 0.22099944 0.27456370
+v -0.19883873 0.23101623 0.30139399
+v -0.20682238 -0.26725260 -0.00471436
+v -0.19500984 -0.25130044 0.28338490
+v -0.17034536 0.19357399 0.00757576
+v 0.19329100 0.19357399 0.00757576
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 5 4
+f 8 3 2
+f 8 2 5
+f 8 5 7
+f 8 7 4
+f 8 4 3
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_20.obj b/mango/mango_11/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74d29b6963da9a20bee8113b274bfa8a797f32ca
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_20.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.34089696 -0.01534808 -0.10667290
+v 0.34210561 0.02896571 -0.15593396
+v 0.34349352 0.12920427 -0.09685110
+v 0.30858095 0.22088028 -0.09779095
+v 0.30960778 -0.01320317 -0.24382804
+v 0.34510620 -0.00083516 -0.09693599
+v 0.32692032 0.00144301 -0.19951349
+v 0.31202471 0.15744644 -0.22971002
+v 0.31171513 0.21495493 -0.09632592
+v 0.34143885 0.00055602 -0.12605810
+v 0.34171272 0.10001502 -0.15600593
+v 0.32583751 0.10107729 -0.22838322
+v 0.29303336 0.19789599 -0.23796348
+v 0.30995712 0.18505082 -0.19977745
+v 0.32644194 0.04356389 -0.22908483
+v 0.32794093 0.12850651 -0.20049274
+v 0.31446323 0.20819154 -0.10191220
+v 0.30051184 0.18733562 -0.23008023
+v 0.30714811 0.22008459 -0.11270604
+v 0.31795724 -0.00010567 -0.23114184
+v 0.32634118 0.01554454 -0.21472914
+v 0.34203476 0.12880485 -0.11175224
+v 0.31048308 0.21398627 -0.11120975
+v 0.34162367 0.11414894 -0.14166195
+f 5 1 4
+f 6 4 1
+f 7 1 5
+f 9 6 3
+f 9 4 6
+f 10 6 1
+f 10 2 6
+f 10 7 2
+f 10 1 7
+f 11 6 2
+f 11 3 6
+f 13 5 4
+f 13 12 5
+f 13 8 12
+f 15 5 12
+f 15 12 11
+f 15 11 2
+f 16 12 8
+f 16 11 12
+f 16 8 14
+f 17 9 3
+f 17 4 9
+f 18 14 8
+f 18 8 13
+f 18 13 14
+f 19 14 13
+f 19 13 4
+f 20 7 5
+f 20 5 15
+f 21 15 2
+f 21 2 7
+f 21 20 15
+f 21 7 20
+f 22 16 14
+f 22 17 3
+f 22 14 17
+f 23 17 14
+f 23 14 19
+f 23 19 4
+f 23 4 17
+f 24 22 3
+f 24 3 11
+f 24 11 16
+f 24 16 22
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_21.obj b/mango/mango_11/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3842c02cba0bfe4ed38085cec78fcc98a1968be0
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_21.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.08444188 -0.21186660 0.42387994
+v 0.17567945 -0.09317577 0.42572941
+v 0.01299898 -0.01772890 0.46691112
+v 0.14757675 0.08735077 0.43118578
+v 0.16006505 0.08577158 0.42572429
+v 0.09754576 -0.01760280 0.46104243
+v 0.11428920 -0.18218476 0.42351456
+v 0.01126529 -0.21733783 0.43548145
+v 0.00633402 -0.02048851 0.46571434
+v 0.10026061 0.05583308 0.45480220
+v 0.16919449 0.05419289 0.42899104
+v 0.17510367 0.05618626 0.42571646
+v 0.05327291 -0.13549690 0.45932307
+v 0.14253756 0.08419543 0.43406660
+v 0.14192321 -0.06122264 0.44297065
+v 0.14057563 0.03973481 0.44360154
+v 0.15455634 0.08244384 0.42931648
+v 0.17036366 -0.08999915 0.42873560
+v 0.07885159 -0.16516712 0.44390049
+v 0.01196849 -0.13657016 0.46210823
+v 0.09722144 -0.04568055 0.45841664
+v 0.12680353 0.05461898 0.44651294
+v 0.08066745 -0.20668810 0.42755213
+v 0.15730927 -0.11931303 0.42717497
+v 0.03916711 -0.19338581 0.44411380
+v 0.01155830 -0.19373067 0.44575223
+v 0.10838413 0.06078282 0.45144253
+v 0.16056038 -0.12270748 0.42519008
+v 0.06695292 -0.17833636 0.44337235
+v 0.01171599 -0.21184399 0.43823204
+f 7 1 5
+f 8 5 1
+f 9 4 5
+f 9 5 8
+f 10 3 6
+f 10 9 3
+f 12 7 5
+f 12 2 7
+f 13 6 3
+f 14 4 9
+f 14 9 10
+f 16 10 6
+f 16 6 15
+f 17 5 4
+f 17 14 11
+f 17 4 14
+f 17 12 5
+f 17 11 12
+f 18 12 11
+f 18 2 12
+f 18 16 15
+f 18 11 16
+f 18 15 13
+f 20 13 3
+f 20 3 9
+f 21 15 6
+f 21 6 13
+f 21 13 15
+f 22 10 16
+f 22 16 11
+f 22 11 14
+f 23 1 7
+f 23 7 19
+f 24 18 13
+f 24 13 19
+f 25 8 1
+f 25 1 23
+f 25 13 20
+f 26 20 9
+f 26 9 8
+f 26 25 20
+f 27 22 14
+f 27 14 10
+f 27 10 22
+f 28 2 18
+f 28 18 24
+f 28 7 2
+f 28 24 19
+f 28 19 7
+f 29 19 13
+f 29 13 25
+f 29 25 23
+f 29 23 19
+f 30 26 8
+f 30 8 25
+f 30 25 26
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_22.obj b/mango/mango_11/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..025dc2eebb622bb7fee2ebb7131eb86d28fa20d3
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_22.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.17034536 -0.00339571 -0.09848485
+v -0.17034536 -0.00339571 -0.23484849
+v -0.17034536 0.19357399 -0.09848485
+v -0.30810490 0.18829176 -0.09501239
+v -0.31806730 -0.00246128 -0.09706088
+v -0.17034536 0.19357399 -0.23484849
+v -0.32318107 0.01453165 -0.09343699
+v -0.27375485 0.14401815 -0.22661478
+v -0.31847263 0.11663230 -0.12294210
+v -0.25961954 0.18765936 -0.22770277
+v -0.26423227 0.00042080 -0.22935783
+v -0.32135243 0.14484214 -0.09471257
+v -0.28598542 0.18642355 -0.16710917
+v -0.27304347 0.03018885 -0.22661107
+v -0.27277902 0.17182114 -0.21119971
+v -0.30169248 0.17139725 -0.13706124
+v -0.30348158 0.00129447 -0.13646449
+v -0.30328105 0.07356336 -0.16699257
+v -0.31824676 0.14346788 -0.10876517
+v -0.30488743 0.18674654 -0.10857946
+v -0.28690643 0.14415171 -0.19614682
+v -0.27252531 0.00183858 -0.21172176
+v -0.31845915 0.01524248 -0.10678257
+v -0.31805039 0.05889540 -0.12234066
+v -0.30279344 0.11583139 -0.16661379
+v -0.28787906 0.04495143 -0.19667639
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 10 4 6
+f 11 6 2
+f 11 2 5
+f 11 10 6
+f 11 8 10
+f 12 9 7
+f 12 7 4
+f 13 4 10
+f 14 8 11
+f 15 13 10
+f 15 10 8
+f 18 8 14
+f 19 12 4
+f 19 9 12
+f 20 4 13
+f 20 13 16
+f 20 19 4
+f 20 16 19
+f 21 15 8
+f 21 19 16
+f 21 9 19
+f 21 16 13
+f 21 13 15
+f 22 17 14
+f 22 14 11
+f 22 11 5
+f 22 5 17
+f 23 17 5
+f 23 5 7
+f 23 14 17
+f 24 7 9
+f 24 9 18
+f 24 23 7
+f 24 18 23
+f 25 18 9
+f 25 9 21
+f 25 21 8
+f 25 8 18
+f 26 23 18
+f 26 18 14
+f 26 14 23
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_23.obj b/mango/mango_11/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10d06d466a7467a2b283588931dff0e574e92887
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_23.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.27092609 0.18675775 0.24326377
+v 0.30051184 0.18733562 -0.23008023
+v 0.29662246 0.24384970 0.05046284
+v 0.17225411 0.36280649 0.06602677
+v 0.17813948 0.19357399 -0.23484849
+v 0.22504065 0.32726180 -0.11021575
+v 0.23756513 0.29875168 0.13874052
+v 0.31609962 0.18750847 0.12643575
+v 0.17813948 0.19357399 0.24999999
+v 0.29630337 0.24381359 -0.09681226
+v 0.17219907 0.33385728 -0.21606137
+v 0.21163657 0.34233673 0.05100270
+v 0.29944601 0.18693709 0.18349986
+v 0.29517713 0.22758554 0.12531381
+v 0.17996124 0.28715623 0.25183923
+v 0.28161753 0.27276808 -0.05229642
+v 0.26618019 0.25640746 -0.21327063
+v 0.32293251 0.19065194 -0.09777341
+v 0.17186118 0.36316456 -0.09653547
+v 0.17133100 0.34592704 0.14027479
+v 0.17573099 0.32572028 -0.23320621
+v 0.25213121 0.30046007 0.07946706
+v 0.25118641 0.25610980 0.19629798
+v 0.31059401 0.21256248 0.08066612
+v 0.31051290 0.20042229 0.12568886
+v 0.31171513 0.21495493 -0.09632592
+v 0.21077571 0.34286945 -0.08039885
+v 0.29599806 0.21455707 -0.20018792
+v 0.26750392 0.28691912 -0.09621982
+v 0.19682194 0.34096541 -0.13984842
+v 0.18419958 0.35703903 -0.09541600
+v 0.17146786 0.34795313 -0.17098699
+v 0.22475579 0.29862023 0.16793157
+v 0.19718901 0.34102128 0.10885688
+v 0.23768769 0.28245518 -0.22749570
+v 0.28191759 0.27223687 -0.00809634
+v 0.26637302 0.28605061 0.06547069
+v 0.26612039 0.27064729 0.12373390
+v 0.28028885 0.21220704 0.19528663
+v 0.23742122 0.24245540 0.24026748
+v 0.29519768 0.19795981 0.18106272
+v 0.28189741 0.25769789 -0.14095245
+v 0.28034924 0.22767959 -0.22853969
+v 0.29654910 0.22906039 -0.15644205
+v 0.25340494 0.30054115 -0.11004692
+v 0.21044612 0.31144304 -0.21261141
+v 0.18373323 0.35705182 0.06510056
+v 0.18268799 0.34101373 0.13819053
+v 0.25200900 0.27029718 0.16762913
+v 0.22388355 0.32851548 0.07945045
+v 0.20984447 0.32780234 0.12354705
+v 0.26521197 0.21232578 0.22523489
+v 0.22343377 0.26961961 0.22492123
+v 0.28062935 0.24156564 -0.20020910
+v 0.29542348 0.19951911 -0.22862731
+v 0.23788055 0.29889294 -0.18447002
+v 0.26626689 0.27106881 -0.17014012
+v 0.19695157 0.32566429 -0.19820303
+v 0.19828747 0.31385474 -0.22869540
+v 0.26595632 0.19786459 0.24051586
+v 0.21094723 0.27109364 0.24036256
+v 0.23618898 0.25556879 0.22538645
+v 0.25151173 0.28443304 -0.18427640
+v 0.18351034 0.32836609 -0.21377432
+f 5 2 1
+f 9 5 1
+f 13 1 2
+f 13 2 8
+f 15 9 1
+f 18 8 2
+f 20 4 19
+f 20 9 15
+f 20 5 9
+f 21 2 5
+f 21 5 11
+f 24 3 14
+f 24 18 3
+f 24 8 18
+f 25 13 8
+f 25 24 14
+f 25 8 24
+f 26 10 16
+f 26 3 18
+f 28 18 2
+f 29 16 10
+f 29 27 12
+f 29 12 16
+f 30 27 6
+f 31 19 4
+f 31 12 27
+f 31 27 30
+f 32 20 19
+f 32 11 5
+f 32 5 20
+f 32 31 30
+f 32 19 31
+f 34 4 20
+f 36 16 12
+f 36 12 22
+f 36 26 16
+f 36 3 26
+f 37 14 3
+f 37 36 22
+f 37 3 36
+f 38 22 7
+f 38 37 22
+f 38 14 37
+f 40 15 1
+f 41 25 14
+f 41 13 25
+f 41 23 39
+f 41 39 1
+f 41 1 13
+f 42 29 10
+f 43 35 17
+f 43 2 21
+f 43 21 35
+f 44 10 26
+f 44 26 18
+f 44 18 28
+f 44 42 10
+f 45 6 27
+f 45 27 29
+f 47 31 4
+f 47 12 31
+f 47 34 12
+f 47 4 34
+f 48 20 15
+f 48 15 33
+f 48 34 20
+f 49 33 23
+f 49 7 33
+f 49 38 7
+f 49 14 38
+f 49 41 14
+f 49 23 41
+f 50 22 12
+f 50 12 34
+f 50 7 22
+f 51 33 7
+f 51 50 34
+f 51 7 50
+f 51 48 33
+f 51 34 48
+f 52 39 23
+f 52 23 40
+f 53 23 33
+f 54 43 17
+f 54 28 43
+f 54 44 28
+f 54 42 44
+f 55 43 28
+f 55 28 2
+f 55 2 43
+f 56 6 45
+f 56 35 46
+f 56 30 6
+f 57 45 29
+f 57 29 42
+f 57 54 17
+f 57 42 54
+f 58 32 30
+f 58 56 46
+f 58 30 56
+f 59 46 35
+f 59 35 21
+f 59 58 46
+f 60 52 40
+f 60 40 1
+f 60 1 39
+f 60 39 52
+f 61 53 33
+f 61 33 15
+f 61 15 40
+f 62 40 23
+f 62 23 53
+f 62 61 40
+f 62 53 61
+f 63 17 35
+f 63 35 56
+f 63 57 17
+f 63 56 45
+f 63 45 57
+f 64 21 11
+f 64 11 32
+f 64 32 58
+f 64 59 21
+f 64 58 59
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_24.obj b/mango/mango_11/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c11652c79c0e8b41d2fc10b580e731aba866f288
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_24.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.15519385 0.19357399 0.26515150
+v -0.15519385 0.19357399 -0.23484849
+v -0.14785382 0.34881195 -0.18525500
+v -0.14917304 0.36196480 0.10986931
+v -0.32429342 0.18756095 0.09641518
+v -0.14992195 0.29992865 0.24146889
+v -0.29358349 0.18616054 0.21429702
+v -0.25603084 0.19170907 -0.23226300
+v -0.20251088 0.34268168 -0.06520270
+v -0.14770106 0.36264065 -0.14087664
+v -0.27948310 0.18674782 0.24399279
+v -0.25983917 0.28470578 0.12414914
+v -0.15161077 0.32563489 -0.23260624
+v -0.27865695 0.18843462 -0.18375479
+v -0.14894864 0.37796315 -0.03686065
+v -0.18683727 0.34180339 -0.12422094
+v -0.26913779 0.18930667 0.26093297
+v -0.28748327 0.24262289 0.13905081
+v -0.28915768 0.25838529 -0.01993759
+v -0.21830702 0.31110303 0.15166698
+v -0.14850073 0.33614766 -0.21534106
+v -0.30810490 0.18829176 -0.09501239
+v -0.26489893 0.18888278 -0.21453444
+v -0.17391768 0.35669849 -0.09506320
+v -0.20510737 0.34284384 0.06542278
+v -0.15912373 0.35629479 -0.13935243
+v -0.22783607 0.26999479 -0.19610384
+v -0.15103982 0.28913304 0.25861998
+v -0.30821695 0.18662275 0.17049343
+v -0.27261972 0.22637097 0.21028303
+v -0.28897855 0.25739658 0.08142729
+v -0.24343261 0.29968541 -0.09346071
+v -0.14950750 0.34731863 0.15378081
+v -0.18662906 0.32752385 -0.16726657
+v -0.32226641 0.18818688 -0.02112055
+v -0.18958992 0.35711158 -0.02132466
+v -0.23112632 0.31197641 0.12317644
+v -0.16155678 0.37119412 0.03615355
+v -0.21339675 0.26978865 -0.22490349
+v -0.27263746 0.22904905 -0.15225382
+v -0.21744524 0.26708615 0.23861188
+v -0.30265296 0.21434882 0.13908075
+v -0.27415367 0.19902946 0.24116655
+v -0.25895721 0.26869402 0.16738535
+v -0.28729439 0.22886952 0.16727382
+v -0.27554284 0.27056829 0.11026347
+v -0.31867562 0.19972141 0.09558057
+v -0.22996700 0.31385986 -0.09365402
+v -0.17504900 0.34087178 0.13731742
+v -0.15810063 0.34285953 -0.18315608
+v -0.17119074 0.32774659 -0.19615224
+v -0.22849268 0.29926342 -0.13734576
+v -0.30290916 0.22978104 -0.03418278
+v -0.16052329 0.37215344 -0.03654255
+v -0.17618161 0.35661070 0.07874526
+v -0.14971947 0.37603488 0.03613193
+v -0.18981660 0.35747074 0.02185389
+v -0.24151200 0.22783975 -0.22547433
+v -0.27276648 0.27184397 -0.06420483
+v -0.17693889 0.28173584 0.25343335
+v -0.25796143 0.22512338 0.23955245
+v -0.28788114 0.19855187 0.21157774
+v -0.23109628 0.28175317 0.19513629
+v -0.24507719 0.28303738 0.16655083
+f 6 1 2
+f 6 2 3
+f 10 6 3
+f 10 4 6
+f 11 7 2
+f 11 2 1
+f 13 2 8
+f 15 4 10
+f 17 11 1
+f 21 3 2
+f 21 2 13
+f 23 14 8
+f 23 8 2
+f 23 2 7
+f 23 7 14
+f 24 15 10
+f 24 16 9
+f 26 10 3
+f 26 24 10
+f 26 16 24
+f 28 17 1
+f 28 1 6
+f 29 22 14
+f 29 14 7
+f 31 25 19
+f 33 6 4
+f 35 29 5
+f 35 22 29
+f 36 24 9
+f 36 9 19
+f 37 25 12
+f 39 13 8
+f 39 27 34
+f 40 14 22
+f 42 5 29
+f 43 7 11
+f 43 11 17
+f 45 29 7
+f 45 42 29
+f 45 18 42
+f 45 44 18
+f 45 30 44
+f 46 31 18
+f 46 12 25
+f 46 25 31
+f 46 44 12
+f 46 18 44
+f 47 31 19
+f 47 18 31
+f 47 42 18
+f 47 5 42
+f 48 19 9
+f 48 9 16
+f 48 16 34
+f 49 33 4
+f 49 20 33
+f 49 37 20
+f 50 3 21
+f 50 26 3
+f 50 34 16
+f 50 16 26
+f 51 21 13
+f 51 39 34
+f 51 13 39
+f 51 50 21
+f 51 34 50
+f 52 34 27
+f 52 48 34
+f 52 32 48
+f 52 40 32
+f 52 27 40
+f 53 22 35
+f 53 40 22
+f 53 47 19
+f 53 35 5
+f 53 5 47
+f 54 15 24
+f 54 24 36
+f 55 38 25
+f 55 4 38
+f 55 49 4
+f 55 25 37
+f 55 37 49
+f 56 38 4
+f 56 4 15
+f 56 15 38
+f 57 25 38
+f 57 36 19
+f 57 19 25
+f 57 54 36
+f 57 38 15
+f 57 15 54
+f 58 39 8
+f 58 27 39
+f 58 40 27
+f 58 8 14
+f 58 14 40
+f 59 32 40
+f 59 48 32
+f 59 19 48
+f 59 53 19
+f 59 40 53
+f 60 28 6
+f 60 6 33
+f 60 33 20
+f 60 20 41
+f 60 41 17
+f 60 17 28
+f 61 17 41
+f 61 43 17
+f 61 30 43
+f 61 44 30
+f 62 43 30
+f 62 7 43
+f 62 45 7
+f 62 30 45
+f 63 41 20
+f 63 61 41
+f 63 44 61
+f 64 37 12
+f 64 12 44
+f 64 44 63
+f 64 63 20
+f 64 20 37
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_25.obj b/mango/mango_11/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8da1bae674dc9bd3cffdf2fab2779fb62d450ca
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_25.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.17034536 -0.13975935 0.14393939
+v -0.17034536 -0.13975935 0.00757576
+v -0.17034536 0.07236187 0.00757576
+v -0.35433900 0.07093404 0.14130283
+v -0.32030989 -0.13220410 0.14296270
+v -0.35320235 0.07154587 0.00987482
+v -0.17034536 0.07236187 0.14393939
+v -0.31867185 -0.13266308 0.06955700
+v -0.35058083 -0.03085643 0.14228643
+v -0.30671987 -0.13281979 0.01182863
+v -0.33520865 -0.08912861 0.14225384
+v -0.34967327 -0.03035831 0.05488393
+v -0.33635091 -0.05861328 0.01086206
+v -0.33363559 -0.08724253 0.05592896
+v -0.34897459 -0.00031764 0.01034141
+v -0.31776481 -0.11637637 0.02704868
+v -0.33430693 -0.07284594 0.02580457
+v -0.32007261 -0.10217527 0.01161271
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 7 5 1
+f 7 6 4
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 9 4 6
+f 9 7 4
+f 9 5 7
+f 10 2 8
+f 11 8 5
+f 11 5 9
+f 12 9 6
+f 12 11 9
+f 13 2 10
+f 14 8 11
+f 14 11 12
+f 15 6 2
+f 15 2 13
+f 15 13 12
+f 15 12 6
+f 16 10 8
+f 17 14 12
+f 17 12 13
+f 17 16 8
+f 17 8 14
+f 18 13 10
+f 18 10 16
+f 18 17 13
+f 18 16 17
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_26.obj b/mango/mango_11/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94775d3d18b3ca9a3d320450aea7d9b938156530
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_26.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.06170318 -0.04830469 0.44807809
+v -0.05519559 -0.02621908 0.46110060
+v -0.09322383 -0.03541061 0.49483342
+v -0.10695261 0.04012844 0.43653317
+v -0.04720472 0.02552122 0.45374819
+v -0.10749708 -0.04882717 0.43835246
+v -0.07125559 -0.03226636 0.49691560
+v -0.07827776 0.04074730 0.44296533
+v -0.07882710 -0.04917787 0.44422410
+v -0.10098236 0.00123296 0.49116434
+v -0.06375107 -0.02333320 0.49542985
+v -0.09566018 0.01040017 0.48474824
+v -0.06505248 0.00089676 0.49368269
+v -0.06987267 0.01094148 0.48412572
+f 5 2 1
+f 7 3 1
+f 8 5 1
+f 9 1 3
+f 9 3 6
+f 9 6 4
+f 9 8 1
+f 9 4 8
+f 10 6 3
+f 10 4 6
+f 10 3 7
+f 11 7 1
+f 11 1 2
+f 11 2 5
+f 12 8 4
+f 12 4 10
+f 13 10 7
+f 13 7 11
+f 13 12 10
+f 13 11 5
+f 14 13 5
+f 14 5 8
+f 14 8 12
+f 14 12 13
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_27.obj b/mango/mango_11/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6879fed7b38cc33a175c5bf0ff199aacb083b541
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_27.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.19693121 -0.12676047 0.40876136
+v 0.23215764 -0.07857714 0.39386292
+v 0.17784064 -0.01854666 0.43110447
+v 0.17733373 0.13249244 0.40038055
+v 0.22053441 -0.12346798 0.39648075
+v 0.23187001 0.01054649 0.39378591
+v 0.18688946 -0.10614534 0.41868846
+v 0.18758002 0.12968562 0.39408739
+v 0.19178041 -0.01756247 0.42427815
+v 0.17179604 0.12846803 0.40557476
+v 0.19796848 -0.10598097 0.41320551
+v 0.21688552 0.06997163 0.39334878
+v 0.22464094 0.01034308 0.40021398
+v 0.17169181 0.08385003 0.42033509
+v 0.19117161 -0.12360397 0.41254647
+v 0.21453840 -0.12082441 0.40062198
+v 0.22542096 -0.07782294 0.39939695
+v 0.18268886 0.08190238 0.41471647
+v 0.19610659 0.05276180 0.41350645
+v 0.21006371 0.06766728 0.39951994
+v 0.18153173 0.12602863 0.40010813
+f 8 5 1
+f 8 1 4
+f 8 2 5
+f 9 3 7
+f 11 9 7
+f 12 6 2
+f 12 2 8
+f 13 2 6
+f 13 6 12
+f 14 10 7
+f 14 7 3
+f 15 10 4
+f 15 4 1
+f 15 7 10
+f 15 11 7
+f 15 1 11
+f 16 11 1
+f 16 1 5
+f 16 5 11
+f 17 11 5
+f 17 5 2
+f 17 9 11
+f 17 13 9
+f 17 2 13
+f 18 10 14
+f 19 14 3
+f 19 3 9
+f 19 18 14
+f 19 9 13
+f 20 12 8
+f 20 18 19
+f 20 19 13
+f 20 13 12
+f 21 8 4
+f 21 4 10
+f 21 10 18
+f 21 20 8
+f 21 18 20
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_28.obj b/mango/mango_11/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78a529effac04234b3390b199d9d0aa961edeac1
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.19329100 -0.00339571 0.00757576
+v 0.19329100 -0.00339571 -0.23484849
+v 0.19329100 0.19357399 0.00757576
+v -0.17034536 0.19357399 0.00757576
+v -0.17034536 -0.00339571 -0.23484849
+v -0.17034536 0.19357399 -0.23484849
+v -0.17034536 -0.00339571 0.00757576
+v 0.19329100 0.19357399 -0.23484849
+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/mango/mango_11/collision/model_normalized_collision_29.obj b/mango/mango_11/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9b629b980da60309a805a45b8d8885bdfac6ffb
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.17034536 0.07236187 0.26515150
+v -0.17034536 0.07236187 0.00757576
+v -0.17034536 0.19357399 0.00757576
+v -0.19883873 0.23101623 0.30139399
+v -0.29988046 0.07984251 0.28763773
+v -0.26125445 0.07236187 0.00757576
+v -0.31283867 0.21749541 0.00335864
+v -0.26286284 0.19459986 0.26613710
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 2 1
+f 6 1 5
+f 7 3 2
+f 7 2 6
+f 7 4 3
+f 7 6 5
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_3.obj b/mango/mango_11/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02bc4fb0dfe807254ff8c4c5bd7a0f587a45f3b3
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_3.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.35700101 -0.00325741 0.00776881
+v 0.34510620 -0.00083516 -0.09693599
+v 0.35784236 0.08723580 0.00764809
+v 0.19329100 0.08751338 0.00757576
+v 0.19329100 -0.00339571 0.00757576
+v 0.32001865 0.09051270 -0.24781024
+v 0.35051841 0.08698662 -0.09741791
+v 0.30960778 -0.01320317 -0.24382804
+v 0.19329100 0.08751338 -0.23484849
+v 0.19329100 -0.00339571 -0.23484849
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 2 1
+f 8 1 5
+f 8 6 2
+f 9 5 4
+f 9 4 6
+f 10 8 5
+f 10 5 9
+f 10 9 6
+f 10 6 8
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_30.obj b/mango/mango_11/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d74d2843059b614d8b82843e4dec7f488c2f30c4
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.34695330 -0.13776192 0.14247236
+v 0.34466903 -0.13618492 0.01073538
+v 0.35865706 0.07229747 0.00764977
+v 0.19329100 0.07236187 0.14393939
+v 0.19329100 -0.13975935 0.14393939
+v 0.19329100 0.07236187 0.00757576
+v 0.34580758 0.07102948 0.14041595
+v 0.19329100 -0.13975935 0.00757576
+f 1 2 3
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 2 1
+f 8 1 5
+f 8 5 6
+f 8 6 3
+f 8 3 2
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_31.obj b/mango/mango_11/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..709daa3653c06779d4ad4a93060c4ceb946d4967
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.17034536 -0.00339571 0.00757576
+v -0.17034536 -0.00339571 -0.09848485
+v -0.17034536 0.19357399 -0.09848485
+v -0.31283867 0.21749541 0.00335864
+v -0.30690986 -0.01559470 -0.11746748
+v -0.17034536 0.19357399 0.00757576
+v -0.26125445 -0.00339571 0.00757576
+v -0.29596936 0.20851060 -0.10822379
+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 4 5
+f 7 6 4
+f 7 1 6
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_4.obj b/mango/mango_11/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3911081e4331ea2d20c535ae2512e9909b9af52e
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_4.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.34580758 0.07102948 0.14041595
+v 0.35051841 0.08698662 -0.09741791
+v 0.32563485 0.18470875 0.08076033
+v 0.19329100 0.19357399 0.14393939
+v 0.19329100 0.08751338 -0.23484849
+v 0.31336824 0.18764297 0.14018109
+v 0.35865706 0.07229747 0.00764977
+v 0.19329100 0.07236187 0.14393939
+v 0.29303336 0.19789599 -0.23796348
+v 0.34020907 0.12656672 0.12396302
+v 0.34161053 0.15728872 -0.02198500
+v 0.32001865 0.09051270 -0.24781024
+v 0.19329100 0.07236187 0.00757576
+v 0.19329100 0.19357399 -0.23484849
+v 0.34030177 0.11282369 0.13919751
+v 0.34059398 0.14113231 0.09613454
+v 0.34349352 0.12920427 -0.09685110
+v 0.32679627 0.18572856 -0.08152683
+v 0.32615900 0.17113694 0.10950954
+v 0.34168819 0.15660419 0.02168861
+v 0.33069339 0.12965408 -0.18641095
+v 0.34144253 0.14367197 -0.08177941
+v 0.32548679 0.17089258 -0.14142969
+v 0.32576943 0.15708932 -0.17066013
+v 0.32720070 0.14276782 -0.18569509
+f 6 4 1
+f 8 1 4
+f 8 4 5
+f 9 6 3
+f 9 4 6
+f 10 1 7
+f 12 7 5
+f 12 2 7
+f 13 7 1
+f 13 1 8
+f 13 8 5
+f 13 5 7
+f 14 5 4
+f 14 4 9
+f 14 12 5
+f 14 9 12
+f 15 10 6
+f 15 6 1
+f 15 1 10
+f 16 6 10
+f 16 10 7
+f 17 11 7
+f 17 7 2
+f 18 9 3
+f 19 16 3
+f 19 3 6
+f 19 6 16
+f 20 3 16
+f 20 18 3
+f 20 11 18
+f 20 16 7
+f 20 7 11
+f 21 12 9
+f 21 17 2
+f 21 2 12
+f 22 18 11
+f 22 11 17
+f 23 9 18
+f 23 18 22
+f 24 9 23
+f 24 17 21
+f 24 23 22
+f 24 22 17
+f 25 24 21
+f 25 21 9
+f 25 9 24
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_5.obj b/mango/mango_11/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ab5d2ce43f50c42f79be3766d4175100d08f6fb
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_5.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.17813948 0.19357399 0.14393939
+v 0.17813948 0.19357399 -0.23484849
+v 0.15501637 0.37134728 -0.09524947
+v -0.04649882 0.40289579 0.06537703
+v -0.15519385 0.19357399 -0.23484849
+v 0.17133100 0.34592704 0.14027479
+v -0.15519385 0.19357399 0.14393939
+v 0.09702407 0.35943833 -0.22832345
+v 0.08275440 0.40223544 0.02076911
+v 0.17041854 0.33034742 -0.22891883
+v -0.14781719 0.37258058 0.06489222
+v -0.16471344 0.31006253 -0.24065147
+v 0.15418742 0.37148136 0.06483949
+v 0.03961591 0.38716246 0.13794736
+v -0.04714133 0.40399761 -0.09656546
+v 0.05324231 0.40213270 -0.09526420
+v 0.16848654 0.35665086 -0.13987330
+v -0.14650809 0.35479981 0.13699724
+v 0.12577663 0.38670472 -0.06576148
+v 0.02543760 0.40309585 0.07955604
+v 0.11088599 0.38616045 0.07985379
+v -0.03233637 0.38721408 0.13852555
+v -0.14595689 0.37275985 -0.09601917
+v -0.07482539 0.40339402 0.00631399
+v 0.08269448 0.38818442 -0.14086146
+v 0.08264450 0.40298963 -0.03676633
+v 0.16888239 0.35547611 0.10908338
+v 0.15462931 0.35615159 -0.16935760
+v -0.10282630 0.38648183 0.08012713
+v 0.12471928 0.38624346 0.05069604
+v 0.06776033 0.38714371 0.12349701
+v -0.01796975 0.40321570 0.07977801
+v -0.10423309 0.39051615 -0.09665599
+v 0.09675382 0.38692608 -0.12573672
+v 0.05364628 0.40261986 0.06539214
+v 0.16827775 0.34153419 -0.19856552
+v 0.12621311 0.37164025 -0.15394028
+v -0.11771747 0.37109069 0.12264000
+v -0.11858282 0.38745246 0.03571892
+v -0.06007476 0.40288178 0.05095337
+v -0.06001014 0.38670049 0.12376247
+v 0.09655948 0.37357254 0.13801530
+v -0.07610813 0.40267617 -0.05163525
+v 0.06792776 0.40212913 0.05033154
+v 0.12506936 0.35509074 -0.21313678
+v -0.10298626 0.37168331 0.13684636
+v -0.11745514 0.38729489 -0.08178178
+v 0.14186694 0.35781648 0.13821523
+v -0.06074373 0.40315632 -0.08169104
+v 0.11051768 0.35540417 -0.22726671
+f 5 2 1
+f 6 1 2
+f 7 5 1
+f 7 1 6
+f 10 6 2
+f 12 2 5
+f 12 5 7
+f 12 10 2
+f 12 8 10
+f 15 8 12
+f 17 6 10
+f 18 12 7
+f 18 11 12
+f 19 13 3
+f 22 7 6
+f 22 6 14
+f 22 18 7
+f 23 12 11
+f 25 8 15
+f 25 15 16
+f 26 16 15
+f 26 15 20
+f 27 6 17
+f 27 21 6
+f 27 13 21
+f 27 17 3
+f 27 3 13
+f 30 13 19
+f 30 21 13
+f 30 9 21
+f 30 26 9
+f 30 19 26
+f 31 20 14
+f 32 4 22
+f 32 20 15
+f 32 15 24
+f 32 22 14
+f 32 14 20
+f 33 15 12
+f 33 12 23
+f 34 19 3
+f 34 26 19
+f 34 25 16
+f 34 16 26
+f 35 26 20
+f 35 9 26
+f 35 20 31
+f 35 31 21
+f 36 28 17
+f 36 17 10
+f 37 8 25
+f 37 25 34
+f 37 34 3
+f 37 3 17
+f 37 17 28
+f 38 29 11
+f 38 11 18
+f 39 11 29
+f 39 23 11
+f 40 29 4
+f 40 39 29
+f 40 24 39
+f 40 32 24
+f 40 4 32
+f 41 22 4
+f 41 4 29
+f 42 31 14
+f 42 14 6
+f 42 21 31
+f 43 24 15
+f 43 39 24
+f 44 35 21
+f 44 21 9
+f 44 9 35
+f 45 36 10
+f 45 28 36
+f 45 37 28
+f 45 8 37
+f 46 38 18
+f 46 18 22
+f 46 22 41
+f 46 41 29
+f 46 29 38
+f 47 33 23
+f 47 23 39
+f 47 43 33
+f 47 39 43
+f 48 42 6
+f 48 6 21
+f 48 21 42
+f 49 43 15
+f 49 15 33
+f 49 33 43
+f 50 45 10
+f 50 10 8
+f 50 8 45
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_6.obj b/mango/mango_11/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbbafaa01f02e693da6952e713019a8d58923584
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_6.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.12620141 -0.39375884 0.21520462
+v 0.18612944 -0.34942272 0.00290650
+v 0.18578176 -0.34750948 0.25540095
+v -0.12088500 -0.33114846 0.26252838
+v -0.05872132 -0.38085435 0.01267582
+v 0.01262869 -0.35965233 0.32071925
+v 0.16809884 -0.37850781 0.20068161
+v 0.08403964 -0.39392018 0.02751437
+v -0.12705063 -0.33965167 0.00669700
+v 0.09683284 -0.36556009 0.29895308
+v 0.05600509 -0.35972561 0.32019355
+v 0.01319077 -0.41026847 0.17280023
+v 0.16916013 -0.37875799 0.07217675
+v 0.15356525 -0.37918205 0.22776721
+v 0.12768926 -0.38033308 0.01300467
+v -0.11371740 -0.36459285 0.17260813
+v 0.12925837 -0.35899374 0.29034637
+v 0.08181708 -0.37876160 0.28486867
+v 0.07083400 -0.41098236 0.12898988
+v 0.14195712 -0.39441038 0.11419743
+v 0.16819375 -0.36487819 0.24274098
+v 0.14093002 -0.39349538 0.18700380
+v -0.01587041 -0.39463872 0.02724802
+v 0.16826610 -0.36343569 0.01363350
+v -0.11315261 -0.36379339 0.07066356
+v -0.05495536 -0.37849188 0.24394594
+v 0.09994988 -0.36014879 0.30504827
+v 0.05555139 -0.36480928 0.31330733
+v 0.11035346 -0.37797550 0.27030826
+v 0.09875426 -0.39265921 0.24330449
+v -0.00090053 -0.39435780 0.24428210
+v 0.12736659 -0.39412504 0.07174685
+v 0.05662644 -0.41156545 0.17291434
+v 0.07084765 -0.41116507 0.14413918
+v 0.05524201 -0.41178586 0.11438968
+v -0.05725474 -0.39441791 0.09923480
+v 0.15474118 -0.37815770 0.04240186
+v -0.09893397 -0.36494656 0.02737883
+v -0.03145264 -0.35975829 0.30601765
+v -0.09948819 -0.36344192 0.21500647
+v 0.12518485 -0.36458921 0.28427374
+v -0.02768422 -0.39303680 0.22909963
+v 0.00571221 -0.37916436 0.28525715
+v 0.01282029 -0.41141183 0.11434417
+v -0.04336165 -0.39439183 0.05510053
+v -0.11384336 -0.35090618 0.01227185
+v -0.08460469 -0.37844753 0.05530686
+v -0.09793325 -0.34876813 0.25778483
+v -0.11382733 -0.34970780 0.22914897
+v -0.08497497 -0.37828409 0.18644583
+v -0.05699670 -0.39358122 0.17211361
+v -0.02791473 -0.37777796 0.27192235
+v 0.01385414 -0.36401926 0.31436009
+v -0.07192744 -0.37935712 0.02635246
+v -0.08362587 -0.36333706 0.24330545
+v -0.11476902 -0.33728042 0.25845091
+v -0.02899291 -0.36378399 0.30056754
+v -0.00068801 -0.37797040 0.28594338
+f 3 2 4
+f 9 4 2
+f 9 2 5
+f 11 3 4
+f 11 4 6
+f 13 2 3
+f 13 3 7
+f 15 5 2
+f 16 4 9
+f 20 13 7
+f 21 14 7
+f 21 7 3
+f 21 3 17
+f 22 14 1
+f 22 7 14
+f 22 20 7
+f 23 15 8
+f 23 5 15
+f 24 15 2
+f 24 2 13
+f 25 16 9
+f 27 11 10
+f 27 10 17
+f 27 17 3
+f 27 3 11
+f 28 18 10
+f 28 10 11
+f 28 11 6
+f 29 10 18
+f 30 29 18
+f 30 1 14
+f 30 14 29
+f 31 30 18
+f 32 20 19
+f 32 8 15
+f 32 13 20
+f 33 22 1
+f 33 1 30
+f 33 31 12
+f 33 30 31
+f 34 19 20
+f 34 20 22
+f 34 22 33
+f 35 23 8
+f 35 34 33
+f 35 19 34
+f 35 32 19
+f 35 8 32
+f 36 16 25
+f 37 24 13
+f 37 15 24
+f 37 32 15
+f 37 13 32
+f 39 6 4
+f 41 17 10
+f 41 10 29
+f 41 21 17
+f 41 29 14
+f 41 14 21
+f 42 12 31
+f 43 31 18
+f 43 18 28
+f 44 35 33
+f 44 33 12
+f 44 23 35
+f 45 5 23
+f 45 44 36
+f 45 23 44
+f 46 38 25
+f 46 25 9
+f 46 9 5
+f 47 36 25
+f 47 25 38
+f 47 45 36
+f 48 39 4
+f 48 26 39
+f 49 4 16
+f 49 16 40
+f 50 40 16
+f 50 26 40
+f 51 12 42
+f 51 44 12
+f 51 36 44
+f 51 42 26
+f 51 26 50
+f 51 50 16
+f 51 16 36
+f 52 26 42
+f 52 42 31
+f 53 43 28
+f 53 28 6
+f 53 6 39
+f 54 46 5
+f 54 38 46
+f 54 47 38
+f 54 5 45
+f 54 45 47
+f 55 40 26
+f 55 26 48
+f 55 49 40
+f 55 48 49
+f 56 49 48
+f 56 48 4
+f 56 4 49
+f 57 39 26
+f 57 26 52
+f 57 53 39
+f 58 52 31
+f 58 31 43
+f 58 57 52
+f 58 43 53
+f 58 53 57
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_7.obj b/mango/mango_11/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7bbfa3756d65ba7459b5d100cb95402854597b7
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_7.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.17813948 0.19357399 0.24999999
+v 0.23559613 0.29633437 0.14941826
+v 0.01222329 0.33255134 0.25736030
+v -0.06304306 0.38508799 0.12726341
+v -0.15519385 0.19357399 0.14393939
+v 0.08313161 0.37760927 0.13933604
+v 0.20151030 0.27651702 0.24427046
+v 0.17813948 0.19357399 0.14393939
+v -0.15519385 0.19357399 0.26515150
+v 0.21451842 0.31853757 0.13989195
+v 0.03869125 0.37165677 0.18073425
+v 0.21533051 0.27516086 0.22877199
+v 0.01147282 0.19357399 0.26515150
+v -0.09126632 0.37878617 0.12555162
+v 0.19825477 0.33111335 0.13924434
+v -0.03160414 0.37185327 0.17930700
+v 0.14023771 0.32494678 0.22559288
+v 0.20938512 0.31226052 0.16689844
+v -0.15131349 0.35140549 0.14099296
+v -0.00179473 0.34224735 0.23927433
+v -0.08966744 0.37077608 0.15027986
+v 0.08191474 0.35616471 0.19612198
+v 0.17031641 0.34267116 0.15284228
+v 0.11234120 0.32666912 0.24123548
+v 0.20918004 0.28400352 0.22398009
+v 0.19685726 0.32738647 0.15282532
+v -0.15103982 0.28913304 0.25861998
+v 0.05377237 0.34159914 0.23919174
+v -0.07307796 0.37876517 0.14016371
+v -0.10379042 0.37079085 0.13845380
+v 0.08190104 0.37304530 0.15261306
+v 0.17133100 0.34592704 0.14027479
+v 0.15283673 0.31217345 0.23926389
+v 0.18189829 0.32580636 0.18082963
+v -0.04534539 0.32654505 0.25320233
+v -0.11822553 0.34063926 0.19429153
+v 0.05301364 0.35686240 0.20940305
+v -0.13340736 0.35971845 0.13877117
+v 0.06713440 0.37169998 0.16702304
+v 0.18121231 0.29574236 0.23803630
+v -0.14754503 0.34269155 0.16661734
+v -0.10311893 0.31081845 0.25281267
+v -0.05920530 0.34125019 0.22336720
+v 0.19604860 0.28437867 0.23944133
+v -0.14835630 0.31090772 0.22361007
+v -0.13199524 0.35577082 0.15110164
+v -0.13361340 0.29806508 0.25502774
+v -0.11784182 0.35518902 0.16492966
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 10 2 8
+f 11 6 4
+f 12 7 1
+f 12 1 2
+f 13 7 3
+f 13 1 7
+f 13 9 1
+f 13 3 9
+f 14 8 5
+f 14 10 8
+f 15 4 6
+f 15 14 4
+f 15 10 14
+f 16 11 4
+f 18 2 10
+f 19 14 5
+f 19 5 9
+f 20 11 16
+f 24 3 7
+f 24 17 22
+f 25 12 2
+f 25 2 18
+f 25 7 12
+f 26 18 10
+f 26 10 15
+f 26 15 23
+f 27 19 9
+f 27 9 3
+f 28 20 3
+f 28 3 24
+f 29 21 16
+f 29 16 4
+f 29 4 14
+f 29 14 21
+f 30 21 14
+f 31 22 17
+f 31 23 6
+f 31 17 23
+f 32 23 15
+f 32 15 6
+f 32 6 23
+f 33 24 7
+f 33 17 24
+f 34 25 18
+f 34 18 26
+f 34 26 23
+f 34 23 17
+f 34 17 33
+f 35 27 3
+f 35 3 20
+f 35 20 16
+f 36 16 21
+f 37 28 24
+f 37 24 22
+f 37 11 20
+f 37 20 28
+f 38 30 14
+f 38 14 19
+f 39 31 6
+f 39 6 11
+f 39 22 31
+f 39 37 22
+f 39 11 37
+f 40 33 7
+f 40 34 33
+f 40 25 34
+f 41 19 27
+f 42 27 35
+f 43 35 16
+f 43 16 36
+f 43 42 35
+f 43 36 42
+f 44 40 7
+f 44 7 25
+f 44 25 40
+f 45 41 27
+f 45 27 36
+f 45 36 41
+f 46 38 19
+f 46 19 41
+f 46 30 38
+f 47 42 36
+f 47 36 27
+f 47 27 42
+f 48 21 30
+f 48 30 46
+f 48 36 21
+f 48 46 41
+f 48 41 36
\ No newline at end of file
diff --git a/mango/mango_11/collision/model_normalized_collision_8.obj b/mango/mango_11/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a799cbb5f2d42caac471dc4e637165c572cd586
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_8.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.11455955 -0.38364023 0.01208506
+v 0.34466903 -0.13618492 0.01073538
+v -0.33635091 -0.05861328 0.01086206
+v -0.34584140 -0.01044772 0.00154416
+v 0.31795724 -0.00010567 -0.23114184
+v 0.35700101 -0.00325741 0.00776881
+v 0.26937315 -0.27990118 0.01362273
+v -0.14187987 -0.19871282 -0.22145350
+v -0.33977298 -0.04542919 0.01004063
+v -0.29063053 0.00089828 -0.16773154
+v 0.34510620 -0.00083516 -0.09693599
+v -0.05872132 -0.38085435 0.01267582
+v 0.31127684 -0.18993450 -0.04647756
+v 0.18160223 -0.19654331 -0.22349434
+v -0.30847110 -0.00005592 -0.12318769
+v -0.26423227 0.00042080 -0.22935783
+v 0.33056993 0.00070824 -0.18552737
+v -0.27576917 -0.19040103 0.01214283
+v -0.01422760 -0.31951274 -0.13056656
+v 0.32639747 -0.17691448 -0.01784685
+v 0.16688197 -0.34749196 -0.02780181
+v 0.25245865 -0.23076201 -0.10257298
+v -0.31671653 -0.05749049 -0.06121107
+v -0.08731180 -0.22900426 -0.22378314
+v -0.32007261 -0.10217527 0.01161271
+v -0.15588788 -0.30323993 -0.02892607
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diff --git a/mango/mango_11/collision/model_normalized_collision_9.obj b/mango/mango_11/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93ae1264f7b54df412dbbce46908202b28455c54
--- /dev/null
+++ b/mango/mango_11/collision/model_normalized_collision_9.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
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diff --git a/mango/mango_11/model.xml b/mango/mango_11/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4f31e4cdb798a754d3ad1b6fd08db1ca971cc49f
--- /dev/null
+++ b/mango/mango_11/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="mango_5">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.7071067811865475 -5.551115123125783e-17 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="AppleMango_u0_v0" texture="image0" specular="0.5" shininess="0.335550597"/>
+  </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="AppleMango_u0_v0"/>
+        <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_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"/>
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+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00020510785000000056 0.0003244962499999995 -0.038545871899999994" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00020510785000000056 0.0003244962499999995 0.0391196567" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0340724207 0.047206981999999995 0.00028689240000000086" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
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diff --git a/mango/mango_11/visual/material.mtl b/mango/mango_11/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cc8aaa294cf05dd46f61f1a02b75670954363209
--- /dev/null
+++ b/mango/mango_11/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 335.55059700
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/mango/mango_11/visual/model_normalized_0.obj b/mango/mango_11/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5068d7c84b53d12f1395c4983cfc29e867919b3b
--- /dev/null
+++ b/mango/mango_11/visual/model_normalized_0.obj
@@ -0,0 +1,74787 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_0.obj b/mango/mango_12/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8cf27d405042d4e17df1aa54b3cb371452942eb
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
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+f 37 8 14
+f 37 14 3
+f 37 3 25
+f 37 25 13
+f 38 23 12
+f 38 12 7
+f 39 24 18
+f 39 4 24
+f 39 18 31
+f 42 41 27
+f 42 26 41
+f 42 9 30
+f 43 2 28
+f 44 17 29
+f 44 30 17
+f 44 42 30
+f 44 26 42
+f 44 29 5
+f 44 5 26
+f 46 29 10
+f 46 18 45
+f 46 45 5
+f 46 5 29
+f 46 31 18
+f 46 10 31
+f 47 30 1
+f 47 17 30
+f 47 33 17
+f 48 39 31
+f 48 4 39
+f 48 32 4
+f 48 19 32
+f 48 31 10
+f 49 13 4
+f 49 4 32
+f 49 32 22
+f 49 37 13
+f 49 22 37
+f 50 32 19
+f 50 7 22
+f 50 22 32
+f 50 38 7
+f 51 10 17
+f 51 17 33
+f 51 48 10
+f 51 19 48
+f 52 1 23
+f 52 38 33
+f 52 23 38
+f 52 47 1
+f 52 33 47
+f 53 34 21
+f 53 21 2
+f 54 11 34
+f 54 53 35
+f 54 34 53
+f 55 24 11
+f 55 54 35
+f 55 11 54
+f 55 15 24
+f 56 53 2
+f 56 35 53
+f 57 33 38
+f 57 51 33
+f 57 19 51
+f 57 50 19
+f 57 38 50
+f 58 40 24
+f 58 24 15
+f 59 18 24
+f 59 24 40
+f 59 45 18
+f 59 40 5
+f 59 5 45
+f 60 41 15
+f 60 27 41
+f 60 56 27
+f 60 35 56
+f 60 55 35
+f 60 15 55
+f 61 15 41
+f 61 58 15
+f 61 40 58
+f 61 5 40
+f 61 41 26
+f 61 26 5
+f 62 2 43
+f 62 56 2
+f 62 27 56
+f 63 43 28
+f 63 28 9
+f 63 9 43
+f 64 42 27
+f 64 62 43
+f 64 27 62
+f 64 43 9
+f 64 9 42
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_1.obj b/mango/mango_12/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dc3b0de2c068a378f3505cb8d045e5fed50dfed
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.00972177 0.16124933 0.27238513
+v 0.00391764 0.15960043 -0.21560000
+v 0.00221407 0.34381139 0.05597743
+v -0.20030980 0.35931981 0.05742785
+v -0.46427209 0.15740152 0.09663418
+v -0.11706720 0.30152155 -0.13887159
+v -0.07100516 0.32922300 0.15381418
+v 0.00736246 0.16512916 0.26867426
+v -0.00019612 0.30045423 -0.09595514
+v -0.09990728 0.36289001 -0.01215318
+v -0.38577010 0.23969517 -0.12736259
+v -0.10090050 0.35956447 0.09963558
+v -0.27379934 0.20061568 0.23759611
+v -0.06830020 0.24486428 0.23808127
+v 0.00119865 0.30021115 0.16805033
+v 0.00071481 0.32832793 -0.03849570
+v 0.00082369 0.24132825 -0.16507112
+v -0.07365519 0.34467637 -0.05525387
+v -0.35692335 0.30078119 0.04017329
+v -0.24540292 0.32716098 -0.08534535
+v -0.27785759 0.15940588 -0.24793270
+v -0.04298216 0.34585199 0.11110152
+v -0.24303459 0.31484882 0.15076514
+v -0.15758460 0.36027523 0.08685785
+v -0.05595031 0.35967318 0.07137721
+v -0.30610127 0.16102381 0.24282415
+v -0.03908599 0.21799002 0.25114183
+v 0.00205979 0.33104237 0.11236080
+v -0.02789807 0.27150707 0.21111631
+v 0.00065980 0.34400871 0.01461305
+v -0.04244015 0.28382751 -0.13943078
+v -0.01344171 0.31421794 -0.08100216
+v -0.42962519 0.22948331 -0.04333653
+v -0.18778082 0.34448409 -0.06847808
+v -0.27310580 0.34501476 0.01615583
+v -0.33637612 0.15799635 -0.23128851
+v -0.16196290 0.18768710 -0.23975430
+v -0.26069867 0.26951368 -0.16963649
+v -0.07040175 0.34522706 0.12638964
+v -0.17172661 0.32974497 0.15512506
+v -0.35720290 0.25527167 0.13916868
+v -0.07221197 0.36055597 0.08388566
+v -0.20089846 0.36174485 -0.00055540
+v -0.24481650 0.32953972 0.12607474
+v -0.26153062 0.16023601 0.25793452
+v -0.00973459 0.17526769 0.26726289
+v 0.00296559 0.24520333 0.22399104
+v -0.01426002 0.32940800 0.12864465
+v -0.01247339 0.34417687 0.08462681
+v -0.02811886 0.30032221 0.18086466
+v -0.05700841 0.35900531 0.00319846
+v -0.00091824 0.26908262 -0.13870331
+v -0.07229129 0.31342633 -0.10951009
+v -0.01686149 0.32875254 -0.05343349
+v -0.35775508 0.30031839 -0.02674177
+v -0.44473729 0.21347302 0.04398876
+v -0.11590215 0.32846165 -0.09764316
+v -0.11512452 0.34507329 -0.06721663
+v -0.04218998 0.15927079 -0.23004109
+v -0.45025174 0.16025969 -0.11781730
+v -0.11612317 0.24436213 -0.19583963
+v -0.24567533 0.22820151 -0.21072086
+v -0.21609162 0.29976748 -0.14107660
+v -0.33386500 0.21215179 -0.19642190
+f 5 2 1
+f 8 1 2
+f 8 2 3
+f 16 3 2
+f 17 16 2
+f 17 9 16
+f 28 8 3
+f 30 3 16
+f 30 25 3
+f 32 16 9
+f 38 11 20
+f 40 12 24
+f 40 39 12
+f 40 7 39
+f 40 29 7
+f 40 14 29
+f 40 23 13
+f 40 13 14
+f 41 13 23
+f 41 26 13
+f 41 5 26
+f 42 24 12
+f 42 10 24
+f 42 25 10
+f 42 22 25
+f 42 39 22
+f 42 12 39
+f 43 24 10
+f 43 4 24
+f 43 35 4
+f 43 10 34
+f 43 34 20
+f 43 20 35
+f 44 24 4
+f 44 40 24
+f 44 23 40
+f 44 4 35
+f 44 35 19
+f 44 41 23
+f 44 19 41
+f 45 26 5
+f 45 5 1
+f 45 13 26
+f 45 1 27
+f 45 27 14
+f 45 14 13
+f 46 27 1
+f 46 1 8
+f 46 8 27
+f 47 28 15
+f 47 8 28
+f 47 15 29
+f 47 27 8
+f 47 29 14
+f 47 14 27
+f 48 28 22
+f 48 15 28
+f 48 22 39
+f 48 39 7
+f 49 25 22
+f 49 22 28
+f 49 28 3
+f 49 3 25
+f 50 29 15
+f 50 7 29
+f 50 48 7
+f 50 15 48
+f 51 10 25
+f 51 25 30
+f 51 18 10
+f 51 30 16
+f 52 31 9
+f 52 9 17
+f 52 17 31
+f 53 31 6
+f 53 18 32
+f 53 32 9
+f 53 9 31
+f 54 32 18
+f 54 16 32
+f 54 51 16
+f 54 18 51
+f 55 33 19
+f 55 11 33
+f 55 19 35
+f 55 35 20
+f 55 20 11
+f 56 19 33
+f 56 41 19
+f 56 5 41
+f 57 53 6
+f 57 18 53
+f 58 34 10
+f 58 10 18
+f 58 57 34
+f 58 18 57
+f 59 36 21
+f 59 2 5
+f 59 5 36
+f 59 21 37
+f 59 17 2
+f 60 36 5
+f 60 33 11
+f 60 11 36
+f 60 56 33
+f 60 5 56
+f 61 31 17
+f 61 59 37
+f 61 17 59
+f 61 6 31
+f 62 37 21
+f 62 61 37
+f 63 6 61
+f 63 62 38
+f 63 61 62
+f 63 57 6
+f 63 34 57
+f 63 38 20
+f 63 20 34
+f 64 36 11
+f 64 11 38
+f 64 38 62
+f 64 62 21
+f 64 21 36
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_10.obj b/mango/mango_12/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7ad510effe84460ae1cdfeb22463167cd273cf0
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_10.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.09848485 -0.01586960 -0.13766056
+v -0.10016790 -0.01704944 -0.28920081
+v -0.09848485 0.05988797 -0.13766056
+v -0.34090909 0.05988797 -0.13766056
+v -0.34860331 -0.01661246 -0.25968139
+v -0.16108473 0.05703221 -0.28786369
+v -0.34090909 -0.01586960 -0.13766056
+v -0.10061768 0.05764199 -0.27955668
+v -0.34702089 0.06278963 -0.25861825
+v -0.23426821 -0.01561019 -0.29358201
+v -0.10138840 0.01267217 -0.28716448
+v -0.23323478 0.05665065 -0.28855080
+v -0.14647724 0.05484556 -0.28706310
+f 1 2 3
+f 1 3 4
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 9 5 4
+f 9 8 6
+f 9 4 3
+f 9 3 8
+f 10 6 2
+f 10 2 5
+f 10 5 9
+f 11 8 2
+f 11 2 6
+f 12 10 9
+f 12 9 6
+f 12 6 10
+f 13 11 6
+f 13 6 8
+f 13 8 11
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_11.obj b/mango/mango_12/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1414e53644073a2930659cacff9d6e10983269ac
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.36078059 -0.18858176 0.14026046
+v -0.40046331 -0.13233160 -0.16687228
+v -0.39013266 0.19786036 -0.16974335
+v -0.35133072 0.16294891 0.21923787
+v -0.48954825 -0.01285128 0.10012475
+v -0.34810669 -0.17210561 0.16836261
+v -0.44311849 -0.15987002 0.01354980
+v -0.48160581 -0.06867123 -0.08199414
+v -0.47227249 0.15733080 0.07070516
+v -0.34873964 0.14558916 0.22852737
+v -0.43049286 -0.09873989 0.14892270
+v -0.42485576 -0.17775886 -0.04516196
+v -0.45962321 0.08808944 -0.13156901
+v -0.49056251 -0.05799530 0.04286529
+v -0.45809203 0.15624886 0.10995175
+v -0.40223503 -0.13907770 0.14915701
+v -0.38846676 -0.00919408 0.22329682
+v -0.42786928 -0.17094797 0.05586475
+v -0.44312694 -0.15938459 -0.00050161
+v -0.45981687 -0.01159774 -0.13188056
+v -0.45994501 0.15757885 -0.08774548
+v -0.48956217 0.11687329 0.03317454
+v -0.47476161 -0.08198053 0.08438804
+v -0.44564842 0.09611424 0.16534872
+v -0.48948506 0.07395097 0.09888610
+v -0.35813825 -0.16855282 0.16388367
+v -0.44554574 -0.03868667 0.16620735
+v -0.35017999 -0.01382688 0.24371515
+v -0.38705077 -0.09592631 0.19288731
+v -0.41461546 -0.16856332 0.09529196
+v -0.42891684 -0.17338848 -0.04208954
+v -0.47445399 -0.09785212 0.01521263
+v -0.47403069 0.15771478 0.01507323
+v -0.44684091 0.15816409 -0.12802403
+v -0.49045420 0.08703311 0.00406543
+v -0.49011253 -0.04446591 0.07346205
+v -0.45931016 -0.11339696 0.08314012
+v -0.38587664 0.12917744 0.20802286
+v -0.47332454 0.11524730 0.11454930
+v -0.47469020 0.04443526 0.13894666
+v -0.49001459 0.11631121 0.05671549
+v -0.38836009 -0.16633084 0.13732852
+v -0.47245809 -0.04037363 0.12546631
+v -0.34806046 -0.13060931 0.19944223
+v -0.35957425 0.08690701 0.23901162
+v -0.38719436 -0.13905391 0.16456264
+v -0.36105416 -0.06955768 0.22254783
+v -0.44398189 -0.06779274 0.15304595
+v -0.41724328 -0.03959060 0.19415389
+v -0.42943526 -0.13920366 0.11113675
+v -0.47404939 -0.09573301 0.05820910
+v -0.45853900 0.13209076 -0.11726169
+v -0.49044873 -0.05708974 0.03075802
+v -0.46004204 -0.12579563 0.04122882
+v -0.45785262 -0.09548458 0.11007613
+v -0.36262394 0.16056649 0.21298537
+v -0.44355591 0.12874660 0.15220903
+v -0.47593979 0.08615522 0.12418057
+v -0.47440871 0.01661875 0.13936773
+v -0.38821123 0.07470616 0.22346281
+v -0.48852829 0.10047180 0.08460687
+v -0.35904663 -0.12551721 0.19575282
+v -0.35031447 0.08759402 0.24355950
+v -0.36298540 -0.01225315 0.23821040
+f 6 1 2
+f 6 2 3
+f 10 6 3
+f 10 3 4
+f 12 2 1
+f 12 8 2
+f 13 3 2
+f 15 4 3
+f 15 3 9
+f 18 12 1
+f 18 7 12
+f 19 12 7
+f 20 13 2
+f 20 2 8
+f 20 8 13
+f 26 1 6
+f 30 18 1
+f 31 19 8
+f 31 8 12
+f 31 12 19
+f 32 8 19
+f 32 19 7
+f 33 9 3
+f 33 3 21
+f 33 21 22
+f 34 21 3
+f 34 3 13
+f 35 13 8
+f 35 22 21
+f 36 14 23
+f 36 5 25
+f 37 18 30
+f 39 15 9
+f 40 25 5
+f 41 22 35
+f 41 35 14
+f 41 36 25
+f 41 14 36
+f 41 33 22
+f 41 9 33
+f 42 1 26
+f 42 30 1
+f 43 36 23
+f 43 5 36
+f 44 6 10
+f 44 10 28
+f 46 29 11
+f 46 11 16
+f 46 42 26
+f 46 16 42
+f 47 44 28
+f 48 11 29
+f 48 27 43
+f 49 48 29
+f 49 27 48
+f 49 47 17
+f 49 29 47
+f 50 16 11
+f 50 37 30
+f 50 42 16
+f 50 30 42
+f 51 23 14
+f 51 14 32
+f 51 37 23
+f 52 34 13
+f 52 21 34
+f 52 35 21
+f 52 13 35
+f 53 35 8
+f 53 14 35
+f 53 32 14
+f 53 8 32
+f 54 7 18
+f 54 18 37
+f 54 37 51
+f 54 51 32
+f 54 32 7
+f 55 23 37
+f 55 11 48
+f 55 48 43
+f 55 43 23
+f 55 50 11
+f 55 37 50
+f 56 38 10
+f 56 10 4
+f 56 4 15
+f 57 39 24
+f 57 15 39
+f 57 56 15
+f 57 24 38
+f 57 38 56
+f 58 39 25
+f 58 25 40
+f 58 40 24
+f 58 24 39
+f 59 49 17
+f 59 27 49
+f 59 43 27
+f 59 40 5
+f 59 5 43
+f 60 24 40
+f 60 38 24
+f 60 45 10
+f 60 10 38
+f 60 59 17
+f 60 40 59
+f 61 39 9
+f 61 9 41
+f 61 41 25
+f 61 25 39
+f 62 26 6
+f 62 6 44
+f 62 46 26
+f 62 29 46
+f 62 47 29
+f 62 44 47
+f 63 28 10
+f 63 10 45
+f 64 63 45
+f 64 28 63
+f 64 47 28
+f 64 17 47
+f 64 60 17
+f 64 45 60
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_12.obj b/mango/mango_12/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48fb84020925db7ef02d8bbf0f6eb5d71326be06
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_12.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.36078059 -0.18858176 0.14026046
+v -0.33244478 -0.16142295 -0.21723270
+v -0.34090909 -0.10677869 -0.13766056
+v -0.41897012 -0.11731873 0.14808486
+v -0.44670398 -0.14113164 -0.04293810
+v -0.39157096 -0.13088390 0.16602575
+v -0.36952419 -0.19356826 -0.14716476
+v -0.41818257 -0.17219644 0.08129766
+v -0.40247869 -0.10032776 -0.18874659
+v -0.38961863 -0.17203898 0.12872379
+v -0.44922289 -0.11977356 0.09787191
+v -0.41575860 -0.17152361 -0.08719373
+v -0.33917077 -0.10603385 -0.24101442
+v -0.38357214 -0.15682245 -0.17143502
+v -0.45985155 -0.10660928 -0.04635090
+v -0.36036536 -0.10112643 -0.22917163
+v -0.33247051 -0.13208672 -0.23294013
+v -0.36686300 -0.19119620 -0.15449754
+v -0.43439387 -0.10193024 -0.13270009
+v -0.39827884 -0.17055676 -0.12963595
+v -0.37041473 -0.14247835 -0.19765081
+v -0.34343136 -0.13109813 -0.22708003
+v -0.34307923 -0.15589769 -0.21342875
+v -0.39956043 -0.11150959 -0.18482530
+v -0.42879506 -0.13970011 -0.10150644
+v -0.44974219 -0.10407579 -0.08724492
+v -0.42967034 -0.11380872 -0.12957852
+v -0.35665509 -0.11464146 -0.22578264
+v -0.44282211 -0.14328059 -0.05460847
+v -0.44612799 -0.11344762 -0.08618552
+v -0.35628096 -0.14126725 -0.21118753
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 8 7 1
+f 9 4 3
+f 10 6 4
+f 10 1 6
+f 10 8 1
+f 11 5 8
+f 11 10 4
+f 11 8 10
+f 12 8 5
+f 12 7 8
+f 15 5 11
+f 15 11 4
+f 16 9 3
+f 16 3 13
+f 17 13 3
+f 17 3 2
+f 18 2 7
+f 18 7 14
+f 19 4 9
+f 20 14 7
+f 20 7 12
+f 22 13 17
+f 22 17 2
+f 23 18 14
+f 23 2 18
+f 23 14 21
+f 23 22 2
+f 24 19 9
+f 24 14 19
+f 24 21 14
+f 24 9 21
+f 25 20 12
+f 26 15 4
+f 26 4 19
+f 27 19 14
+f 27 14 20
+f 27 25 19
+f 27 20 25
+f 28 21 9
+f 28 9 16
+f 28 16 13
+f 28 13 22
+f 29 25 12
+f 29 12 5
+f 29 5 15
+f 29 15 26
+f 30 26 19
+f 30 19 25
+f 30 29 26
+f 30 25 29
+f 31 23 21
+f 31 21 28
+f 31 28 22
+f 31 22 23
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_13.obj b/mango/mango_12/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..336000e9c02144b4049f23b6fbb59b11118a2713
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_13.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.27689836 -0.15680286 0.21473344
+v 0.26259692 -0.13237110 0.23036239
+v 0.08333333 -0.13708172 0.18052126
+v 0.15868420 0.18795300 0.21714532
+v 0.27243786 0.16626630 0.19807532
+v 0.08322608 -0.03049636 0.28224311
+v 0.25947685 0.05678539 0.25245956
+v 0.08333333 -0.03102112 0.18052126
+v 0.08250764 -0.13389182 0.26024309
+v 0.26087858 -0.02950898 0.25394125
+v 0.17008029 0.12753182 0.25265509
+v 0.14230143 0.14778595 0.24951918
+v 0.15664661 -0.13083377 0.25311157
+v 0.08137451 -0.08811189 0.27250434
+v 0.26014502 -0.11587231 0.23724101
+v 0.18768970 0.05579188 0.26833662
+v 0.25838983 0.13936927 0.22264824
+v 0.24555799 -0.12896192 0.23632479
+v 0.17059780 -0.05883627 0.26769527
+v 0.12690678 -0.08756342 0.26848405
+v 0.15665313 0.08715954 0.26862521
+v 0.20026112 0.11288867 0.25092283
+v 0.20056559 0.14003461 0.23892074
+v 0.18557312 -0.11545124 0.25322229
+v 0.18557967 -0.02844108 0.26927105
+v 0.24543747 -0.07332448 0.25196516
+v 0.14129995 0.12931215 0.25831149
+v 0.14158435 0.08822423 0.27095346
+v 0.23214798 -0.08704160 0.25212218
+f 5 1 3
+f 7 1 5
+f 8 5 3
+f 8 4 5
+f 9 3 1
+f 10 1 7
+f 12 8 6
+f 12 4 8
+f 13 9 1
+f 14 8 3
+f 14 3 9
+f 14 6 8
+f 15 2 1
+f 15 1 10
+f 16 10 7
+f 17 7 5
+f 17 5 4
+f 18 13 1
+f 18 1 2
+f 18 2 15
+f 20 14 9
+f 20 9 13
+f 20 19 6
+f 20 6 14
+f 21 16 7
+f 22 7 17
+f 22 21 7
+f 23 12 11
+f 23 22 17
+f 23 11 22
+f 23 17 4
+f 23 4 12
+f 24 13 18
+f 24 20 13
+f 25 16 6
+f 25 6 19
+f 25 10 16
+f 26 15 10
+f 26 25 19
+f 26 10 25
+f 27 11 12
+f 27 12 6
+f 27 22 11
+f 27 21 22
+f 28 6 16
+f 28 16 21
+f 28 27 6
+f 28 21 27
+f 29 24 18
+f 29 18 15
+f 29 15 26
+f 29 26 19
+f 29 19 20
+f 29 20 24
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_14.obj b/mango/mango_12/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..beed89c88f8fa86a87ff5564a4fd432f1317d0ea
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_14.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.23359450 -0.01438380 0.27840174
+v -0.23484848 -0.01586960 0.16536974
+v -0.23484848 0.16594858 0.16536974
+v -0.37683583 0.17984656 0.19018795
+v -0.35606060 -0.01586960 0.16536974
+v -0.23341614 0.16349631 0.26395889
+v -0.35017999 -0.01382688 0.24371515
+v -0.23186718 0.14526694 0.27015514
+v -0.29058335 0.07285848 0.26817335
+v -0.29225019 0.00202811 0.26718829
+v -0.34750373 0.11702174 0.23855393
+v -0.33337165 0.00272898 0.25339280
+v -0.27544074 -0.01394635 0.26898030
+v -0.31754073 0.16030990 0.23812070
+v -0.32020190 -0.01249708 0.25571167
+v -0.33274048 0.08735760 0.25159423
+v -0.27482935 0.16102438 0.25378264
+v -0.34555430 0.15903455 0.22469046
+v -0.24593795 0.14631562 0.26680564
+v -0.31637835 0.11699153 0.25242601
+v -0.33181474 0.14371747 0.23779595
+v -0.25997914 0.13230292 0.26683920
+f 5 2 1
+f 5 3 2
+f 5 4 3
+f 6 3 4
+f 7 5 1
+f 7 4 5
+f 8 1 2
+f 8 2 3
+f 8 3 6
+f 9 1 8
+f 10 1 9
+f 11 4 7
+f 12 10 9
+f 13 7 1
+f 13 1 10
+f 15 12 7
+f 15 10 12
+f 15 13 10
+f 15 7 13
+f 16 11 7
+f 16 7 12
+f 16 12 9
+f 17 6 4
+f 17 4 14
+f 18 14 4
+f 18 4 11
+f 19 8 6
+f 19 6 17
+f 20 17 14
+f 20 11 16
+f 20 16 9
+f 21 18 11
+f 21 14 18
+f 21 20 14
+f 21 11 20
+f 22 9 8
+f 22 8 19
+f 22 20 9
+f 22 19 17
+f 22 17 20
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_15.obj b/mango/mango_12/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ddbfed7dd51533818f8c68f218c325f4c7804b6
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_15.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.39285435 -0.22167059 0.02480393
+v -0.24401168 -0.18569911 -0.24343757
+v -0.23484848 -0.18253627 0.01385459
+v -0.35606060 -0.01586960 0.01385459
+v -0.36641359 -0.02442543 -0.24702998
+v -0.23484848 -0.01586960 -0.21341813
+v -0.23484848 -0.01586960 0.01385459
+v -0.36952419 -0.19356826 -0.14716476
+v -0.23484848 -0.18253627 -0.13766056
+v -0.35606060 -0.01586960 -0.13766056
+v -0.33842544 -0.16551744 -0.21052832
+f 1 2 3
+f 5 1 4
+f 6 2 5
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 6 5
+f 10 5 4
+f 10 4 6
+f 11 8 5
+f 11 5 2
+f 11 2 8
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_16.obj b/mango/mango_12/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caac55c3f18b992ba7eb1f14be1d68df53e56031
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_16.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.15515262 -0.30863021 0.12787317
+v 0.27870271 -0.23694888 0.15534897
+v 0.08174583 -0.20534360 0.23022942
+v -0.23150639 -0.20529944 0.20123690
+v -0.23195319 -0.28134303 0.12894630
+v 0.26271614 -0.20805293 0.18919367
+v 0.24636076 -0.27695462 0.12602682
+v -0.24753284 -0.24178495 0.16354635
+v -0.09489020 -0.31569176 0.13826618
+v 0.17128844 -0.20539523 0.21493810
+v 0.16917431 -0.27386972 0.16341795
+v 0.26201470 -0.26753377 0.12963549
+v -0.15744169 -0.30928801 0.12724471
+v -0.09426029 -0.25899476 0.19454222
+v 0.23234903 -0.20637158 0.19982140
+v 0.24360262 -0.22880776 0.17883841
+v 0.16903988 -0.28725830 0.14991463
+v 0.08194617 -0.25897695 0.19387032
+v -0.09659317 -0.32253207 0.12745327
+v -0.21303893 -0.27215998 0.14965773
+v -0.08272228 -0.20638808 0.22910517
+v 0.23080434 -0.21540169 0.19408496
+v 0.25984675 -0.21789122 0.18259741
+v 0.15467653 -0.30135685 0.13829102
+v 0.21315580 -0.27257092 0.14763251
+v 0.12506342 -0.22929564 0.20837287
+v 0.08090319 -0.21588199 0.22344632
+v 0.00775687 -0.32136113 0.13925813
+v -0.22879850 -0.27528165 0.13831114
+v -0.16845118 -0.28656795 0.15031774
+v -0.19955709 -0.23010363 0.19310454
+v 0.24049352 -0.27194136 0.13557635
+v 0.10886864 -0.30395816 0.15000941
+v 0.21325199 -0.25705122 0.16382984
+v 0.10929882 -0.28728908 0.16675850
+v 0.16908801 -0.21493052 0.20867499
+v -0.08302369 -0.21858264 0.22221330
+v -0.11018676 -0.27407815 0.17864301
+v 0.00737507 -0.32738326 0.13097232
+v -0.20125722 -0.29393450 0.12815068
+v -0.15451898 -0.30286846 0.13612667
+v -0.22936899 -0.21561443 0.19385092
+v -0.21228911 -0.25739558 0.16420557
+v 0.26004064 -0.26006007 0.14010733
+v -0.18637100 -0.20624372 0.21477890
+v -0.11063134 -0.30227482 0.14961881
+v -0.17025195 -0.25728778 0.17858257
+v -0.19760113 -0.28790495 0.13747576
+v -0.14109488 -0.22960874 0.20782435
+v -0.18438465 -0.21630499 0.20849038
+f 6 2 4
+f 8 4 2
+f 8 2 5
+f 10 4 3
+f 12 7 5
+f 12 5 2
+f 15 6 4
+f 15 4 10
+f 19 13 7
+f 19 7 1
+f 19 9 13
+f 21 3 4
+f 22 15 10
+f 22 11 16
+f 22 6 15
+f 23 16 2
+f 23 2 6
+f 23 22 16
+f 23 6 22
+f 24 1 7
+f 26 10 3
+f 26 11 22
+f 27 14 18
+f 27 26 3
+f 27 18 26
+f 28 18 14
+f 29 20 8
+f 29 8 5
+f 32 24 7
+f 32 17 24
+f 32 25 17
+f 32 7 12
+f 33 24 17
+f 33 1 24
+f 34 2 16
+f 34 16 11
+f 34 11 17
+f 34 17 25
+f 35 26 18
+f 35 11 26
+f 35 18 28
+f 35 28 33
+f 35 33 17
+f 35 17 11
+f 36 26 22
+f 36 22 10
+f 36 10 26
+f 37 14 27
+f 37 27 3
+f 37 3 21
+f 38 28 14
+f 38 9 28
+f 39 19 1
+f 39 33 28
+f 39 1 33
+f 39 28 9
+f 39 9 19
+f 40 29 5
+f 40 5 7
+f 40 7 13
+f 41 13 9
+f 42 31 4
+f 42 4 8
+f 43 8 20
+f 43 42 8
+f 43 31 42
+f 44 32 12
+f 44 12 2
+f 44 25 32
+f 44 34 25
+f 44 2 34
+f 45 37 21
+f 45 21 4
+f 46 38 30
+f 46 9 38
+f 46 41 9
+f 46 30 41
+f 47 30 38
+f 47 31 43
+f 47 43 20
+f 47 20 30
+f 48 20 29
+f 48 29 40
+f 48 30 20
+f 48 40 13
+f 48 41 30
+f 48 13 41
+f 49 14 37
+f 49 37 45
+f 49 47 38
+f 49 38 14
+f 50 45 4
+f 50 4 31
+f 50 49 45
+f 50 31 47
+f 50 47 49
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_17.obj b/mango/mango_12/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aa08ced9597ee1a97b687b2c530401882328727
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_17.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.08138609 -0.36226997 0.02647663
+v 0.27553838 -0.29636652 -0.01576545
+v 0.14224538 -0.29903736 0.14537625
+v -0.20125722 -0.29393450 0.12815068
+v -0.23392797 -0.30162291 -0.10660102
+v 0.24599784 -0.29398671 0.10032044
+v -0.05170475 -0.33120142 0.12299406
+v 0.06572687 -0.34426168 -0.10128326
+v 0.21574445 -0.29520032 -0.10359953
+v 0.18656695 -0.29694005 0.13000061
+v 0.19945339 -0.32949978 0.05398835
+v 0.03706150 -0.34574452 0.09740059
+v 0.00731217 -0.30824291 0.15439552
+v -0.09488831 -0.36321755 0.01170203
+v 0.15471644 -0.34588460 -0.02972293
+v 0.24447753 -0.29451892 -0.07337807
+v 0.27595018 -0.29571061 0.05791373
+v 0.19831513 -0.31485529 0.09473175
+v 0.09516751 -0.34575790 0.08243072
+v -0.13981241 -0.31622362 0.12285468
+v 0.09599837 -0.31576275 0.13747850
+v 0.03670184 -0.33060010 0.12532046
+v -0.10854505 -0.34591816 0.07918183
+v -0.05260969 -0.36201681 0.03980726
+v 0.00878051 -0.36157679 -0.07261123
+v -0.21231948 -0.33075789 0.04093909
+v 0.15370130 -0.34510099 0.03944945
+v 0.23987531 -0.31685756 -0.01353625
+v 0.13640030 -0.32998721 -0.09880771
+v 0.25545053 -0.29910035 0.08231997
+v 0.18398183 -0.30348189 0.12254507
+v 0.06564180 -0.36177222 0.04109972
+v 0.16909840 -0.32941528 0.08156178
+v 0.11093999 -0.32983147 0.11142784
+v 0.00775687 -0.32136113 0.13925813
+v -0.02378798 -0.34538819 0.09872094
+v -0.11126780 -0.33111980 0.10964589
+v -0.08084321 -0.36224251 0.02701233
+v 0.05159973 -0.36194579 -0.05724632
+v -0.12681537 -0.34543269 -0.08654466
+v -0.23323565 -0.29903055 0.10137341
+v -0.15671365 -0.34459498 0.05335997
+v 0.09524151 -0.36220526 -0.00168811
+v 0.24220226 -0.31354507 0.05437832
+v 0.26938484 -0.30123027 -0.01149496
+v 0.19454131 -0.31498147 -0.08327818
+v 0.26079689 -0.29497753 0.08538216
+v 0.24329824 -0.29887587 0.09324618
+v 0.12501393 -0.34504583 0.06793061
+v 0.13766386 -0.31626470 0.12318507
+v -0.09598897 -0.36262504 -0.02952548
+v 0.12382930 -0.34411156 -0.07130356
+v -0.09594863 -0.34538173 -0.10023413
+v -0.21306337 -0.33106830 -0.02945232
+v -0.15605290 -0.32984370 0.09410770
+v -0.16937130 -0.34595305 0.02530202
+v 0.08027109 -0.36113290 -0.04192828
+v 0.27014770 -0.29902416 0.05737268
+v 0.22602012 -0.31671362 -0.04051791
+v 0.18063578 -0.31410861 -0.09817708
+v 0.21004547 -0.30188231 -0.09746761
+v 0.13964885 -0.30411364 0.13984208
+v 0.18212781 -0.32935080 -0.05723135
+v -0.21083330 -0.31451778 -0.09869932
+f 9 5 4
+f 9 8 5
+f 10 6 4
+f 10 4 3
+f 13 3 4
+f 16 9 4
+f 16 4 6
+f 17 16 6
+f 17 2 16
+f 20 13 4
+f 20 7 13
+f 21 3 13
+f 27 15 11
+f 28 11 15
+f 29 8 9
+f 30 18 11
+f 31 18 6
+f 31 6 10
+f 32 19 12
+f 32 24 14
+f 32 14 1
+f 33 11 18
+f 34 12 19
+f 34 19 33
+f 34 33 18
+f 34 22 12
+f 34 21 22
+f 35 13 7
+f 35 7 22
+f 35 22 21
+f 35 21 13
+f 36 22 7
+f 36 12 22
+f 36 7 23
+f 36 23 24
+f 36 32 12
+f 36 24 32
+f 37 23 7
+f 37 7 20
+f 38 24 23
+f 38 14 24
+f 39 25 8
+f 41 4 5
+f 42 38 23
+f 42 14 38
+f 43 27 1
+f 43 15 27
+f 43 1 14
+f 43 14 39
+f 44 11 28
+f 44 30 11
+f 45 2 17
+f 47 30 17
+f 47 17 6
+f 47 6 30
+f 48 30 6
+f 48 6 18
+f 48 18 30
+f 49 19 32
+f 49 33 19
+f 49 27 11
+f 49 11 33
+f 49 32 1
+f 49 1 27
+f 50 21 34
+f 50 34 18
+f 50 18 31
+f 51 39 14
+f 51 25 39
+f 52 39 8
+f 52 8 29
+f 53 5 8
+f 53 8 25
+f 53 51 40
+f 53 25 51
+f 54 41 5
+f 54 26 41
+f 54 40 51
+f 55 20 4
+f 55 4 41
+f 55 37 20
+f 55 41 26
+f 55 26 42
+f 55 42 23
+f 55 23 37
+f 56 42 26
+f 56 14 42
+f 56 26 54
+f 56 54 51
+f 56 51 14
+f 57 43 39
+f 57 15 43
+f 57 52 15
+f 57 39 52
+f 58 44 28
+f 58 17 30
+f 58 30 44
+f 58 45 17
+f 58 28 45
+f 59 45 28
+f 59 16 2
+f 59 2 45
+f 59 28 15
+f 60 46 29
+f 60 29 9
+f 61 9 16
+f 61 59 46
+f 61 16 59
+f 61 60 9
+f 61 46 60
+f 62 50 31
+f 62 3 21
+f 62 21 50
+f 62 31 10
+f 62 10 3
+f 63 15 52
+f 63 59 15
+f 63 46 59
+f 63 52 29
+f 63 29 46
+f 64 53 40
+f 64 5 53
+f 64 54 5
+f 64 40 54
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_18.obj b/mango/mango_12/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..871d5888910af8d26220723defdcae273f70771c
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_18.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.01586960 -0.13766056
+v 0.00627110 -0.01662115 -0.26775810
+v 0.00757576 0.16594858 -0.13766056
+v -0.09848485 0.16594858 -0.13766056
+v -0.09848485 -0.01586960 -0.13766056
+v -0.11366197 0.16588080 -0.24359437
+v -0.01152175 -0.01873990 -0.27236057
+v 0.00391764 0.15960043 -0.21560000
+v -0.11597522 0.15985686 -0.24712131
+v -0.09852926 -0.01588581 -0.28891528
+v -0.05690690 0.05668725 -0.27059585
+v -0.07225364 0.15618347 -0.23959756
+v -0.11467261 0.10405844 -0.26919864
+v -0.02617830 0.02605649 -0.26943033
+v -0.02813828 0.15778507 -0.22649563
+v -0.11663425 0.12969802 -0.26007767
+v -0.10061768 0.05764199 -0.27955668
+v -0.05926880 0.11285575 -0.25429067
+v -0.01303882 -0.00139529 -0.27075346
+v 0.00226402 0.05580439 -0.25517122
+v -0.08810218 0.12858818 -0.25532889
+v -0.04319051 0.14167842 -0.23850213
+v -0.10953107 0.11412762 -0.26463556
+v -0.00039020 0.14250498 -0.22454063
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 8 6 3
+f 8 3 2
+f 9 5 4
+f 9 4 6
+f 10 7 5
+f 12 9 6
+f 13 10 5
+f 15 12 6
+f 15 6 8
+f 16 13 5
+f 16 5 9
+f 17 13 11
+f 17 10 13
+f 17 11 14
+f 18 11 13
+f 19 2 7
+f 19 7 10
+f 19 17 14
+f 19 10 17
+f 20 8 2
+f 20 19 14
+f 20 2 19
+f 20 14 11
+f 20 11 18
+f 21 16 9
+f 21 9 12
+f 21 18 13
+f 22 12 15
+f 22 15 8
+f 22 21 12
+f 22 18 21
+f 23 21 13
+f 23 13 16
+f 23 16 21
+f 24 20 18
+f 24 18 22
+f 24 22 8
+f 24 8 20
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_19.obj b/mango/mango_12/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a79f386b563979732a91f66a19c4acc056dfb03
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_19.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.25701698 -0.28602273 0.10631751
+v 0.25902901 -0.20840072 -0.15705858
+v 0.27870271 -0.23694888 0.15534897
+v 0.00757576 -0.21283929 0.15021823
+v 0.00714112 -0.33768835 -0.12763026
+v 0.00731217 -0.30824291 0.15439552
+v 0.25532183 -0.28398970 -0.08261707
+v 0.01221269 -0.22516267 -0.24013332
+v 0.14224538 -0.29903736 0.14537625
+v 0.15282548 -0.24324402 0.19278287
+v 0.00715289 -0.27234339 -0.21187244
+v 0.05189978 -0.21057643 -0.23844144
+v 0.22811152 -0.28662425 0.12249806
+v 0.13891058 -0.27777956 -0.17088297
+v 0.18088913 -0.20641495 -0.19800796
+v 0.06378794 -0.25908802 -0.21043647
+v 0.25861580 -0.27259354 0.12477620
+v 0.21331899 -0.29037099 -0.11376558
+v 0.00897641 -0.30178908 -0.18033026
+v 0.09421022 -0.20839361 -0.22791968
+v 0.24206452 -0.20613821 -0.16798609
+v 0.04889475 -0.26115876 -0.21253682
+v 0.05093299 -0.23544582 -0.22770026
+v 0.11982190 -0.23492217 -0.20883902
+v 0.20990292 -0.25865304 -0.15225049
+v 0.09411362 -0.21803143 -0.22390237
+v 0.15133797 -0.25980083 -0.18150314
+v 0.20989552 -0.27321059 -0.13798218
+v 0.22334820 -0.23229450 -0.16461946
+v 0.06310298 -0.23461420 -0.22483325
+v 0.15221280 -0.27553010 -0.16721351
+v 0.19535895 -0.23277421 -0.17948763
+v 0.25338451 -0.25856649 -0.12184465
+v 0.23897818 -0.21724238 -0.16398775
+v 0.17999325 -0.21664665 -0.19403141
+v 0.22484887 -0.28646943 -0.10962039
+v 0.25331722 -0.24252112 -0.13702304
+v 0.25594600 -0.21846110 -0.15289274
+f 3 2 4
+f 7 2 3
+f 7 3 1
+f 7 1 5
+f 9 6 5
+f 9 5 1
+f 10 3 4
+f 10 4 6
+f 10 9 3
+f 10 6 9
+f 11 6 4
+f 11 5 6
+f 11 4 8
+f 12 8 4
+f 13 9 1
+f 13 3 9
+f 17 13 1
+f 17 1 3
+f 17 3 13
+f 18 7 5
+f 18 5 14
+f 19 14 5
+f 19 5 11
+f 20 12 4
+f 20 4 15
+f 21 15 4
+f 21 4 2
+f 22 11 8
+f 22 16 14
+f 22 19 11
+f 22 14 19
+f 23 8 12
+f 23 22 8
+f 23 16 22
+f 24 20 15
+f 26 12 20
+f 26 20 24
+f 27 14 16
+f 27 16 24
+f 30 26 24
+f 30 23 12
+f 30 12 26
+f 30 24 16
+f 30 16 23
+f 31 27 25
+f 31 14 27
+f 31 25 28
+f 31 28 18
+f 31 18 14
+f 32 27 24
+f 32 29 25
+f 32 25 27
+f 33 2 7
+f 33 28 25
+f 34 21 2
+f 34 2 29
+f 34 32 21
+f 34 29 32
+f 35 32 24
+f 35 24 15
+f 35 15 21
+f 35 21 32
+f 36 33 7
+f 36 7 18
+f 36 18 28
+f 36 28 33
+f 37 2 33
+f 37 33 25
+f 37 25 29
+f 38 37 29
+f 38 29 2
+f 38 2 37
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_2.obj b/mango/mango_12/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b8e90bae2505198a1d1385c1ea676dcbf157ffc
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_2.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.10980111 -0.33601556 -0.10182015
+v 0.22044789 -0.28983971 -0.10838200
+v 0.19850268 -0.30543879 -0.10045087
+v -0.23484848 -0.21283929 -0.10735753
+v -0.18517562 -0.20690618 -0.24746811
+v 0.00757576 -0.21283929 -0.10735753
+v -0.23094868 -0.30515341 -0.10132467
+v 0.12209887 -0.27363956 -0.18185441
+v 0.21574445 -0.29520032 -0.10359953
+v -0.23205672 -0.20685192 -0.23385813
+v -0.03724779 -0.35082621 -0.10146152
+v 0.15344086 -0.30083665 -0.13793928
+v 0.00615070 -0.20915832 -0.24820027
+v 0.20734724 -0.28743173 -0.12313326
+v -0.00723283 -0.35109483 -0.10156283
+v -0.12506232 -0.30175428 -0.17018897
+v 0.15278647 -0.31769756 -0.11301031
+v 0.04984704 -0.31624389 -0.15680566
+v 0.21377957 -0.27759962 -0.13087010
+v 0.19696807 -0.30022428 -0.11083991
+v -0.15494039 -0.27277562 -0.19889747
+v -0.14027285 -0.33469641 -0.10241740
+v 0.11931703 -0.30214036 -0.15349526
+v 0.08171005 -0.33013544 -0.12578458
+v -0.00808881 -0.34590735 -0.11457796
+v 0.00407773 -0.27415307 -0.21139902
+v 0.12569528 -0.26528868 -0.18701719
+v -0.15360432 -0.24463288 -0.22733267
+v -0.22842758 -0.27020777 -0.17126119
+v -0.10920774 -0.33144389 -0.12623716
+v 0.13669488 -0.31544468 -0.12572738
+v 0.10900262 -0.31630328 -0.13852983
+v -0.09667144 -0.31578545 -0.15637378
+v 0.07864486 -0.30260008 -0.16729894
+v -0.06864070 -0.27252558 -0.21381693
+v 0.00464817 -0.22054348 -0.24384628
+v 0.07902639 -0.27504690 -0.19414669
+v -0.21296754 -0.24180957 -0.21248107
+v -0.19930963 -0.27104065 -0.18619596
+v -0.21294966 -0.30039788 -0.12833439
+v -0.03684531 -0.34489421 -0.11491599
+v 0.10914439 -0.32965763 -0.11567527
+v -0.14136525 -0.23008864 -0.24082786
+v -0.01035669 -0.23205609 -0.24082941
+v -0.18681074 -0.21626421 -0.24193934
+v -0.22952940 -0.21738156 -0.22761322
+v -0.22830338 -0.30091036 -0.11419538
+v -0.16951508 -0.29984289 -0.15603580
+v -0.14072874 -0.32963624 -0.11365395
+v -0.21482348 -0.28339921 -0.15814263
+v -0.16613282 -0.31444185 -0.12898190
+f 6 4 3
+f 7 3 4
+f 9 6 3
+f 9 2 6
+f 10 6 5
+f 10 4 6
+f 10 7 4
+f 11 3 7
+f 13 5 6
+f 14 2 9
+f 15 1 3
+f 15 3 11
+f 17 3 1
+f 19 13 6
+f 19 6 2
+f 19 2 14
+f 19 14 12
+f 19 12 8
+f 20 14 9
+f 20 9 3
+f 20 3 17
+f 20 17 12
+f 20 12 14
+f 22 11 7
+f 23 8 12
+f 24 1 15
+f 25 15 11
+f 25 24 15
+f 25 18 24
+f 27 19 8
+f 27 13 19
+f 29 7 10
+f 30 11 22
+f 31 23 12
+f 31 12 17
+f 32 24 18
+f 32 23 31
+f 33 18 25
+f 33 30 16
+f 34 18 26
+f 34 32 18
+f 34 23 32
+f 34 8 23
+f 35 16 21
+f 35 21 28
+f 35 33 16
+f 35 26 18
+f 35 18 33
+f 36 13 27
+f 37 27 8
+f 37 36 27
+f 37 34 26
+f 37 8 34
+f 38 28 21
+f 39 21 16
+f 39 38 21
+f 39 29 38
+f 40 22 7
+f 41 25 11
+f 41 11 30
+f 41 33 25
+f 41 30 33
+f 42 31 17
+f 42 17 1
+f 42 32 31
+f 42 1 24
+f 42 24 32
+f 43 35 28
+f 43 5 13
+f 44 26 35
+f 44 35 43
+f 44 43 13
+f 44 13 36
+f 44 37 26
+f 44 36 37
+f 45 10 5
+f 45 28 38
+f 45 43 28
+f 45 5 43
+f 46 38 29
+f 46 29 10
+f 46 45 38
+f 46 10 45
+f 47 40 7
+f 47 7 29
+f 47 29 40
+f 48 16 30
+f 48 39 16
+f 49 48 30
+f 49 30 22
+f 49 22 40
+f 50 48 40
+f 50 40 29
+f 50 29 39
+f 50 39 48
+f 51 49 40
+f 51 40 48
+f 51 48 49
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_20.obj b/mango/mango_12/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cef8f00bbd0453a19fe851a299447790402626ec
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_20.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.25971103 -0.28977858 0.09762232
+v 0.39366718 -0.17681502 -0.05725062
+v 0.40896738 -0.17440398 0.11511003
+v 0.26385589 -0.18034198 0.20648752
+v 0.26412393 -0.18179804 -0.16591431
+v 0.33152507 -0.19643910 0.16397479
+v 0.35835174 -0.24181869 0.00351287
+v 0.25702084 -0.23430112 -0.14102622
+v 0.33082238 -0.17459915 -0.12637059
+v 0.34317238 -0.24084191 0.09608565
+v 0.35058443 -0.17405097 0.17101564
+v 0.26004064 -0.26006007 0.14010733
+v 0.41484636 -0.18111364 0.08888149
+v 0.25902901 -0.20840072 -0.15705858
+v 0.25939815 -0.29329289 -0.05629294
+v 0.37688461 -0.17339692 -0.08354418
+v 0.29137175 -0.17568642 0.19964457
+v 0.34672197 -0.21344087 0.13356305
+v 0.29985018 -0.28590852 0.02894870
+v 0.25639563 -0.26374447 -0.11333002
+v 0.25984675 -0.21789122 0.18259741
+v 0.38494105 -0.21187755 -0.01233980
+v 0.35807774 -0.24172861 0.05492059
+v 0.38688353 -0.21046403 0.08457769
+v 0.29668278 -0.20122164 -0.13672751
+v 0.28715557 -0.17792630 -0.15455936
+v 0.30061654 -0.19932344 0.17938426
+v 0.37253427 -0.21077880 0.10950579
+v 0.30103741 -0.24034391 0.13683758
+v 0.34636654 -0.18374136 0.16533825
+v 0.28733335 -0.28618378 0.06968510
+v 0.31290406 -0.26980925 -0.02467516
+v 0.32467815 -0.24170353 -0.06780225
+v 0.26205849 -0.19124848 0.20098712
+v 0.40797602 -0.18934930 0.08663519
+v 0.27150724 -0.20384418 -0.15220472
+v 0.32532131 -0.18856468 -0.12320223
+v 0.28549311 -0.18997191 -0.15023932
+v 0.27377250 -0.21399872 0.18081178
+v 0.40279576 -0.18397651 0.11013008
+v 0.28596380 -0.27086950 0.10733776
+v 0.31306194 -0.27026444 0.07017684
+v 0.29989742 -0.28528773 0.01605282
+v 0.37015902 -0.19794796 -0.06585196
+v 0.34293317 -0.24096310 -0.04026079
+v 0.26901911 -0.28743476 -0.05666928
+v 0.26891794 -0.23093644 -0.13545010
+v 0.27120180 -0.25804314 0.13622927
+v 0.28684341 -0.18646941 0.19461568
+v 0.29867906 -0.26883877 0.09740963
+v 0.28262325 -0.28520659 -0.03908365
+v 0.37139555 -0.18568427 -0.07918853
+v 0.38615909 -0.19913368 -0.03856736
+v 0.37097893 -0.22634737 -0.01239937
+v 0.29654458 -0.25642918 -0.08066901
+v 0.26902766 -0.25565267 -0.11062753
+v 0.27057857 -0.28503633 0.09632279
+v 0.38783509 -0.18681385 -0.05346549
+f 13 2 3
+f 14 4 5
+f 16 3 2
+f 16 11 3
+f 16 9 11
+f 17 5 4
+f 17 11 9
+f 19 1 15
+f 20 15 1
+f 21 8 20
+f 21 20 1
+f 21 1 12
+f 22 2 13
+f 23 19 7
+f 24 10 23
+f 26 17 9
+f 26 5 17
+f 27 6 11
+f 27 11 17
+f 28 18 10
+f 28 10 24
+f 29 18 6
+f 30 11 6
+f 30 6 18
+f 30 18 3
+f 30 3 11
+f 31 1 19
+f 34 4 14
+f 34 14 8
+f 34 8 21
+f 34 17 4
+f 35 22 13
+f 35 7 22
+f 35 23 7
+f 35 24 23
+f 36 8 14
+f 36 14 5
+f 36 5 26
+f 37 9 16
+f 38 26 9
+f 38 36 26
+f 38 25 36
+f 38 37 25
+f 38 9 37
+f 39 21 12
+f 39 29 6
+f 39 6 27
+f 39 34 21
+f 40 3 18
+f 40 18 28
+f 40 28 24
+f 40 24 35
+f 40 35 13
+f 40 13 3
+f 41 10 18
+f 41 18 29
+f 42 23 10
+f 42 31 19
+f 42 19 23
+f 43 19 15
+f 43 32 7
+f 43 7 19
+f 45 7 32
+f 45 33 44
+f 46 15 20
+f 46 45 32
+f 47 36 25
+f 47 8 36
+f 47 25 37
+f 47 20 8
+f 48 39 12
+f 48 29 39
+f 48 41 29
+f 48 12 1
+f 48 1 41
+f 49 39 27
+f 49 27 17
+f 49 17 34
+f 49 34 39
+f 50 10 41
+f 50 42 10
+f 50 31 42
+f 51 43 15
+f 51 32 43
+f 51 46 32
+f 51 15 46
+f 52 16 2
+f 52 2 44
+f 52 37 16
+f 52 44 33
+f 53 2 22
+f 53 45 44
+f 54 22 7
+f 54 7 45
+f 54 53 22
+f 54 45 53
+f 55 46 20
+f 55 33 45
+f 55 45 46
+f 56 47 37
+f 56 33 55
+f 56 55 20
+f 56 20 47
+f 56 52 33
+f 56 37 52
+f 57 50 41
+f 57 41 1
+f 57 1 31
+f 57 31 50
+f 58 53 44
+f 58 44 2
+f 58 2 53
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_21.obj b/mango/mango_12/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aef36ee71abc0a6bc4ec2f92b9762eae02b50b41
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_21.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.24401168 -0.18569911 -0.24343757
+v -0.23068940 -0.15942114 -0.26031017
+v -0.23484848 -0.01586960 -0.21341813
+v -0.34702089 0.06278963 -0.25861825
+v -0.33161015 -0.06961529 -0.25784255
+v -0.23323478 0.05665065 -0.28855080
+v -0.27362704 -0.14258738 -0.25487736
+v -0.33842544 -0.16551744 -0.21052832
+v -0.23887348 0.06860437 -0.28528115
+v -0.27537845 -0.00145678 -0.28732572
+v -0.24457876 -0.16022410 -0.25659080
+v -0.36641359 -0.02442543 -0.24702998
+v -0.31683991 -0.15802464 -0.22844751
+v -0.32032888 0.05721027 -0.27066224
+v -0.23478268 -0.05850204 -0.28959105
+v -0.26030178 -0.11503264 -0.26972530
+v -0.28690727 -0.15844575 -0.24212101
+v -0.33181158 -0.11353735 -0.24226959
+v -0.31632818 -0.04203760 -0.27122447
+v -0.26355353 0.04373488 -0.28666716
+v -0.23229761 -0.11743301 -0.27530207
+v -0.31846020 -0.10116236 -0.25389657
+v -0.33049560 -0.14191472 -0.22940412
+v -0.26098717 -0.04332793 -0.28713350
+v -0.33741358 0.05727309 -0.26397587
+v -0.24908089 0.05573770 -0.28706032
+v -0.27552889 0.01572051 -0.28634462
+v -0.24692025 -0.05948432 -0.28723059
+v -0.30436840 -0.07138380 -0.26953236
+v -0.33244478 -0.16142295 -0.21723270
+f 1 2 3
+f 6 3 2
+f 8 1 3
+f 8 3 4
+f 9 4 3
+f 9 3 6
+f 11 2 1
+f 12 8 4
+f 14 4 9
+f 15 10 6
+f 16 11 7
+f 16 2 11
+f 17 11 1
+f 17 7 11
+f 17 1 13
+f 18 12 5
+f 18 8 12
+f 18 17 13
+f 19 5 12
+f 19 14 10
+f 20 6 10
+f 21 15 6
+f 21 6 2
+f 21 2 16
+f 22 16 7
+f 22 18 5
+f 22 7 17
+f 22 17 18
+f 23 18 13
+f 23 8 18
+f 24 19 10
+f 24 10 15
+f 25 19 12
+f 25 12 4
+f 25 4 14
+f 25 14 19
+f 26 20 14
+f 26 14 9
+f 26 9 6
+f 26 6 20
+f 27 20 10
+f 27 10 14
+f 27 14 20
+f 28 21 16
+f 28 15 21
+f 28 24 15
+f 29 16 22
+f 29 19 24
+f 29 28 16
+f 29 24 28
+f 29 22 5
+f 29 5 19
+f 30 23 13
+f 30 8 23
+f 30 13 1
+f 30 1 8
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_22.obj b/mango/mango_12/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5db80771d9e38c0de9678fe2dab3b1593bf993e
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_22.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.01196950 -0.24285980 0.20999216
+v 0.00615070 -0.20915832 -0.24820027
+v 0.00757576 -0.01586960 0.16536974
+v -0.23484848 -0.01586960 0.16536974
+v -0.24160700 -0.22655654 0.17992426
+v -0.23426821 -0.01561019 -0.29358201
+v 0.00627110 -0.01662115 -0.26775810
+v -0.23205672 -0.20685192 -0.23385813
+v -0.10010501 -0.07517796 -0.28708912
+v 0.00457084 -0.10493443 -0.27135449
+v -0.08571532 -0.01789794 -0.28802000
+v -0.17199813 -0.16146640 -0.27032520
+v -0.05576885 -0.16421280 -0.27133464
+v -0.08595533 -0.04660308 -0.28727512
+v 0.00372773 -0.04866604 -0.27109035
+v -0.22902649 -0.13031950 -0.27165714
+v -0.21788253 -0.08735637 -0.28593352
+v -0.15790542 -0.20279699 -0.25507898
+v -0.02480174 -0.14993163 -0.27080157
+v -0.01152175 -0.01873990 -0.27236057
+v -0.23281600 -0.07312523 -0.28672176
+v -0.13054182 -0.08860756 -0.28736427
+v -0.22965092 -0.17548412 -0.25353245
+v -0.02523406 -0.20625661 -0.25426243
+v 0.00417394 -0.19133398 -0.25528629
+v -0.01100108 -0.13603574 -0.27082479
+v -0.20069644 -0.18646373 -0.25495639
+v -0.21501070 -0.20209251 -0.24242395
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 2 1
+f 8 1 5
+f 8 5 6
+f 10 7 2
+f 11 9 6
+f 11 6 7
+f 14 11 10
+f 14 10 9
+f 14 9 11
+f 15 7 10
+f 15 10 11
+f 17 12 16
+f 18 2 8
+f 18 12 13
+f 19 13 9
+f 20 15 11
+f 20 11 7
+f 20 7 15
+f 21 8 6
+f 21 17 16
+f 21 6 17
+f 22 17 6
+f 22 6 9
+f 22 9 13
+f 22 13 12
+f 22 12 17
+f 23 21 16
+f 23 8 21
+f 24 18 13
+f 24 2 18
+f 25 10 2
+f 25 2 24
+f 25 24 13
+f 25 13 19
+f 26 19 9
+f 26 9 10
+f 26 25 19
+f 26 10 25
+f 27 23 16
+f 27 16 12
+f 27 12 18
+f 28 27 18
+f 28 18 8
+f 28 8 23
+f 28 23 27
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_23.obj b/mango/mango_12/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f918485045d4bacc238599f836f9c181072e8642
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_23.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.43768439 0.08546710 0.16864742
+v 0.47846313 0.08274731 0.02049411
+v 0.47587274 0.11050048 0.10120631
+v 0.38180339 0.18196845 0.12699099
+v 0.38570061 0.08973501 -0.07610869
+v 0.40500048 0.17824464 0.06212999
+v 0.43101127 0.14844396 0.12570565
+v 0.48032898 0.08492638 0.11402390
+v 0.40549991 0.08240460 -0.06518054
+v 0.38317473 0.08712796 0.20146877
+v 0.46140062 0.13543589 0.06269832
+v 0.37867779 0.18482631 0.03328147
+v 0.44606844 0.12237218 0.13652137
+v 0.40456883 0.17736094 0.11153852
+v 0.39481568 0.08409393 0.19688868
+v 0.47517277 0.11119353 0.04875496
+v 0.39334348 0.12667571 0.17846974
+v 0.46085546 0.13596393 0.08969498
+v 0.37995183 0.09990944 0.19809065
+v 0.43480149 0.14846451 0.03413196
+v 0.44389250 0.13647782 0.12379962
+v 0.46191702 0.09504763 0.13805421
+v 0.39334956 0.17729556 0.12565456
+v 0.40378632 0.13690981 0.16407289
+v 0.41959380 0.09785584 0.17696171
+v 0.38069857 0.12785224 0.18331600
+v 0.39412145 0.09867498 0.19193656
+v 0.37935317 0.11222054 -0.06550065
+v 0.39199900 0.17897873 0.03814205
+v 0.45995897 0.10594913 0.00985554
+v 0.47659000 0.09962745 0.11078042
+v 0.46583698 0.08570101 0.13885614
+v 0.40449507 0.14996413 0.15073010
+v 0.42153327 0.08571960 0.18093026
+v 0.41718570 0.12013914 0.16629514
+v 0.38859435 0.14963905 -0.02032465
+v 0.40166717 0.09230257 -0.06261381
+v 0.47323683 0.09567207 0.02212503
+v 0.45046051 0.08358143 -0.02058047
+v 0.37951723 0.15447129 -0.02187632
+v 0.41833313 0.14794246 0.00838342
+v 0.38792060 0.10905354 -0.06139481
+v 0.44659519 0.09525722 -0.01606142
+f 10 5 9
+f 14 12 4
+f 14 6 12
+f 15 8 1
+f 15 2 8
+f 15 9 2
+f 15 10 9
+f 16 8 2
+f 16 3 8
+f 16 11 3
+f 18 3 11
+f 18 14 7
+f 18 11 6
+f 18 6 14
+f 20 6 11
+f 21 13 3
+f 21 7 13
+f 21 18 7
+f 21 3 18
+f 22 13 1
+f 23 14 4
+f 23 7 14
+f 26 4 12
+f 26 12 19
+f 26 19 17
+f 26 17 24
+f 27 19 10
+f 27 10 15
+f 27 25 17
+f 27 17 19
+f 28 19 12
+f 28 5 10
+f 28 10 19
+f 29 12 6
+f 29 6 20
+f 30 20 11
+f 30 11 16
+f 31 8 3
+f 31 3 13
+f 31 13 22
+f 32 22 1
+f 32 1 8
+f 32 31 22
+f 32 8 31
+f 33 24 13
+f 33 13 7
+f 33 7 23
+f 33 23 4
+f 33 26 24
+f 33 4 26
+f 34 15 1
+f 34 1 25
+f 34 27 15
+f 34 25 27
+f 35 24 17
+f 35 17 25
+f 35 13 24
+f 35 25 1
+f 35 1 13
+f 37 9 5
+f 38 30 16
+f 38 16 2
+f 39 2 9
+f 39 9 37
+f 39 38 2
+f 39 30 38
+f 40 36 28
+f 40 28 12
+f 41 20 30
+f 41 29 20
+f 41 12 29
+f 41 40 12
+f 41 36 40
+f 42 37 5
+f 42 5 28
+f 42 28 36
+f 43 39 37
+f 43 37 42
+f 43 30 39
+f 43 41 30
+f 43 42 36
+f 43 36 41
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_24.obj b/mango/mango_12/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b1b63dc9923512c8d04b64736e83b3ce29ba06f
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_24.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.39241322 -0.20478160 0.08718067
+v 0.48827720 -0.04291632 0.01717112
+v 0.45972059 -0.05345950 0.15337946
+v 0.39481568 0.08409393 0.19688868
+v 0.39302568 0.04072395 -0.09568039
+v 0.48982628 0.06928955 0.09833736
+v 0.39553324 -0.07282548 0.20050594
+v 0.47421838 -0.09710021 0.07390029
+v 0.39222930 -0.14800843 -0.08475772
+v 0.39179290 -0.19003142 -0.04188534
+v 0.46252243 0.06959790 0.15107324
+v 0.39672139 0.08606568 -0.06991928
+v 0.40493800 -0.17198442 0.12513618
+v 0.39392657 -0.11450507 0.18289844
+v 0.48890475 -0.04345336 0.09911490
+v 0.44545847 -0.05729214 -0.06233626
+v 0.42783864 -0.17037241 0.01778623
+v 0.47526668 0.08386748 0.12425909
+v 0.42034871 -0.04433342 0.19290410
+v 0.39469666 0.06913382 -0.08160441
+v 0.47296814 0.08440646 0.01115452
+v 0.45685169 -0.11156833 0.11306078
+v 0.39599449 -0.17675268 0.12964697
+v 0.48840147 0.04061546 0.11684384
+v 0.48907028 -0.05565681 0.08601653
+v 0.41893429 -0.05937209 -0.09030283
+v 0.44443534 -0.12706661 -0.02198135
+v 0.42866135 -0.16981687 0.07298676
+v 0.39444151 -0.20611540 0.00123339
+v 0.40619692 0.08423671 0.19094689
+v 0.47515248 -0.02942871 0.13945661
+v 0.42960089 -0.09685568 0.16493269
+v 0.41995261 0.05297379 0.19254375
+v 0.48874798 0.05534871 0.02223460
+v 0.46166159 0.06524792 -0.01786549
+v 0.47452944 -0.05758138 0.12527621
+v 0.48905519 -0.01409614 0.11333001
+v 0.47607953 0.05709456 0.13779496
+v 0.48853954 -0.05537381 0.03364628
+v 0.40188552 -0.11731055 -0.09105869
+v 0.44410650 -0.00383751 -0.06422932
+v 0.42965901 -0.13927469 -0.03704728
+v 0.46014729 -0.07306314 -0.03534663
+v 0.44513986 -0.14154718 0.00309898
+v 0.45899221 -0.12790709 0.04492914
+v 0.44208507 -0.14257382 0.09894181
+v 0.41511857 -0.18285718 0.08430965
+v 0.40206103 -0.19818144 0.00281858
+v 0.43280952 -0.05760910 0.17979038
+v 0.44460667 -0.11226994 0.13596453
+v 0.40314996 -0.11169055 0.17828948
+v 0.43389320 0.06921923 0.17843545
+v 0.48893563 0.06831303 0.03512361
+v 0.40549991 0.08240460 -0.06518054
+v 0.45935356 0.03845004 -0.03392812
+v 0.47428708 0.02589184 -0.01950678
+v 0.47354920 -0.09899116 0.04501371
+v 0.47269504 -0.08465312 0.00315872
+v 0.41577167 -0.11280673 -0.07773135
+v 0.39363766 -0.11912199 -0.09875087
+v 0.41766682 -0.01844939 -0.09087888
+v 0.40119332 -0.14167665 -0.07889579
+v 0.42770026 -0.12822800 -0.05144190
+v 0.39900155 -0.18436685 -0.03783969
+f 10 1 4
+f 10 4 5
+f 10 5 9
+f 14 7 4
+f 14 4 1
+f 20 5 4
+f 20 4 12
+f 21 18 6
+f 21 12 18
+f 23 14 1
+f 23 1 13
+f 25 22 8
+f 29 1 10
+f 30 11 18
+f 30 18 12
+f 30 12 4
+f 31 19 3
+f 31 11 19
+f 33 4 7
+f 33 7 19
+f 33 30 4
+f 33 19 11
+f 36 31 3
+f 36 15 31
+f 36 25 15
+f 36 22 25
+f 37 6 24
+f 37 25 6
+f 37 15 25
+f 37 31 15
+f 37 24 31
+f 38 18 11
+f 38 31 24
+f 38 11 31
+f 38 24 6
+f 38 6 18
+f 39 6 25
+f 39 34 6
+f 39 2 34
+f 41 16 26
+f 45 28 17
+f 45 17 44
+f 46 8 22
+f 46 45 8
+f 46 28 45
+f 47 29 28
+f 47 1 29
+f 47 28 46
+f 47 46 13
+f 47 13 1
+f 48 17 28
+f 48 28 29
+f 48 44 17
+f 49 32 3
+f 49 3 19
+f 49 19 7
+f 50 3 32
+f 50 36 3
+f 50 22 36
+f 50 32 13
+f 50 46 22
+f 50 13 46
+f 51 23 13
+f 51 13 32
+f 51 14 23
+f 51 7 14
+f 51 49 7
+f 51 32 49
+f 52 33 11
+f 52 11 30
+f 52 30 33
+f 53 34 21
+f 53 21 6
+f 53 6 34
+f 54 20 12
+f 54 12 21
+f 54 21 35
+f 55 5 20
+f 55 54 35
+f 55 20 54
+f 55 41 5
+f 56 35 21
+f 56 21 34
+f 56 55 35
+f 56 34 2
+f 56 41 55
+f 56 2 43
+f 56 43 16
+f 56 16 41
+f 57 39 25
+f 57 25 8
+f 57 8 45
+f 57 45 44
+f 58 2 39
+f 58 43 2
+f 58 27 43
+f 58 44 27
+f 58 57 44
+f 58 39 57
+f 59 40 26
+f 59 26 16
+f 59 16 43
+f 60 9 5
+f 60 26 40
+f 61 41 26
+f 61 5 41
+f 61 60 5
+f 61 26 60
+f 62 40 59
+f 62 60 40
+f 62 9 60
+f 63 43 27
+f 63 27 42
+f 63 59 43
+f 63 62 59
+f 63 42 62
+f 64 42 27
+f 64 27 44
+f 64 62 42
+f 64 10 9
+f 64 9 62
+f 64 44 48
+f 64 48 29
+f 64 29 10
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_25.obj b/mango/mango_12/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca9bcfacb5e9e462608f8cb1cd5c8604725c0e98
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.09848485 0.25685767 0.01385459
+v -0.09848485 0.25685767 -0.03159995
+v -0.09958546 0.36790382 0.01578188
+v -0.18702107 0.36450270 0.01436680
+v -0.23484848 0.25685767 -0.03159995
+v -0.23484848 0.25685767 0.01385459
+v -0.24151546 0.34266528 -0.04637970
+v -0.10121471 0.36003856 -0.02551166
+v -0.25189632 0.35114359 0.01285141
+v -0.17351735 0.36074467 -0.02664082
+v -0.18856597 0.35828016 -0.03054427
+v -0.18724412 0.36162102 -0.01309595
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 2 5
+f 8 3 2
+f 8 2 7
+f 9 6 4
+f 9 7 5
+f 9 5 6
+f 10 4 3
+f 10 3 8
+f 11 10 8
+f 11 8 7
+f 11 7 9
+f 12 11 9
+f 12 9 4
+f 12 4 10
+f 12 10 11
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_26.obj b/mango/mango_12/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b11f9db6e5a4747841e0c4dbcb9139684f29ecd7
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_26.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.26605130 -0.21472560 0.18270609
+v 0.27689836 -0.15680286 0.21473344
+v 0.11240265 -0.18756981 0.23655191
+v 0.00781097 -0.13446825 0.26343488
+v 0.00757576 -0.13708172 0.18052126
+v 0.21635450 -0.13118874 0.24216473
+v 0.21473959 -0.20055150 0.20835118
+v 0.00728530 -0.23398192 0.21561655
+v 0.12736784 -0.13241243 0.25668084
+v 0.26259692 -0.13237110 0.23036239
+v 0.25969367 -0.20196450 0.19469004
+v 0.15570435 -0.17178970 0.23700315
+v 0.00857507 -0.15879422 0.25466613
+v 0.13980934 -0.20134743 0.22405490
+v 0.24492165 -0.15774069 0.22370194
+v 0.12587139 -0.14642483 0.25249955
+v 0.00818338 -0.20794338 0.23059843
+v 0.00833016 -0.18989191 0.23963369
+v 0.26116817 -0.14489381 0.22533363
+v 0.24505448 -0.18885184 0.20740171
+v 0.21574902 -0.14318510 0.23744889
+v 0.06810546 -0.16100796 0.25240435
+f 5 2 1
+f 8 5 1
+f 8 4 5
+f 9 6 5
+f 9 5 4
+f 10 2 5
+f 10 5 6
+f 11 7 1
+f 11 1 2
+f 14 3 8
+f 14 12 3
+f 14 7 12
+f 14 8 1
+f 14 1 7
+f 15 12 7
+f 16 3 12
+f 16 12 6
+f 16 6 9
+f 17 8 3
+f 18 13 4
+f 18 4 8
+f 18 8 17
+f 19 15 2
+f 19 2 10
+f 20 11 2
+f 20 2 15
+f 20 15 7
+f 20 7 11
+f 21 6 12
+f 21 12 15
+f 21 15 19
+f 21 19 10
+f 21 10 6
+f 22 3 16
+f 22 13 18
+f 22 18 17
+f 22 17 3
+f 22 4 13
+f 22 16 9
+f 22 9 4
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_27.obj b/mango/mango_12/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfd1e884587778692f7c70e7b9f20c5502369216
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26605130 -0.21472560 0.18270609
+v 0.28071592 -0.22930964 -0.12747460
+v 0.27243786 0.16626630 0.19807532
+v 0.00757576 0.15079706 0.18052126
+v 0.00728530 -0.23398192 0.21561655
+v 0.26444094 0.14969924 -0.10611842
+v 0.00757576 -0.21283929 -0.10735753
+v 0.00757576 0.15079706 -0.10735753
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 7 2 5
+f 8 4 3
+f 8 3 6
+f 8 6 2
+f 8 2 7
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_28.obj b/mango/mango_12/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c49510f2080ddfd4d7b22c86308385e95d640498
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.24652772 -0.20704465 0.19410222
+v -0.23484848 -0.18253627 0.01385459
+v -0.23484848 0.16594858 0.16536974
+v -0.37683583 0.17984656 0.19018795
+v -0.39285435 -0.22167059 0.02480393
+v -0.35606060 0.16594858 0.01385459
+v -0.35156824 -0.17738365 0.16091277
+v -0.23484848 0.16594858 0.01385459
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 4
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 2 6
+f 8 6 4
+f 8 4 3
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_29.obj b/mango/mango_12/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abf22af5a19e50eb9861a159d0ef7b5dfc4eab8b
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00838689 -0.31642992 0.14543357
+v 0.00714112 -0.33768835 -0.12763026
+v 0.00757576 -0.21283929 -0.10735753
+v -0.24753284 -0.24178495 0.16354635
+v -0.22803557 -0.28693801 0.12392234
+v 0.00757576 -0.21283929 0.13506671
+v -0.23484848 -0.21283929 -0.10735753
+v -0.23392797 -0.30162291 -0.10660102
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 3 2
+f 7 6 3
+f 7 4 6
+f 8 7 2
+f 8 2 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_3.obj b/mango/mango_12/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..188da2c411db9363048713fb1484c4de89311edf
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_3.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.08250764 -0.13389182 0.26024309
+v 0.14393939 -0.03102112 0.18052126
+v 0.14064156 0.10016185 0.26830717
+v 0.00726018 0.14665573 0.27532625
+v 0.00757576 -0.13708172 0.18052126
+v 0.15868420 0.18795300 0.21714532
+v 0.05196924 -0.02888886 0.28492146
+v 0.14251495 -0.03004733 0.27552750
+v 0.08333333 -0.13708172 0.18052126
+v 0.13829558 0.14339892 0.25283146
+v 0.00757576 0.15079706 0.18052126
+v 0.08011202 0.05814019 0.28484331
+v 0.00781097 -0.13446825 0.26343488
+v 0.08226111 -0.10290879 0.26899157
+v 0.06524718 0.14367034 0.26702479
+v 0.00588420 0.10308297 0.28564650
+v 0.08054363 -0.00078101 0.28491739
+v 0.00695364 -0.04307917 0.28472950
+v 0.02161540 0.10129837 0.28474969
+v 0.02299769 -0.04311954 0.28426982
+v 0.00691749 -0.10391783 0.27197338
+v 0.05072099 0.08606500 0.28387466
+f 8 6 3
+f 8 2 6
+f 9 5 2
+f 9 8 1
+f 9 2 8
+f 10 3 6
+f 11 4 6
+f 11 6 2
+f 11 2 5
+f 12 8 3
+f 13 9 1
+f 13 5 9
+f 14 8 7
+f 14 1 8
+f 14 13 1
+f 15 10 6
+f 15 6 4
+f 15 4 3
+f 15 3 10
+f 16 11 5
+f 16 4 11
+f 17 7 8
+f 17 8 12
+f 17 16 7
+f 17 12 16
+f 18 7 16
+f 19 16 12
+f 19 3 4
+f 19 4 16
+f 20 14 7
+f 20 7 18
+f 21 13 14
+f 21 20 18
+f 21 14 20
+f 21 5 13
+f 21 18 16
+f 21 16 5
+f 22 19 12
+f 22 12 3
+f 22 3 19
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_30.obj b/mango/mango_12/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..115ec0fbf84013e272b2cb33953d8589a5349063
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.01586960 0.01385459
+v 0.00757576 -0.01586960 -0.13766056
+v 0.00757576 0.16594858 0.01385459
+v -0.39013266 0.19786036 -0.16974335
+v -0.35606060 -0.01586960 -0.13766056
+v 0.00757576 0.16594858 -0.13766056
+v -0.35606060 0.16594858 0.01385459
+v -0.35606060 -0.01586960 0.01385459
+f 1 2 3
+f 5 2 1
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 5 1
+f 8 1 7
+f 8 7 4
+f 8 4 5
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_31.obj b/mango/mango_12/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8158f5f025eee8dd18c39fba0269519d5f40941c
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_31.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00671738 -0.01475135 0.28949449
+v 0.00757576 -0.01586960 0.01385459
+v 0.00757576 0.16594858 0.01385459
+v -0.23341614 0.16349631 0.26395889
+v -0.23484848 -0.01586960 0.01385459
+v 0.00465162 0.16198285 0.27031433
+v -0.23359450 -0.01438380 0.27840174
+v -0.23484848 0.16594858 0.01385459
+v 0.00647251 0.11661813 0.28278219
+v -0.15755621 0.13181324 0.28374275
+v -0.06817515 0.13220735 0.28492350
+v -0.21644175 0.16114556 0.26823210
+v -0.21722309 0.01457340 0.28462441
+v -0.05297316 0.13086885 0.28458098
+v -0.21777948 0.07354803 0.28450917
+v -0.20203459 -0.01297142 0.28399153
+v -0.20261466 0.10346335 0.28385892
+v -0.23186718 0.14526694 0.27015514
+v -0.18710892 0.11664741 0.28372616
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 3 4
+f 7 5 1
+f 8 4 3
+f 8 3 5
+f 8 7 4
+f 8 5 7
+f 9 1 3
+f 9 3 6
+f 12 6 4
+f 12 11 6
+f 12 10 11
+f 14 9 6
+f 14 6 11
+f 14 11 1
+f 14 1 9
+f 15 11 10
+f 15 1 11
+f 15 13 1
+f 15 7 13
+f 16 13 7
+f 16 7 1
+f 16 1 13
+f 18 4 7
+f 18 7 15
+f 18 15 17
+f 18 12 4
+f 19 18 17
+f 19 10 12
+f 19 12 18
+f 19 17 15
+f 19 15 10
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_4.obj b/mango/mango_12/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59de76b3850ae76b9becf82fe5a1a68f45df6365
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_4.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.01196950 -0.24285980 0.20999216
+v 0.00818338 -0.20794338 0.23059843
+v -0.22723614 -0.19841113 0.20830091
+v -0.35017999 -0.01382688 0.24371515
+v 0.00757576 -0.01586960 0.16536974
+v -0.20189549 -0.08525942 0.26732142
+v -0.15673139 -0.20214031 0.22355647
+v 0.00671738 -0.01475135 0.28949449
+v -0.35156824 -0.17738365 0.16091277
+v -0.28797395 -0.11389570 0.23579098
+v -0.09864456 -0.18830149 0.23804622
+v -0.24160700 -0.22655654 0.17992426
+v 0.00857507 -0.15879422 0.25466613
+v -0.32020190 -0.01249708 0.25571167
+v -0.35606060 -0.01586960 0.16536974
+v -0.23081271 -0.11420769 0.25168540
+v -0.30185047 -0.15615167 0.20696256
+v 0.00833016 -0.18989191 0.23963369
+v 0.00695364 -0.04307917 0.28472950
+v -0.05348700 -0.11719626 0.26855214
+v -0.18787148 -0.01314029 0.28562096
+v -0.33344222 -0.07005319 0.23612937
+v -0.24613695 -0.05603966 0.26704528
+v -0.15710676 -0.14388802 0.25228893
+v -0.28778300 -0.14255310 0.22133237
+v -0.17136481 -0.17275988 0.23680197
+v -0.33188164 -0.16961614 0.18086873
+v -0.02284436 -0.15984848 0.25319066
+v -0.02308787 -0.11625218 0.26846569
+v -0.14274374 -0.04294238 0.28419248
+v -0.34735788 -0.04215542 0.23826449
+v -0.29026899 -0.06983365 0.25128336
+v -0.27544074 -0.01394635 0.26898030
+v -0.18653982 -0.02872292 0.28318038
+v -0.15757466 -0.10153501 0.26758952
+v -0.34950664 -0.08452163 0.22305336
+v -0.31936685 -0.02640617 0.25306231
+v -0.27537031 -0.08528604 0.25090960
+v -0.27386354 -0.02520188 0.26742849
+v -0.34787408 -0.13954879 0.19375656
+v -0.33108780 -0.15420137 0.19362279
+v -0.34810669 -0.17210561 0.16836261
+f 8 1 5
+f 11 7 1
+f 11 1 2
+f 12 7 3
+f 12 1 7
+f 12 9 5
+f 12 5 1
+f 15 9 4
+f 15 5 9
+f 15 14 5
+f 15 4 14
+f 17 12 3
+f 18 2 1
+f 18 1 13
+f 18 13 11
+f 18 11 2
+f 19 13 1
+f 19 1 8
+f 21 8 5
+f 21 5 14
+f 23 16 6
+f 24 6 16
+f 24 11 20
+f 25 16 10
+f 25 3 16
+f 25 17 3
+f 26 16 3
+f 26 3 7
+f 26 24 16
+f 26 7 11
+f 26 11 24
+f 27 12 17
+f 28 20 11
+f 28 11 13
+f 28 13 20
+f 29 20 13
+f 29 13 19
+f 29 19 20
+f 30 19 8
+f 30 8 21
+f 30 20 19
+f 33 21 14
+f 34 23 6
+f 34 30 21
+f 34 6 30
+f 35 24 20
+f 35 6 24
+f 35 30 6
+f 35 20 30
+f 36 22 31
+f 36 31 4
+f 36 4 9
+f 36 25 10
+f 36 10 22
+f 37 31 22
+f 37 14 4
+f 37 4 31
+f 37 22 32
+f 38 32 22
+f 38 22 10
+f 38 10 16
+f 38 16 23
+f 38 23 32
+f 39 32 23
+f 39 23 34
+f 39 34 21
+f 39 21 33
+f 39 37 32
+f 39 33 14
+f 39 14 37
+f 40 17 25
+f 40 25 36
+f 40 36 9
+f 41 27 17
+f 41 17 40
+f 42 40 9
+f 42 41 40
+f 42 27 41
+f 42 9 12
+f 42 12 27
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_5.obj b/mango/mango_12/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d642e2f15f00d0faa89833e49cd8017be1d71016
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_5.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.09848485 0.05988797 -0.13766056
+v -0.04406986 0.06977990 -0.26386686
+v -0.09848485 0.16594858 -0.13766056
+v -0.42167743 0.17929140 -0.15193483
+v -0.41701643 0.06078579 -0.21329269
+v -0.09896050 0.16484385 -0.24143286
+v -0.04682244 0.11161769 -0.25143812
+v -0.07208886 0.05585612 -0.27428651
+v -0.45223165 0.07206157 -0.16047692
+v -0.30490209 0.15588306 -0.24283460
+v -0.05457568 0.05882233 -0.26936232
+v -0.30763752 0.05653820 -0.27482190
+v -0.08735827 0.08493423 -0.27026294
+v -0.39670653 0.16253806 -0.19282423
+v -0.23432393 0.15698502 -0.25525103
+v -0.33741358 0.05727309 -0.26397587
+v -0.05705545 0.10030620 -0.25807479
+v -0.07108351 0.06937531 -0.27075294
+v -0.17490194 0.05759101 -0.28919594
+v -0.33637612 0.15799635 -0.23128851
+v -0.17653876 0.15919742 -0.25500853
+v -0.26269517 0.11481829 -0.26992024
+v -0.33568900 0.10042499 -0.25553779
+v -0.11681849 0.14320982 -0.25512130
+v -0.22010153 0.05616026 -0.28919165
+v -0.27655340 0.14379997 -0.25518427
+v -0.21765030 0.07062386 -0.28653673
+v -0.33206849 0.14075172 -0.24113691
+v -0.30493297 0.08473279 -0.26967937
+v -0.11597522 0.15985686 -0.24712131
+v -0.14676601 0.11534399 -0.27037277
+v -0.30446412 0.12771821 -0.25563660
+v -0.17462540 0.06988420 -0.28626712
+f 1 3 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 9 5 1
+f 9 1 4
+f 9 4 5
+f 11 2 1
+f 11 1 8
+f 12 8 1
+f 14 5 4
+f 16 12 1
+f 16 1 5
+f 17 7 2
+f 17 2 13
+f 18 11 8
+f 18 8 13
+f 18 13 2
+f 18 2 11
+f 19 13 8
+f 20 14 4
+f 20 15 10
+f 20 4 15
+f 21 15 4
+f 21 4 6
+f 23 16 5
+f 23 5 14
+f 23 12 16
+f 24 17 13
+f 24 6 7
+f 24 7 17
+f 25 19 8
+f 25 8 12
+f 26 10 15
+f 26 15 22
+f 27 19 25
+f 27 22 15
+f 27 15 21
+f 28 23 14
+f 28 14 20
+f 28 20 10
+f 29 12 23
+f 29 25 12
+f 29 27 25
+f 29 22 27
+f 30 24 21
+f 30 21 6
+f 30 6 24
+f 31 24 13
+f 31 21 24
+f 31 27 21
+f 32 10 26
+f 32 28 10
+f 32 23 28
+f 32 26 22
+f 32 29 23
+f 32 22 29
+f 33 31 13
+f 33 13 19
+f 33 19 27
+f 33 27 31
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_6.obj b/mango/mango_12/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cf1b83f0452903b22b2602cb1bccd0d59554e9a
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_6.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v 0.26305221 0.14525102 0.21667852
+v 0.26074131 0.14322085 -0.11394978
+v 0.24394584 0.23825419 0.07225054
+v 0.00404797 0.33460641 0.10089588
+v 0.00726018 0.14665573 0.27532625
+v 0.00186593 0.33246634 -0.02591455
+v 0.25913520 0.20716401 0.15432346
+v 0.23048276 0.14245884 0.22887734
+v 0.25544256 0.20911781 -0.03669226
+v 0.02933437 0.32872216 0.00207722
+v 0.00334296 0.25858443 0.21266427
+v 0.00501730 0.14693180 -0.22067981
+v 0.25789922 0.22336107 0.12345062
+v 0.25739334 0.22488647 0.00327893
+v 0.02799720 0.27011655 -0.12216132
+v 0.02793015 0.32880665 0.08375067
+v 0.00301956 0.31520940 0.14291433
+v 0.04847979 0.18422056 0.25296816
+v 0.07752867 0.19735432 0.23812091
+v 0.24573457 0.18030095 0.19426228
+v 0.00136068 0.21618450 -0.18404118
+v 0.10807045 0.14322676 -0.18425495
+v 0.24170069 0.23792799 0.04630683
+v 0.05835530 0.29743122 -0.05356047
+v 0.01324752 0.32829543 -0.02542870
+v 0.25344969 0.19366934 -0.06288369
+v 0.01443096 0.31403198 0.13774562
+v 0.00496841 0.21789126 0.24307277
+v 0.11032176 0.14348984 0.25917341
+v 0.25855872 0.15519315 0.21229411
+v 0.10960134 0.15724626 0.25256732
+v 0.01256817 0.28668141 0.18013580
+v 0.00214382 0.28765186 -0.11312294
+v 0.05894671 0.22735213 -0.15013715
+v 0.00465162 0.16198285 0.27031433
+v 0.01876668 0.14526023 -0.21679682
+v 0.24194699 0.22227795 -0.02209564
+v 0.05900165 0.28296102 -0.08051232
+v 0.04460028 0.29893266 -0.06483881
+v 0.03351711 0.21327507 0.23906792
+v 0.23039986 0.15610786 0.22046456
+v 0.01623423 0.25717982 0.20967496
+v 0.00323235 0.28708530 0.18401048
+v 0.02878275 0.29796472 0.15404475
+v 0.03118660 0.24137867 -0.15158129
+v 0.12159318 0.16958584 -0.16363122
+v 0.23954423 0.16427178 -0.10738262
+v 0.00391764 0.15960043 -0.21560000
+v 0.01988483 0.15967700 0.26907568
+v 0.01998279 0.14556812 0.27342032
+v 0.01580940 0.28535877 -0.10846133
+v 0.14779755 0.23653534 -0.08208104
+v 0.09003409 0.21187865 0.22303538
+v 0.04593434 0.19966366 -0.17803695
+v 0.05798984 0.25457175 -0.12287959
+v 0.10515441 0.15490227 -0.17971959
+v 0.25621006 0.15364850 -0.10766493
+v 0.04396902 0.17103133 -0.19547183
+v 0.01546285 0.21359945 -0.18042277
+v 0.16550081 0.19606167 -0.11947789
+f 8 2 1
+f 10 6 4
+f 14 7 1
+f 14 1 2
+f 14 13 7
+f 14 2 9
+f 14 3 13
+f 16 10 4
+f 16 3 10
+f 16 13 3
+f 16 4 13
+f 17 4 6
+f 17 6 11
+f 21 11 6
+f 22 2 8
+f 23 14 10
+f 23 10 3
+f 23 3 14
+f 25 6 10
+f 25 10 14
+f 25 14 24
+f 26 9 2
+f 27 13 4
+f 27 4 17
+f 27 7 13
+f 29 22 8
+f 30 8 1
+f 30 1 7
+f 30 7 20
+f 31 19 18
+f 31 8 19
+f 31 29 8
+f 31 18 29
+f 32 20 7
+f 33 21 6
+f 35 12 5
+f 35 11 21
+f 35 28 11
+f 35 18 28
+f 36 5 12
+f 37 24 14
+f 37 14 9
+f 37 9 24
+f 39 25 24
+f 39 6 25
+f 39 33 6
+f 39 24 9
+f 39 9 38
+f 40 11 28
+f 40 28 18
+f 40 18 19
+f 41 30 19
+f 41 19 8
+f 41 8 30
+f 42 30 20
+f 43 32 17
+f 43 17 11
+f 43 11 42
+f 43 42 20
+f 43 20 32
+f 44 32 7
+f 44 17 32
+f 44 27 17
+f 44 7 27
+f 45 33 15
+f 45 21 33
+f 46 34 2
+f 48 35 21
+f 48 12 35
+f 48 36 12
+f 49 29 18
+f 49 18 35
+f 49 35 5
+f 49 5 29
+f 50 29 5
+f 50 5 36
+f 50 36 22
+f 50 22 29
+f 51 38 15
+f 51 15 33
+f 51 39 38
+f 51 33 39
+f 52 38 9
+f 52 9 26
+f 53 40 19
+f 53 11 40
+f 53 42 11
+f 53 19 30
+f 53 30 42
+f 54 45 34
+f 54 34 46
+f 55 45 15
+f 55 34 45
+f 55 26 47
+f 55 52 26
+f 55 15 38
+f 55 38 52
+f 56 46 2
+f 56 2 22
+f 56 54 46
+f 57 47 26
+f 57 26 2
+f 57 2 34
+f 57 34 47
+f 58 22 36
+f 58 36 48
+f 58 56 22
+f 58 54 56
+f 58 48 21
+f 58 21 54
+f 59 54 21
+f 59 21 45
+f 59 45 54
+f 60 55 47
+f 60 47 34
+f 60 34 55
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_7.obj b/mango/mango_12/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab96292b655d9e2a16e3b6f4f34040c5bab4bcd3
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.39143036 -0.17218527 0.14034945
+v 0.38517262 -0.16970704 -0.07659555
+v 0.41529581 0.10203045 0.17708845
+v 0.25918330 0.22553392 0.11716897
+v 0.25965851 -0.17327449 0.21150039
+v 0.39075362 0.08223812 -0.07702404
+v 0.27160921 -0.17642858 -0.16417659
+v 0.39007321 -0.05601408 0.20880276
+v 0.25863590 0.10078569 0.24031957
+v 0.39004365 0.02417393 -0.10317459
+v 0.37555869 0.19382760 0.06356124
+v 0.29900680 -0.17602966 -0.14805577
+v 0.25875392 -0.17566529 -0.17129560
+v 0.38991799 -0.12620803 0.17852239
+v 0.28848205 0.16836579 0.19140633
+v 0.36488534 0.04111991 0.22230930
+v 0.38653257 -0.11574848 -0.10662963
+v 0.25673166 0.19728901 -0.05573286
+v 0.37798912 0.18015053 0.02188503
+v 0.30265279 -0.15544771 0.20683631
+v 0.39144798 -0.09885792 0.19256223
+v 0.34533083 0.13937589 0.19146108
+v 0.25855872 0.15519315 0.21229411
+v 0.39174342 0.05374054 0.20762782
+v 0.26064218 -0.10315740 0.24145175
+v 0.35712792 -0.17068168 -0.10599618
+v 0.33070551 -0.08981891 -0.14999333
+v 0.25874519 0.22857932 0.01857285
+v 0.25948129 0.07080102 -0.15548896
+v 0.37596904 0.14911826 -0.03213182
+v 0.34501567 -0.17085950 0.17681399
+v 0.31617798 -0.16984157 0.19284882
+v 0.35030521 -0.07076165 0.22251494
+v 0.37835225 0.17792842 0.13691677
+v 0.25957751 0.19622749 0.17021193
+v 0.30297893 0.13982463 0.20723979
+v 0.36392476 -0.04324813 0.22328214
+v 0.36177341 0.09782216 0.20621532
+v 0.27336886 -0.14196335 0.22328532
+v 0.35814898 -0.14384781 -0.11979696
+v 0.31452112 -0.14528796 -0.14962292
+v 0.37536468 -0.00341959 -0.12003826
+v 0.25742780 0.21300557 -0.02570047
+v 0.33556880 0.21163944 0.09998167
+v 0.36464190 0.19237726 0.03566581
+v 0.37330161 0.05205844 -0.10480061
+v 0.25965475 -0.03190356 -0.18532511
+v 0.28474685 0.13636626 -0.10558441
+v 0.27204077 -0.17230557 0.20811704
+v 0.37512714 -0.08617501 0.20701608
+v 0.37876487 0.13814994 0.17821408
+v 0.37834265 0.19167213 0.10972633
+v 0.28825629 0.17967553 0.18026938
+v 0.30208378 0.11169857 0.22231032
+v 0.32029465 -0.04429493 0.23792481
+v 0.39481568 0.08409393 0.19688868
+v 0.34642300 0.07026336 0.22151052
+v 0.26116817 -0.14489381 0.22533363
+v 0.27610799 -0.10070134 0.23795142
+v 0.25899652 -0.11974766 -0.18477862
+v 0.37415674 -0.10294369 -0.11998750
+v 0.27288943 0.20788305 -0.02217097
+v 0.33541980 0.20797708 0.05961344
+v 0.33371876 0.19255268 0.14154417
+f 1 2 3
+f 10 6 3
+f 12 2 1
+f 12 1 5
+f 12 5 7
+f 13 7 5
+f 17 10 3
+f 17 3 2
+f 18 13 5
+f 18 5 9
+f 19 11 3
+f 19 3 6
+f 21 14 1
+f 21 1 3
+f 21 3 8
+f 23 18 9
+f 23 4 18
+f 24 8 3
+f 25 9 5
+f 26 17 2
+f 26 2 12
+f 30 19 6
+f 30 18 19
+f 31 5 1
+f 31 1 14
+f 32 21 20
+f 32 14 21
+f 32 31 14
+f 35 4 23
+f 36 22 15
+f 36 15 23
+f 37 24 16
+f 37 8 24
+f 37 33 8
+f 40 26 12
+f 40 17 26
+f 41 12 7
+f 41 7 13
+f 41 40 12
+f 42 10 17
+f 43 18 4
+f 43 4 28
+f 44 28 4
+f 45 28 11
+f 45 11 19
+f 45 43 28
+f 46 6 10
+f 46 42 29
+f 46 10 42
+f 47 18 29
+f 47 42 27
+f 47 29 42
+f 48 29 18
+f 48 18 30
+f 48 30 6
+f 48 46 29
+f 48 6 46
+f 49 32 20
+f 49 5 31
+f 49 31 32
+f 49 39 5
+f 49 20 39
+f 50 21 8
+f 50 8 33
+f 50 20 21
+f 50 39 20
+f 50 33 39
+f 51 3 34
+f 51 22 38
+f 51 15 22
+f 52 34 3
+f 52 3 11
+f 52 11 44
+f 53 35 23
+f 53 23 15
+f 53 51 34
+f 53 15 51
+f 54 36 23
+f 54 23 9
+f 54 38 22
+f 54 22 36
+f 55 33 37
+f 55 9 25
+f 55 37 16
+f 55 16 9
+f 56 24 3
+f 56 51 38
+f 56 3 51
+f 57 16 24
+f 57 56 38
+f 57 24 56
+f 57 38 54
+f 57 54 9
+f 57 9 16
+f 58 39 25
+f 58 25 5
+f 58 5 39
+f 59 39 33
+f 59 25 39
+f 59 55 25
+f 59 33 55
+f 60 41 13
+f 60 27 41
+f 60 47 27
+f 60 13 18
+f 60 18 47
+f 61 41 27
+f 61 17 40
+f 61 40 41
+f 61 42 17
+f 61 27 42
+f 62 19 18
+f 62 18 43
+f 62 45 19
+f 62 43 45
+f 63 44 11
+f 63 11 28
+f 63 28 44
+f 64 52 44
+f 64 34 52
+f 64 53 34
+f 64 35 53
+f 64 44 4
+f 64 4 35
\ No newline at end of file
diff --git a/mango/mango_12/collision/model_normalized_collision_8.obj b/mango/mango_12/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..576d12ecfde4e825cd635f9eb75fea9884d97c07
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_8.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v -0.34090909 -0.10677869 -0.13766056
+v -0.33330397 -0.10313575 -0.24543686
+v -0.33637612 0.15799635 -0.23128851
+v -0.42167743 0.17929140 -0.15193483
+v -0.44668337 -0.07100550 -0.13278479
+v -0.41752727 0.07141487 -0.21185197
+v -0.34090909 0.05988797 -0.13766056
+v -0.43439387 -0.10193024 -0.13270009
+v -0.33547777 0.08628698 -0.25952823
+v -0.38763742 0.14246686 -0.21173978
+v -0.46177938 0.07123699 -0.13311514
+v -0.41491999 -0.05629249 -0.19950277
+v -0.34868184 0.17546970 -0.21548146
+v -0.33463192 0.12940016 -0.24538014
+v -0.44915713 0.14736957 -0.13150333
+v -0.34715727 -0.04292142 -0.25604737
+v -0.42885680 0.11310014 -0.18528436
+v -0.37500046 0.08452109 -0.24103705
+v -0.44390606 -0.01344156 -0.17280976
+v -0.43004390 -0.06885546 -0.17213346
+v -0.37533044 0.15698707 -0.21157961
+v -0.44131157 0.16390652 -0.13440572
+v -0.33529149 -0.04290851 -0.26273352
+v -0.41575651 0.00215660 -0.21315324
+v -0.37208045 -0.08688972 -0.22598141
+v -0.40267753 0.11491728 -0.21189576
+v -0.42810382 0.14399431 -0.16978268
+v -0.44306889 0.08494622 -0.17403652
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diff --git a/mango/mango_12/collision/model_normalized_collision_9.obj b/mango/mango_12/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..254711adf560bf57f93b9b1280a71fdd54750ebb
--- /dev/null
+++ b/mango/mango_12/collision/model_normalized_collision_9.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
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+v 0.25902901 -0.20840072 -0.15705858
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\ No newline at end of file
diff --git a/mango/mango_12/model.xml b/mango/mango_12/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d3b1550df512a3591bd77039e7944bf3294e528f
--- /dev/null
+++ b/mango/mango_12/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="mango_13">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.10000000000000002 0.10000000000000002 0.10000000000000002" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material.045" texture="image0" specular="0.5" shininess="0.0"/>
+  </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.045"/>
+        <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"/>
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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_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"/>
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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_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="0.00023431349999999967 3.681150000000023e-05 -0.029358201000000007" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00023431349999999967 3.681150000000023e-05 0.028949449000000006" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.036790382 0.04905625100000001 -0.0002043760000000006" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/mango/mango_12/visual/material.mtl b/mango/mango_12/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f68742fe8420aadeab267568817d347d5678c9d5
--- /dev/null
+++ b/mango/mango_12/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 0.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_0.obj b/mango/mango_13/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b89bf66e1e7a6c1e28c3e2d558354adfa468bfb
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_0.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.22794779 -0.26515152 -0.18851779
+v 0.21851779 -0.26042191 -0.31061030
+v 0.22372569 0.23279143 -0.31764197
+v 0.14200367 0.24615296 -0.34570293
+v 0.09158415 -0.26515152 -0.27942687
+v 0.20711286 -0.03479759 -0.36711114
+v 0.13703869 0.09848485 -0.18851779
+v 0.22067855 -0.22859290 -0.32159425
+v 0.09527979 -0.27273918 -0.34607801
+v 0.19200910 0.11108529 -0.36619058
+v 0.22794779 0.09848485 -0.18851779
+v 0.13703869 -0.26515152 -0.18851779
+v 0.09158415 -0.14393940 -0.27942687
+v 0.21836769 -0.10924930 -0.35126145
+v 0.16222376 -0.25852984 -0.33699735
+v 0.18697605 0.18657449 -0.35257792
+v 0.21818055 0.11134698 -0.35200876
+v 0.13089657 0.05151277 -0.38751116
+v 0.13239713 0.22854037 -0.35728250
+v 0.20259244 -0.25996259 -0.31907610
+v 0.16293257 -0.21193293 -0.35175858
+v 0.20732153 0.03482918 -0.36685147
+v 0.21999001 0.18409863 -0.33850015
+v 0.13308545 0.18382454 -0.37025576
+v 0.19323458 0.22639427 -0.33640116
+v 0.10003214 -0.15265417 -0.37927008
+v 0.18834858 -0.22959173 -0.33664601
+v 0.13335898 -0.26322111 -0.34443931
+v 0.19079480 -0.08219592 -0.36677078
+v 0.14977538 0.05263356 -0.38317514
+v 0.20451441 0.15488807 -0.35278359
+v 0.14872923 0.18499970 -0.36540698
+v 0.14627947 0.22921324 -0.35234882
+v 0.15032003 -0.02251658 -0.38338861
+v 0.19105031 -0.17094201 -0.34966036
+v 0.13392331 -0.23071310 -0.35578388
+v 0.13345947 -0.17006362 -0.36973450
+v 0.16167272 0.16868551 -0.36579056
+v 0.13531791 -0.02202100 -0.38568654
+v 0.14710061 -0.17224427 -0.36532844
+f 7 3 4
+f 8 1 2
+f 8 3 1
+f 9 2 1
+f 11 7 1
+f 11 1 3
+f 11 3 7
+f 12 7 5
+f 12 1 7
+f 12 9 1
+f 12 5 9
+f 13 5 7
+f 13 9 5
+f 14 3 8
+f 17 14 6
+f 17 3 14
+f 19 13 7
+f 19 7 4
+f 20 8 2
+f 20 2 9
+f 22 17 6
+f 22 10 17
+f 23 3 17
+f 25 4 3
+f 25 23 16
+f 25 3 23
+f 26 9 13
+f 26 13 19
+f 26 19 24
+f 26 24 18
+f 27 20 15
+f 27 8 20
+f 27 15 21
+f 28 20 9
+f 28 15 20
+f 29 6 14
+f 30 10 22
+f 30 18 24
+f 31 23 17
+f 31 17 10
+f 31 16 23
+f 32 24 19
+f 32 19 16
+f 33 19 4
+f 33 4 25
+f 33 25 16
+f 33 16 19
+f 34 6 29
+f 34 18 30
+f 34 30 22
+f 34 22 6
+f 35 27 21
+f 35 14 8
+f 35 8 27
+f 35 29 14
+f 36 21 15
+f 36 15 28
+f 36 28 9
+f 36 9 26
+f 37 34 29
+f 37 26 34
+f 37 36 26
+f 37 21 36
+f 38 30 24
+f 38 10 30
+f 38 24 32
+f 38 32 16
+f 38 31 10
+f 38 16 31
+f 39 34 26
+f 39 26 18
+f 39 18 34
+f 40 35 21
+f 40 29 35
+f 40 37 29
+f 40 21 37
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_1.obj b/mango/mango_13/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8614e062067aed4b9d92131f700a7c8d47b8a1ae
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.12062224 -0.48881250 0.00590371
+v 0.36751948 -0.25997256 -0.13976835
+v 0.13259559 -0.25602298 0.26726424
+v -0.27535139 -0.25587874 0.15200683
+v -0.10103629 -0.25779466 -0.32965935
+v -0.05474974 -0.38396441 0.17753173
+v 0.27315026 -0.39952452 0.03015824
+v 0.15017552 -0.38485802 -0.26495932
+v -0.15508797 -0.42923839 -0.10524895
+v 0.32019820 -0.25740146 -0.22378783
+v 0.10385218 -0.41363374 0.14659296
+v -0.07339720 -0.25793855 0.28649831
+v 0.36631662 -0.26036429 -0.01233221
+v 0.23320231 -0.44527830 -0.12360662
+v -0.32050877 -0.25784102 -0.12165693
+v -0.15391359 -0.42943439 0.01863257
+v -0.00924934 -0.41792575 -0.23190945
+v 0.14648986 -0.26053629 -0.34079066
+v 0.03256812 -0.45905487 0.09015006
+v 0.18726652 -0.31015125 0.20457360
+v 0.17873096 -0.45723742 0.04602737
+v -0.20110061 -0.25579251 0.22401545
+v 0.04412626 -0.29746844 0.26426095
+v 0.31667690 -0.37409663 -0.10906321
+v 0.35033058 -0.25758592 -0.18055579
+v 0.23255425 -0.35907654 -0.24482905
+v -0.18287078 -0.32737682 -0.23298048
+v -0.31675720 -0.28279386 0.01817878
+v -0.02527509 -0.49080084 -0.06446989
+v 0.02175857 -0.31391094 -0.32316547
+v 0.11601290 -0.46008757 -0.17934772
+v -0.05801424 -0.25809760 -0.34215852
+v 0.00039004 -0.42945753 0.13322507
+v 0.19314050 -0.25974453 0.23825775
+v 0.17300273 -0.40065405 0.13016149
+v 0.21590814 -0.45802504 -0.00766075
+v 0.11521469 -0.47511051 0.04885180
+v -0.15833560 -0.25639410 0.25405254
+v -0.19906146 -0.35317705 0.11937402
+v 0.07454040 -0.25869668 0.28398883
+v 0.12927736 -0.32655631 0.21989606
+v -0.05784892 -0.31106993 0.24986071
+v 0.31569596 -0.37334592 -0.02628342
+v 0.36124797 -0.28796086 -0.04031501
+v 0.34389785 -0.31826327 -0.13962378
+v 0.20306440 -0.44253865 -0.16698208
+v 0.25983547 -0.40203086 -0.17541132
+v 0.26368150 -0.25967247 -0.28253068
+v 0.17465721 -0.31413763 -0.30657449
+v -0.18791350 -0.26158895 -0.28320376
+v -0.27137843 -0.31286203 -0.14861966
+v -0.12923914 -0.41304303 -0.17654422
+v -0.08095228 -0.34401885 -0.27772025
+v -0.18488631 -0.41460098 -0.07569602
+v -0.32083613 -0.25752188 0.06620960
+v -0.10952468 -0.46007513 -0.01934215
+v 0.00245963 -0.49007340 0.00145890
+v 0.01961017 -0.35969762 -0.29174533
+v 0.08728033 -0.44515792 -0.20703984
+v 0.13364731 -0.48902650 -0.06607791
+v 0.11930479 -0.28635671 -0.33734421
+v 0.07466701 -0.43092904 0.13078545
+v -0.08284723 -0.44174184 0.07628020
+v 0.25638925 -0.38636287 0.07288569
+f 10 5 4
+f 10 4 3
+f 15 4 5
+f 22 3 4
+f 25 10 3
+f 25 3 13
+f 25 13 2
+f 32 5 10
+f 32 10 18
+f 34 13 3
+f 35 11 21
+f 36 7 21
+f 36 14 24
+f 36 21 1
+f 37 1 21
+f 37 21 11
+f 38 12 3
+f 38 3 22
+f 39 38 22
+f 39 6 38
+f 39 22 4
+f 39 28 16
+f 40 3 12
+f 40 12 23
+f 41 40 23
+f 41 3 40
+f 41 34 3
+f 41 20 34
+f 41 23 11
+f 41 35 20
+f 41 11 35
+f 42 23 12
+f 42 33 23
+f 42 6 33
+f 42 38 6
+f 42 12 38
+f 43 13 7
+f 43 36 24
+f 43 7 36
+f 44 2 13
+f 44 43 24
+f 44 13 43
+f 45 25 2
+f 45 10 25
+f 45 44 24
+f 45 2 44
+f 46 8 26
+f 46 31 8
+f 47 24 14
+f 47 46 26
+f 47 14 46
+f 47 45 24
+f 47 26 10
+f 47 10 45
+f 48 18 10
+f 48 10 26
+f 49 26 8
+f 49 48 26
+f 49 18 48
+f 50 15 5
+f 51 50 27
+f 51 15 50
+f 51 28 15
+f 52 51 27
+f 52 9 51
+f 52 29 9
+f 52 17 29
+f 53 52 27
+f 53 17 52
+f 53 5 32
+f 53 50 5
+f 53 27 50
+f 54 16 28
+f 54 51 9
+f 54 28 51
+f 55 4 15
+f 55 15 28
+f 55 39 4
+f 55 28 39
+f 56 9 29
+f 56 54 9
+f 56 16 54
+f 57 29 1
+f 57 56 29
+f 57 37 19
+f 57 1 37
+f 58 17 53
+f 58 53 32
+f 58 32 30
+f 59 8 31
+f 59 58 8
+f 59 17 58
+f 59 31 29
+f 59 29 17
+f 60 1 29
+f 60 29 31
+f 60 36 1
+f 60 14 36
+f 60 46 14
+f 60 31 46
+f 61 32 18
+f 61 30 32
+f 61 18 49
+f 61 49 8
+f 61 58 30
+f 61 8 58
+f 62 33 19
+f 62 11 23
+f 62 23 33
+f 62 37 11
+f 62 19 37
+f 63 33 6
+f 63 16 56
+f 63 56 57
+f 63 57 19
+f 63 19 33
+f 63 39 16
+f 63 6 39
+f 64 34 20
+f 64 7 13
+f 64 13 34
+f 64 20 35
+f 64 35 21
+f 64 21 7
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_10.obj b/mango/mango_13/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..723f0a2a11296b272e11ec4b55c9b6433f959ee0
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_10.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.34312565 0.10006713 0.19579479
+v -0.28720375 0.09848485 0.00845191
+v -0.27831799 0.18589463 0.24682600
+v -0.28662834 0.30998275 0.00822444
+v -0.40119015 0.09667882 -0.11089160
+v -0.27808842 0.30025242 0.04928422
+v -0.37384581 0.16589659 0.07700787
+v -0.28689029 0.15891193 0.25058015
+v -0.39340084 0.09435514 0.07958571
+v -0.38065258 0.16604382 -0.12421883
+v -0.33359263 0.15270711 0.18290848
+v -0.31561724 0.26411264 0.04783030
+v -0.32839166 0.10864247 0.21483833
+v -0.40639990 0.11229212 -0.02458764
+v -0.30009665 0.30876516 -0.02261792
+v -0.39274091 0.11389845 -0.12847695
+v -0.29414444 0.15577875 0.24363842
+v -0.37298914 0.14127422 0.10806341
+v -0.30052599 0.29453415 0.01497218
+v -0.27774977 0.22719086 0.20007297
+v -0.38966495 0.15122565 0.03357588
+v -0.40869578 0.09526927 -0.02244108
+v -0.40534874 0.11186569 -0.06776531
+v -0.33200033 0.27134187 -0.02434534
+v -0.38832304 0.15474650 -0.10953784
+v -0.30227509 0.16510085 0.22518868
+v -0.30580886 0.15330116 0.22671308
+v -0.38235473 0.09685017 0.10964929
+v -0.34247524 0.16543355 0.15148088
+v -0.31421751 0.19162951 0.18136052
+v -0.39078460 0.10796747 0.07868038
+v -0.40765141 0.09717348 -0.06629611
+v -0.36143146 0.20711976 0.03728332
+v -0.30724072 0.30175016 -0.02464231
+v -0.28649888 0.21958968 0.19522202
+v -0.31251302 0.17837218 0.19753626
+v -0.32867549 0.16365368 0.18215149
+v -0.32980382 0.27031620 -0.01247386
+v -0.34436499 0.22129493 0.05910867
+v -0.37443521 0.17925462 0.04935313
+v -0.29785412 0.22221842 0.16673010
+v -0.35977986 0.19139210 0.07279006
+f 6 3 2
+f 6 2 4
+f 8 2 3
+f 9 5 2
+f 9 2 1
+f 13 1 2
+f 13 2 8
+f 13 11 1
+f 15 4 2
+f 15 2 10
+f 16 10 2
+f 16 2 5
+f 17 8 3
+f 17 13 8
+f 18 1 11
+f 19 12 6
+f 19 6 4
+f 19 4 15
+f 20 3 6
+f 20 6 12
+f 21 14 9
+f 22 5 9
+f 22 9 14
+f 25 16 5
+f 25 10 16
+f 25 5 23
+f 25 23 14
+f 25 14 21
+f 25 24 10
+f 25 21 24
+f 26 17 3
+f 27 11 13
+f 27 13 17
+f 27 26 11
+f 27 17 26
+f 28 9 1
+f 28 1 18
+f 29 18 11
+f 29 7 18
+f 30 7 29
+f 31 18 7
+f 31 7 21
+f 31 21 9
+f 31 28 18
+f 31 9 28
+f 32 22 14
+f 32 14 23
+f 32 23 5
+f 32 5 22
+f 33 24 21
+f 34 19 15
+f 34 15 10
+f 34 10 24
+f 34 12 19
+f 35 30 3
+f 35 3 20
+f 36 26 3
+f 36 3 30
+f 36 11 26
+f 37 30 29
+f 37 29 11
+f 37 36 30
+f 37 11 36
+f 38 24 33
+f 38 34 24
+f 38 12 34
+f 39 38 33
+f 39 12 38
+f 40 33 21
+f 40 21 7
+f 40 7 33
+f 41 35 20
+f 41 20 12
+f 41 12 39
+f 41 39 30
+f 41 30 35
+f 42 39 33
+f 42 33 7
+f 42 7 30
+f 42 30 39
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_11.obj b/mango/mango_13/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1c24d90156cebcd41f7862b40f45e6c46144676
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_11.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.34069314 -0.00806125 0.18066547
+v 0.38293031 -0.00199203 -0.19445515
+v 0.31661864 0.22938807 0.16303646
+v 0.01582657 0.23484850 0.20542162
+v 0.01582657 -0.00757576 -0.18851779
+v 0.25635599 0.24131998 0.23558006
+v 0.22794779 -0.00757576 -0.18851779
+v 0.01582657 -0.00757576 0.20542162
+v 0.01582657 0.23484850 -0.18851779
+v 0.22794779 -0.00757576 0.20542162
+v 0.34463290 0.24029523 -0.17968713
+v 0.22794779 0.23484850 -0.18851779
+f 1 2 3
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 4 5
+f 8 6 4
+f 9 2 5
+f 9 5 4
+f 9 4 6
+f 10 8 1
+f 10 1 6
+f 10 6 8
+f 11 3 2
+f 11 9 6
+f 11 6 3
+f 12 11 2
+f 12 2 9
+f 12 9 11
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_12.obj b/mango/mango_13/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dae53f1ce5626a6c9b3487ee8f42ad3805d2032c
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_12.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.35541357 -0.27242901 0.01308387
+v 0.39168848 -0.18546968 -0.14009962
+v 0.40720485 -0.00726108 0.03597398
+v 0.32901974 0.23297007 0.14167247
+v 0.34463290 0.24029523 -0.17968713
+v 0.32843533 -0.14206222 0.17077774
+v 0.39212236 -0.18433884 -0.02489324
+v 0.34445572 -0.26954887 -0.17995084
+v 0.40581179 0.12401711 -0.09413200
+v 0.36138662 0.03592048 0.14966652
+v 0.37666380 -0.24364721 -0.03907269
+v 0.40864651 -0.09714660 -0.06834280
+v 0.37515729 -0.12455677 0.09322651
+v 0.39102051 -0.14186277 -0.16744933
+v 0.32746866 0.17261756 0.17116918
+v 0.39304140 0.21476427 0.00719443
+v 0.37529308 -0.23091828 -0.01127822
+v 0.37617386 -0.24289717 -0.12461221
+v 0.40815390 -0.04957241 0.01941319
+v 0.35989301 -0.14026588 0.11929734
+v 0.39000118 -0.03581275 0.09267248
+v 0.37724559 -0.21447744 -0.16594588
+v 0.39081931 0.05334910 -0.16542105
+v 0.40755124 -0.08066780 -0.09626549
+v 0.34631223 -0.08264098 0.16255238
+v 0.38967600 0.21449610 -0.07762966
+v 0.37792035 0.23156099 0.04709431
+v 0.40712487 0.15637473 -0.00799937
+v 0.36239114 -0.25874397 0.00425480
+v 0.36048237 -0.25620492 -0.16355548
+v 0.40749072 -0.09458805 -0.02555606
+v 0.39068384 -0.09507097 0.06285673
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+v 0.37580451 -0.09487718 0.10567327
+v 0.40695792 -0.02252791 0.03612217
+v 0.39101316 -0.17196696 -0.15441990
+v 0.37733299 -0.22850946 -0.15268915
+v 0.37542771 0.15706119 -0.16359963
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+v 0.34665827 -0.12440590 0.14922182
+v 0.39013571 0.11045722 -0.14981896
+v 0.40716322 0.02267715 -0.12325636
+v 0.37533589 0.16987340 0.09099810
+v 0.37667472 -0.03558615 0.12066168
+v 0.36017550 0.21456386 -0.16460381
+v 0.38966782 0.17052714 -0.12009313
+v 0.39091478 0.03914513 0.09154541
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+v 0.36114759 -0.09512194 0.13426872
+v 0.40594243 0.09598299 -0.10752020
+v 0.36009297 0.22851667 0.08985516
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+v 0.36091480 0.22957517 -0.15105556
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+v 0.39107215 0.11204092 0.07656588
+v 0.33367389 0.23241593 0.13390768
+v 0.34266349 0.15555192 0.15262605
+v 0.37633885 0.06674120 0.11892097
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+f 15 4 5
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+f 17 11 7
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+f 24 12 2
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+f 48 4 15
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+f 50 38 5
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+f 51 43 9
+f 51 42 26
+f 51 26 43
+f 52 21 3
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+f 52 49 21
+f 52 10 49
+f 53 44 16
+f 53 16 27
+f 54 25 45
+f 54 49 25
+f 54 34 49
+f 54 45 20
+f 54 20 34
+f 55 9 43
+f 55 43 47
+f 55 46 9
+f 55 47 23
+f 55 23 46
+f 58 50 5
+f 58 5 42
+f 59 42 51
+f 59 58 42
+f 59 50 58
+f 59 51 38
+f 59 38 50
+f 60 53 27
+f 60 48 53
+f 60 56 48
+f 60 27 56
+f 61 52 44
+f 61 44 53
+f 61 53 48
+f 61 48 57
+f 62 56 27
+f 62 27 4
+f 62 4 48
+f 62 48 56
+f 63 57 48
+f 63 48 15
+f 63 15 40
+f 63 40 57
+f 64 57 40
+f 64 40 10
+f 64 10 52
+f 64 61 57
+f 64 52 61
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_13.obj b/mango/mango_13/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37c7bf5006400f091f941005db5155338a4b2785
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_13.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.19586606 -0.42749861 0.07995260
+v 0.39456788 -0.14392653 0.00844434
+v 0.30085706 -0.27416047 0.13010618
+v 0.22394799 -0.14155778 0.27508943
+v 0.22794779 -0.14393940 0.00845191
+v 0.33384080 -0.13946165 0.16451359
+v 0.20491834 -0.28155408 0.21702969
+v 0.30620575 -0.37586435 0.00254240
+v 0.34408698 -0.21250610 0.10577733
+v 0.27228005 -0.21166092 0.20512586
+v 0.23320963 -0.13904407 0.26918824
+v 0.37766854 -0.14071351 0.07751174
+v 0.26004300 -0.28368635 0.17261749
+v 0.19764476 -0.26515152 0.00845191
+v 0.38078503 -0.19920056 0.00500429
+v 0.31603786 -0.19666362 0.16084791
+v 0.32891461 -0.33046522 0.01751419
+v 0.22876168 -0.25322686 0.21984332
+v 0.27074016 -0.18562328 0.21967770
+v 0.34525381 -0.16695325 0.13404090
+v 0.21776026 -0.32522327 0.17263921
+v 0.28643880 -0.25512774 0.16242857
+v 0.28688195 -0.34350849 0.08607127
+v 0.19131895 -0.28720492 0.22004375
+v 0.19764476 -0.38636364 0.00845191
+v 0.35944338 -0.25737464 0.01913567
+v 0.37481874 -0.19599641 0.03411393
+v 0.31504621 -0.24123474 0.13170314
+v 0.34369131 -0.28742296 0.03236375
+v 0.33164804 -0.33402066 0.00367135
+v 0.19662308 -0.26439319 0.23423134
+v 0.25693846 -0.20968658 0.22126735
+v 0.24402277 -0.28263288 0.18846943
+v 0.31629959 -0.16712806 0.17602321
+v 0.37507998 -0.15259364 0.07618758
+v 0.28789882 -0.31343425 0.11519361
+v 0.29968132 -0.35809442 0.04539308
+v 0.21551727 -0.39936081 0.10055085
+v 0.19063984 -0.42095118 0.09248720
+v 0.36239114 -0.25874397 0.00425480
+v 0.21946074 -0.16853850 0.26806372
+v 0.22918357 -0.16670297 0.26273544
+v 0.23054470 -0.29556132 0.18880741
+v 0.33143740 -0.15400047 0.16189317
+v 0.22950555 -0.40059669 0.08548987
+v 0.20794122 -0.42248021 0.07777454
+v 0.27310076 -0.37182932 0.06962710
+v 0.20352243 -0.41659338 0.08871230
+v 0.30259130 -0.37227142 0.01566316
+f 11 6 5
+f 11 5 4
+f 12 2 5
+f 12 5 6
+f 14 5 8
+f 14 4 5
+f 15 8 5
+f 15 5 2
+f 19 6 11
+f 20 12 6
+f 20 16 9
+f 22 13 3
+f 22 10 13
+f 22 16 10
+f 22 3 16
+f 24 4 14
+f 24 21 7
+f 25 14 8
+f 25 8 1
+f 27 15 2
+f 27 26 15
+f 28 16 3
+f 28 3 9
+f 28 9 16
+f 29 9 3
+f 29 3 17
+f 29 26 9
+f 30 17 8
+f 30 29 17
+f 30 26 29
+f 31 7 18
+f 31 24 7
+f 31 4 24
+f 32 13 10
+f 32 10 19
+f 33 18 7
+f 33 32 18
+f 33 13 32
+f 34 6 19
+f 34 19 10
+f 34 10 16
+f 35 20 9
+f 35 12 20
+f 35 9 26
+f 35 26 27
+f 35 27 2
+f 35 2 12
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+f 36 13 23
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+f 36 17 3
+f 37 8 17
+f 37 17 23
+f 38 13 21
+f 39 24 14
+f 39 14 25
+f 39 25 1
+f 39 38 21
+f 39 21 24
+f 40 30 8
+f 40 8 15
+f 40 15 26
+f 40 26 30
+f 41 31 18
+f 41 4 31
+f 42 32 19
+f 42 19 11
+f 42 11 4
+f 42 4 41
+f 42 41 18
+f 42 18 32
+f 43 33 7
+f 43 7 21
+f 43 21 13
+f 43 13 33
+f 44 20 6
+f 44 6 34
+f 44 34 16
+f 44 16 20
+f 45 23 13
+f 45 13 38
+f 46 39 1
+f 46 45 38
+f 46 1 8
+f 47 37 23
+f 47 23 45
+f 47 46 8
+f 47 45 46
+f 48 46 38
+f 48 38 39
+f 48 39 46
+f 49 47 8
+f 49 8 37
+f 49 37 47
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_14.obj b/mango/mango_13/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b18f29162c734801be7c324b0670dcca177472e
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_14.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.18916093 0.22832924 0.29810540
+v 0.21279628 0.23484850 0.19027011
+v 0.20448567 0.37878640 0.18019141
+v -0.04149572 0.41892089 0.18305276
+v -0.15084010 0.23484850 0.19027011
+v 0.05681555 0.34324455 0.28001839
+v 0.20514191 0.23117054 0.28537664
+v 0.17033667 0.31180492 0.26576451
+v 0.11897366 0.42040272 0.18333198
+v -0.16161115 0.22858669 0.31340514
+v 0.07226648 0.24185535 0.33694641
+v 0.20098945 0.32671240 0.23350790
+v 0.19755357 0.28668800 0.26527575
+v 0.00154794 0.41436277 0.20765755
+v 0.12889264 0.38622746 0.22021641
+v -0.16575373 0.34153587 0.20178063
+v 0.10229859 0.28541816 0.30917016
+v 0.07237320 0.22822914 0.34255652
+v -0.01291717 0.25614872 0.33852570
+v 0.13214997 0.26768086 0.30977648
+v 0.06005486 0.41406467 0.20779362
+v 0.15838376 0.38572515 0.20484227
+v 0.12954624 0.35525996 0.25100266
+v -0.16533876 0.23392611 0.30956254
+v -0.00027111 0.25883762 0.33709763
+v -0.07064840 0.22919358 0.34260620
+v -0.01527042 0.34010875 0.28203654
+v 0.18517549 0.24209500 0.29438936
+v 0.13239565 0.22964264 0.32534740
+v 0.12838842 0.24209712 0.32167910
+v 0.08624671 0.39949699 0.22031593
+v 0.11609250 0.41535734 0.19202134
+v 0.18274675 0.35419573 0.22255544
+v 0.08762820 0.31353753 0.29468095
+v 0.07240637 0.27101815 0.32312766
+v -0.10110654 0.25416800 0.32265571
+v -0.01075629 0.39868958 0.22339421
+v -0.13961374 0.32495349 0.25303051
+v 0.08680252 0.37139079 0.25084144
+v 0.20051681 0.37205857 0.19135583
+v 0.16035403 0.34011382 0.24907939
+v 0.05771397 0.30036812 0.30804193
+v -0.14483604 0.25598340 0.30681101
+v -0.06765445 0.24039937 0.33797019
+v -0.04125589 0.29859807 0.30875282
+v -0.05478281 0.39679277 0.20951576
+v -0.16293789 0.24657254 0.30445616
+v -0.08359452 0.35634909 0.24981340
+v -0.11300880 0.31252550 0.27869163
+v -0.03923719 0.41367691 0.19235515
+v -0.14299074 0.33070175 0.24293135
+v -0.02441404 0.37040002 0.25145967
+v -0.08585215 0.28352983 0.30777586
+v -0.08518255 0.34082503 0.26398446
+v -0.13894645 0.31047512 0.26784568
+v -0.02663853 0.35580250 0.26488512
+f 5 2 1
+f 5 3 2
+f 5 4 3
+f 7 1 2
+f 7 2 3
+f 9 3 4
+f 10 5 1
+f 12 7 3
+f 13 1 7
+f 13 12 8
+f 13 7 12
+f 14 9 4
+f 16 4 5
+f 18 10 1
+f 20 13 8
+f 20 8 17
+f 20 17 11
+f 21 14 6
+f 21 9 14
+f 22 3 9
+f 23 22 15
+f 23 17 8
+f 24 16 5
+f 24 5 10
+f 25 19 18
+f 25 18 11
+f 26 10 18
+f 26 18 19
+f 27 25 6
+f 27 19 25
+f 28 1 13
+f 28 13 20
+f 29 18 1
+f 29 28 20
+f 29 1 28
+f 30 20 11
+f 30 11 18
+f 30 29 20
+f 30 18 29
+f 32 22 9
+f 32 15 22
+f 32 31 15
+f 32 9 21
+f 32 21 31
+f 34 17 23
+f 35 25 11
+f 35 11 17
+f 36 10 26
+f 37 27 6
+f 37 6 14
+f 39 31 21
+f 39 21 6
+f 39 23 15
+f 39 15 31
+f 39 34 23
+f 39 6 34
+f 40 33 12
+f 40 12 3
+f 40 3 22
+f 40 22 33
+f 41 33 22
+f 41 22 23
+f 41 23 8
+f 41 8 12
+f 41 12 33
+f 42 35 17
+f 42 17 34
+f 42 34 6
+f 42 6 25
+f 42 25 35
+f 43 24 10
+f 43 10 36
+f 44 36 26
+f 44 26 19
+f 45 19 27
+f 45 44 19
+f 45 36 44
+f 46 37 14
+f 47 16 24
+f 47 24 43
+f 48 37 46
+f 50 46 14
+f 50 14 4
+f 50 4 46
+f 51 46 4
+f 51 4 16
+f 51 48 46
+f 51 38 48
+f 51 47 38
+f 51 16 47
+f 52 27 37
+f 52 37 48
+f 53 49 43
+f 53 43 36
+f 53 36 45
+f 53 45 49
+f 54 49 45
+f 54 45 27
+f 54 48 49
+f 55 49 48
+f 55 48 38
+f 55 38 47
+f 55 47 43
+f 55 43 49
+f 56 52 48
+f 56 48 54
+f 56 54 27
+f 56 27 52
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_15.obj b/mango/mango_13/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adb13b351d42100ecd9ee1dce6e21502ffac88a7
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_15.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.07508252 -0.26515152 -0.18851779
+v -0.07110051 -0.25402642 -0.34064032
+v -0.07508252 0.23484850 -0.18851779
+v -0.19629465 0.23484850 -0.18851779
+v -0.22736455 -0.29115065 -0.22694042
+v -0.11435784 0.21869673 -0.35632931
+v -0.07498017 0.09845880 -0.38494931
+v -0.11874525 0.23427453 -0.35000346
+v -0.07215200 -0.11334758 -0.38610084
+v -0.07508252 0.23484850 -0.27942687
+v -0.19143150 0.08114811 -0.35084901
+v -0.18388744 -0.16288959 -0.33606061
+v -0.18767460 0.16789821 -0.33798986
+v -0.12857490 0.14429916 -0.36776486
+v -0.16159179 0.05225527 -0.36681401
+v -0.07158721 -0.18727140 -0.36930333
+v -0.15917496 -0.25804302 -0.30401543
+v -0.18467644 -0.10941436 -0.35191749
+v -0.14145650 0.19681728 -0.35266561
+v -0.18682312 0.22751921 -0.32078278
+v -0.11496039 0.14328763 -0.37210451
+v -0.15748245 0.16879420 -0.35111106
+v -0.10467282 -0.02302973 -0.38277360
+v -0.14550180 0.10749962 -0.36615964
+v -0.14223928 -0.21001168 -0.33557939
+v -0.18444217 -0.22473210 -0.30717941
+v -0.15955764 -0.08247460 -0.36735851
+v -0.14231558 -0.12409882 -0.36657396
+v -0.15314403 0.22789101 -0.33749023
+v -0.07435186 0.03508390 -0.38535638
+v -0.09929612 -0.21194181 -0.35051230
+v -0.12591309 -0.25435411 -0.32042753
+v -0.18791350 -0.26158895 -0.28320376
+v -0.09915891 -0.11172559 -0.38319723
+v -0.17193849 -0.13905114 -0.35108045
+v -0.08504305 -0.18359175 -0.36592466
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 10 8 4
+f 10 4 3
+f 10 7 6
+f 10 6 8
+f 10 9 7
+f 10 3 9
+f 16 9 3
+f 16 3 2
+f 17 2 5
+f 18 12 5
+f 18 5 11
+f 19 8 6
+f 19 6 14
+f 20 4 8
+f 20 19 13
+f 20 5 4
+f 20 13 11
+f 20 11 5
+f 21 14 6
+f 21 6 7
+f 21 15 14
+f 21 7 15
+f 22 14 11
+f 22 11 13
+f 22 19 14
+f 22 13 19
+f 23 15 7
+f 24 15 11
+f 24 11 14
+f 24 14 15
+f 26 5 12
+f 26 25 17
+f 26 12 25
+f 27 18 11
+f 27 11 15
+f 27 15 23
+f 28 18 27
+f 29 20 8
+f 29 8 19
+f 29 19 20
+f 30 23 7
+f 30 7 9
+f 30 9 23
+f 31 16 2
+f 32 2 17
+f 32 17 25
+f 32 31 2
+f 32 25 31
+f 33 26 17
+f 33 17 5
+f 33 5 26
+f 34 27 23
+f 34 23 9
+f 34 28 27
+f 34 9 16
+f 34 16 28
+f 35 12 18
+f 35 18 28
+f 35 25 12
+f 35 31 25
+f 36 16 31
+f 36 31 35
+f 36 35 28
+f 36 28 16
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_16.obj b/mango/mango_13/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c48948dbc515bdf89ea3ac322771bf326c2a0921
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_16.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.21425178 0.35811379 0.19172738
+v 0.21279628 0.35606061 0.00845191
+v 0.11996069 0.48562948 0.00698250
+v -0.08676391 0.47744872 0.00241169
+v -0.15084010 0.35606061 0.00845191
+v 0.07483129 0.49319130 0.00499847
+v 0.22471139 0.43762498 0.01298320
+v -0.06636754 0.38972539 0.21283887
+v -0.15768626 0.44778779 0.00225869
+v 0.15536098 0.43063215 0.14877461
+v -0.16632814 0.37520105 0.11919638
+v 0.02156718 0.44385827 0.16226300
+v -0.02479462 0.44205482 0.15146696
+v 0.15955014 0.45945871 0.06417281
+v 0.20455839 0.42322303 0.10983339
+v 0.10113276 0.45816552 0.12287312
+v -0.18597990 0.42246113 0.01069154
+v -0.16806598 0.42867553 0.02794957
+v 0.01719490 0.49047166 0.01739614
+v 0.09916433 0.42901463 0.17819646
+v -0.05381826 0.41526184 0.18130077
+v -0.12907062 0.46357199 0.00326445
+v 0.17870274 0.45348359 0.05278002
+v 0.20001597 0.38575907 0.17612321
+v 0.18691573 0.42764821 0.12313219
+v 0.10362873 0.47430483 0.06563755
+v -0.17380825 0.43606948 0.00302902
+v 0.01626791 0.49270958 0.00537582
+v 0.00273152 0.45823665 0.12372482
+v 0.07385300 0.47468445 0.07986016
+v -0.02604501 0.42543015 0.18084206
+v 0.14513585 0.41342632 0.17916390
+v 0.06012670 0.44411261 0.16351664
+v 0.12024023 0.44172517 0.14966206
+v -0.15620760 0.44368788 0.01476217
+v -0.12616931 0.45988154 0.01514327
+v 0.16138535 0.46119510 0.05141949
+v 0.20294795 0.41674995 0.12374021
+v 0.18932707 0.41233202 0.14868991
+v 0.07607351 0.48971592 0.02013351
+v 0.11853093 0.47451581 0.05143111
+v -0.01169044 0.47416632 0.06207613
+v -0.02403048 0.45763669 0.10871480
+v 0.03164021 0.47411353 0.07941296
+v 0.17062485 0.41167642 0.16551904
+f 5 2 1
+f 6 3 2
+f 6 2 4
+f 7 1 2
+f 7 2 3
+f 9 4 2
+f 11 5 1
+f 11 1 8
+f 15 1 7
+f 16 10 14
+f 17 5 11
+f 18 11 8
+f 18 17 11
+f 22 13 4
+f 22 4 9
+f 23 7 3
+f 23 15 7
+f 23 14 15
+f 25 15 14
+f 25 14 10
+f 27 5 17
+f 27 9 2
+f 27 2 5
+f 27 17 18
+f 28 19 6
+f 28 6 4
+f 28 4 19
+f 29 13 12
+f 30 16 26
+f 31 8 20
+f 31 21 8
+f 31 12 13
+f 31 13 21
+f 32 20 8
+f 32 8 1
+f 32 1 24
+f 33 31 20
+f 33 12 31
+f 33 16 30
+f 33 30 29
+f 33 29 12
+f 34 10 16
+f 34 33 20
+f 34 16 33
+f 34 32 10
+f 34 20 32
+f 35 18 8
+f 35 8 21
+f 35 27 18
+f 35 9 27
+f 35 22 9
+f 36 21 13
+f 36 13 22
+f 36 35 21
+f 36 22 35
+f 37 23 3
+f 37 3 14
+f 37 14 23
+f 38 24 1
+f 38 1 15
+f 39 25 10
+f 39 24 38
+f 39 38 15
+f 39 15 25
+f 40 26 3
+f 40 3 6
+f 40 30 26
+f 40 6 19
+f 40 19 30
+f 41 26 16
+f 41 16 14
+f 41 14 3
+f 41 3 26
+f 42 29 19
+f 42 19 4
+f 43 4 13
+f 43 13 29
+f 43 42 4
+f 43 29 42
+f 44 30 19
+f 44 19 29
+f 44 29 30
+f 45 32 24
+f 45 24 39
+f 45 39 10
+f 45 10 32
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_17.obj b/mango/mango_13/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75ce33a725833954c6d78796983f59cd6de532a6
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_17.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.22794779 0.09848485 -0.18851779
+v 0.23789444 0.10241257 -0.34178228
+v 0.22794779 0.23484850 -0.18851779
+v -0.07508252 0.23484850 -0.18851779
+v -0.11835132 0.09810411 -0.37600429
+v 0.11778343 0.09815203 -0.38610651
+v -0.07508252 0.09848485 -0.18851779
+v 0.10343514 0.22726030 -0.36570598
+v -0.12053708 0.09848485 -0.27942687
+v 0.22372569 0.23279143 -0.31764197
+v 0.13375188 0.19964473 -0.36504694
+v -0.01141561 0.20309338 -0.38261725
+v -0.12053708 0.23484850 -0.27942687
+v 0.11866476 0.12536652 -0.38357016
+v -0.07377636 0.09914315 -0.38513119
+v -0.11432297 0.22911204 -0.35281305
+v 0.10080025 0.17106511 -0.38185595
+v -0.06985766 0.12646116 -0.38460651
+v -0.05840240 0.22968420 -0.37029086
+v 0.05979089 0.19773737 -0.38262351
+v -0.04087286 0.18827867 -0.38186331
+v -0.11340926 0.17071144 -0.36776672
+v -0.08752550 0.21565457 -0.36641969
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 5
+f 7 5 1
+f 7 1 4
+f 9 7 4
+f 9 5 7
+f 10 3 2
+f 11 10 2
+f 11 8 10
+f 13 9 4
+f 13 5 9
+f 13 4 3
+f 13 3 10
+f 14 11 2
+f 14 2 6
+f 15 6 5
+f 16 5 13
+f 17 8 11
+f 17 11 14
+f 17 14 6
+f 18 12 6
+f 18 6 15
+f 18 15 5
+f 19 8 12
+f 19 10 8
+f 19 16 13
+f 19 13 10
+f 20 12 8
+f 20 8 17
+f 20 17 6
+f 20 6 12
+f 21 19 12
+f 21 12 18
+f 22 18 5
+f 22 5 16
+f 22 21 18
+f 23 22 16
+f 23 16 19
+f 23 19 21
+f 23 21 22
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_18.obj b/mango/mango_13/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93635fc06016b56baf6dc9d735fcfdb92f3a7876
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_18.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.35557358 -0.26060018 -0.16836689
+v 0.38080783 -0.20047619 -0.16792148
+v 0.36701699 0.18555938 -0.16722482
+v 0.22794779 0.23484850 -0.17336627
+v 0.22038148 0.06751820 -0.35798989
+v 0.36495206 -0.24366522 -0.16701992
+v 0.22794779 -0.26515152 -0.17336627
+v 0.34590578 0.00686188 -0.25267977
+v 0.22372569 0.23279143 -0.31764197
+v 0.38078354 0.12517448 -0.16667873
+v 0.24670143 -0.22833763 -0.30720902
+v 0.21993039 0.21468032 -0.32701117
+v 0.35345754 0.23139131 -0.16804629
+v 0.33159921 0.18490787 -0.23711379
+v 0.37658033 -0.08511868 -0.20911258
+v 0.30273428 -0.22622244 -0.26266642
+v 0.27487185 -0.08008754 -0.32360165
+v 0.22179267 -0.24582818 -0.31390446
+v 0.36056610 0.06470195 -0.22371543
+v 0.35979851 0.12606272 -0.20941645
+v 0.34628086 0.21415693 -0.19482920
+v 0.28732702 0.21309740 -0.27939662
+v 0.33292681 -0.25682251 -0.20786194
+v 0.36197809 -0.15408245 -0.22041813
+v 0.28985245 0.08027542 -0.30844154
+v 0.30537270 -0.18154770 -0.27746421
+v 0.22255734 -0.14141898 -0.34274162
+v 0.22098796 -0.20173311 -0.32868393
+v 0.24822788 -0.25886759 -0.29397750
+v 0.37426251 0.00523380 -0.21022450
+v 0.37498633 0.12406240 -0.17994086
+v 0.33161782 0.14024952 -0.25079864
+v 0.36138502 0.18381969 -0.18036474
+v 0.26115702 0.19878961 -0.30716271
+v 0.31638723 0.22671823 -0.23819437
+v 0.35033058 -0.25758592 -0.18055579
+v 0.36084853 -0.19638473 -0.20572764
+v 0.37551226 -0.17128574 -0.19383746
+v 0.33261361 -0.09574109 -0.26558225
+v 0.25982666 0.02219270 -0.33864623
+v 0.27454236 -0.21239195 -0.29257934
+v 0.26107179 -0.13927200 -0.32201263
+v 0.22040121 -0.06563974 -0.35752032
+v 0.23295007 -0.24438642 -0.30889244
+v 0.28726042 -0.25508936 -0.26405481
+v 0.22556624 -0.26344281 -0.30533073
+v 0.34673839 0.11222218 -0.23458264
+v 0.33190530 0.05170109 -0.26637060
+v 0.30323697 0.16973483 -0.27789421
+v 0.23204517 0.21258706 -0.32111761
+v 0.24476112 0.22700749 -0.30643208
+v 0.25874228 0.14220264 -0.32384159
+v 0.33086844 0.21499451 -0.22241682
+v 0.30075094 0.21165580 -0.26580128
+v 0.37686888 -0.19920215 -0.17795875
+v 0.36052747 -0.24165276 -0.17691728
+v 0.33070898 -0.24185824 -0.22040811
+v 0.34718404 -0.16954707 -0.23358813
+v 0.34749953 -0.06784810 -0.25071068
+v 0.30362848 -0.10958580 -0.29309159
+v 0.25966360 -0.24570512 -0.29138477
+v 0.23439900 -0.20135963 -0.32218922
+v 0.26079166 -0.19727458 -0.30646198
+v 0.23360879 -0.06598133 -0.35183554
+f 6 3 4
+f 7 6 4
+f 7 1 6
+f 10 6 2
+f 10 3 6
+f 12 7 4
+f 12 4 9
+f 13 9 4
+f 13 4 3
+f 15 10 2
+f 21 13 3
+f 28 18 7
+f 28 7 12
+f 30 15 8
+f 30 8 19
+f 30 10 15
+f 31 3 10
+f 31 19 20
+f 31 30 19
+f 31 10 30
+f 32 14 20
+f 33 20 14
+f 33 14 21
+f 33 21 3
+f 33 31 20
+f 33 3 31
+f 35 9 13
+f 36 1 23
+f 38 24 15
+f 38 15 2
+f 38 37 24
+f 39 17 8
+f 40 25 8
+f 40 8 17
+f 41 26 16
+f 42 17 26
+f 42 26 41
+f 43 28 12
+f 43 12 5
+f 43 27 28
+f 44 18 28
+f 44 11 29
+f 45 41 16
+f 46 7 18
+f 46 44 29
+f 46 18 44
+f 46 1 7
+f 46 23 1
+f 46 45 23
+f 46 29 45
+f 47 32 20
+f 47 20 19
+f 47 19 32
+f 48 32 19
+f 48 19 8
+f 48 8 25
+f 49 14 32
+f 49 34 22
+f 49 48 25
+f 49 32 48
+f 50 12 9
+f 51 22 34
+f 51 35 22
+f 51 9 35
+f 51 50 9
+f 51 34 50
+f 52 50 34
+f 52 5 12
+f 52 12 50
+f 52 40 5
+f 52 25 40
+f 52 49 25
+f 52 34 49
+f 53 21 14
+f 53 14 35
+f 53 35 13
+f 53 13 21
+f 54 35 14
+f 54 22 35
+f 54 49 22
+f 54 14 49
+f 55 2 6
+f 55 38 2
+f 55 37 38
+f 56 36 23
+f 56 23 37
+f 56 6 1
+f 56 1 36
+f 56 55 6
+f 56 37 55
+f 57 37 23
+f 57 16 37
+f 57 45 16
+f 57 23 45
+f 58 24 37
+f 58 39 24
+f 58 26 39
+f 58 37 16
+f 58 16 26
+f 59 39 8
+f 59 8 15
+f 59 15 24
+f 59 24 39
+f 60 39 26
+f 60 26 17
+f 60 17 39
+f 61 29 11
+f 61 11 41
+f 61 45 29
+f 61 41 45
+f 62 28 27
+f 62 27 42
+f 62 42 11
+f 62 44 28
+f 62 11 44
+f 63 42 41
+f 63 41 11
+f 63 11 42
+f 64 43 5
+f 64 5 40
+f 64 40 17
+f 64 17 42
+f 64 42 27
+f 64 27 43
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_19.obj b/mango/mango_13/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71a44d74ca0a9bb82fbd24d1252a6446aab8a705
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_19.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.35541357 -0.27242901 0.01308387
+v 0.34445572 -0.26954887 -0.17995084
+v 0.38293031 -0.00199203 -0.19445515
+v 0.01582657 -0.00757576 0.00845191
+v 0.01582657 -0.26515152 0.00845191
+v 0.01582657 -0.00757576 -0.18851779
+v 0.33400839 -0.00757576 0.00845191
+v 0.01582657 -0.26515152 -0.18851779
+v 0.22794779 -0.26515152 -0.18851779
+f 1 2 3
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 2 1
+f 8 1 5
+f 8 5 6
+f 8 6 3
+f 9 8 3
+f 9 3 2
+f 9 2 8
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_2.obj b/mango/mango_13/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deb2cadc02e62305bcbf6449db76dc1a5a953cc0
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.32843533 -0.14206222 0.17077774
+v 0.33897583 -0.11064885 0.16600711
+v 0.17347744 0.02656815 0.33888076
+v 0.01979475 0.25124636 0.33951815
+v 0.01582657 0.23484850 0.20542162
+v 0.31098724 0.23196872 0.16974476
+v 0.25622707 -0.06606442 0.26649639
+v 0.01582657 -0.14393940 0.20542162
+v 0.18595318 0.21336522 0.30674138
+v 0.22794779 0.23484850 0.17511858
+v 0.30038980 -0.13889751 0.20797530
+v 0.31520619 0.09311440 0.20941842
+v 0.22794779 -0.14393940 0.17511858
+v 0.01470959 -0.15602398 0.34027232
+v 0.21658227 0.22765651 0.27906603
+v 0.07242602 0.11164326 0.36971082
+v 0.34102417 0.12723595 0.16627178
+v 0.33073549 -0.11091693 0.17811495
+v 0.21393437 0.12586306 0.31054149
+v 0.17415273 -0.13593736 0.30577985
+v 0.01488005 0.15696255 0.37015298
+v 0.25853884 -0.13767602 0.24935196
+v 0.28565622 0.23035790 0.20711254
+v 0.14271056 0.22765577 0.32280322
+v 0.05845789 -0.02102707 0.37265019
+v 0.31824040 -0.05102468 0.20466798
+v 0.32127279 -0.13982321 0.18130988
+v 0.21507373 0.00938946 0.30948261
+v 0.21300363 0.19664617 0.29457652
+v 0.13014749 0.10981057 0.35436451
+v 0.27313601 -0.06672195 0.24993474
+v 0.21882445 -0.09349406 0.29179856
+v 0.31629750 0.19827227 0.17723168
+v 0.17186637 0.22820673 0.30794569
+v 0.08788622 0.21592002 0.34341512
+v 0.11865746 -0.05014456 0.35244076
+v 0.01551857 -0.00657520 0.37980355
+v 0.18383645 0.15682609 0.32361866
+v 0.25667209 0.20070596 0.25283688
+v 0.09000345 0.02374591 0.36910517
+v 0.28693963 -0.06606928 0.23597722
+v 0.22797659 -0.03477389 0.29445305
+v 0.18436075 -0.03394266 0.32477071
+v 0.32102150 0.20076476 0.16911585
+v 0.30345057 0.22964657 0.18368862
+v 0.28465231 0.14186324 0.23839578
+v 0.10128072 0.16795271 0.35327226
+v 0.09034825 0.23261441 0.33706771
+v 0.02860188 0.15651324 0.36911054
+v 0.05883983 -0.13851001 0.34215901
+v 0.22670687 0.15564527 0.29575368
+v 0.17262644 0.18334536 0.32300563
+v 0.17421862 0.08209457 0.33803900
+v 0.08756894 0.06637487 0.37051377
+v 0.13092020 -0.00648444 0.35390452
+v 0.07455018 -0.02143693 0.36969132
+v 0.17110326 -0.07906060 0.32361300
+v 0.31718367 0.15553669 0.19103075
+v 0.26955288 0.19816632 0.23930784
+v 0.27195324 0.15459968 0.25089073
+v 0.11584980 0.15441023 0.35172024
+v 0.11566061 0.21248353 0.33715116
+v 0.08805564 -0.13526336 0.33732771
+v 0.15861195 0.14247701 0.33821720
+f 10 5 4
+f 10 4 6
+f 10 8 5
+f 13 2 1
+f 13 10 2
+f 13 8 10
+f 14 5 8
+f 14 8 13
+f 14 13 1
+f 17 10 6
+f 17 2 10
+f 18 1 2
+f 21 4 5
+f 21 5 14
+f 22 14 1
+f 22 1 11
+f 22 20 14
+f 23 6 4
+f 23 4 15
+f 26 17 12
+f 26 2 17
+f 26 18 2
+f 26 11 18
+f 27 18 11
+f 27 11 1
+f 27 1 18
+f 28 19 3
+f 28 12 19
+f 28 26 12
+f 29 15 9
+f 31 22 11
+f 31 7 22
+f 31 28 7
+f 31 26 28
+f 32 22 7
+f 32 20 22
+f 34 15 4
+f 34 4 24
+f 34 24 9
+f 34 9 15
+f 37 21 14
+f 37 16 21
+f 38 29 9
+f 39 23 15
+f 39 15 29
+f 40 37 25
+f 41 31 11
+f 41 11 26
+f 41 26 31
+f 42 32 7
+f 42 7 28
+f 43 28 3
+f 43 42 28
+f 43 32 42
+f 44 33 17
+f 44 17 6
+f 45 6 23
+f 45 44 6
+f 45 33 44
+f 46 12 17
+f 48 24 4
+f 48 4 35
+f 49 35 4
+f 49 4 21
+f 49 47 35
+f 49 21 16
+f 49 16 47
+f 50 37 14
+f 50 25 37
+f 51 38 19
+f 51 29 38
+f 51 39 29
+f 52 38 9
+f 52 9 24
+f 53 30 3
+f 53 3 19
+f 53 19 38
+f 54 3 30
+f 54 30 16
+f 54 16 37
+f 54 37 40
+f 55 54 40
+f 55 3 54
+f 55 43 3
+f 56 40 25
+f 56 55 40
+f 56 36 55
+f 56 25 50
+f 57 36 20
+f 57 20 32
+f 57 32 43
+f 57 55 36
+f 57 43 55
+f 58 45 23
+f 58 33 45
+f 58 46 17
+f 58 17 33
+f 59 23 39
+f 59 58 23
+f 60 19 12
+f 60 12 46
+f 60 51 19
+f 60 39 51
+f 60 59 39
+f 60 46 58
+f 60 58 59
+f 61 47 16
+f 61 16 30
+f 62 35 47
+f 62 48 35
+f 62 24 48
+f 62 47 61
+f 62 61 52
+f 62 52 24
+f 63 50 14
+f 63 14 20
+f 63 20 36
+f 63 56 50
+f 63 36 56
+f 64 53 38
+f 64 30 53
+f 64 61 30
+f 64 38 52
+f 64 52 61
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_20.obj b/mango/mango_13/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37c1b4756222a5028c411ccc71c095392f96ba24
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_20.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.19629465 -0.14393940 0.19027011
+v -0.19629465 -0.14393940 0.00845191
+v -0.19629465 0.23484850 0.00845191
+v -0.23241643 0.27122522 0.21209194
+v -0.33194678 0.10748527 0.20935671
+v -0.30377499 -0.14421009 0.19163241
+v -0.32474312 0.26456460 0.01938256
+v -0.30235526 0.09848485 0.00845191
+v -0.30235526 -0.14393940 0.00845191
+v -0.28172901 0.22999564 0.18692486
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 2 1
+f 6 1 5
+f 7 4 3
+f 8 7 3
+f 8 3 2
+f 9 6 5
+f 9 5 7
+f 9 7 8
+f 9 8 2
+f 9 2 6
+f 10 7 5
+f 10 5 4
+f 10 4 7
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_21.obj b/mango/mango_13/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ac11cf5b8482ce45fccaa7c596f17e96d68054a
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_21.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.21279628 0.23484850 0.19027011
+v 0.21279628 0.23484850 -0.17336627
+v 0.22911744 0.37803534 -0.19661388
+v -0.20824278 0.38741694 0.02754006
+v -0.16599162 0.23484850 -0.17336627
+v 0.21425178 0.35811379 0.19172738
+v -0.15084010 0.23484850 0.19027011
+v -0.19353797 0.38600960 -0.19384798
+v -0.16599162 0.23484850 0.00845191
+v -0.15214163 0.35812651 0.19119875
+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 1 6
+f 8 5 4
+f 8 4 3
+f 8 3 5
+f 9 7 4
+f 9 4 5
+f 9 5 7
+f 10 7 6
+f 10 6 4
+f 10 4 7
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_22.obj b/mango/mango_13/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..500d02a22b2f2079af6c1f976ac5e8d04e7f86cf
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_22.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.24714695 0.22733472 0.25517208
+v 0.38037932 0.23099251 -0.09361913
+v 0.33283769 0.31060847 0.07440233
+v 0.20363284 0.43406761 0.07915039
+v 0.21279628 0.23484850 -0.17336627
+v 0.27406679 0.39986105 -0.08079393
+v 0.23030349 0.38485885 0.14725868
+v 0.36513833 0.23163731 0.07785281
+v 0.35345754 0.23139131 -0.16804629
+v 0.20504718 0.26168985 0.27224012
+v 0.34673479 0.31331196 -0.05081900
+v 0.27468267 0.40013410 0.00578193
+v 0.20444771 0.42007281 -0.16508052
+v 0.28497229 0.30152648 0.16206366
+v 0.38124353 0.23198516 0.03516456
+v 0.36534587 0.23096685 -0.13811687
+v 0.21121807 0.23395774 0.27930664
+v 0.20346310 0.39059247 0.16604788
+v 0.31645848 0.31177871 -0.16216864
+v 0.20621169 0.45015508 -0.08071260
+v 0.30217804 0.37230973 0.00732861
+v 0.27312540 0.38381968 0.07572860
+v 0.28651125 0.34308874 0.12200917
+v 0.31445462 0.28735880 0.13276839
+v 0.24312318 0.29766010 0.21918043
+v 0.37741881 0.25806492 0.00767128
+v 0.34678014 0.28132461 0.07864088
+v 0.22116970 0.23149157 0.27278816
+v 0.23059135 0.41229673 0.09346852
+v 0.33291003 0.32610221 -0.09320855
+v 0.27110686 0.38831799 -0.13493574
+v 0.34480486 0.28365422 -0.13722264
+v 0.25885417 0.41619144 -0.03519010
+v 0.30115861 0.37219475 -0.06534856
+v 0.28883939 0.37093834 0.07202613
+v 0.31512353 0.31482034 0.10683380
+v 0.33367389 0.23241593 0.13390768
+v 0.22823959 0.27304262 0.24776109
+v 0.27152953 0.24402323 0.21901427
+v 0.20524365 0.31653569 0.23844138
+v 0.25576744 0.32530571 0.18040057
+v 0.37683851 0.25596073 -0.06334233
+v 0.34413010 0.31928798 0.02329629
+v 0.37891606 0.24263304 0.03463875
+v 0.21439816 0.42812192 0.07970951
+v 0.27164653 0.37043744 0.10561579
+v 0.24313506 0.41431852 0.06179088
+v 0.21496144 0.41427031 -0.16374443
+v 0.28664527 0.37030550 -0.13397993
+v 0.23072957 0.42874246 -0.10808363
+v 0.36206576 0.24421071 -0.13782508
+v 0.34521849 0.25620868 -0.16405333
+v 0.21825524 0.44383061 -0.07719402
+v 0.28789059 0.38667883 -0.07833599
+v 0.26012735 0.41500611 -0.02326973
+v 0.34436936 0.25670238 0.10351986
+v 0.33241281 0.24588705 0.13045487
+v 0.27366770 0.23097824 0.22230709
+v 0.21460236 0.31154512 0.23446806
+v 0.25676851 0.35878424 0.14451597
+v 0.36281082 0.28399290 -0.06469857
+v 0.36089524 0.27154487 -0.10708239
+v 0.36099538 0.28482815 0.03239154
+v 0.36196139 0.24516131 0.07468792
+f 9 1 5
+f 13 5 10
+f 13 9 5
+f 15 8 1
+f 15 1 2
+f 16 2 1
+f 16 1 9
+f 17 10 5
+f 17 1 10
+f 18 13 10
+f 18 4 13
+f 19 9 13
+f 20 13 4
+f 26 15 2
+f 28 17 5
+f 28 5 1
+f 28 1 17
+f 29 18 7
+f 32 19 30
+f 34 11 30
+f 35 21 12
+f 36 23 14
+f 36 14 24
+f 36 35 23
+f 36 3 35
+f 36 27 3
+f 36 24 27
+f 37 1 8
+f 38 10 1
+f 38 1 25
+f 39 24 14
+f 39 14 25
+f 39 25 1
+f 40 18 10
+f 40 7 18
+f 41 25 14
+f 41 14 23
+f 42 26 2
+f 43 35 3
+f 43 21 35
+f 43 34 21
+f 43 11 34
+f 44 8 15
+f 44 15 26
+f 45 4 18
+f 45 18 29
+f 46 29 7
+f 46 22 29
+f 46 35 22
+f 46 23 35
+f 47 29 22
+f 47 45 29
+f 47 35 12
+f 47 22 35
+f 48 31 19
+f 48 19 13
+f 49 30 19
+f 49 19 31
+f 50 6 31
+f 50 31 48
+f 50 48 13
+f 50 13 20
+f 51 16 9
+f 51 2 16
+f 52 9 19
+f 52 19 32
+f 52 51 9
+f 52 32 51
+f 53 33 6
+f 53 20 4
+f 53 50 20
+f 53 6 50
+f 54 6 33
+f 54 21 34
+f 54 34 30
+f 54 30 49
+f 54 49 31
+f 54 31 6
+f 55 12 21
+f 55 54 33
+f 55 21 54
+f 55 47 12
+f 55 33 53
+f 55 45 47
+f 55 53 4
+f 55 4 45
+f 56 27 24
+f 57 24 39
+f 57 56 24
+f 57 37 8
+f 57 8 56
+f 58 39 1
+f 58 1 37
+f 58 57 39
+f 58 37 57
+f 59 38 25
+f 59 25 41
+f 59 41 7
+f 59 7 40
+f 59 40 10
+f 59 10 38
+f 60 41 23
+f 60 7 41
+f 60 46 7
+f 60 23 46
+f 61 26 42
+f 61 43 26
+f 61 11 43
+f 61 30 11
+f 62 42 2
+f 62 61 42
+f 62 32 30
+f 62 30 61
+f 62 51 32
+f 62 2 51
+f 63 43 3
+f 63 3 27
+f 63 27 44
+f 63 44 26
+f 63 26 43
+f 64 44 27
+f 64 8 44
+f 64 56 8
+f 64 27 56
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_23.obj b/mango/mango_13/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa67748f6835392187532fba417d42c72ed4992d
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_23.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.13703869 -0.26515152 -0.18851779
+v 0.13335898 -0.26322111 -0.34443931
+v 0.13703869 0.09848485 -0.18851779
+v -0.07508252 0.09848485 -0.18851779
+v -0.07508252 -0.26515152 -0.18851779
+v -0.07377636 0.09914315 -0.38513119
+v 0.13419511 0.09538722 -0.38252214
+v -0.07110051 -0.25402642 -0.34064032
+v 0.13356381 -0.08361867 -0.38282141
+v -0.07328799 -0.19508289 -0.36614024
+v -0.07167667 -0.14170229 -0.38155851
+v 0.03124819 -0.22756467 -0.36727086
+v 0.03168946 -0.17242356 -0.38405908
+v -0.00956124 -0.25364542 -0.35384570
+v 0.10134549 -0.21394388 -0.36826217
+v -0.02591899 -0.21111882 -0.36738576
+v 0.11834984 -0.25804028 -0.34995358
+v -0.05677728 -0.24185229 -0.35100511
+v 0.07689097 -0.15757090 -0.38243604
+v 0.13004064 -0.18662485 -0.36823509
+v 0.04601537 -0.22799302 -0.36722986
+v 0.00206548 -0.17025880 -0.38248012
+v 0.13245663 -0.24019468 -0.35260529
+v -0.05732701 -0.15434480 -0.38085502
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 3 1
+f 7 6 3
+f 8 2 5
+f 9 7 1
+f 9 1 2
+f 9 6 7
+f 10 8 5
+f 10 5 6
+f 11 10 6
+f 13 11 6
+f 13 6 9
+f 14 2 8
+f 16 14 10
+f 16 12 14
+f 17 2 14
+f 18 14 8
+f 18 8 10
+f 18 10 14
+f 19 15 13
+f 19 13 9
+f 20 19 9
+f 20 15 19
+f 21 12 13
+f 21 13 15
+f 21 15 17
+f 21 17 14
+f 21 14 12
+f 22 13 12
+f 22 12 16
+f 23 17 15
+f 23 2 17
+f 23 15 20
+f 23 20 9
+f 23 9 2
+f 24 22 16
+f 24 16 10
+f 24 10 11
+f 24 11 13
+f 24 13 22
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_24.obj b/mango/mango_13/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88de755405eba91a785787229758020d20b696c8
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_24.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v -0.20796305 -0.27660613 0.20075061
+v -0.19127538 -0.25994541 0.22895508
+v -0.33053026 0.00875083 0.22224360
+v -0.23241643 0.27122522 0.21209194
+v -0.19210404 0.05278614 0.34318316
+v -0.35036054 0.09591981 0.18324159
+v -0.28488734 -0.19211312 0.19268490
+v -0.19136419 0.22867473 0.30038608
+v -0.28172901 0.22999564 0.18692486
+v -0.25699149 0.12395517 0.29734171
+v -0.22566489 -0.25485871 0.20485490
+v -0.35239563 -0.03549211 0.18229409
+v -0.24309868 -0.07577322 0.29301321
+v -0.18836264 -0.15253697 0.29779720
+v -0.24771415 -0.25582903 0.18079099
+v -0.24255396 0.22340391 0.26681809
+v -0.31601623 0.09657722 0.23652655
+v -0.20294777 0.13979413 0.32333789
+v -0.33089288 0.06677082 0.22217686
+v -0.29984213 -0.08011919 0.23540957
+v -0.23128222 0.00944733 0.32399653
+v -0.19018456 0.20070467 0.31387650
+v -0.24144878 -0.19515094 0.23427382
+v -0.29119842 -0.19752299 0.18105539
+v -0.24122523 -0.25061183 0.19249092
+v -0.33359263 0.15270711 0.18290848
+v -0.22923274 0.22463137 0.28039374
+v -0.26844275 0.22130586 0.23047283
+v -0.27009532 0.16862600 0.26849699
+v -0.21593747 0.10846376 0.32487373
+v -0.34517228 0.09629976 0.19377030
+v -0.31558766 -0.02093988 0.23746193
+v -0.18994217 -0.07898819 0.32852037
+v -0.19080711 0.14067184 0.32834230
+v -0.18909574 -0.22747915 0.25449304
+v -0.22837137 -0.10354167 0.29364384
+v -0.33805449 -0.07745174 0.18184310
+v -0.20269201 0.22734318 0.29577329
+v -0.24350251 0.17287543 0.29258158
+v -0.28823759 0.12278753 0.26414254
+v -0.26956193 0.19562957 0.25560732
+v -0.23045703 0.06651204 0.32370221
+v -0.23129801 0.15353629 0.30559918
+v -0.33039024 0.12642128 0.20565615
+v -0.34585446 -0.03210257 0.19318318
+v -0.27426982 -0.03399085 0.27801833
+v -0.19068416 -0.00655270 0.34403490
+v -0.21205536 -0.04684070 0.32577839
+v -0.19986245 -0.15115088 0.29179958
+v -0.19952555 -0.22594084 0.24797963
+v -0.22869288 0.20055297 0.29234715
+v -0.20252030 0.05115694 0.33838482
+v -0.24535128 0.11305752 0.30740852
+v -0.32904256 0.14927312 0.19371030
+v -0.29722054 0.15491468 0.23975067
+v -0.30130645 -0.03285939 0.25093158
+v -0.20039856 -0.07751909 0.32281714
+v -0.24169763 -0.01817547 0.31070064
+v -0.20265495 -0.00503016 0.33819957
+v -0.22669600 -0.16490188 0.26369647
+v -0.20084124 0.19859648 0.30912142
+f 2 1 4
+f 8 2 4
+f 11 1 2
+f 15 9 4
+f 15 4 1
+f 15 1 11
+f 19 12 3
+f 19 10 17
+f 21 10 19
+f 23 20 7
+f 24 7 20
+f 25 15 11
+f 25 24 15
+f 25 7 24
+f 25 23 7
+f 25 11 23
+f 26 9 15
+f 26 15 24
+f 26 12 6
+f 27 4 16
+f 28 16 4
+f 28 4 9
+f 28 9 26
+f 31 6 12
+f 31 12 19
+f 31 19 17
+f 31 26 6
+f 32 21 19
+f 32 19 3
+f 34 22 18
+f 34 30 5
+f 34 18 30
+f 35 22 14
+f 35 2 8
+f 35 8 22
+f 36 13 20
+f 36 20 23
+f 37 24 20
+f 37 20 12
+f 37 26 24
+f 37 12 26
+f 38 8 4
+f 38 4 27
+f 38 22 8
+f 39 29 10
+f 40 17 10
+f 40 10 29
+f 41 28 26
+f 41 16 28
+f 41 27 16
+f 41 39 27
+f 41 29 39
+f 42 5 30
+f 42 10 21
+f 43 30 18
+f 43 39 10
+f 44 26 31
+f 44 31 17
+f 45 32 3
+f 45 3 12
+f 45 12 20
+f 45 20 32
+f 46 20 13
+f 46 21 32
+f 47 34 5
+f 47 22 34
+f 47 33 14
+f 47 14 22
+f 48 13 36
+f 48 33 47
+f 49 35 14
+f 49 14 33
+f 50 23 11
+f 50 11 2
+f 50 2 35
+f 50 35 49
+f 51 38 27
+f 51 27 39
+f 52 42 21
+f 52 5 42
+f 52 47 5
+f 53 42 30
+f 53 10 42
+f 53 43 10
+f 53 30 43
+f 54 41 26
+f 54 26 44
+f 55 29 41
+f 55 54 44
+f 55 41 54
+f 55 40 29
+f 55 44 17
+f 55 17 40
+f 56 46 32
+f 56 32 20
+f 56 20 46
+f 57 48 36
+f 57 33 48
+f 57 49 33
+f 57 36 49
+f 58 46 13
+f 58 13 48
+f 58 48 21
+f 58 21 46
+f 59 48 47
+f 59 21 48
+f 59 52 21
+f 59 47 52
+f 60 49 36
+f 60 36 23
+f 60 50 49
+f 60 23 50
+f 61 22 38
+f 61 38 51
+f 61 43 18
+f 61 18 22
+f 61 51 39
+f 61 39 43
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_25.obj b/mango/mango_13/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b83a9c9db1db758ef9af0881512872e0f9791c4e
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_25.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.05993101 0.32575758 0.19027011
+v -0.05993101 0.35606061 0.11451252
+v -0.05290610 0.43140032 0.15135229
+v -0.05911314 0.44461745 0.11389287
+v -0.16632814 0.37520105 0.11919638
+v -0.16575373 0.34153587 0.20178063
+v -0.08446643 0.43491952 0.10940789
+v -0.06548986 0.34135407 0.26804526
+v -0.14601839 0.39289084 0.11339211
+v -0.12345492 0.38205700 0.18215291
+v -0.08002051 0.42643809 0.13659031
+v -0.14836264 0.32258029 0.24806850
+v -0.05601043 0.37278516 0.24082532
+v -0.11128015 0.41587078 0.12196625
+v -0.14051290 0.38494399 0.15261977
+v -0.06576491 0.42535837 0.15361604
+v -0.13890569 0.33758805 0.23751251
+v -0.11377774 0.41713284 0.11238620
+v -0.12481227 0.39596205 0.15062497
+v -0.11016544 0.38230096 0.19572315
+v -0.06732550 0.38443380 0.22236037
+v -0.08214046 0.36788324 0.23681609
+v -0.05804092 0.38456222 0.22547707
+f 1 2 3
+f 3 2 4
+f 6 5 2
+f 6 2 1
+f 7 4 2
+f 9 7 2
+f 9 2 5
+f 11 4 7
+f 12 6 1
+f 12 1 8
+f 13 8 1
+f 13 1 3
+f 14 11 7
+f 15 5 6
+f 15 6 10
+f 15 9 5
+f 16 3 4
+f 16 4 11
+f 17 10 6
+f 17 6 12
+f 18 14 7
+f 18 7 9
+f 18 15 14
+f 18 9 15
+f 19 10 11
+f 19 11 14
+f 19 15 10
+f 19 14 15
+f 20 16 11
+f 20 11 10
+f 20 10 17
+f 21 3 16
+f 21 16 20
+f 22 17 12
+f 22 12 8
+f 22 8 13
+f 22 13 21
+f 22 21 20
+f 22 20 17
+f 23 21 13
+f 23 13 3
+f 23 3 21
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_26.obj b/mango/mango_13/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec472b157f13d99f66ed93593df6a3c5d1657624
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_26.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.23108312 -0.26756668 0.20916326
+v 0.25987785 -0.15637326 0.24039196
+v 0.07477312 -0.17863219 0.32363237
+v -0.17224024 -0.13790755 0.31525543
+v -0.19629465 -0.14393940 0.20542162
+v 0.11425583 -0.13809770 0.32894814
+v -0.11428522 -0.25319133 0.27837072
+v -0.14395374 -0.13717411 0.32933957
+v 0.22394799 -0.14155778 0.27508943
+v 0.14530691 -0.25618735 0.26375377
+v -0.20207524 -0.27098921 0.21203577
+v 0.02574650 -0.19487033 0.32449443
+v -0.15686196 -0.22393682 0.27737046
+v 0.16023075 -0.13824074 0.31093098
+v 0.21907533 -0.18110494 0.26325725
+v 0.11361114 -0.22484501 0.29249552
+v -0.03938989 -0.25707576 0.29242285
+v -0.19072230 -0.13926339 0.30288939
+v -0.14459384 -0.15001421 0.32377144
+v -0.17371717 -0.25311164 0.24762601
+v 0.21832541 -0.24092183 0.23428858
+v 0.18718391 -0.22239364 0.26258961
+v 0.18689434 -0.15357512 0.29276622
+v 0.11713364 -0.14921042 0.32420229
+v 0.08869771 -0.23702483 0.29342256
+v -0.05763925 -0.19537535 0.32296944
+v 0.10117595 -0.25409922 0.28079745
+v -0.18402998 -0.16469640 0.29490636
+v -0.12849591 -0.19412951 0.30719854
+v 0.20318544 -0.25469378 0.23640999
+v 0.16045832 -0.15131802 0.30677998
+v 0.18970185 -0.14005562 0.29612890
+v 0.10042600 -0.16739390 0.32144531
+v 0.02901447 -0.25367492 0.29440776
+v -0.05721760 -0.22448084 0.30912079
+v -0.10276046 -0.18119907 0.32180529
+v -0.17163531 -0.15012435 0.30977588
+v -0.18399325 -0.19341284 0.27877212
+v 0.12856164 -0.18313859 0.30544548
+v -0.09949487 -0.23986358 0.29144577
+v -0.12825866 -0.16545798 0.32158078
+v -0.18293721 -0.23911963 0.25094542
+f 5 2 1
+f 9 2 5
+f 11 5 1
+f 12 3 6
+f 12 6 8
+f 14 8 6
+f 14 5 4
+f 14 4 8
+f 14 9 5
+f 15 2 9
+f 17 7 11
+f 17 11 1
+f 18 4 5
+f 18 5 11
+f 19 8 4
+f 20 11 7
+f 20 7 13
+f 21 1 2
+f 21 2 15
+f 22 21 15
+f 22 16 10
+f 23 22 15
+f 24 6 3
+f 25 16 3
+f 25 3 12
+f 26 12 8
+f 27 1 10
+f 27 10 16
+f 27 16 25
+f 29 19 13
+f 29 13 7
+f 30 10 1
+f 30 1 21
+f 30 22 10
+f 30 21 22
+f 31 16 22
+f 31 14 6
+f 31 6 24
+f 31 22 23
+f 32 9 14
+f 32 31 23
+f 32 14 31
+f 32 23 15
+f 32 15 9
+f 33 24 3
+f 33 3 16
+f 33 16 24
+f 34 25 12
+f 34 27 25
+f 34 17 1
+f 34 1 27
+f 35 12 26
+f 35 34 12
+f 35 17 34
+f 36 26 8
+f 36 8 19
+f 36 35 26
+f 37 19 4
+f 37 4 18
+f 37 18 28
+f 37 28 13
+f 37 13 19
+f 38 13 28
+f 38 28 18
+f 38 18 11
+f 39 31 24
+f 39 24 16
+f 39 16 31
+f 40 7 17
+f 40 17 35
+f 40 35 36
+f 40 36 29
+f 40 29 7
+f 41 36 19
+f 41 19 29
+f 41 29 36
+f 42 20 13
+f 42 13 38
+f 42 38 11
+f 42 11 20
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_27.obj b/mango/mango_13/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8912a965678b4fff6061734dc69d2b6885828730
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_27.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v -0.20796305 -0.27660613 0.20075061
+v -0.18791350 -0.26158895 -0.28320376
+v -0.19629465 -0.14393940 0.19027011
+v -0.31723440 -0.14060359 0.17880131
+v -0.34559317 -0.23945573 -0.06324656
+v -0.19525928 -0.14265556 -0.33798246
+v -0.32790057 -0.25412845 -0.10590864
+v -0.31245838 -0.25347899 0.09123709
+v -0.19105101 -0.16717726 -0.32948369
+v -0.38026120 -0.13557598 0.04679069
+v -0.30510662 -0.13699707 -0.23949311
+v -0.28808947 -0.20933081 0.17665283
+v -0.32951591 -0.25547480 0.03588426
+v -0.34750805 -0.16247958 0.11684119
+v -0.28411160 -0.25454642 -0.19193710
+v -0.22668060 -0.16494527 -0.30838448
+v -0.37900671 -0.13978477 -0.09262800
+v -0.21694095 -0.14088827 -0.32641460
+v -0.27153420 -0.25137372 0.16123559
+v -0.35986146 -0.20990383 -0.02201478
+v -0.36449774 -0.13832469 0.09422458
+v -0.31386860 -0.17938760 0.16290413
+v -0.32768633 -0.23982183 0.07853299
+v -0.20334975 -0.16750411 -0.32441163
+v -0.26923368 -0.19591621 -0.24951352
+v -0.35813073 -0.19811571 -0.09247384
+v -0.29926516 -0.25189072 0.11971570
+v -0.25777926 -0.25046002 0.17632925
+v -0.35990661 -0.19617263 0.03121218
+v -0.34631753 -0.23695335 -0.01217059
+v -0.37550763 -0.16933700 -0.06281261
+v -0.31580344 -0.15392174 0.17597666
+v -0.35849367 -0.18248464 0.06158334
+v -0.22732247 -0.19347660 -0.29200813
+v -0.21376694 -0.15296658 -0.32457767
+v -0.31367545 -0.19425562 -0.19243238
+v -0.28385038 -0.16603321 -0.25037094
+v -0.27034971 -0.23907171 -0.22018148
+v -0.34313975 -0.22450266 -0.10486884
+v -0.29758022 -0.22427472 0.14920124
+v -0.37391134 -0.17015877 0.00527992
+v -0.35937937 -0.21180093 -0.05050559
+v -0.32916377 -0.16707433 0.14643496
+v -0.37364622 -0.15150162 0.04934475
+v -0.33521520 -0.13899600 -0.19385110
+v -0.29996300 -0.15068993 -0.23837222
+v -0.21194442 -0.24073941 -0.27627441
+v -0.34345259 -0.18239332 -0.14656414
+v -0.32966242 -0.17905085 -0.17642273
+v -0.35934894 -0.15181736 -0.13626904
+v -0.36225656 -0.14060061 -0.13764827
+f 1 2 3
+f 1 3 4
+f 7 2 1
+f 9 6 3
+f 9 3 2
+f 10 4 3
+f 11 10 3
+f 12 1 4
+f 13 7 1
+f 13 1 8
+f 13 5 7
+f 15 2 7
+f 17 10 11
+f 18 11 3
+f 18 3 6
+f 18 16 11
+f 21 14 4
+f 21 4 10
+f 23 13 8
+f 24 9 2
+f 24 6 9
+f 27 8 1
+f 27 1 19
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+f 27 22 14
+f 27 14 23
+f 28 19 1
+f 28 1 12
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+f 29 13 23
+f 30 5 13
+f 30 29 20
+f 30 13 29
+f 31 10 17
+f 31 17 26
+f 31 26 5
+f 32 22 12
+f 32 12 4
+f 32 4 14
+f 33 29 23
+f 33 23 14
+f 33 14 21
+f 34 24 2
+f 34 16 24
+f 34 25 16
+f 35 24 16
+f 35 16 18
+f 35 18 6
+f 35 6 24
+f 37 11 16
+f 37 16 25
+f 37 15 36
+f 38 2 15
+f 38 37 25
+f 38 15 37
+f 39 7 5
+f 39 5 26
+f 40 27 19
+f 40 19 12
+f 40 12 22
+f 40 22 27
+f 41 29 10
+f 41 20 29
+f 41 31 20
+f 41 10 31
+f 42 30 20
+f 42 5 30
+f 42 31 5
+f 42 20 31
+f 43 32 14
+f 43 14 22
+f 43 22 32
+f 44 10 29
+f 44 29 33
+f 44 33 21
+f 44 21 10
+f 45 17 11
+f 45 11 36
+f 46 37 36
+f 46 36 11
+f 46 11 37
+f 47 34 2
+f 47 2 38
+f 47 38 25
+f 47 25 34
+f 48 15 7
+f 48 7 39
+f 49 36 15
+f 49 15 48
+f 49 48 45
+f 49 45 36
+f 50 48 39
+f 50 39 26
+f 50 26 17
+f 50 45 48
+f 51 50 17
+f 51 17 45
+f 51 45 50
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_28.obj b/mango/mango_13/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c32e95fbded7f12e4246e2d57bcbf5d72f774a4
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_28.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01470959 -0.15602398 0.34027232
+v 0.01582657 -0.14393940 0.20542162
+v 0.01582657 -0.00757576 0.31148222
+v -0.20719847 -0.01152516 0.33503556
+v -0.19629465 -0.14393940 0.20542162
+v -0.19072230 -0.13926339 0.30288939
+v -0.07508252 -0.00757576 0.20542162
+v 0.01582657 -0.00757576 0.20542162
+v -0.19629465 -0.00757576 0.20542162
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 2 5
+f 8 7 3
+f 8 3 2
+f 8 2 7
+f 9 7 5
+f 9 5 4
+f 9 4 3
+f 9 3 7
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_29.obj b/mango/mango_13/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52eae045c9000b83308662c6c751f725acf1b49b
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.23108312 -0.26756668 0.20916326
+v 0.22794779 -0.26515152 0.00845191
+v 0.22794779 -0.00757576 0.20542162
+v -0.19629465 -0.00757576 0.20542162
+v -0.20207524 -0.27098921 0.21203577
+v 0.22794779 -0.00757576 0.00845191
+v -0.19629465 -0.26515152 0.00845191
+v -0.19629465 -0.00757576 0.00845191
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 2 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/mango/mango_13/collision/model_normalized_collision_3.obj b/mango/mango_13/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66bec3d6bff8070c2bdd2f8a5dbea479e27aaa23
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.35345754 0.23139131 -0.16804629
+v 0.34752637 0.22901417 -0.18192328
+v 0.20444771 0.42007281 -0.16508052
+v 0.01582621 0.47687539 -0.17318354
+v -0.15084010 0.23484850 -0.17336627
+v 0.07348581 0.23053928 -0.37296610
+v 0.27777993 0.35983404 -0.16522907
+v 0.10323639 0.46534278 -0.16795662
+v -0.14393356 0.32614616 -0.29384904
+v -0.14548465 0.22853520 -0.34106598
+v 0.31583506 0.29914261 -0.17872278
+v 0.34974014 0.24347354 -0.16687724
+v 0.21456272 0.32534771 -0.26474131
+v 0.05830358 0.35974878 -0.30574186
+v -0.17778819 0.39690297 -0.19619588
+v 0.27920986 0.22657034 -0.28071358
+v -0.05789795 0.31732654 -0.33647465
+v 0.32003228 0.30328225 -0.16587999
+v 0.34528605 0.24054918 -0.17837043
+v 0.22991146 0.38469476 -0.18990602
+v 0.11416360 0.43033310 -0.21883965
+v 0.28700977 0.28332500 -0.23539303
+v 0.11343199 0.28350751 -0.33857226
+v 0.01454237 0.44772555 -0.22606942
+v 0.13239713 0.22854037 -0.35728250
+v -0.12577594 0.29929275 -0.32096295
+v -0.05840240 0.22968420 -0.37029086
+v 0.05773690 0.31238236 -0.33838868
+v 0.28884694 0.32671393 -0.19003524
+v 0.30191367 0.24260348 -0.24908508
+v 0.26242394 0.37450441 -0.16537986
+v 0.14828583 0.45169961 -0.16886419
+v 0.17393942 0.39765446 -0.22214105
+v 0.26071205 0.28122105 -0.26255883
+v 0.14268580 0.35938681 -0.27705769
+v 0.01472362 0.46596365 -0.19487810
+v -0.09637213 0.34269231 -0.30646120
+v -0.04339283 0.34400842 -0.32245425
+v 0.08858939 0.41409642 -0.24981616
+v 0.05706473 0.44495150 -0.22157383
+v 0.06083522 0.25626371 -0.36563189
+v 0.20370755 0.24396120 -0.32224725
+v -0.14352127 0.24416248 -0.33607979
+v -0.08557565 0.30272224 -0.33532907
+v 0.27208443 0.35657089 -0.17674512
+v 0.33379327 0.22877908 -0.20908933
+v 0.31550924 0.27066011 -0.20700634
+v 0.08628527 0.45717904 -0.19184081
+v 0.21465132 0.36925795 -0.22046259
+v 0.13154665 0.44086930 -0.19396851
+v 0.18740924 0.41422329 -0.19164225
+v 0.27362705 0.24038649 -0.27803514
+v 0.17004472 0.35878989 -0.26211164
+v 0.16219705 0.33117774 -0.28955574
+v -0.14224644 0.34634669 -0.28003862
+v 0.03143149 0.34455421 -0.32202904
+v -0.08208347 0.32818283 -0.32228295
+v 0.08596664 0.40091566 -0.26363005
+v 0.13263163 0.24031993 -0.35236813
+v -0.02848108 0.25833495 -0.36733820
+v 0.23418427 0.22955106 -0.31186346
+v -0.05517791 0.24257502 -0.36741487
+v 0.25788055 0.37128448 -0.17537198
+v 0.30505377 0.23026496 -0.25154242
+f 5 2 1
+f 7 3 5
+f 8 5 3
+f 8 4 5
+f 10 2 5
+f 12 5 1
+f 15 5 4
+f 15 10 5
+f 15 9 10
+f 16 2 10
+f 18 12 11
+f 18 7 5
+f 18 5 12
+f 19 12 1
+f 19 1 2
+f 25 16 10
+f 27 25 10
+f 27 6 25
+f 29 18 11
+f 29 7 18
+f 29 11 22
+f 31 20 3
+f 31 3 7
+f 32 8 3
+f 34 13 22
+f 34 22 30
+f 35 28 14
+f 36 24 15
+f 36 15 4
+f 37 26 9
+f 38 37 24
+f 39 21 33
+f 39 33 35
+f 40 39 24
+f 40 21 39
+f 40 24 36
+f 41 28 23
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+f 46 2 16
+f 47 30 22
+f 47 22 11
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+f 47 11 12
+f 47 12 19
+f 48 8 32
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+f 48 36 4
+f 48 4 8
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+f 49 45 13
+f 49 20 45
+f 50 33 21
+f 50 32 33
+f 50 48 32
+f 50 21 48
+f 51 33 32
+f 51 32 3
+f 51 3 20
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+f 52 34 30
+f 52 30 16
+f 53 35 33
+f 53 33 13
+f 54 23 28
+f 54 28 35
+f 54 42 23
+f 54 13 42
+f 54 53 13
+f 54 35 53
+f 55 37 9
+f 55 9 15
+f 55 15 24
+f 55 24 37
+f 56 38 24
+f 56 24 14
+f 56 14 28
+f 56 17 38
+f 57 38 17
+f 57 37 38
+f 57 17 44
+f 57 44 26
+f 57 26 37
+f 58 14 24
+f 58 24 39
+f 58 39 35
+f 58 35 14
+f 59 25 6
+f 59 6 41
+f 59 41 23
+f 59 42 25
+f 59 23 42
+f 60 28 41
+f 60 56 28
+f 60 17 56
+f 60 41 6
+f 60 6 27
+f 61 16 25
+f 61 25 42
+f 61 52 16
+f 61 34 52
+f 61 42 13
+f 61 13 34
+f 62 27 10
+f 62 10 44
+f 62 60 27
+f 62 44 17
+f 62 17 60
+f 63 45 20
+f 63 20 31
+f 63 31 45
+f 64 46 16
+f 64 16 30
+f 64 30 46
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_30.obj b/mango/mango_13/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f4b8f47a7ceab10ec0aed45aa3327a8570414c1
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01582657 -0.26515152 0.00845191
+v 0.01582657 -0.26515152 -0.18851779
+v 0.01582657 0.23484850 0.00845191
+v -0.19629465 0.23484850 0.00845191
+v -0.22736455 -0.29115065 -0.22694042
+v -0.19629465 -0.26515152 0.00845191
+v 0.01582657 0.23484850 -0.18851779
+v -0.19629465 0.23484850 -0.18851779
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_31.obj b/mango/mango_13/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..074cb1e0c1b33ef1aafaa8fdb9b11be78d9badf0
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.32843533 -0.14206222 0.17077774
+v 0.39015628 -0.15687647 0.01682539
+v 0.34853496 -0.00703227 0.16936825
+v 0.22794779 -0.00757576 0.17511858
+v 0.22794779 -0.14393940 0.00845191
+v 0.34069314 -0.00806125 0.18066547
+v 0.22794779 -0.14393940 0.17511858
+v 0.33400839 -0.00757576 0.00845191
+v 0.22794779 -0.00757576 0.00845191
+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 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 9 8 5
+f 9 5 4
+f 9 4 3
+f 9 3 8
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_4.obj b/mango/mango_13/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cca4ebfa02db9b1d968ffc857e0ec59b387a7a6
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.19629465 -0.14393940 0.00845191
+v -0.18950238 -0.14044481 -0.34159443
+v -0.19629465 0.23484850 0.00845191
+v -0.34601769 0.23369608 0.00858996
+v -0.37869389 -0.15468474 0.01023861
+v -0.19169529 0.23123754 -0.31674774
+v -0.19060140 0.19989357 -0.32798598
+v -0.19012594 0.14075627 -0.34252004
+v -0.38979819 0.09465108 -0.15651093
+v -0.34499162 0.22354917 -0.14843141
+v -0.29036636 0.14342610 -0.27561436
+v -0.40785859 0.09295939 0.00756434
+v -0.34501551 -0.13609617 -0.17767183
+v -0.29969395 0.22491265 -0.22178436
+v -0.22730470 0.19917208 -0.30627676
+v -0.27131924 -0.02194574 -0.31066663
+v -0.40633802 -0.00718048 -0.08055537
+v -0.39035982 0.16493788 -0.06679732
+v -0.24077746 -0.13811588 -0.30887733
+v -0.35897388 0.22496879 -0.10768232
+v -0.36183123 0.10792729 -0.20614156
+v -0.20552280 0.19775657 -0.32137453
+v -0.22819185 0.22841319 -0.29382256
+v -0.24436148 0.09322811 -0.32295117
+v -0.40727494 0.08390765 -0.09406461
+v -0.41398653 -0.00678824 0.00751631
+v -0.34990076 -0.13850033 -0.16695790
+v -0.35972574 0.22586182 -0.02533304
+v -0.20198493 -0.14011347 -0.33598311
+v -0.30234784 -0.09187523 -0.26441411
+v -0.33004423 0.22376743 -0.17876997
+v -0.37495840 0.14076937 -0.16468684
+v -0.31685694 0.19616870 -0.21916237
+v -0.30054592 0.06664155 -0.28125236
+v -0.20301038 0.22951954 -0.31150370
+v -0.25827970 0.21115432 -0.27693436
+v -0.19214934 -0.05081281 -0.35626753
+v -0.20256248 0.14210603 -0.33600888
+v -0.22820700 0.14090568 -0.32182643
+v -0.40655747 0.01070772 -0.09398114
+v -0.40641426 0.09542497 -0.08071267
+v -0.28673392 -0.13482220 -0.26269591
+v -0.37494642 -0.01680329 -0.17757626
+v -0.38972055 0.16571437 -0.05137714
+v -0.24542134 -0.08071045 -0.32147271
+v -0.35928590 0.20850774 -0.13737006
+v -0.38963181 0.13979037 -0.12300741
+v -0.37514630 0.11099984 -0.18002171
+v -0.32825657 0.13613788 -0.23548021
+v -0.32927509 0.20865556 -0.19266651
+v -0.33078730 0.06849383 -0.24895270
+v -0.29124203 0.04985278 -0.29184851
+v -0.19165833 0.03624725 -0.35630203
+v -0.38816027 0.00762549 -0.15416770
+v -0.27051517 -0.10902217 -0.29412313
+v -0.31508162 -0.12143394 -0.23392021
+v -0.35676137 -0.06420453 -0.19515479
+v -0.35961578 -0.00446067 -0.20843328
+v -0.22855200 -0.12283095 -0.32225455
+v -0.23010417 -0.05090933 -0.33656089
+v -0.36111589 0.16326345 -0.17666067
+v -0.37345060 0.19643197 -0.10897606
+v -0.34196569 0.18357786 -0.19297798
+v -0.27347395 0.00626650 -0.30880373
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 6 3
+f 8 7 3
+f 8 3 2
+f 12 5 4
+f 14 4 6
+f 20 4 14
+f 22 6 7
+f 22 7 8
+f 23 14 6
+f 26 17 5
+f 26 5 12
+f 26 12 25
+f 27 5 17
+f 27 19 5
+f 28 12 4
+f 28 20 18
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+f 29 2 5
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+f 31 20 14
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+f 52 34 24
+f 52 51 34
+f 52 16 51
+f 53 24 8
+f 53 8 2
+f 53 2 37
+f 54 27 17
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+f 55 30 16
+f 55 16 45
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+f 58 9 21
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+f 58 16 30
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+f 59 45 29
+f 59 29 19
+f 59 19 45
+f 60 37 29
+f 60 29 45
+f 60 45 16
+f 60 53 37
+f 61 46 31
+f 61 32 46
+f 61 21 32
+f 62 47 18
+f 62 18 20
+f 62 20 46
+f 62 46 47
+f 63 49 21
+f 63 33 49
+f 63 21 61
+f 63 50 33
+f 63 61 31
+f 63 31 50
+f 64 52 24
+f 64 16 52
+f 64 60 16
+f 64 24 53
+f 64 53 60
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_5.obj b/mango/mango_13/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a939860cadf97b0565ab856ec67e3e23888e5f3a
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.21279628 0.35606061 0.00845191
+v 0.22911744 0.37803534 -0.19661388
+v 0.14498757 0.47544089 0.01864321
+v -0.07279738 0.48936619 -0.02575359
+v -0.14636132 0.35070737 -0.27351680
+v 0.07396745 0.47468485 -0.16505595
+v -0.20824278 0.38741694 0.02754006
+v 0.21156283 0.41513225 0.11371132
+v 0.01573428 0.35170892 -0.31808400
+v 0.18698904 0.45810397 -0.10509219
+v 0.11783401 0.48998569 -0.06732106
+v -0.10108736 0.47257939 -0.14853818
+v 0.11853093 0.47451581 0.05143111
+v -0.10246937 0.34951352 -0.30003675
+v 0.01514567 0.41591489 -0.26463146
+v 0.17027836 0.44479511 -0.16237561
+v 0.20262307 0.44518430 -0.12126131
+v 0.20364611 0.44180693 0.04890090
+v 0.10219487 0.48722185 -0.10675748
+v 0.15863790 0.47505695 -0.02388847
+v -0.15523243 0.45886139 -0.02608939
+v -0.10064746 0.47441117 0.00148063
+v 0.10465449 0.48894143 0.00645660
+v -0.05708909 0.35010157 -0.31482032
+v -0.12852383 0.34959972 -0.28385209
+v -0.09643960 0.44406720 -0.20651664
+v 0.01466256 0.36102251 -0.31117675
+v 0.12936675 0.45947165 -0.16286880
+v 0.20535169 0.42984145 -0.14985009
+v 0.18833962 0.45802633 0.00327590
+v 0.17713581 0.43688513 0.11190837
+v 0.16162501 0.47421162 -0.08056838
+v -0.02781042 0.48994441 -0.13798424
+v -0.08550520 0.48974889 -0.09488873
+v -0.19353797 0.38600960 -0.19384798
+v -0.01223367 0.49124458 0.00356144
+v -0.15768626 0.44778779 0.00225869
+v -0.11383029 0.47512146 -0.01080288
+v 0.13164041 0.47179755 0.05007324
+v 0.11695737 0.48966459 -0.02469756
+v -0.11134959 0.41392888 -0.23505507
+v -0.01296659 0.40025028 -0.28048758
+v 0.10157756 0.47345905 -0.15038552
+v 0.20444771 0.42007281 -0.16508052
+v 0.20378188 0.43002941 0.09449511
+v 0.18880778 0.42805969 0.11742975
+v 0.04499067 0.48848269 -0.13812862
+v -0.07008939 0.47316751 -0.16655961
+v -0.15319497 0.45944773 -0.10852963
+v -0.07077833 0.48799486 -0.12320711
+v -0.15606688 0.43463815 -0.16655667
+v -0.08648032 0.48922112 -0.03939707
+v -0.14024340 0.45785792 0.00249334
+v 0.18603736 0.44337559 0.07876546
+v -0.11336760 0.38561238 -0.26198009
+v -0.12858684 0.42689384 -0.20792316
+v -0.00090282 0.40255094 -0.27856509
+v -0.08235779 0.41603470 -0.24850064
+v 0.20455839 0.42322303 0.10983339
+v 0.01629266 0.47462251 -0.17745485
+v -0.07228872 0.45885008 -0.19397468
+v -0.12787101 0.47341652 -0.10607166
+v -0.14145058 0.45847153 -0.13678947
+v -0.15550254 0.44319737 -0.15152720
+f 7 5 1
+f 8 1 2
+f 8 7 1
+f 9 2 1
+f 16 2 15
+f 17 16 10
+f 18 8 2
+f 18 2 17
+f 24 9 1
+f 24 1 14
+f 25 14 1
+f 25 1 5
+f 25 5 14
+f 27 15 2
+f 27 2 9
+f 27 9 24
+f 28 16 15
+f 28 15 6
+f 28 10 16
+f 29 17 2
+f 29 16 17
+f 30 18 17
+f 30 17 10
+f 30 20 3
+f 30 3 18
+f 32 19 11
+f 32 10 19
+f 32 11 20
+f 32 30 10
+f 32 20 30
+f 35 5 7
+f 36 4 22
+f 36 13 23
+f 36 11 33
+f 36 33 34
+f 36 31 13
+f 36 22 31
+f 37 21 7
+f 38 22 4
+f 39 23 13
+f 39 3 23
+f 39 13 31
+f 40 20 11
+f 40 36 23
+f 40 11 36
+f 40 23 3
+f 40 3 20
+f 42 27 24
+f 43 28 6
+f 43 6 19
+f 43 19 10
+f 43 10 28
+f 44 29 2
+f 44 2 16
+f 44 16 29
+f 45 8 18
+f 46 31 7
+f 46 7 8
+f 47 19 6
+f 47 33 11
+f 47 11 19
+f 49 35 7
+f 49 7 21
+f 50 34 33
+f 50 12 34
+f 50 48 12
+f 50 33 48
+f 52 36 34
+f 52 4 36
+f 52 38 4
+f 52 21 38
+f 53 31 22
+f 53 22 38
+f 53 38 21
+f 53 21 37
+f 53 37 7
+f 53 7 31
+f 54 39 31
+f 54 3 39
+f 54 31 45
+f 54 45 18
+f 54 18 3
+f 55 14 5
+f 55 5 41
+f 56 41 5
+f 56 5 35
+f 56 35 51
+f 56 26 41
+f 57 42 15
+f 57 15 27
+f 57 27 42
+f 58 41 26
+f 58 15 42
+f 58 55 41
+f 58 42 24
+f 58 24 14
+f 58 14 55
+f 59 45 31
+f 59 31 46
+f 59 46 8
+f 59 8 45
+f 60 47 6
+f 60 33 47
+f 60 48 33
+f 60 6 15
+f 61 26 12
+f 61 12 48
+f 61 48 60
+f 61 60 15
+f 61 58 26
+f 61 15 58
+f 62 34 12
+f 62 49 21
+f 62 52 34
+f 62 21 52
+f 63 12 26
+f 63 26 56
+f 63 62 12
+f 63 49 62
+f 64 51 35
+f 64 35 49
+f 64 49 63
+f 64 63 56
+f 64 56 51
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_6.obj b/mango/mango_13/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be0a22604216a19709c5ee7834ecb7f763d744aa
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_6.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.30377499 -0.14421009 0.19163241
+v -0.30235526 -0.14393940 0.00845191
+v -0.30235526 0.09848485 0.00845191
+v -0.35222888 0.16799072 0.12315299
+v -0.40550682 -0.05243773 -0.03543770
+v -0.32875451 0.15739418 0.18777359
+v -0.37442488 -0.13875513 -0.10512919
+v -0.37116592 -0.01247972 -0.18632976
+v -0.37537566 -0.02240085 0.13686788
+v -0.34562718 -0.14312724 -0.17207654
+v -0.37547686 -0.13829195 0.06195963
+v -0.40785859 0.09295939 0.00756434
+v -0.38909448 -0.03353235 -0.13634873
+v -0.33194678 0.10748527 0.20935671
+v -0.38989373 -0.12388413 -0.03494058
+v -0.40527091 -0.05122753 0.03428860
+v -0.34295965 -0.12270720 0.15125806
+v -0.39090754 -0.11108369 -0.06467976
+v -0.39181647 -0.00453804 -0.13825707
+v -0.37642023 -0.07850763 -0.14838658
+v -0.36015012 -0.03568619 0.16871498
+v -0.38916289 0.09537870 0.09308208
+v -0.38827702 -0.08097778 0.07950680
+v -0.39074434 -0.12137987 0.00640517
+v -0.40837112 -0.00729418 -0.06701386
+v -0.35980300 -0.13712532 0.10687705
+v -0.38024466 -0.00716190 -0.16866790
+v -0.35802006 -0.13877306 -0.14949122
+v -0.36064885 -0.10845024 -0.16457389
+v -0.35917736 0.09303800 0.16562051
+v -0.34685130 -0.06167544 0.17761246
+v -0.36685721 0.15448758 0.10899823
+v -0.40667470 0.03938379 0.06339361
+v -0.38857837 -0.11000784 0.05129495
+v -0.37348396 -0.07512363 0.12254358
+v -0.40692387 -0.01948107 -0.06819868
+v -0.32991135 -0.13785999 0.16259621
+v -0.37429737 -0.04939713 -0.16603144
+v -0.37335881 -0.12322187 -0.12129311
+v -0.34990076 -0.13850033 -0.16695790
+v -0.38997250 0.06648935 0.10559979
+v -0.34419060 0.12272694 0.18344627
+v -0.35877723 -0.07781333 0.15027704
+v -0.34444992 0.14938215 0.16501414
+v -0.40467956 0.09282155 0.03580522
+v -0.38985827 -0.05052397 0.09262824
+v -0.36014897 -0.11983544 0.12085247
+v -0.31723440 -0.14060359 0.17880131
+v -0.39128037 0.00997147 0.10447007
+v -0.35825702 0.12574350 0.15100354
+v -0.33359263 0.15270711 0.18290848
+v -0.40557181 -0.02107546 0.05072324
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 8 4 3
+f 10 2 1
+f 10 8 3
+f 10 3 2
+f 11 10 1
+f 11 7 10
+f 12 4 8
+f 14 1 6
+f 15 7 11
+f 18 15 5
+f 18 7 15
+f 20 18 13
+f 20 7 18
+f 24 15 11
+f 24 16 5
+f 24 5 15
+f 25 5 16
+f 25 12 19
+f 26 11 1
+f 26 23 11
+f 27 19 12
+f 27 12 8
+f 27 13 19
+f 28 10 7
+f 29 8 10
+f 29 28 20
+f 30 21 14
+f 31 1 14
+f 31 14 21
+f 32 4 12
+f 33 25 16
+f 33 12 25
+f 34 23 16
+f 34 11 23
+f 34 24 11
+f 34 16 24
+f 36 25 19
+f 36 19 13
+f 36 13 18
+f 36 18 5
+f 36 5 25
+f 37 17 26
+f 37 31 17
+f 38 20 13
+f 38 13 27
+f 38 27 8
+f 38 29 20
+f 38 8 29
+f 39 28 7
+f 39 7 20
+f 39 20 28
+f 40 29 10
+f 40 10 28
+f 40 28 29
+f 41 21 30
+f 41 30 22
+f 41 22 33
+f 42 30 14
+f 42 14 6
+f 43 31 21
+f 43 17 31
+f 43 21 35
+f 44 6 4
+f 44 4 32
+f 45 32 12
+f 45 22 32
+f 45 33 22
+f 45 12 33
+f 46 23 35
+f 46 35 21
+f 46 21 9
+f 46 16 23
+f 47 35 23
+f 47 23 26
+f 47 26 17
+f 47 43 35
+f 47 17 43
+f 48 37 26
+f 48 26 1
+f 48 1 31
+f 48 31 37
+f 49 9 21
+f 49 21 41
+f 49 41 33
+f 49 46 9
+f 50 32 22
+f 50 22 30
+f 50 30 42
+f 50 44 32
+f 50 42 44
+f 51 44 42
+f 51 42 6
+f 51 6 44
+f 52 33 16
+f 52 16 46
+f 52 49 33
+f 52 46 49
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_7.obj b/mango/mango_13/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c84b1b5f00c49629491ab1c6e2a75867670f629
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_7.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01551857 -0.00657520 0.37980355
+v 0.01582657 -0.00757576 0.00845191
+v 0.01979475 0.25124636 0.33951815
+v -0.19136419 0.22867473 0.30038608
+v -0.20719847 -0.01152516 0.33503556
+v 0.01582657 0.23484850 0.00845191
+v -0.07220899 0.09555579 0.37496539
+v -0.19629465 -0.00757576 0.00845191
+v -0.19629465 0.23484850 0.00845191
+v 0.01516961 0.09778102 0.37757629
+v -0.07361468 -0.00748389 0.37788401
+v -0.00798074 0.04480134 0.38741693
+v -0.04443405 0.05226896 0.38288271
+v -0.01566721 -0.00255232 0.38249223
+v -0.04182064 -0.00245234 0.38171344
+v -0.00416528 0.01002625 0.38349548
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 3 4
+f 7 4 5
+f 8 2 5
+f 8 6 2
+f 9 4 3
+f 9 3 6
+f 9 6 8
+f 9 8 5
+f 9 5 4
+f 10 1 3
+f 10 3 7
+f 11 7 5
+f 11 5 1
+f 12 10 7
+f 12 1 10
+f 13 12 7
+f 13 7 11
+f 13 11 12
+f 14 11 1
+f 15 14 12
+f 15 12 11
+f 15 11 14
+f 16 14 1
+f 16 1 12
+f 16 12 14
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_8.obj b/mango/mango_13/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59f2509221d6e0a488aa51c49d7d4cf1aa8db13f
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_8.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.05966331 -0.15641828 0.33526671
+v 0.10542904 -0.06731220 0.35259117
+v -0.11542704 -0.02066250 0.36880501
+v -0.17837970 0.23250360 0.30421756
+v 0.09585993 0.24435134 0.33062092
+v -0.19072230 -0.13926339 0.30288939
+v 0.02837081 -0.06437134 0.36943592
+v 0.06734976 -0.15350133 0.33450902
+v -0.04177068 0.15653732 0.36888621
+v -0.08913271 -0.15682109 0.33612770
+v -0.18824608 0.09593386 0.33770909
+v 0.05845490 -0.10820149 0.35290681
+v -0.08699015 0.22833774 0.33876659
+v 0.05899478 -0.00720979 0.37349109
+v -0.17449399 -0.07878289 0.33690953
+v -0.07455099 -0.06414979 0.36902533
+v 0.05675684 -0.15348320 0.33704258
+v -0.19349672 0.21698605 0.30600688
+v -0.11448077 0.06698307 0.36851269
+v 0.06053850 -0.03650254 0.37001071
+v 0.02897855 0.21327376 0.35511333
+v 0.10234501 0.17181109 0.35170394
+v -0.15865049 -0.13539318 0.32368907
+v -0.18843432 -0.04872055 0.33843649
+v -0.08713518 -0.10638927 0.35426634
+v -0.10251691 -0.04879581 0.36850897
+v -0.14403587 0.22843655 0.32119205
+v -0.15911267 0.06633620 0.35409655
+v -0.11249871 0.15486686 0.35375203
+v 0.10127164 -0.06455076 0.35443637
+v -0.04169476 0.21266116 0.35352151
+v 0.10083376 -0.05073976 0.35764584
+v 0.10611851 -0.05263996 0.35520370
+v 0.07234476 0.20054406 0.35245521
+v -0.18361947 -0.10626605 0.32297831
+v -0.11374499 -0.13597262 0.33927338
+v -0.14519342 -0.06307149 0.35258398
+v -0.17339786 0.22799967 0.30914848
+v -0.15798491 -0.03407496 0.35349671
+v -0.08468728 0.12362554 0.36782825
+v -0.11271745 0.21326281 0.33666386
+v -0.14349219 0.10965592 0.35286318
+v -0.15918778 0.15553936 0.33831394
+v -0.07116095 0.19953468 0.35284095
+v 0.08908796 0.22902911 0.33909577
+v 0.01488005 0.15696255 0.37015298
+v -0.11617463 -0.09305021 0.35291285
+v -0.15896977 0.21025801 0.32272791
+v -0.18715250 0.17016748 0.32320349
+v 0.08430654 0.18629771 0.35317176
+v -0.19130969 0.21222020 0.30852030
+f 6 4 5
+f 8 5 2
+f 8 6 5
+f 8 1 6
+f 10 6 1
+f 12 8 2
+f 13 5 4
+f 16 14 3
+f 16 7 14
+f 17 10 1
+f 17 7 10
+f 17 12 7
+f 17 1 8
+f 17 8 12
+f 18 4 6
+f 19 14 9
+f 19 3 14
+f 20 7 12
+f 20 14 7
+f 23 6 10
+f 24 18 6
+f 24 11 18
+f 25 10 7
+f 25 7 16
+f 26 16 3
+f 26 25 16
+f 27 13 4
+f 28 3 19
+f 28 11 24
+f 30 20 12
+f 30 12 2
+f 31 9 21
+f 31 21 5
+f 31 5 13
+f 32 22 14
+f 32 30 2
+f 32 14 20
+f 32 20 30
+f 33 2 5
+f 33 5 22
+f 33 32 2
+f 33 22 32
+f 35 23 15
+f 35 6 23
+f 35 24 6
+f 35 15 24
+f 36 23 10
+f 36 10 25
+f 37 24 15
+f 37 15 23
+f 38 27 4
+f 38 4 18
+f 38 18 27
+f 39 28 24
+f 39 3 28
+f 39 24 37
+f 39 37 26
+f 39 26 3
+f 40 19 9
+f 41 13 27
+f 42 28 19
+f 42 40 29
+f 42 19 40
+f 42 11 28
+f 43 42 29
+f 43 11 42
+f 44 9 31
+f 44 40 9
+f 44 29 40
+f 44 31 13
+f 44 41 29
+f 44 13 41
+f 45 22 5
+f 45 5 21
+f 45 21 34
+f 46 34 21
+f 46 21 9
+f 46 9 14
+f 46 14 22
+f 47 36 25
+f 47 25 26
+f 47 26 37
+f 47 37 23
+f 47 23 36
+f 48 27 18
+f 48 41 27
+f 48 43 29
+f 48 29 41
+f 49 18 11
+f 49 11 43
+f 49 43 48
+f 50 45 34
+f 50 22 45
+f 50 46 22
+f 50 34 46
+f 51 49 48
+f 51 48 18
+f 51 18 49
\ No newline at end of file
diff --git a/mango/mango_13/collision/model_normalized_collision_9.obj b/mango/mango_13/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93cba18c19771e3ca4fa6bd44dff721f7103af22
--- /dev/null
+++ b/mango/mango_13/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.15221993 0.23569400 0.31430686
+v -0.14917661 0.23364864 -0.33692139
+v -0.14141973 0.40483128 -0.22413661
+v -0.15911721 0.45193686 -0.01001617
+v -0.35185156 0.22871762 -0.12480681
+v -0.14169363 0.34390138 0.22684184
+v -0.24563614 0.22662050 0.25914780
+v -0.25555756 0.28281411 -0.23629116
+v -0.19521167 0.43307109 -0.08039346
+v -0.14555418 0.40981109 0.06411538
+v -0.14460276 0.27101745 0.29595403
+v -0.14267848 0.27291137 -0.32610058
+v -0.17507202 0.22928906 -0.32648255
+v -0.23040196 0.33894102 0.10497203
+v -0.15855505 0.45185510 -0.12310178
+v -0.26931688 0.32788315 -0.16481508
+v -0.14361081 0.43415144 -0.18100054
+v -0.14318528 0.37590902 0.16846231
+v -0.21625849 0.24177416 0.27921187
+v -0.14077630 0.35988426 -0.26829347
+v -0.31896001 0.22652630 -0.19410662
+v -0.19136419 0.22867473 0.30038608
+v -0.17207103 0.24340053 -0.32311979
+v -0.20994236 0.41754221 -0.03938197
+v -0.35048420 0.22794599 0.00659876
+v -0.29959940 0.31422351 -0.10677152
+v -0.18055896 0.43081744 -0.13473947
+v -0.19749486 0.38458741 -0.19132998
+v -0.14609986 0.43870550 -0.16908460
+v -0.14379816 0.39213075 0.12634435
+v -0.18230927 0.32473562 0.20856513
+v -0.18148341 0.43142877 0.00086169
+v -0.18662458 0.26667117 0.27837973
+v -0.19779703 0.29822966 -0.27706098
+v -0.27471241 0.22726105 -0.25162784
+v -0.28455123 0.29636942 -0.17947544
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\ No newline at end of file
diff --git a/mango/mango_13/model.xml b/mango/mango_13/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0dd7be9903038aca6191be40bc6a866c0a7bcc00
--- /dev/null
+++ b/mango/mango_13/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="mango_14">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.08999999999999997 0.08999999999999997 0.08999999999999997" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material_1.004" 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_1.004"/>
+        <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="-0.00024030089999999997 0.00010757069999999921 -0.03487600439999999" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00024030089999999997 0.00010757069999999921 0.034867523699999986" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03677818589999999 0.044387216999999986 -4.240350000001279e-06" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/mango/mango_13/visual/material.mtl b/mango/mango_13/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b5d0f127cc1df2efd6b4835e0300358bb6dde72
--- /dev/null
+++ b/mango/mango_13/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
\ No newline at end of file
diff --git a/mango/mango_13/visual/model_normalized_0.obj b/mango/mango_13/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50d9b9c252a93e601b8fb78c67d8ecd375f7f966
--- /dev/null
+++ b/mango/mango_13/visual/model_normalized_0.obj
@@ -0,0 +1,252607 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.18474248 0.33718246 -0.25662636
+v -0.18522081 0.34172654 -0.25375641
+v -0.18011521 0.34344227 -0.25706309
+v -0.38830080 0.09967349 0.09360085
+v -0.39249134 0.09223866 0.08442949
+v -0.38878953 0.09008620 0.09684514
+v -0.06941426 -0.03305119 -0.38712579
+v -0.07884557 -0.03078435 -0.38711539
+v -0.07259616 -0.02459732 -0.38670985
+v -0.24794372 -0.07917832 -0.32012915
+v -0.24250538 -0.08178831 -0.32312388
+v -0.24771496 -0.08665474 -0.31921409
+v -0.34136260 0.12543023 -0.22494255
+v -0.34562593 0.12233152 -0.22230137
+v -0.34373343 0.12716676 -0.22185424
+v -0.08947270 -0.01877424 -0.38484855
+v -0.09955911 -0.01499964 -0.38284166
+v -0.08920234 -0.01230646 -0.38451580
+v -0.34572991 0.13253231 -0.21528247
+v -0.34356705 0.13133650 -0.22055444
+v -0.34731046 0.12692760 -0.21713338
+v -0.39522611 0.13695162 -0.09625243
+v -0.39540288 0.14272271 -0.08833928
+v -0.39399911 0.14431366 -0.09620044
+v -0.40793291 0.06141792 0.04148426
+v -0.40708024 0.06343520 0.04719296
+v -0.40696586 0.06718901 0.04247211
+v -0.41260177 0.04097474 0.01628903
+v -0.41282014 0.03607711 0.01672576
+v -0.41280974 0.03834396 0.02207052
+v -0.39232497 0.12243550 -0.12479593
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diff --git a/mango/mango_14/collision/model_normalized_collision_0.obj b/mango/mango_14/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f444081a2137219e8685d44dbf1c1fc34019e537
--- /dev/null
+++ b/mango/mango_14/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/mango/mango_14/collision/model_normalized_collision_1.obj b/mango/mango_14/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed218fd7e29ff73a91480209f20b46d758ff3a64
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_1.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.15700066 -0.27331676 0.21339856
+v 0.13184706 -0.25676313 0.24878759
+v -0.19244540 -0.29025304 0.24281399
+v 0.00724878 0.23438730 0.29256147
+v 0.16190824 0.25156836 0.22742708
+v -0.15340852 -0.26014792 0.28071915
+v 0.09049574 -0.25711075 0.27669971
+v 0.13136751 -0.21049504 0.27466440
+v -0.15936781 0.09848484 0.20245643
+v 0.11717420 -0.25566661 0.26066835
+v -0.16933162 0.10353329 0.30976866
+v 0.12930003 -0.23980335 0.26086190
+v 0.13491452 0.19734890 0.27499407
+v 0.00729885 0.23484847 0.20245643
+v 0.10644547 0.22495224 0.27439974
+v 0.13468095 0.22516050 0.26100140
+f 7 3 1
+f 7 6 3
+f 8 1 5
+f 9 1 3
+f 10 7 1
+f 10 1 2
+f 10 8 7
+f 11 6 7
+f 11 9 3
+f 11 3 6
+f 11 8 4
+f 11 7 8
+f 12 2 1
+f 12 1 8
+f 12 10 2
+f 12 8 10
+f 13 8 5
+f 13 4 8
+f 14 5 1
+f 14 1 9
+f 14 4 5
+f 14 11 4
+f 14 9 11
+f 15 5 4
+f 15 4 13
+f 16 15 13
+f 16 13 5
+f 16 5 15
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_10.obj b/mango/mango_14/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2c775f021e46131a36a3e796b053b65cb0927e8
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_10.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.14983800 0.22784481 0.25079458
+v 0.30892270 0.23425074 0.00533024
+v 0.18066268 0.37004675 0.07434743
+v -0.01996113 0.41480893 0.06050939
+v -0.29257166 0.23309232 0.00544634
+v 0.16585224 0.38388096 0.00547863
+v 0.09363992 0.35219716 0.17578740
+v 0.24650992 0.25502292 0.14320924
+v 0.29500725 0.22887925 0.07537366
+v 0.28016771 0.28364609 0.00502040
+v 0.15268838 0.38330539 0.07440774
+v -0.13747134 0.38679903 0.00300634
+v -0.18353169 0.22795236 0.23776022
+v 0.20367585 0.29783465 0.15598309
+v 0.22723412 0.23107794 0.18097946
+v 0.20834353 0.35811278 0.00556001
+v 0.27692836 0.28263377 0.04712551
+v 0.01745601 0.41388095 0.05861858
+v 0.16558290 0.38336238 0.04848486
+v 0.13623758 0.35318090 0.14553844
+v -0.00897259 0.23968508 0.29053304
+v -0.22449448 0.22597059 0.20717026
+v 0.13305098 0.29557514 0.21524578
+v 0.26672447 0.22948252 0.13228979
+v 0.17498063 0.25324253 0.21624065
+v 0.21923817 0.29580016 0.14243770
+v 0.29221867 0.25581381 0.04673672
+v 0.29685420 0.25732981 0.00515124
+v 0.27641258 0.27121475 0.07373247
+v 0.21974496 0.34142143 0.07686430
+v 0.08009999 0.36782770 0.15016947
+v 0.20673069 0.35425140 0.06261171
+v 0.13765642 0.38283943 0.08849306
+v -0.02211683 0.22788434 0.29689448
+v -0.07499611 0.35277979 0.17279541
+v -0.28427727 0.22737940 0.09332354
+v 0.07899229 0.26794873 0.25965647
+v 0.13352734 0.32466512 0.18685821
+v 0.14643770 0.24034318 0.24614723
+v 0.29046166 0.24225986 0.07363200
+v 0.26268993 0.24185298 0.12980185
+v 0.24758041 0.29631902 0.10199426
+v 0.20525326 0.34140741 0.10132340
+v 0.24787251 0.31308354 0.07496850
+v 0.08009490 0.22867445 0.28201418
+v -0.09530868 0.22727967 0.28244990
+v -0.03541869 0.32568992 0.21712158
+v -0.16491489 0.29399821 0.18737724
+v -0.13659851 0.36598224 0.09062163
+v -0.23367457 0.31059321 0.04644292
+v 0.10559994 0.29691296 0.22967083
+v 0.10517854 0.33762732 0.18970777
+v 0.20448036 0.31014579 0.14220233
+v 0.14750031 0.33757580 0.15955879
+v 0.12212554 0.22796080 0.26597669
+v -0.00856656 0.22827323 0.29705314
+v -0.06454218 0.25099659 0.27530892
+v 0.02176440 0.29608795 0.24677726
+v -0.20720243 0.26389399 0.18791294
+v -0.10553135 0.25068438 0.26078829
+v -0.07804258 0.36539935 0.14792139
+v -0.13611637 0.38481686 0.01845626
+v -0.19047540 0.30850870 0.14623810
+v -0.19242344 0.35475031 0.00345422
+f 9 5 2
+f 12 6 10
+f 16 10 6
+f 18 12 4
+f 18 6 12
+f 19 11 3
+f 19 18 11
+f 19 6 18
+f 19 16 6
+f 20 3 11
+f 22 9 1
+f 24 8 15
+f 24 15 1
+f 24 1 9
+f 25 1 15
+f 25 14 23
+f 26 15 8
+f 26 25 15
+f 26 14 25
+f 27 9 2
+f 28 10 17
+f 28 12 10
+f 28 2 12
+f 28 27 2
+f 28 17 27
+f 29 27 17
+f 31 18 4
+f 32 19 3
+f 32 16 19
+f 32 30 16
+f 32 3 30
+f 33 20 11
+f 33 7 20
+f 33 31 7
+f 33 11 18
+f 33 18 31
+f 35 31 4
+f 35 7 31
+f 36 5 9
+f 36 9 22
+f 38 23 14
+f 39 25 23
+f 39 1 25
+f 40 9 27
+f 40 27 29
+f 40 24 9
+f 41 8 24
+f 41 40 29
+f 41 24 40
+f 42 26 8
+f 42 41 29
+f 42 8 41
+f 43 26 42
+f 43 30 3
+f 43 3 20
+f 44 17 10
+f 44 10 16
+f 44 16 30
+f 44 43 42
+f 44 30 43
+f 44 42 29
+f 44 29 17
+f 46 22 1
+f 46 13 22
+f 47 7 35
+f 50 5 36
+f 51 23 38
+f 51 39 23
+f 52 20 7
+f 52 51 38
+f 53 14 26
+f 53 26 43
+f 53 38 14
+f 54 43 20
+f 54 53 43
+f 54 38 53
+f 54 52 38
+f 54 20 52
+f 55 45 34
+f 55 1 39
+f 55 37 45
+f 55 51 37
+f 55 39 51
+f 55 46 1
+f 55 34 46
+f 56 21 34
+f 56 34 45
+f 56 45 37
+f 56 37 21
+f 57 46 34
+f 57 34 21
+f 57 21 47
+f 58 47 21
+f 58 21 37
+f 58 37 51
+f 58 51 52
+f 58 52 7
+f 58 7 47
+f 59 22 13
+f 59 13 48
+f 59 36 22
+f 60 48 13
+f 60 13 46
+f 60 46 57
+f 60 35 48
+f 60 57 47
+f 60 47 35
+f 61 35 4
+f 61 4 49
+f 62 49 4
+f 62 4 12
+f 63 48 35
+f 63 61 49
+f 63 35 61
+f 63 59 48
+f 63 50 36
+f 63 36 59
+f 64 5 50
+f 64 12 2
+f 64 2 5
+f 64 62 12
+f 64 49 62
+f 64 63 49
+f 64 50 63
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_11.obj b/mango/mango_14/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cad49007a483f340d5de9c906efc2ec7366aaaa6
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.19644003 -0.32042297 0.07935161
+v 0.33535698 -0.00621382 -0.09956343
+v 0.29034762 -0.09304928 0.12073899
+v 0.23195100 -0.00835544 0.23955989
+v 0.18911703 -0.00757577 -0.16117993
+v 0.32502974 -0.00542388 0.06152838
+v 0.18052718 -0.21519190 0.22557111
+v 0.27609532 -0.19654524 0.01895030
+v 0.29392439 -0.00592680 0.14990867
+v 0.32140515 -0.00620154 -0.15991953
+v 0.23053249 -0.25470883 0.10445926
+v 0.24659983 -0.12412681 0.19035939
+v 0.18637384 -0.26294525 -0.15941943
+v 0.19227545 -0.14482800 0.25085521
+v 0.32314258 -0.06356914 0.01758990
+v 0.30839557 -0.03558811 0.10517865
+v 0.27520013 -0.17966929 -0.08122433
+v 0.20212105 -0.28340202 0.13309020
+v 0.27528918 -0.16615483 0.09058445
+v 0.24550007 -0.25653357 0.03351032
+v 0.26356702 -0.00747537 0.20168591
+v 0.27760757 -0.06462825 0.16340814
+v 0.17904792 -0.25954371 0.19535040
+v 0.18213922 -0.18579618 0.24131594
+v 0.32154377 -0.03424583 0.06031270
+v 0.30761687 -0.09126070 -0.11228512
+v 0.26026477 -0.16602149 0.13452540
+v 0.30686240 -0.09307740 0.06284670
+v 0.21659453 -0.29782472 0.06164308
+v 0.26016526 -0.21053308 0.07601847
+v 0.24548213 -0.25598031 -0.03698970
+v 0.20644739 -0.13959052 0.23765866
+v 0.27516107 -0.10679113 0.14859941
+v 0.29153056 -0.06519488 0.13314569
+v 0.19682051 -0.32157391 -0.06780357
+v 0.23036534 -0.16646306 0.19070189
+v 0.32150744 -0.04841777 0.04750987
+v 0.32449990 -0.04795315 -0.09754275
+v 0.29145713 -0.15082803 -0.06597833
+v 0.23052202 -0.20723849 -0.15167594
+v 0.25974055 -0.18095492 0.11917957
+v 0.29103130 -0.12353829 0.09063988
+v 0.29070583 -0.15245089 0.04695290
+v 0.23005102 -0.26961302 0.07619046
+v 0.26166897 -0.22431847 0.03337229
+v 0.27646499 -0.19643236 -0.02373790
+v 0.23172867 -0.28399141 0.01845832
+v 0.20388582 -0.15179843 0.23505806
+v 0.24516039 -0.15130197 0.17578029
+v 0.29236669 -0.01980065 0.14918350
+v 0.24577335 -0.23882367 -0.07818088
+v 0.20114577 -0.21001387 0.20341125
+v 0.32287805 -0.06263950 -0.08201108
+v 0.29108139 -0.12036680 -0.12468561
+v 0.29338056 -0.09083150 -0.15290665
+v 0.19605061 -0.30549600 -0.09739051
+v 0.24420423 -0.22528969 0.10530637
+v 0.20164181 -0.31364288 0.07694605
+v 0.26194803 -0.22423329 -0.03676322
+v 0.23101008 -0.28437409 -0.02262361
+v 0.21649851 -0.15079367 0.21896958
+v 0.21696701 -0.29969416 -0.05055344
+v 0.18679477 -0.25409560 0.18910856
+v 0.18921067 -0.18218198 0.23520375
+f 9 6 5
+f 9 5 4
+f 10 6 2
+f 10 5 6
+f 13 5 10
+f 14 4 5
+f 15 2 6
+f 16 6 9
+f 18 1 11
+f 21 9 4
+f 22 21 12
+f 23 7 5
+f 23 5 13
+f 23 1 18
+f 24 14 5
+f 24 5 7
+f 25 6 16
+f 25 16 3
+f 27 18 11
+f 28 25 3
+f 32 12 21
+f 32 21 4
+f 32 4 14
+f 33 22 12
+f 33 27 3
+f 34 3 16
+f 34 33 3
+f 34 22 33
+f 35 23 13
+f 35 1 23
+f 36 18 27
+f 37 15 6
+f 37 6 25
+f 37 28 15
+f 37 25 28
+f 38 26 10
+f 38 10 2
+f 39 17 26
+f 41 27 11
+f 41 19 27
+f 41 30 19
+f 42 27 19
+f 42 3 27
+f 42 28 3
+f 43 8 15
+f 43 15 28
+f 43 28 42
+f 43 42 19
+f 43 19 30
+f 44 29 20
+f 44 30 11
+f 44 20 30
+f 45 30 20
+f 45 20 8
+f 45 43 30
+f 45 8 43
+f 46 15 8
+f 47 20 29
+f 47 29 1
+f 47 1 35
+f 47 46 8
+f 47 8 20
+f 48 32 14
+f 48 14 24
+f 49 33 12
+f 49 27 33
+f 49 36 27
+f 49 12 36
+f 50 34 16
+f 50 16 9
+f 50 22 34
+f 50 9 21
+f 50 21 22
+f 52 7 23
+f 53 38 2
+f 53 2 15
+f 53 46 39
+f 53 15 46
+f 53 39 26
+f 53 26 38
+f 54 26 17
+f 54 51 40
+f 54 17 51
+f 55 40 13
+f 55 13 10
+f 55 54 40
+f 55 10 26
+f 55 26 54
+f 56 35 13
+f 56 13 40
+f 56 51 35
+f 56 40 51
+f 57 41 11
+f 57 11 30
+f 57 30 41
+f 58 44 11
+f 58 11 1
+f 58 1 29
+f 58 29 44
+f 59 17 39
+f 59 39 46
+f 59 51 17
+f 59 31 51
+f 59 46 47
+f 60 59 47
+f 60 31 59
+f 61 36 12
+f 61 12 32
+f 61 32 48
+f 61 52 36
+f 61 48 52
+f 62 51 31
+f 62 35 51
+f 62 31 60
+f 62 60 47
+f 62 47 35
+f 63 52 23
+f 63 23 18
+f 63 18 36
+f 63 36 52
+f 64 52 48
+f 64 48 24
+f 64 24 7
+f 64 7 52
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_12.obj b/mango/mango_14/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b59266aa1d9016bb6b90fcce86edcf1255315f57
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_12.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.00392460 -0.49051644 0.01607544
+v 0.13492591 -0.39379722 -0.08176928
+v 0.01178707 -0.41560903 0.18379010
+v -0.14728254 -0.40713732 0.17669358
+v -0.14614970 -0.40368846 -0.10275938
+v 0.14501781 -0.40256481 0.02077512
+v -0.09496212 -0.47394388 0.08753084
+v 0.01977460 -0.47376177 -0.09009318
+v 0.07464270 -0.46090775 0.01829597
+v -0.02538944 -0.47357524 0.08915828
+v -0.10772131 -0.44438354 0.14586693
+v -0.13461774 -0.45930426 -0.02059180
+v 0.12380650 -0.39663957 -0.09771617
+v 0.11423586 -0.43106202 0.01931960
+v 0.01548769 -0.48750802 -0.06355168
+v -0.05265689 -0.48994731 0.04537640
+v 0.00234144 -0.47444513 0.07507198
+v -0.12218038 -0.42934848 0.16172131
+v 0.00219699 -0.44289615 0.14640994
+v -0.13531076 -0.45741571 0.09098226
+v -0.05009870 -0.47412939 -0.08817538
+v 0.06916205 -0.46099087 -0.06557293
+v 0.01766733 -0.48925396 -0.02612617
+v -0.06778968 -0.48943964 0.04521615
+v 0.04595284 -0.47474093 0.01931764
+v -0.01141491 -0.48956597 0.03097273
+v 0.00457066 -0.43202603 0.16221138
+v -0.13636348 -0.44218954 0.13031465
+v -0.13190047 -0.44561274 -0.06202709
+v -0.02225045 -0.49026652 -0.06732909
+v 0.11337393 -0.43015440 -0.03761401
+v 0.12808025 -0.40290124 -0.07890686
+v 0.05430119 -0.45912637 -0.09042404
+v -0.10565454 -0.47438828 0.07705738
+v -0.13973146 -0.42033884 0.16535742
+v -0.10906451 -0.45686422 0.11924713
+v -0.08958940 -0.47584210 -0.04976117
+v -0.13302560 -0.42999352 -0.08692415
+v -0.06337026 -0.49004370 -0.03420992
+v 0.13015739 -0.41676859 0.01939073
+v 0.12926934 -0.41582925 -0.03772968
+v 0.08315285 -0.44423249 -0.07723990
+v -0.11926080 -0.45954870 -0.04939220
+v -0.10562807 -0.47444085 -0.02153638
+v -0.04807789 -0.48955839 -0.04920205
+v 0.11737904 -0.40512984 -0.09381187
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 11 7 10
+f 12 4 5
+f 13 8 5
+f 13 5 2
+f 14 3 9
+f 16 10 7
+f 18 11 3
+f 18 3 4
+f 19 11 10
+f 19 10 17
+f 19 17 9
+f 19 9 3
+f 20 4 12
+f 21 5 8
+f 23 22 9
+f 23 15 22
+f 24 16 7
+f 25 17 1
+f 25 9 17
+f 25 23 9
+f 25 1 23
+f 26 16 1
+f 26 1 17
+f 26 17 10
+f 26 10 16
+f 27 19 3
+f 27 3 11
+f 27 11 19
+f 28 4 20
+f 29 12 5
+f 30 21 8
+f 30 8 15
+f 30 15 23
+f 30 23 1
+f 31 14 9
+f 31 9 22
+f 32 13 2
+f 33 22 15
+f 33 15 8
+f 33 8 13
+f 34 20 12
+f 34 24 7
+f 34 28 20
+f 35 18 4
+f 35 4 28
+f 35 28 11
+f 35 11 18
+f 36 7 11
+f 36 11 28
+f 36 34 7
+f 36 28 34
+f 37 29 21
+f 38 29 5
+f 38 5 21
+f 38 21 29
+f 39 16 24
+f 39 30 1
+f 39 1 16
+f 40 14 31
+f 40 6 3
+f 40 3 14
+f 41 2 6
+f 41 40 31
+f 41 6 40
+f 41 32 2
+f 41 31 22
+f 41 22 32
+f 42 32 22
+f 42 22 33
+f 43 37 12
+f 43 12 29
+f 43 29 37
+f 44 12 37
+f 44 37 39
+f 44 34 12
+f 44 39 24
+f 44 24 34
+f 45 39 37
+f 45 37 21
+f 45 21 30
+f 45 30 39
+f 46 13 32
+f 46 32 42
+f 46 42 33
+f 46 33 13
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_13.obj b/mango/mango_14/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..170ffae1dde34562499a6d4922b5dfa808be6a9e
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_13.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v -0.02424402 -0.43530149 0.16519512
+v 0.19752455 -0.26139775 0.16792736
+v 0.07758663 -0.25944870 0.28154548
+v -0.15340852 -0.26014792 0.28071915
+v -0.14421630 -0.26515153 0.17215340
+v 0.19262888 -0.25778693 0.17841360
+v -0.01100861 -0.31391846 0.27603392
+v 0.19222691 -0.27349608 0.16563384
+v -0.13973146 -0.42033884 0.16535742
+v 0.14782035 -0.25728668 0.23497863
+v 0.04675461 -0.35705045 0.23131892
+v -0.17284447 -0.30904540 0.24510233
+v -0.08036652 -0.35925694 0.24568661
+v 0.04743266 -0.41901198 0.16324020
+v 0.15764492 -0.28386269 0.20428370
+v 0.03350682 -0.30007247 0.27508237
+v 0.08704584 -0.31376338 0.24382033
+v -0.17111115 -0.27326985 0.26634583
+v -0.10751297 -0.41507827 0.18677899
+v -0.08210623 -0.31439625 0.27560067
+v -0.00920385 -0.35815553 0.24599418
+v -0.06772869 -0.43714222 0.16455270
+v 0.18706698 -0.27072294 0.17516532
+v 0.16279309 -0.31831349 0.16536909
+v 0.11446949 -0.28370817 0.24664656
+v 0.06016243 -0.28450001 0.27487731
+v 0.07112193 -0.40013700 0.17325788
+v -0.13685915 -0.31617372 0.26000278
+v 0.01827530 -0.32942712 0.26004606
+v 0.00380252 -0.41334437 0.18955713
+v -0.06718588 -0.42983507 0.17405276
+v 0.07596140 -0.40430456 0.16342335
+v 0.15793501 -0.31532372 0.17617742
+v 0.10570441 -0.25877802 0.26640861
+v 0.12853059 -0.32569480 0.20301402
+v 0.07603613 -0.27037029 0.27660181
+v 0.07329374 -0.34210448 0.22981083
+v -0.15017317 -0.32886476 0.24719088
+v -0.15195421 -0.27169215 0.27676968
+v -0.11067463 -0.32897263 0.26086534
+v 0.00408706 -0.37152890 0.23171055
+v 0.04478851 -0.41264793 0.17396230
+v -0.02629492 -0.42894461 0.17531283
+v 0.14407694 -0.26976016 0.23057508
+v 0.10260604 -0.27134987 0.26163040
+v -0.16439936 -0.31632756 0.24609189
+v -0.13666906 -0.35777257 0.23069569
+v -0.13708238 -0.28616149 0.27570687
+v -0.16982797 -0.32138607 0.24004383
+v -0.13538259 -0.41562099 0.17422486
+v -0.10982702 -0.38543715 0.21582337
+f 6 5 4
+f 6 2 5
+f 7 3 4
+f 8 5 2
+f 8 2 6
+f 9 5 8
+f 10 6 4
+f 10 4 3
+f 12 5 9
+f 14 9 8
+f 15 6 10
+f 16 3 7
+f 18 4 5
+f 18 5 12
+f 20 13 7
+f 20 7 4
+f 21 7 13
+f 22 14 1
+f 22 9 14
+f 22 19 9
+f 23 15 8
+f 23 8 6
+f 23 6 15
+f 26 16 11
+f 26 11 17
+f 26 3 16
+f 29 16 7
+f 29 7 21
+f 29 21 11
+f 29 11 16
+f 30 1 14
+f 31 13 19
+f 31 19 22
+f 32 14 8
+f 32 8 24
+f 32 27 14
+f 33 24 8
+f 33 8 15
+f 34 25 10
+f 34 10 3
+f 35 33 15
+f 35 25 17
+f 35 27 32
+f 35 32 24
+f 35 24 33
+f 36 26 17
+f 36 3 26
+f 37 17 11
+f 37 11 27
+f 37 35 17
+f 37 27 35
+f 39 4 18
+f 39 38 28
+f 39 18 38
+f 40 13 20
+f 40 28 38
+f 41 30 11
+f 41 11 21
+f 41 21 30
+f 42 27 11
+f 42 11 30
+f 42 30 14
+f 42 14 27
+f 43 31 22
+f 43 22 1
+f 43 1 30
+f 43 30 21
+f 43 21 13
+f 43 13 31
+f 44 35 15
+f 44 15 10
+f 44 10 25
+f 44 25 35
+f 45 34 3
+f 45 3 36
+f 45 25 34
+f 45 36 17
+f 45 17 25
+f 46 38 18
+f 47 40 38
+f 47 13 40
+f 48 39 28
+f 48 20 4
+f 48 4 39
+f 48 40 20
+f 48 28 40
+f 49 46 18
+f 49 18 12
+f 49 12 9
+f 49 38 46
+f 49 47 38
+f 50 9 19
+f 50 49 9
+f 50 47 49
+f 51 19 13
+f 51 13 47
+f 51 50 19
+f 51 47 50
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_14.obj b/mango/mango_14/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b3c77bee0fc03489705c71251d1611bfd03b34a
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_14.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.15936781 -0.26515153 0.18730491
+v -0.16959376 -0.27498758 -0.17625579
+v -0.15936781 -0.14393941 -0.16117993
+v -0.31095010 -0.14114576 0.17864499
+v -0.29380744 -0.25752300 0.12270660
+v -0.29497422 -0.12417023 -0.12076666
+v -0.15936781 -0.14393941 0.18730491
+v -0.26716579 -0.25962731 0.17973043
+v -0.26919930 -0.14009828 -0.15228532
+v -0.33297804 -0.12744865 -0.00823668
+v -0.27790215 -0.25657802 -0.06206843
+v -0.28357009 -0.12534163 -0.13800670
+v -0.29177731 -0.22658599 0.16264640
+v -0.32212168 -0.18507632 0.10830798
+v -0.29191542 -0.25768227 -0.01980294
+v -0.30611469 -0.18318478 -0.06162019
+v -0.23335538 -0.23883660 -0.14610772
+v -0.27564740 -0.21254619 -0.10488802
+v -0.27841704 -0.12817497 -0.14460176
+v -0.27824350 -0.24131141 0.17591764
+v -0.27805232 -0.25750594 0.16335624
+v -0.32574972 -0.14025836 0.13766454
+v -0.30742946 -0.21282363 0.13573740
+v -0.30788675 -0.22894364 0.10838524
+v -0.32297614 -0.18451524 0.00889101
+v -0.32707803 -0.12684334 -0.03662625
+v -0.30565762 -0.19800412 -0.04976110
+v -0.24722530 -0.21166473 -0.14667686
+v -0.24696636 -0.25612332 -0.11820207
+v -0.29137484 -0.16863896 -0.10405041
+v -0.30807546 -0.15362747 0.17706272
+v -0.29165689 -0.24157708 0.14890581
+v -0.32277115 -0.15485734 0.13633346
+v -0.30626236 -0.22734934 -0.00573336
+v -0.30820819 -0.15467328 -0.07700383
+v -0.32201357 -0.16899183 -0.02186158
+v -0.26310744 -0.16799590 -0.14768696
+v -0.22051734 -0.25551436 -0.14816837
+v -0.26196072 -0.22570680 -0.11807451
+v -0.29201892 -0.13846394 -0.11888853
+v -0.30559280 -0.18291972 0.16414096
+v -0.29882459 -0.13273261 -0.10921547
+v -0.32243266 -0.15453730 -0.03393381
+v -0.32989100 -0.13486318 -0.01675564
+f 1 2 3
+f 7 1 3
+f 7 4 1
+f 8 5 2
+f 8 2 1
+f 8 1 4
+f 9 3 2
+f 10 7 6
+f 10 4 7
+f 12 7 3
+f 12 6 7
+f 15 11 2
+f 15 2 5
+f 18 11 16
+f 19 12 3
+f 19 3 9
+f 20 8 4
+f 21 5 8
+f 21 20 13
+f 21 8 20
+f 22 4 10
+f 22 10 14
+f 24 15 5
+f 24 23 14
+f 24 5 23
+f 25 14 10
+f 25 24 14
+f 26 10 6
+f 27 16 11
+f 27 11 15
+f 28 9 2
+f 28 2 17
+f 29 2 11
+f 29 28 17
+f 30 18 16
+f 31 20 4
+f 31 13 20
+f 32 21 13
+f 32 5 21
+f 32 23 5
+f 32 13 23
+f 33 22 14
+f 33 14 23
+f 33 4 22
+f 34 15 24
+f 34 24 25
+f 34 27 15
+f 35 30 16
+f 36 25 10
+f 36 34 25
+f 36 27 34
+f 37 9 28
+f 37 18 30
+f 37 19 9
+f 38 29 17
+f 38 17 2
+f 38 2 29
+f 39 29 11
+f 39 11 18
+f 39 28 29
+f 39 37 28
+f 39 18 37
+f 40 6 12
+f 40 12 19
+f 40 37 30
+f 40 19 37
+f 41 23 13
+f 41 13 31
+f 41 31 4
+f 41 33 23
+f 41 4 33
+f 42 35 26
+f 42 26 6
+f 42 30 35
+f 42 40 30
+f 42 6 40
+f 43 26 35
+f 43 35 16
+f 43 16 27
+f 43 27 36
+f 44 43 36
+f 44 36 10
+f 44 10 26
+f 44 26 43
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_15.obj b/mango/mango_14/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc55202c849e940902f86f6baaf04cb7bfc03b24
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_15.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.17858198 -0.26886443 -0.16414265
+v 0.24236327 -0.13961013 -0.20199383
+v -0.22704153 -0.15986093 -0.19335576
+v -0.18282260 -0.13972618 -0.24366673
+v 0.03171966 -0.16592761 -0.29364958
+v 0.17396552 -0.14393941 -0.16117993
+v 0.12073569 -0.25640546 -0.23436078
+v 0.04659483 -0.13853106 -0.29957337
+v 0.23723714 -0.13648660 -0.21051139
+v -0.19230081 -0.26741639 -0.16451962
+v -0.09383138 -0.13705185 -0.29789425
+v 0.13689621 -0.21170507 -0.24766387
+v 0.15835819 -0.25459404 -0.20980099
+v -0.17647313 -0.22402084 -0.20325182
+v -0.06474637 -0.16547860 -0.29318107
+v 0.20689324 -0.13708913 -0.23875014
+v -0.15030946 -0.13714890 -0.26906316
+v 0.09617022 -0.24232374 -0.24739556
+v 0.16068981 -0.23973879 -0.21951864
+v 0.23698659 -0.15173597 -0.19920643
+v 0.14671117 -0.25564869 -0.22073451
+v -0.11989411 -0.20851878 -0.24830512
+v 0.18187970 -0.13880655 -0.25456093
+v -0.17653145 -0.16576734 -0.23505604
+v 0.03417278 -0.22625518 -0.26433778
+v 0.20348760 -0.15037827 -0.23512372
+v 0.23237475 -0.14815600 -0.20763590
+v 0.15990202 -0.21140344 -0.23613822
+v -0.09228337 -0.17834695 -0.27818343
+v -0.14742937 -0.17894549 -0.24909558
+v -0.14919497 -0.25440321 -0.20352768
+v 0.14906781 -0.19648552 -0.24849788
+v 0.17952957 -0.15229131 -0.25044356
+v -0.09206212 -0.14973178 -0.29258301
+v -0.09170212 -0.25264577 -0.23280088
+v -0.14705606 -0.14982906 -0.26481418
+v -0.18160359 -0.25739187 -0.17958962
+v -0.06478868 -0.19398343 -0.27809787
+v -0.04985727 -0.22262056 -0.26345416
+f 6 4 3
+f 6 1 2
+f 9 6 2
+f 9 4 6
+f 10 6 3
+f 10 1 6
+f 10 7 1
+f 12 5 8
+f 14 10 3
+f 15 11 8
+f 15 8 5
+f 16 11 9
+f 16 8 11
+f 17 4 9
+f 17 9 11
+f 18 12 7
+f 18 5 12
+f 20 2 1
+f 20 1 13
+f 20 13 19
+f 21 13 1
+f 21 1 7
+f 21 19 13
+f 23 8 16
+f 24 4 17
+f 24 14 3
+f 24 3 4
+f 25 15 5
+f 25 5 18
+f 25 18 7
+f 26 16 9
+f 26 9 19
+f 27 20 19
+f 27 19 9
+f 27 9 2
+f 27 2 20
+f 28 21 7
+f 28 7 12
+f 28 19 21
+f 28 26 19
+f 30 14 24
+f 31 30 22
+f 31 14 30
+f 32 12 8
+f 32 8 23
+f 32 28 12
+f 33 23 16
+f 33 16 26
+f 33 26 28
+f 33 32 23
+f 33 28 32
+f 34 11 15
+f 34 15 29
+f 35 22 29
+f 35 31 22
+f 35 25 7
+f 35 7 10
+f 35 10 31
+f 36 29 22
+f 36 34 29
+f 36 17 11
+f 36 11 34
+f 36 22 30
+f 36 30 24
+f 36 24 17
+f 37 31 10
+f 37 10 14
+f 37 14 31
+f 38 35 29
+f 38 29 15
+f 39 25 35
+f 39 35 38
+f 39 38 15
+f 39 15 25
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_16.obj b/mango/mango_14/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5624d23eb6cb4161b3d089277532f016b80bb853
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_16.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.01052048 0.37346098 0.07808772
+v 0.01521059 0.37712782 -0.17226011
+v 0.00645724 0.41595394 0.06371569
+v 0.00355236 0.39884954 -0.12650180
+v -0.14242051 0.35361325 -0.15973611
+v -0.06533437 0.39790827 -0.13793334
+v -0.13246601 0.36516055 0.09897391
+v -0.01199005 0.39870388 -0.14040425
+v -0.09288993 0.38255559 -0.15063176
+v -0.05391909 0.37852918 0.09797985
+v -0.07996476 0.41411592 -0.04494815
+v 0.00471326 0.38789022 -0.15559505
+v -0.02798367 0.40956522 0.05604373
+v -0.11911314 0.39864467 -0.08152526
+v -0.06453260 0.41364856 -0.09533993
+v -0.13747134 0.38679903 0.00300634
+v -0.10652814 0.39691912 -0.10912851
+v -0.07804452 0.41430092 -0.08144673
+v -0.01056388 0.41201999 -0.09624524
+v -0.12175522 0.39795992 -0.02709121
+v -0.12593042 0.36971732 0.09151201
+v -0.15458778 0.37757385 0.00960568
+v -0.09175097 0.39705570 -0.12371672
+v -0.13267122 0.38424106 -0.10891287
+v -0.04108884 0.41508459 -0.03415270
+v -0.12170710 0.37088394 -0.15107928
+v -0.13396990 0.37084956 -0.13956183
+v -0.13652709 0.36073309 -0.15499777
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 7 5 1
+f 8 2 6
+f 9 6 2
+f 9 2 5
+f 10 7 1
+f 10 1 3
+f 10 3 7
+f 12 8 4
+f 12 4 2
+f 12 2 8
+f 13 7 3
+f 13 3 11
+f 15 8 6
+f 18 14 11
+f 18 17 14
+f 19 4 8
+f 19 8 15
+f 19 3 4
+f 20 16 13
+f 20 13 11
+f 20 11 14
+f 21 16 7
+f 21 7 13
+f 21 13 16
+f 22 5 7
+f 22 7 16
+f 22 20 14
+f 22 16 20
+f 23 6 9
+f 23 15 6
+f 23 18 15
+f 23 17 18
+f 24 14 17
+f 24 22 14
+f 24 5 22
+f 25 15 18
+f 25 19 15
+f 25 3 19
+f 25 18 11
+f 25 11 3
+f 26 23 9
+f 26 9 5
+f 27 5 24
+f 27 24 17
+f 27 17 23
+f 27 23 26
+f 28 27 26
+f 28 26 5
+f 28 5 27
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_17.obj b/mango/mango_14/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9d09416a25a49c632fc76797702c9b5b5144f6e
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_17.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.04369144 -0.46518476 -0.09381268
+v 0.22648990 -0.25932421 -0.09608787
+v -0.13652114 -0.42319118 -0.09189667
+v -0.14421630 -0.26515153 -0.10057387
+v -0.05050723 -0.25797843 -0.24097743
+v 0.22051351 -0.27016643 -0.09277048
+v 0.13658448 -0.25804748 -0.22591815
+v -0.13688205 -0.25740238 -0.20862241
+v -0.06323432 -0.43042557 -0.13032748
+v 0.08799740 -0.43299656 -0.09276340
+v 0.16525911 -0.25830974 -0.19930801
+v 0.22188914 -0.25600682 -0.10868559
+v -0.05095502 -0.46952076 -0.09319933
+v -0.07626025 -0.31374402 -0.20201000
+v -0.10580841 -0.39050519 -0.14367758
+v 0.03675288 -0.40528921 -0.15861377
+v 0.05875879 -0.43029396 -0.12924278
+v 0.14218246 -0.37391629 -0.10421548
+v -0.10840997 -0.25716875 -0.22373377
+v -0.08840399 -0.44640859 -0.10309164
+v -0.00481560 -0.36126189 -0.18860864
+v -0.13235673 -0.38852099 -0.12848657
+v -0.04713830 -0.37473398 -0.17379198
+v -0.04876501 -0.46230326 -0.10148474
+v 0.13315257 -0.26975447 -0.22057520
+v 0.08404170 -0.42931830 -0.10451515
+v 0.04576370 -0.45970987 -0.10082352
+v 0.14660218 -0.37470735 -0.09515549
+v 0.18659585 -0.31129771 -0.10563995
+v -0.11829338 -0.28328076 -0.20281180
+v -0.09210167 -0.45154080 -0.09299776
+v -0.06311241 -0.44519105 -0.11480961
+v -0.09037305 -0.41686458 -0.13000503
+v -0.01951368 -0.40359885 -0.15908694
+v 0.10680746 -0.26971180 -0.23330124
+v -0.13132211 -0.34446649 -0.15770145
+v -0.11682355 -0.41749377 -0.11502944
+v 0.15844244 -0.26866513 -0.19766855
+v 0.19092972 -0.31484370 -0.09296169
+v 0.10855853 -0.25933405 -0.23780598
+v 0.10296405 -0.29631321 -0.21890936
+v -0.13167894 -0.41776261 -0.10158803
+v 0.00466556 -0.36238503 -0.18781594
+v 0.05873512 -0.41509930 -0.14435087
+f 6 2 4
+f 6 4 3
+f 8 3 4
+f 10 6 3
+f 12 8 4
+f 12 4 2
+f 12 11 7
+f 13 10 3
+f 13 1 10
+f 19 12 7
+f 19 7 5
+f 19 8 12
+f 19 5 14
+f 19 14 15
+f 22 3 8
+f 23 15 14
+f 23 9 15
+f 23 14 5
+f 23 5 21
+f 24 13 9
+f 25 7 11
+f 26 10 1
+f 26 18 10
+f 26 17 18
+f 27 16 17
+f 27 24 16
+f 27 1 13
+f 27 13 24
+f 27 26 1
+f 27 17 26
+f 28 10 18
+f 29 18 11
+f 29 11 12
+f 29 12 2
+f 29 28 18
+f 30 19 15
+f 30 15 8
+f 30 8 19
+f 31 20 13
+f 31 13 3
+f 31 3 20
+f 32 20 9
+f 32 9 13
+f 32 13 20
+f 33 15 9
+f 33 9 20
+f 34 21 16
+f 34 23 21
+f 34 9 23
+f 34 24 9
+f 34 16 24
+f 35 21 5
+f 35 7 25
+f 36 22 8
+f 36 8 15
+f 36 15 22
+f 37 20 3
+f 37 33 20
+f 37 22 15
+f 37 15 33
+f 38 18 17
+f 38 17 25
+f 38 25 11
+f 38 11 18
+f 39 6 10
+f 39 10 28
+f 39 28 29
+f 39 29 2
+f 39 2 6
+f 40 35 5
+f 40 5 7
+f 40 7 35
+f 41 35 25
+f 42 37 3
+f 42 3 22
+f 42 22 37
+f 43 41 16
+f 43 16 21
+f 43 21 35
+f 43 35 41
+f 44 17 16
+f 44 16 41
+f 44 41 25
+f 44 25 17
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_18.obj b/mango/mango_14/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bea83002dca600c2a4900a310f7343aa67f618b8
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_18.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.01052048 0.37346098 0.07808772
+v 0.05698209 0.39222734 0.00337374
+v 0.05355604 0.38427056 0.06571335
+v -0.01458347 0.49683435 0.04920060
+v -0.02588538 0.40838533 0.01508481
+v 0.00464174 0.48192656 0.04649511
+v -0.01176580 0.49485826 0.05008154
+v 0.04237893 0.38276437 0.01150200
+v -0.02798367 0.40956522 0.05604373
+v -0.01693605 0.48326507 0.02432020
+v 0.05920366 0.38974481 0.03485002
+v -0.00160445 0.49302007 0.02882921
+v 0.04215204 0.37933204 0.06803698
+v 0.01940077 0.38344160 0.00116874
+v -0.02073706 0.49657900 0.04189701
+v -0.00440813 0.49422246 0.04506600
+v 0.00075206 0.48299473 0.02369548
+v -0.02084861 0.49440993 0.03339175
+v 0.00373748 0.48311090 0.02569266
+v -0.02997550 0.41232404 0.04808530
+f 7 1 3
+f 7 4 1
+f 7 3 6
+f 9 5 1
+f 9 1 4
+f 11 6 3
+f 11 8 2
+f 11 3 8
+f 12 11 2
+f 12 6 11
+f 13 8 3
+f 13 3 1
+f 13 1 8
+f 14 2 8
+f 14 5 10
+f 14 8 1
+f 14 1 5
+f 15 9 4
+f 15 4 12
+f 16 7 6
+f 16 6 12
+f 16 12 4
+f 16 4 7
+f 17 10 12
+f 17 14 10
+f 17 2 14
+f 18 15 12
+f 18 12 10
+f 18 10 5
+f 19 17 12
+f 19 12 2
+f 19 2 17
+f 20 18 5
+f 20 5 9
+f 20 9 15
+f 20 15 18
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_19.obj b/mango/mango_14/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28d3bc768295e2b9aba0ec1ade2a52323a5f56a7
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_19.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.13300133 -0.14772121 -0.27492848
+v -0.12268571 -0.13781108 -0.28508543
+v -0.12758706 0.12822488 -0.32522353
+v -0.20099472 0.12798320 -0.27762701
+v -0.20836990 -0.00825564 -0.27100901
+v -0.14745027 0.13490375 -0.31183032
+v -0.16388244 -0.04885872 -0.29473962
+v -0.19695386 -0.08017754 -0.25918439
+v -0.13336544 0.11014586 -0.32577025
+v -0.13464705 -0.10559265 -0.29236527
+v -0.15621840 -0.14156997 -0.26274735
+v -0.19151842 -0.03267552 -0.27911535
+v -0.17749246 -0.00516769 -0.29542912
+v -0.12227863 0.00988668 -0.33005842
+v -0.19372319 0.12645454 -0.28372620
+v -0.13519621 -0.13527389 -0.27992761
+v -0.14688681 -0.12108303 -0.27885481
+v -0.19123290 -0.07669200 -0.26503370
+v -0.12266942 0.11119953 -0.33164948
+v -0.12147212 -0.10803761 -0.29761986
+v -0.14830808 -0.07753268 -0.29492719
+v -0.13312437 0.01015059 -0.32434911
+v -0.17795623 0.12528577 -0.29431061
+v -0.15030946 -0.13714890 -0.26906316
+v -0.15337683 -0.01709821 -0.30832789
+v -0.14962905 0.12565511 -0.31238442
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 8 4 5
+f 9 6 3
+f 11 1 4
+f 11 4 8
+f 12 8 5
+f 13 12 5
+f 13 7 12
+f 15 4 6
+f 15 9 13
+f 15 13 5
+f 15 5 4
+f 16 10 2
+f 16 2 1
+f 17 11 8
+f 17 10 16
+f 18 12 7
+f 18 8 12
+f 18 17 8
+f 19 9 3
+f 19 3 2
+f 20 2 10
+f 20 19 2
+f 20 14 19
+f 21 10 17
+f 21 18 7
+f 21 17 18
+f 21 20 10
+f 21 14 20
+f 22 13 9
+f 22 19 14
+f 22 9 19
+f 23 15 6
+f 23 9 15
+f 24 16 1
+f 24 1 11
+f 24 17 16
+f 24 11 17
+f 25 21 7
+f 25 14 21
+f 25 22 14
+f 25 7 13
+f 25 13 22
+f 26 23 6
+f 26 6 9
+f 26 9 23
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_2.obj b/mango/mango_14/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43ee3a6de09f14707449f14a2d78c32318a69675
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_2.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.04916590 0.09553829 0.34081993
+v 0.08856230 0.16391240 0.30758992
+v -0.03635813 0.21107178 0.30520882
+v -0.17207857 0.25291007 0.22331555
+v 0.00729885 0.09848484 0.20245643
+v 0.06569954 0.23025084 0.28491248
+v -0.16933162 0.10353329 0.30976866
+v 0.06403816 0.10776007 0.33389568
+v -0.07808436 0.22273630 0.29104903
+v 0.00729885 0.23484847 0.20245643
+v 0.04719047 0.16738436 0.31962224
+v -0.09462290 0.12391856 0.33569778
+v -0.11000444 0.09462547 0.33930710
+v -0.15936781 0.09848484 0.20245643
+v -0.15154301 0.19483948 0.27954608
+v 0.08150425 0.21683704 0.28808489
+v 0.01883898 0.20964905 0.30586800
+v 0.04711606 0.12289183 0.33441191
+v -0.09320231 0.19308777 0.30451741
+v -0.10865031 0.10847776 0.33602243
+v -0.06556458 0.13667504 0.33493215
+v -0.12096252 0.22280492 0.27544976
+v 0.07763016 0.18183733 0.30483478
+v 0.06280125 0.22420863 0.28895501
+v 0.07910460 0.15585600 0.31385030
+v -0.10859915 0.15168280 0.32029846
+v 0.01998509 0.13776588 0.33478453
+v -0.14978635 0.22294049 0.26092371
+v 0.06218009 0.19531860 0.30350088
+v 0.07819397 0.21186002 0.29138736
+f 8 5 2
+f 8 1 5
+f 9 6 4
+f 9 3 6
+f 10 4 6
+f 13 5 1
+f 14 7 4
+f 14 13 7
+f 14 5 13
+f 14 10 5
+f 14 4 10
+f 15 4 7
+f 16 10 6
+f 16 2 5
+f 16 5 10
+f 17 6 3
+f 18 1 8
+f 19 3 9
+f 20 13 12
+f 20 7 13
+f 21 13 1
+f 21 12 13
+f 21 19 12
+f 21 3 19
+f 22 9 4
+f 22 19 9
+f 22 15 19
+f 23 2 16
+f 24 16 6
+f 24 6 17
+f 25 18 8
+f 25 8 2
+f 25 11 18
+f 25 23 11
+f 25 2 23
+f 26 19 15
+f 26 12 19
+f 26 20 12
+f 26 15 7
+f 26 7 20
+f 27 21 1
+f 27 1 18
+f 27 18 11
+f 27 11 17
+f 27 17 3
+f 27 3 21
+f 28 22 4
+f 28 4 15
+f 28 15 22
+f 29 11 23
+f 29 24 17
+f 29 17 11
+f 30 29 23
+f 30 23 16
+f 30 16 24
+f 30 24 29
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_20.obj b/mango/mango_14/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aacf7f22efeb17429bbac7a476687b0f8d26cb4
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_20.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.15700066 -0.27331676 0.21339856
+v 0.25257509 -0.09487896 0.19445249
+v 0.13624798 -0.08138805 0.31212093
+v 0.16190824 0.25156836 0.22742708
+v 0.21274344 0.23120633 0.19592030
+v 0.13965624 0.23052711 0.25538474
+v 0.17327977 -0.16621619 0.26083360
+v 0.17904792 -0.25954371 0.19535040
+v 0.21920774 0.07962842 0.24705192
+v 0.13547662 -0.24418843 0.25317268
+v 0.18806370 0.21082302 0.23071864
+v 0.20332963 -0.06538352 0.26250075
+v 0.25545727 0.12631419 0.19426854
+v 0.17302117 -0.24036681 0.21834793
+v 0.13663628 0.06647444 0.31111411
+v 0.13790146 -0.26103009 0.24113401
+v 0.13544019 -0.15444126 0.29572192
+v 0.20667235 0.22692300 0.20438690
+v 0.16063164 0.22444450 0.24483847
+v 0.20362513 -0.12281431 0.24702188
+v 0.24718210 -0.03387259 0.22018414
+v 0.24067510 0.17097630 0.19464796
+v 0.17313448 -0.25625033 0.20632864
+v 0.23822440 -0.13935975 0.19569177
+v 0.18962928 0.06553089 0.27616691
+v 0.13730408 0.21348059 0.26580201
+v 0.14782035 -0.25728668 0.23497863
+v 0.14512308 -0.15132123 0.29032030
+v 0.24833835 0.06541622 0.21804440
+v 0.23130440 -0.10810551 0.21963904
+v 0.20338376 0.18145126 0.23047497
+v 0.18643439 -0.16568515 0.24751209
+v 0.19000915 -0.05046111 0.27655782
+v 0.13696220 0.18388191 0.27929436
+v 0.14712661 0.21147578 0.26160080
+v 0.14551573 -0.24055887 0.24699609
+v 0.18733749 -0.12402446 0.26243109
+v 0.23270546 0.08042621 0.23275362
+v 0.24615706 -0.09280985 0.20524712
+v 0.23245549 -0.13725302 0.20515743
+v 0.21783075 -0.06321307 0.24735745
+v 0.20359588 0.21103148 0.21597099
+v 0.23270674 0.13826551 0.21657515
+v 0.20416369 0.13840314 0.24610636
+v 0.17196200 -0.19536159 0.24686565
+v 0.16057983 -0.10987469 0.29007313
+v 0.14815518 0.06500466 0.30486734
+v 0.16078017 0.19576213 0.25967522
+v 0.23407777 0.16831713 0.20333539
+v 0.24823869 0.12441807 0.20314387
+v 0.14686811 -0.08007405 0.30548061
+v 0.16178571 0.15299651 0.27510314
+v 0.17562571 0.16790230 0.26060422
+v 0.14639089 0.18251460 0.27498836
+v 0.16301980 0.09426581 0.29016612
+f 6 4 1
+f 8 1 4
+f 8 4 5
+f 13 2 8
+f 16 10 6
+f 16 6 1
+f 17 3 15
+f 18 5 4
+f 18 4 11
+f 19 11 4
+f 19 4 6
+f 21 2 13
+f 22 13 8
+f 22 8 5
+f 23 14 1
+f 23 1 8
+f 23 8 14
+f 24 14 8
+f 24 8 2
+f 26 6 10
+f 27 16 1
+f 27 1 14
+f 28 17 10
+f 28 3 17
+f 29 21 13
+f 29 9 21
+f 32 20 7
+f 33 21 9
+f 33 9 25
+f 33 12 21
+f 34 17 15
+f 34 26 10
+f 34 10 17
+f 35 19 6
+f 35 6 26
+f 35 26 34
+f 36 10 16
+f 36 16 27
+f 36 28 10
+f 36 7 28
+f 37 28 7
+f 37 7 20
+f 37 20 12
+f 38 29 13
+f 38 9 29
+f 39 2 21
+f 39 21 30
+f 39 24 2
+f 40 30 20
+f 40 39 30
+f 40 24 39
+f 40 20 32
+f 40 32 14
+f 40 14 24
+f 41 30 21
+f 41 21 12
+f 41 12 20
+f 41 20 30
+f 42 5 18
+f 42 18 11
+f 42 11 31
+f 43 13 22
+f 43 9 38
+f 44 25 9
+f 44 43 31
+f 44 9 43
+f 45 27 14
+f 45 14 32
+f 45 36 27
+f 45 32 7
+f 45 7 36
+f 46 3 28
+f 46 28 37
+f 46 37 12
+f 46 12 33
+f 47 33 25
+f 47 15 3
+f 48 11 19
+f 48 19 35
+f 49 42 31
+f 49 22 5
+f 49 5 42
+f 49 43 22
+f 49 31 43
+f 50 43 38
+f 50 38 13
+f 50 13 43
+f 51 46 33
+f 51 3 46
+f 51 47 3
+f 51 33 47
+f 53 31 11
+f 53 11 48
+f 53 44 31
+f 54 48 35
+f 54 35 34
+f 54 34 15
+f 54 15 52
+f 54 53 48
+f 54 52 53
+f 55 52 15
+f 55 15 47
+f 55 47 25
+f 55 53 52
+f 55 25 44
+f 55 44 53
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_21.obj b/mango/mango_14/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5c8c31147c4f0fdc900250e634f607b1170cda1
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_21.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.17266281 -0.27925531 -0.16034389
+v 0.32140515 -0.00620154 -0.15991953
+v 0.20663119 -0.24148732 -0.15358613
+v 0.17396552 -0.00757577 -0.16117993
+v 0.18771349 -0.01786121 -0.29066278
+v 0.30911962 -0.04710914 -0.15542763
+v 0.18045467 -0.27333614 -0.15562068
+v 0.16969730 -0.10950150 -0.26936328
+v 0.23793988 -0.00484196 -0.26802418
+v 0.16525911 -0.25830974 -0.19930801
+v 0.17226942 -0.08175917 -0.27726462
+v 0.22875201 -0.00622558 -0.27529596
+v 0.31172892 -0.00301779 -0.18420908
+v 0.16818208 -0.27497628 -0.17220103
+v 0.16473803 -0.24255138 -0.21257886
+v 0.19549378 -0.09204943 -0.26469180
+v 0.30802545 -0.01667053 -0.18265562
+v 0.24995122 -0.12032246 -0.20670985
+v 0.18209876 -0.10806545 -0.26575632
+v 0.30520874 -0.04500238 -0.16657432
+v 0.23175862 -0.16386848 -0.19615743
+v 0.27741550 -0.03025239 -0.22473620
+v 0.20497900 -0.12019448 -0.24922421
+v 0.16807082 -0.21489589 -0.22754955
+v 0.29187406 -0.04483982 -0.19434666
+v 0.25309083 -0.16739137 -0.15535984
+v 0.20162090 -0.23815231 -0.16576262
+v 0.20281985 -0.19375368 -0.20806614
+v 0.29608884 -0.00335881 -0.21100901
+v 0.24967484 -0.03152322 -0.25132019
+v 0.19387419 -0.13631482 -0.24881799
+v 0.26198336 -0.08995848 -0.21059217
+v 0.23642298 -0.19591577 -0.15459675
+v 0.17027369 -0.25306994 -0.19742743
+v 0.17171571 -0.23914459 -0.20747496
+v 0.17483507 -0.21078750 -0.22519186
+v 0.29233706 -0.01637829 -0.20974964
+v 0.23726094 -0.01688604 -0.26613656
+v 0.23236648 -0.19271799 -0.16562011
+v 0.18936871 -0.19422076 -0.22186267
+f 6 2 4
+f 6 4 3
+f 7 3 4
+f 7 4 1
+f 10 7 1
+f 10 3 7
+f 11 8 4
+f 11 4 5
+f 12 5 4
+f 12 4 9
+f 13 9 4
+f 13 4 2
+f 14 10 1
+f 14 1 4
+f 14 4 10
+f 15 10 4
+f 15 4 8
+f 16 5 12
+f 17 13 2
+f 19 11 5
+f 19 5 16
+f 19 8 11
+f 20 17 2
+f 20 2 6
+f 23 16 12
+f 23 19 16
+f 24 15 8
+f 24 8 19
+f 25 17 20
+f 25 13 17
+f 26 20 6
+f 26 25 20
+f 26 18 25
+f 26 21 18
+f 27 3 10
+f 28 18 21
+f 29 22 9
+f 29 9 13
+f 29 13 25
+f 30 9 22
+f 31 24 19
+f 31 19 23
+f 32 25 18
+f 32 22 25
+f 32 30 22
+f 32 18 23
+f 32 23 30
+f 33 26 6
+f 33 6 3
+f 34 27 10
+f 34 21 27
+f 34 28 21
+f 34 10 28
+f 35 28 10
+f 35 10 15
+f 35 15 28
+f 36 28 15
+f 36 15 24
+f 36 31 23
+f 36 24 31
+f 37 29 25
+f 37 25 22
+f 37 22 29
+f 38 12 9
+f 38 9 30
+f 38 30 23
+f 38 23 12
+f 39 21 26
+f 39 26 33
+f 39 27 21
+f 39 33 3
+f 39 3 27
+f 40 36 23
+f 40 23 18
+f 40 18 28
+f 40 28 36
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_22.obj b/mango/mango_14/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c002f32d120083d18fe097745b7990c3f0034a53
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_22.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.15340852 -0.26014792 0.28071915
+v -0.15936781 -0.26515153 0.18730491
+v -0.15936781 0.09848484 0.18730491
+v -0.30585379 0.09733255 0.18487207
+v -0.26716579 -0.25962731 0.17973043
+v -0.15300170 0.08082857 0.32559020
+v -0.15229709 -0.22890339 0.29382319
+v -0.31192644 0.08010089 0.18048022
+v -0.15675591 0.09716144 0.31936864
+v -0.23392918 -0.21265447 0.24647982
+v -0.22214612 0.03588061 0.29040257
+v -0.19285932 -0.25699065 0.25962337
+v -0.29379421 -0.09648177 0.22043515
+v -0.29340015 0.05023935 0.22005398
+v -0.19268709 0.06419418 0.30543752
+v -0.17949520 -0.07982067 0.32099763
+v -0.24774588 -0.24139939 0.21832896
+v -0.16611955 -0.25809882 0.27554013
+v -0.31300751 -0.12637528 0.17982614
+v -0.30619094 0.07903447 0.19208299
+v -0.20827965 -0.02329877 0.30583018
+v -0.30826680 -0.02194737 0.20659920
+v -0.16336114 0.07931583 0.32028661
+v -0.26397040 0.07890926 0.24858443
+v -0.15281055 -0.12538985 0.32520080
+v -0.25067420 -0.11029199 0.26230655
+v -0.22097461 -0.24116411 0.24520772
+v -0.26148233 -0.25723776 0.19153839
+v -0.27801848 -0.16843756 0.21744653
+v -0.19199755 -0.18244601 0.28957847
+v -0.17988556 0.02020670 0.32087873
+v -0.30790022 -0.00822447 0.20674415
+v -0.17962177 0.09347356 0.30665179
+v -0.22398412 0.09385408 0.27710899
+v -0.29333259 0.09455674 0.20610584
+v -0.22205956 -0.08171011 0.29167311
+v -0.24877020 -0.21239080 0.23160854
+v -0.29212176 -0.15343016 0.20415791
+v -0.27709096 -0.19739093 0.20490337
+v -0.27986612 -0.10994828 0.23331838
+v -0.23590600 -0.16957089 0.26067888
+v -0.16493407 -0.22678915 0.28859766
+v -0.16469722 -0.18280236 0.30391986
+v -0.20713387 -0.19767639 0.27388109
+v -0.16524790 -0.12398333 0.31956353
+v -0.25027848 0.07832075 0.26116050
+v -0.20813644 -0.05150477 0.30538414
+v -0.20738186 -0.13925237 0.29089992
+v -0.30631974 -0.12449286 0.19228368
+v -0.29116628 -0.18379528 0.19172243
+v -0.15299569 -0.18461104 0.30850769
+v -0.29720945 -0.18466851 0.18000817
+f 5 2 1
+f 5 3 2
+f 7 1 2
+f 7 2 3
+f 7 3 6
+f 8 4 3
+f 8 3 5
+f 9 6 3
+f 9 3 4
+f 12 5 1
+f 18 12 1
+f 18 1 7
+f 19 8 5
+f 20 4 8
+f 22 13 21
+f 22 19 13
+f 22 8 19
+f 23 6 9
+f 24 21 11
+f 24 14 21
+f 25 7 6
+f 25 6 16
+f 27 10 17
+f 28 5 12
+f 28 27 17
+f 28 12 27
+f 30 12 18
+f 31 15 11
+f 31 11 21
+f 31 23 15
+f 31 6 23
+f 31 21 16
+f 31 16 6
+f 32 20 8
+f 32 8 22
+f 32 14 20
+f 32 22 21
+f 32 21 14
+f 33 23 9
+f 33 15 23
+f 34 11 15
+f 34 15 33
+f 34 33 9
+f 34 9 4
+f 35 20 14
+f 35 14 24
+f 35 4 20
+f 35 34 4
+f 35 24 34
+f 36 21 13
+f 36 13 26
+f 37 17 10
+f 38 29 13
+f 39 28 17
+f 39 37 29
+f 39 17 37
+f 40 26 13
+f 40 13 29
+f 41 40 29
+f 41 26 40
+f 41 37 10
+f 41 29 37
+f 42 30 18
+f 42 18 7
+f 43 42 7
+f 43 30 42
+f 44 27 12
+f 44 12 30
+f 44 10 27
+f 44 41 10
+f 45 25 16
+f 45 43 25
+f 45 30 43
+f 46 34 24
+f 46 24 11
+f 46 11 34
+f 47 36 16
+f 47 16 21
+f 47 21 36
+f 48 16 36
+f 48 45 16
+f 48 30 45
+f 48 36 26
+f 48 26 41
+f 48 44 30
+f 48 41 44
+f 49 38 13
+f 49 13 19
+f 49 19 38
+f 50 39 29
+f 50 29 38
+f 50 38 19
+f 50 5 28
+f 50 28 39
+f 51 43 7
+f 51 7 25
+f 51 25 43
+f 52 50 19
+f 52 19 5
+f 52 5 50
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_23.obj b/mango/mango_14/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94e39dd27cd0966bfdadae6c741770f099ee2cc3
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_23.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.13855894 -0.45140413 0.10768943
+v -0.13569928 -0.43472395 -0.07815710
+v -0.15858754 -0.26449639 0.27655817
+v -0.23736139 -0.25815874 0.22006396
+v -0.29154752 -0.27270442 0.00891764
+v -0.16465518 -0.35857054 0.21625871
+v -0.13954732 -0.34774644 0.23726100
+v -0.20306316 -0.40394678 -0.01898478
+v -0.23338282 -0.37184310 0.10735145
+v -0.14195490 -0.26259570 -0.20265094
+v -0.19143380 -0.28529441 0.24672727
+v -0.13502605 -0.44980235 -0.04896772
+v -0.13812477 -0.43137789 0.14777125
+v -0.29654102 -0.25875694 0.10865678
+v -0.23320796 -0.34155248 0.15991783
+v -0.16120483 -0.44411018 0.09163280
+v -0.24762709 -0.35908532 0.02357733
+v -0.25304777 -0.25909722 -0.10722565
+v -0.13882473 -0.27420832 -0.19701381
+v -0.18166060 -0.25961394 0.26563942
+v -0.17634850 -0.32899476 0.23190954
+v -0.14544398 -0.44358309 -0.04585601
+v -0.16330680 -0.40005588 0.17380302
+v -0.26186950 -0.31732984 0.13545241
+v -0.15162415 -0.42731509 0.14562652
+v -0.16216430 -0.44368241 -0.00689242
+v -0.24764810 -0.35883241 0.07960220
+v -0.29656839 -0.25952606 0.00802673
+v -0.18160359 -0.25739187 -0.17958962
+v -0.26183459 -0.29998896 -0.04740387
+v -0.18907367 -0.38618132 -0.07384572
+v -0.15507693 -0.27776612 0.27222318
+v -0.13537545 -0.37811818 -0.13303361
+v -0.15331198 -0.25931245 -0.19794028
+v -0.22233121 -0.25823248 0.23527964
+v -0.15164146 -0.34532484 0.23384937
+v -0.20541087 -0.31513967 0.21642714
+v -0.14544788 -0.42843676 -0.07616164
+v -0.21745777 -0.37361658 0.14610747
+v -0.24870353 -0.28541351 0.18942054
+v -0.14994141 -0.44599701 0.10473667
+v -0.17458621 -0.42972961 -0.01907720
+v -0.21908514 -0.38619877 0.11963077
+v -0.26147638 -0.32972408 0.10749667
+v -0.29106140 -0.27146932 0.10769961
+v -0.28135352 -0.25908353 -0.05019385
+v -0.27710237 -0.30019904 -0.00387475
+v -0.23168349 -0.32820865 -0.07334047
+v -0.21871348 -0.28283843 -0.13027091
+v -0.16494458 -0.28655257 0.26271403
+v -0.13758196 -0.30334791 -0.17952100
+v -0.14631904 -0.37451126 -0.12787694
+v -0.15417141 -0.28941895 0.26658153
+v -0.21871705 -0.27142947 0.23171148
+v -0.19045655 -0.39908942 0.14565725
+v -0.23200656 -0.31478870 0.18821597
+v -0.28272309 -0.25945257 0.15152408
+v -0.19009574 -0.41423669 0.11959132
+v -0.26336274 -0.27208842 -0.07753277
+v -0.27641749 -0.27215186 -0.04850290
+v -0.24747902 -0.34471420 -0.01684857
+v -0.23136581 -0.29926640 -0.10371414
+v -0.17900362 -0.27292864 0.26146844
+v -0.19080620 -0.29812892 -0.14436622
+f 13 12 7
+f 13 1 12
+f 19 10 3
+f 22 2 12
+f 23 13 7
+f 23 7 6
+f 25 1 13
+f 25 13 23
+f 26 12 1
+f 26 1 16
+f 26 22 12
+f 26 16 8
+f 27 5 17
+f 27 17 8
+f 27 8 16
+f 28 5 14
+f 29 14 4
+f 32 19 3
+f 32 7 19
+f 33 7 12
+f 33 12 2
+f 34 20 3
+f 34 3 10
+f 34 29 20
+f 35 11 20
+f 35 29 4
+f 35 20 29
+f 36 21 6
+f 36 6 7
+f 37 6 21
+f 37 21 11
+f 38 22 8
+f 38 2 22
+f 38 8 31
+f 39 23 6
+f 39 15 24
+f 39 6 37
+f 40 24 15
+f 41 16 1
+f 41 1 25
+f 42 26 8
+f 42 8 22
+f 42 22 26
+f 43 27 16
+f 43 9 27
+f 43 39 24
+f 43 24 9
+f 44 27 9
+f 44 9 24
+f 45 14 5
+f 45 5 27
+f 45 27 44
+f 45 44 24
+f 45 24 14
+f 46 28 14
+f 46 14 29
+f 46 29 18
+f 46 5 28
+f 47 17 5
+f 47 5 46
+f 49 18 29
+f 50 32 3
+f 51 19 7
+f 51 7 33
+f 51 10 19
+f 51 34 10
+f 51 33 34
+f 52 34 33
+f 52 29 34
+f 52 38 31
+f 52 33 2
+f 52 2 38
+f 53 36 7
+f 53 7 32
+f 53 32 50
+f 53 50 21
+f 53 21 36
+f 54 35 4
+f 54 37 11
+f 54 11 35
+f 55 25 23
+f 55 23 39
+f 56 39 37
+f 56 15 39
+f 56 40 15
+f 56 37 54
+f 56 54 4
+f 56 4 40
+f 57 40 4
+f 57 4 14
+f 57 14 24
+f 57 24 40
+f 58 41 25
+f 58 16 41
+f 58 25 55
+f 58 43 16
+f 58 55 39
+f 58 39 43
+f 59 46 18
+f 59 48 30
+f 60 47 46
+f 60 30 47
+f 60 59 30
+f 60 46 59
+f 61 47 30
+f 61 8 17
+f 61 17 47
+f 61 30 48
+f 61 48 31
+f 61 31 8
+f 62 18 49
+f 62 59 18
+f 62 48 59
+f 62 31 48
+f 62 52 31
+f 62 49 52
+f 63 20 11
+f 63 11 21
+f 63 21 50
+f 63 50 3
+f 63 3 20
+f 64 52 49
+f 64 49 29
+f 64 29 52
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_24.obj b/mango/mango_14/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..221b939bcd31923d6cd64b1651f4259debaabf38
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_24.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.00662290 -0.48900681 0.01972419
+v 0.23186300 -0.28273027 0.02398117
+v 0.08682684 -0.40108355 0.15878464
+v 0.00729885 -0.26515153 0.17215340
+v 0.00729885 -0.26515153 0.02063825
+v 0.19752455 -0.26139775 0.16792736
+v 0.00457066 -0.43202603 0.16221138
+v 0.12691673 -0.41707296 0.04731563
+v 0.18963370 -0.34504172 0.01886507
+v 0.03013735 -0.45869244 0.10419650
+v 0.00436773 -0.47791086 0.06200066
+v 0.05891457 -0.41586953 0.16090104
+v 0.15801625 -0.35644851 0.11899765
+v 0.07464270 -0.46090775 0.01829597
+v 0.09771850 -0.42974352 0.08896273
+v 0.00496806 -0.46251670 0.10550618
+v 0.01772942 -0.47530271 0.06021488
+v 0.15737138 -0.32783035 0.16239702
+v 0.01938003 -0.43015190 0.16096452
+v 0.17065333 -0.35689102 0.07640090
+v 0.18760917 -0.32875223 0.09140542
+v 0.13015739 -0.41676859 0.01939073
+v 0.06976216 -0.42873832 0.13204067
+v 0.09852622 -0.40004157 0.14576889
+v 0.14320092 -0.38772329 0.08972492
+v 0.07377492 -0.45921988 0.03320590
+v 0.18496494 -0.29964372 0.14845483
+v 0.18723034 -0.34353354 0.04733661
+v 0.06038385 -0.45855174 0.07383781
+v 0.03255774 -0.44325791 0.13123741
+v 0.15582905 -0.34176627 0.14633871
+v 0.04401668 -0.47368490 0.03313293
+v 0.18751744 -0.28429343 0.16198150
+v 0.04595284 -0.47474093 0.01931764
+f 6 5 4
+f 6 2 5
+f 7 4 5
+f 7 6 4
+f 9 5 2
+f 11 7 5
+f 11 5 1
+f 12 6 7
+f 14 1 5
+f 14 5 9
+f 16 11 10
+f 16 7 11
+f 17 11 1
+f 17 10 11
+f 18 12 3
+f 18 6 12
+f 19 12 7
+f 19 16 10
+f 19 7 16
+f 22 14 9
+f 22 9 8
+f 22 8 14
+f 23 3 12
+f 24 23 15
+f 24 3 23
+f 24 18 3
+f 25 15 8
+f 25 24 15
+f 25 13 24
+f 25 21 13
+f 25 20 21
+f 26 14 8
+f 26 8 15
+f 27 13 21
+f 27 21 2
+f 27 2 6
+f 28 8 9
+f 28 21 20
+f 28 9 2
+f 28 2 21
+f 28 25 8
+f 28 20 25
+f 29 23 10
+f 29 15 23
+f 29 26 15
+f 29 10 17
+f 29 17 1
+f 30 19 10
+f 30 10 23
+f 30 23 12
+f 30 12 19
+f 31 24 13
+f 31 18 24
+f 31 27 18
+f 31 13 27
+f 32 29 1
+f 32 26 29
+f 33 27 6
+f 33 6 18
+f 33 18 27
+f 34 32 1
+f 34 1 14
+f 34 14 26
+f 34 26 32
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_25.obj b/mango/mango_14/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2ed1caea63df4912cdb6ef75ba9c22f63f8290e
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_25.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.15675591 0.09716144 0.31936864
+v -0.15936781 0.09848484 0.00548673
+v -0.15147128 0.16677730 0.29505567
+v -0.15479802 0.22786084 0.25472749
+v -0.33900822 0.09803901 0.00556651
+v -0.15936781 0.23484847 0.00548673
+v -0.15393512 0.12422067 0.31262571
+v -0.22398412 0.09385408 0.27710899
+v -0.15303242 0.21182324 0.26678143
+v -0.29614878 0.22665950 0.00529838
+v -0.32593497 0.09423472 0.13697219
+v -0.16808797 0.09522620 0.31308079
+v -0.20799485 0.13628330 0.27418285
+v -0.27752096 0.22453581 0.12104313
+v -0.32151928 0.15247652 0.07802645
+v -0.16457932 0.12284467 0.30688544
+v -0.20669430 0.19401674 0.24563879
+v -0.32579427 0.15505663 0.00673513
+v -0.30677119 0.19664891 0.06379350
+v -0.30639086 0.16617259 0.12200276
+v -0.16346608 0.16379305 0.28967437
+v -0.19273351 0.12182708 0.28995235
+v -0.16557206 0.20857716 0.26206816
+v -0.25078167 0.22382842 0.17793810
+v -0.29229580 0.22435882 0.06290600
+v -0.30973995 0.19798186 0.00623265
+v -0.32233605 0.12219886 0.12147195
+v -0.29083599 0.20908535 0.10555937
+v -0.23662057 0.12125446 0.26031507
+v -0.17851692 0.22231927 0.24462010
+v -0.29078731 0.18004554 0.15028686
+v -0.22205965 0.10823697 0.27434215
+v -0.25023697 0.17939973 0.21692684
+v -0.28262669 0.09486306 0.22179440
+v -0.26291423 0.22150563 0.16146784
+v -0.29181550 0.15037838 0.17759686
+v -0.27636515 0.20921620 0.14811766
+v -0.23474752 0.17914646 0.23198210
+v -0.30922804 0.09463414 0.17917488
+v -0.26361976 0.12215081 0.23421870
+v -0.26295670 0.19323699 0.18980830
+v -0.32227507 0.10831235 0.13599274
+v -0.27691365 0.16588324 0.19181229
+v -0.28027613 0.10917738 0.21987561
+v -0.26389548 0.15055516 0.22001418
+v -0.30535008 0.10811761 0.17869275
+f 6 3 2
+f 7 1 2
+f 7 2 3
+f 9 6 4
+f 9 3 6
+f 10 6 2
+f 10 2 5
+f 11 5 2
+f 11 2 8
+f 12 8 2
+f 12 2 1
+f 14 4 6
+f 14 6 10
+f 15 5 11
+f 16 12 1
+f 16 1 7
+f 18 5 15
+f 19 18 15
+f 20 19 15
+f 21 16 7
+f 21 7 3
+f 21 17 13
+f 22 8 12
+f 22 12 16
+f 22 21 13
+f 22 16 21
+f 23 3 9
+f 23 9 4
+f 23 21 3
+f 23 17 21
+f 24 4 14
+f 25 14 10
+f 25 10 19
+f 26 19 10
+f 26 18 19
+f 26 10 5
+f 26 5 18
+f 27 20 15
+f 27 15 11
+f 28 19 20
+f 28 25 19
+f 28 14 25
+f 29 22 13
+f 29 13 17
+f 30 23 4
+f 30 17 23
+f 30 24 17
+f 30 4 24
+f 31 28 20
+f 32 29 8
+f 32 8 22
+f 32 22 29
+f 34 8 29
+f 35 24 14
+f 36 31 20
+f 37 14 28
+f 37 28 31
+f 37 35 14
+f 38 29 17
+f 38 17 24
+f 38 24 33
+f 39 11 8
+f 39 8 34
+f 40 34 29
+f 41 33 24
+f 41 24 35
+f 42 27 11
+f 42 11 39
+f 42 36 20
+f 42 20 27
+f 43 37 31
+f 43 35 37
+f 43 41 35
+f 43 31 36
+f 43 33 41
+f 44 39 34
+f 44 43 36
+f 44 34 40
+f 45 38 33
+f 45 33 43
+f 45 44 40
+f 45 43 44
+f 45 40 29
+f 45 29 38
+f 46 42 39
+f 46 36 42
+f 46 44 36
+f 46 39 44
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_26.obj b/mango/mango_14/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e40b8570414d96cf1f90246050f368e780f3c48e
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.23195100 -0.00835544 0.23955989
+v 0.18911703 -0.00757577 0.00548673
+v 0.18911703 0.23484847 0.00548673
+v -0.17207857 0.25291007 0.22331555
+v -0.15936781 -0.00757577 0.20245643
+v 0.19475884 0.23847004 0.20866238
+v -0.15936781 -0.00757577 0.00548673
+v -0.15936781 0.23484847 0.00548673
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 7 5 4
+f 8 7 4
+f 8 4 3
+f 8 3 7
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_27.obj b/mango/mango_14/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a8486a1981062deb29f6552c879be3f57a0f1be
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.17904792 -0.25954371 0.19535040
+v 0.18637384 -0.26294525 -0.15941943
+v 0.23195100 -0.00835544 0.23955989
+v -0.15936781 -0.00757577 0.20245643
+v -0.19244540 -0.29025304 0.24281399
+v 0.18911703 -0.00757577 -0.16117993
+v -0.16959376 -0.27498758 -0.17625579
+v -0.15936781 -0.00757577 -0.16117993
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 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/mango/mango_14/collision/model_normalized_collision_28.obj b/mango/mango_14/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51493a3fe53c16fad74e51bb967e7f7071963caf
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.15936781 -0.14393941 0.18730491
+v -0.15936781 -0.14393941 -0.16117993
+v -0.15936781 -0.00757577 0.18730491
+v -0.29605144 -0.00510212 0.22418536
+v -0.28566052 -0.15461559 0.21267167
+v -0.28109034 -0.01222475 -0.18254414
+v -0.15936781 -0.00757577 -0.16117993
+v -0.25646280 -0.14603026 -0.16601597
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 5 4
+f 7 3 2
+f 7 2 6
+f 7 6 4
+f 7 4 3
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_29.obj b/mango/mango_14/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..427a7ab201dae25c604d4cd20ed8effab80930f9
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_29.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00626880 -0.00738924 0.36234913
+v 0.00729885 -0.00757577 0.20245643
+v 0.00729885 0.09848484 0.20245643
+v -0.06725908 0.09658554 0.34755276
+v -0.07026294 -0.00721219 0.36192655
+v -0.06845872 0.09848484 0.20245643
+v 0.00666055 0.09700539 0.34872675
+v -0.06773408 -0.00786723 0.36243842
+v -0.06845872 -0.00757577 0.20245643
+v 0.00485152 0.08016179 0.35289396
+v -0.06592932 0.07972689 0.35196611
+f 6 3 2
+f 6 5 4
+f 7 6 4
+f 7 3 6
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 9 6 2
+f 9 5 6
+f 9 8 5
+f 9 2 8
+f 10 8 1
+f 10 1 7
+f 11 4 5
+f 11 5 8
+f 11 8 10
+f 11 10 7
+f 11 7 4
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_3.obj b/mango/mango_14/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0aed903e31ce5fdca98c6cb8351706bd179aa614
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_3.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.28566052 -0.15461559 0.21267167
+v -0.25646280 -0.14603026 -0.16601597
+v -0.25027691 0.09848484 0.00548673
+v -0.28673482 0.11055076 0.21003354
+v -0.33944906 -0.00659867 -0.03703319
+v -0.33054389 -0.14204670 -0.00745569
+v -0.33850914 -0.03754339 0.13650129
+v -0.28109034 -0.01222475 -0.18254414
+v -0.33963636 0.09506586 0.00609854
+v -0.32287523 -0.03701651 0.17855323
+v -0.32195918 -0.14012008 0.15176468
+v -0.33983988 -0.11190962 0.02173350
+v -0.30746111 -0.06440893 -0.12147458
+v -0.30823457 -0.00631002 -0.13935313
+v -0.32171863 0.09313711 0.15050078
+v -0.32211851 0.02087957 0.17921705
+v -0.32193918 -0.11062200 0.16504155
+v -0.33802364 -0.06643146 -0.02154741
+v -0.33886623 -0.11116758 0.09361381
+v -0.29309291 -0.06358858 -0.14910020
+v -0.30846531 -0.12433069 -0.09265448
+v -0.29959193 -0.00619537 -0.15444906
+v -0.32477662 -0.00664477 -0.09617646
+v -0.33815397 0.09453140 0.07992739
+v -0.30922804 0.09463414 0.17917488
+v -0.33783909 0.05053541 0.12267710
+v -0.33828279 0.00639329 0.13711150
+v -0.33769401 -0.08158818 0.12271322
+v -0.31095010 -0.14114576 0.17864499
+v -0.27697503 -0.12347274 -0.14880807
+v -0.30811770 -0.01962425 -0.13593768
+v -0.26919930 -0.14009828 -0.15228532
+v -0.32377285 -0.12586449 -0.04938959
+v -0.29156518 -0.10834662 -0.13318602
+v -0.33860090 -0.02170111 -0.03688581
+v -0.32223097 0.06464572 0.16524512
+v -0.32264661 -0.03571640 -0.09382733
+v -0.32181552 -0.08018293 -0.07854953
+v -0.32162420 -0.11035225 -0.06383410
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 8 3 2
+f 9 4 3
+f 9 3 8
+f 11 6 1
+f 12 9 5
+f 12 7 9
+f 16 10 1
+f 16 1 4
+f 17 10 7
+f 18 12 5
+f 18 6 12
+f 19 7 12
+f 19 12 6
+f 19 6 11
+f 22 14 9
+f 22 9 8
+f 22 8 20
+f 23 5 9
+f 23 9 14
+f 24 15 4
+f 24 4 9
+f 25 16 4
+f 25 4 15
+f 26 15 24
+f 27 7 10
+f 27 10 16
+f 27 9 7
+f 27 26 24
+f 27 24 9
+f 28 17 7
+f 28 11 17
+f 28 19 11
+f 28 7 19
+f 29 17 11
+f 29 11 1
+f 29 1 10
+f 29 10 17
+f 30 20 8
+f 30 8 2
+f 31 20 13
+f 31 22 20
+f 31 14 22
+f 32 2 6
+f 32 6 21
+f 32 30 2
+f 33 21 6
+f 33 6 18
+f 34 21 13
+f 34 13 20
+f 34 20 30
+f 34 32 21
+f 34 30 32
+f 35 18 5
+f 35 5 23
+f 36 25 15
+f 36 16 25
+f 36 15 26
+f 36 27 16
+f 36 26 27
+f 37 23 14
+f 37 14 31
+f 37 31 13
+f 37 35 23
+f 37 18 35
+f 38 37 13
+f 38 13 21
+f 38 33 18
+f 38 18 37
+f 39 38 21
+f 39 21 33
+f 39 33 38
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_30.obj b/mango/mango_14/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1e8e144c7577a6b01cee0fd99cfb7dba5d77ae9
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.15936781 -0.00757577 0.18730491
+v -0.15936781 -0.00757577 0.00548673
+v -0.15936781 0.09848484 0.18730491
+v -0.28673482 0.11055076 0.21003354
+v -0.29605144 -0.00510212 0.22418536
+v -0.25027691 0.09848484 0.00548673
+v -0.25027691 -0.00757577 0.00548673
+v -0.15936781 0.09848484 0.00548673
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 5 4
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 7 5 6
+f 8 3 2
+f 8 2 6
+f 8 6 4
+f 8 4 3
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_31.obj b/mango/mango_14/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b94d62c0ee64488f7ef576bb9d10fee902747da
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01178707 -0.41560903 0.18379010
+v 0.00729885 -0.40151516 0.02063825
+v 0.00729885 -0.26515153 0.17215340
+v -0.14421630 -0.26515153 0.17215340
+v -0.17329431 -0.43894870 0.01916751
+v -0.14421630 -0.26515153 0.02063825
+v 0.00729885 -0.26515153 0.02063825
+v -0.14728254 -0.40713732 0.17669358
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 5
+f 7 5 6
+f 8 5 1
+f 8 1 4
+f 8 4 5
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_4.obj b/mango/mango_14/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbc83c20221c5c2a6379374c54ee562666f6cc53
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_4.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.13603853 -0.40995351 0.03413909
+v 0.21361957 -0.27062806 -0.10517932
+v 0.23186300 -0.28273027 0.02398117
+v -0.14421630 -0.26515153 0.02063825
+v -0.14614970 -0.40368846 -0.10275938
+v 0.14335566 -0.40124742 0.03572388
+v 0.13275615 -0.39021211 -0.09394890
+v -0.17329431 -0.43894870 0.01916751
+v -0.14421630 -0.26515153 -0.10057387
+v 0.18453994 -0.29503813 -0.12792454
+v 0.15583052 -0.38804401 -0.03733177
+v 0.13511890 -0.40711773 -0.05269429
+v 0.17071879 -0.34497237 -0.09137396
+v 0.15649895 -0.38798798 0.01887436
+v 0.18730160 -0.34287483 -0.05223879
+v 0.14196301 -0.40178041 -0.04807332
+v 0.19092972 -0.31484370 -0.09296169
+v 0.14281027 -0.40270170 0.03235361
+v 0.18963370 -0.34504172 0.01886507
+v 0.15775513 -0.37089069 -0.07822981
+v 0.18904995 -0.32845718 -0.07673743
+v 0.15012479 -0.39393289 0.03392411
+f 3 2 4
+f 6 3 4
+f 8 6 4
+f 8 1 6
+f 9 4 2
+f 9 8 4
+f 9 5 8
+f 10 7 5
+f 10 9 2
+f 10 5 9
+f 12 1 8
+f 12 8 5
+f 12 5 7
+f 13 7 10
+f 14 1 11
+f 15 2 3
+f 16 11 1
+f 16 1 12
+f 16 15 11
+f 17 13 10
+f 17 10 2
+f 18 6 1
+f 18 1 14
+f 19 14 11
+f 19 15 3
+f 19 11 15
+f 20 15 16
+f 20 7 13
+f 20 16 12
+f 20 12 7
+f 21 13 17
+f 21 20 13
+f 21 15 20
+f 21 17 2
+f 21 2 15
+f 22 18 14
+f 22 6 18
+f 22 14 19
+f 22 19 3
+f 22 3 6
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_5.obj b/mango/mango_14/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e88d8a7aad112d52d04c143fb9f88d69df9cb091
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_5.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.26761865 -0.08399308 0.17364279
+v 0.33644214 -0.00699845 0.00479528
+v 0.30738592 0.11087917 0.11753803
+v 0.19475884 0.23847004 0.20866238
+v 0.18911703 -0.00757577 0.00548673
+v 0.31137387 0.22885318 0.00391706
+v 0.23195100 -0.00835544 0.23955989
+v 0.30646437 -0.00526418 0.11893191
+v 0.27156680 -0.08129951 0.16756190
+v 0.33929735 0.11218250 0.01906116
+v 0.27667691 0.22659498 0.11710929
+v 0.18911703 0.23484847 0.00548673
+v 0.34043183 0.02398811 0.00325573
+v 0.26296188 0.11018653 0.19015707
+v 0.26152794 -0.08248139 0.18545069
+v 0.32502974 -0.00542388 0.06152838
+v 0.33843662 0.06803593 0.03108699
+v 0.29052026 0.22717043 0.08874890
+v 0.34085426 0.11273953 0.00363323
+v 0.24757620 0.16835364 0.18770318
+v 0.29087731 0.15452003 0.13225883
+v 0.27721378 -0.02134794 0.17671940
+v 0.26263840 -0.06597391 0.19080007
+v 0.33828964 0.02416405 0.01809593
+v 0.33786819 0.09640296 0.03138586
+v 0.32274756 0.00940572 0.07632097
+v 0.32262683 0.15543159 0.06071650
+v 0.24947142 0.22728432 0.15814096
+v 0.29208592 0.11085654 0.14776589
+v 0.27613572 0.18332589 0.14357725
+v 0.29065932 0.21309554 0.10055920
+v 0.27703750 0.09533678 0.17435563
+v 0.25780275 -0.06742029 0.19756212
+v 0.30532892 0.22677993 0.04517580
+v 0.32109349 0.14037576 0.07332816
+v 0.22117867 0.22754256 0.18934533
+v 0.30616224 0.15445424 0.10366389
+v 0.30541965 0.18337315 0.08842900
+f 7 4 5
+f 9 5 2
+f 9 1 5
+f 12 5 4
+f 12 4 6
+f 13 2 5
+f 13 12 6
+f 13 5 12
+f 15 7 5
+f 15 5 1
+f 16 9 2
+f 16 8 9
+f 18 6 4
+f 18 4 11
+f 19 13 6
+f 19 6 10
+f 19 17 13
+f 19 10 17
+f 20 4 7
+f 20 7 14
+f 22 8 3
+f 22 9 8
+f 23 15 1
+f 23 1 9
+f 23 9 22
+f 24 16 2
+f 24 2 13
+f 24 13 17
+f 25 17 10
+f 25 3 17
+f 26 17 3
+f 26 3 8
+f 26 8 16
+f 26 24 17
+f 26 16 24
+f 27 10 6
+f 28 11 4
+f 29 22 3
+f 30 20 14
+f 30 29 21
+f 30 14 29
+f 30 28 20
+f 30 11 28
+f 31 18 11
+f 31 30 21
+f 31 11 30
+f 32 14 7
+f 32 7 22
+f 32 29 14
+f 32 22 29
+f 33 23 22
+f 33 22 7
+f 33 7 15
+f 33 15 23
+f 34 27 6
+f 34 6 18
+f 35 25 10
+f 35 10 27
+f 35 3 25
+f 36 28 4
+f 36 4 20
+f 36 20 28
+f 37 29 3
+f 37 21 29
+f 37 3 35
+f 37 31 21
+f 37 35 27
+f 38 18 31
+f 38 34 18
+f 38 27 34
+f 38 37 27
+f 38 31 37
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_6.obj b/mango/mango_14/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b4a82c9539485265d56dcda7de1f2e18c0ee5ae
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_6.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.00571838 -0.29138915 0.28630921
+v 0.13904674 -0.17156565 0.28662851
+v 0.00485152 0.08016179 0.35289396
+v -0.13983401 0.19799354 0.28363568
+v 0.12304616 -0.20044746 0.28510797
+v 0.12424909 0.18588533 0.28463333
+v -0.15191322 -0.08017040 0.33425175
+v -0.15540838 -0.24667089 0.28513732
+v 0.03353485 -0.09559161 0.35033804
+v 0.04848498 0.15382873 0.32408962
+v -0.12372844 0.09325849 0.33597126
+v -0.15397543 0.18430107 0.28387996
+v 0.10292730 -0.13936827 0.31932290
+v -0.10897184 -0.06563069 0.35108013
+v 0.11027083 0.20108850 0.28500281
+v 0.09131252 0.04968878 0.33552645
+v -0.12351259 0.13707225 0.32186336
+v -0.15146922 0.02040382 0.33576056
+v 0.10350044 -0.18291057 0.30458535
+v 0.00532100 -0.11016385 0.35163279
+v -0.10819098 -0.19854435 0.31989808
+v -0.09507842 0.05079831 0.35161510
+v 0.09066868 0.12330629 0.31954355
+v -0.13509596 0.19390810 0.28849812
+v 0.04810730 0.03570180 0.35124043
+v 0.08995723 -0.09540523 0.33444753
+v 0.13442962 0.10850379 0.30386155
+v -0.14998731 0.10788053 0.31955100
+v -0.07992819 0.06456341 0.35216203
+v 0.11709268 -0.19598301 0.29126355
+v 0.13266749 -0.16786615 0.29246905
+v 0.04773237 -0.19785095 0.31915957
+v -0.13685695 -0.11072717 0.33515969
+v -0.08105938 -0.10937514 0.34999126
+v -0.08239503 -0.29245613 0.28692034
+v -0.10856499 0.02078475 0.35106260
+v 0.06242721 0.15275052 0.32038806
+v 0.11896568 0.18153576 0.28895964
+v 0.06236112 0.10907977 0.33406061
+v -0.14848703 0.17910761 0.28996837
+v 0.04902132 -0.06599497 0.35084725
+v 0.06249077 -0.13857882 0.33412208
+v 0.14067715 0.15708635 0.28702917
+v 0.11987205 0.06520328 0.32003767
+v -0.13486569 0.07965432 0.33453944
+v -0.09404882 -0.09608300 0.35112707
+v 0.06467753 -0.26178665 0.28639125
+v 0.11845246 -0.09539228 0.32057986
+v 0.01838546 -0.21279963 0.31995550
+v -0.15062874 -0.15376598 0.31871600
+v -0.13696451 -0.25785822 0.28896027
+v 0.10599025 0.19629746 0.28856427
+v 0.01967827 0.07974093 0.35074035
+v 0.03281645 0.06501913 0.35117553
+v -0.13525779 0.16382346 0.30453736
+v -0.14994658 0.15083173 0.30356309
+v 0.02017764 -0.16814907 0.33490097
+v 0.13527757 0.15346073 0.29072015
+v -0.07973773 -0.16861436 0.33513324
+v 0.06146769 -0.22608251 0.30382233
+v 0.13185111 -0.12448317 0.30606439
+v -0.06706624 -0.25725610 0.30541834
+v -0.14065717 -0.26215898 0.28596919
+v -0.15018285 -0.24227723 0.28942953
+f 6 5 4
+f 6 2 5
+f 8 5 1
+f 8 4 5
+f 12 8 7
+f 12 4 8
+f 15 6 4
+f 17 3 10
+f 18 12 7
+f 18 7 14
+f 24 15 4
+f 24 10 15
+f 24 17 10
+f 28 11 17
+f 28 12 18
+f 29 17 11
+f 29 3 17
+f 29 11 22
+f 29 22 14
+f 30 5 2
+f 31 13 19
+f 31 30 2
+f 31 19 30
+f 33 14 7
+f 35 8 1
+f 36 18 14
+f 36 14 22
+f 38 6 15
+f 38 37 23
+f 39 16 23
+f 39 37 10
+f 39 23 37
+f 40 24 4
+f 40 4 12
+f 41 20 9
+f 41 9 26
+f 41 26 16
+f 41 16 25
+f 41 25 3
+f 41 3 20
+f 42 26 9
+f 42 13 26
+f 42 32 19
+f 42 19 13
+f 43 27 2
+f 43 2 6
+f 43 6 38
+f 44 27 23
+f 44 23 16
+f 45 28 18
+f 45 11 28
+f 45 18 36
+f 45 36 22
+f 45 22 11
+f 46 20 3
+f 46 3 29
+f 46 29 14
+f 46 34 20
+f 46 14 33
+f 46 33 21
+f 47 30 19
+f 47 1 5
+f 47 5 30
+f 48 26 13
+f 48 44 16
+f 48 16 26
+f 50 33 7
+f 50 7 8
+f 50 21 33
+f 52 15 10
+f 52 10 37
+f 52 38 15
+f 52 37 38
+f 53 39 10
+f 53 10 3
+f 54 25 16
+f 54 16 39
+f 54 39 53
+f 54 53 3
+f 54 3 25
+f 55 17 24
+f 55 24 40
+f 56 40 12
+f 56 12 28
+f 56 55 40
+f 56 28 17
+f 56 17 55
+f 57 42 9
+f 57 9 20
+f 57 49 32
+f 57 32 42
+f 58 43 38
+f 58 38 23
+f 58 23 27
+f 58 27 43
+f 59 46 21
+f 59 34 46
+f 59 57 20
+f 59 20 34
+f 60 47 19
+f 60 19 32
+f 60 32 49
+f 60 49 1
+f 60 1 47
+f 61 48 13
+f 61 13 31
+f 61 31 2
+f 61 2 27
+f 61 27 44
+f 61 44 48
+f 62 35 1
+f 62 1 49
+f 62 49 57
+f 62 57 59
+f 62 59 21
+f 62 51 35
+f 62 21 51
+f 63 8 35
+f 63 35 51
+f 64 50 8
+f 64 63 51
+f 64 8 63
+f 64 51 21
+f 64 21 50
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_7.obj b/mango/mango_14/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..378f63288a394c44909944b6cc9b64e14ca40c61
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_7.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.17396552 -0.14393941 -0.16117993
+v 0.24329557 -0.00959981 -0.26272664
+v 0.17396552 -0.00757577 -0.16117993
+v -0.12906478 -0.00757577 -0.16117993
+v -0.04942371 -0.13554401 -0.31030270
+v 0.04844949 -0.00391533 -0.34513306
+v 0.17126854 -0.14094460 -0.25859465
+v -0.12906478 -0.14393941 -0.16117993
+v 0.18323008 -0.00317150 -0.29617762
+v -0.12119279 -0.00489507 -0.32798797
+v 0.23058543 -0.08101084 -0.24673037
+v 0.01719904 -0.13659186 -0.31076884
+v 0.22875201 -0.00622558 -0.27529596
+v 0.04585273 -0.03205080 -0.33807959
+v -0.05062861 -0.06146868 -0.33859227
+v -0.09110424 -0.00450292 -0.34179790
+v -0.12268571 -0.13781108 -0.28508543
+v 0.22243393 -0.04734118 -0.26655984
+v 0.18202829 -0.01742390 -0.29280564
+v 0.04365356 -0.12193460 -0.30779436
+v 0.01586924 -0.06153443 -0.33766498
+v -0.03567259 -0.10615221 -0.32450778
+v -0.07766406 -0.12191632 -0.30932378
+v -0.12024672 -0.07738381 -0.30908458
+v 0.20992486 -0.07636955 -0.26323856
+v 0.21283036 -0.00551064 -0.28343522
+v 0.15161316 -0.13891363 -0.26620694
+v 0.00584724 -0.10681497 -0.32465555
+v -0.10727777 -0.13529145 -0.29423425
+v -0.12073776 -0.01828533 -0.32559250
+v -0.09075579 -0.01756999 -0.33921959
+v 0.22411239 -0.07723938 -0.25318007
+v 0.21069738 -0.03165713 -0.27694392
+v -0.11943554 -0.12168736 -0.29357622
+f 1 2 3
+f 1 3 4
+f 8 1 4
+f 8 7 1
+f 9 4 3
+f 10 4 9
+f 10 8 4
+f 11 2 1
+f 11 1 7
+f 13 9 3
+f 13 3 2
+f 16 10 9
+f 16 9 6
+f 16 6 15
+f 17 8 10
+f 17 5 12
+f 17 12 7
+f 17 7 8
+f 18 13 2
+f 18 2 11
+f 19 7 14
+f 19 14 6
+f 19 6 9
+f 21 15 6
+f 21 6 14
+f 21 20 12
+f 21 14 20
+f 22 12 5
+f 22 5 15
+f 23 15 5
+f 26 19 9
+f 26 9 13
+f 27 20 14
+f 27 14 7
+f 27 7 12
+f 27 12 20
+f 28 21 12
+f 28 12 22
+f 28 22 15
+f 28 15 21
+f 29 23 5
+f 29 5 17
+f 29 24 23
+f 30 24 17
+f 30 17 10
+f 30 10 16
+f 31 16 15
+f 31 15 23
+f 31 23 24
+f 31 30 16
+f 31 24 30
+f 32 25 18
+f 32 18 11
+f 32 11 7
+f 32 7 25
+f 33 25 7
+f 33 7 19
+f 33 19 26
+f 33 18 25
+f 33 26 13
+f 33 13 18
+f 34 29 17
+f 34 17 24
+f 34 24 29
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_8.obj b/mango/mango_14/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc0cbaf57d73b4ee5900ec7e0849323501e0d786
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_8.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.32270536 -0.05215687 -0.10005241
+v 0.33652752 0.02743311 -0.14010965
+v 0.33171760 0.11260043 0.04874994
+v 0.32017318 0.20295461 0.02000168
+v 0.27232521 0.15599604 -0.22919317
+v 0.33761573 0.15464892 -0.09869834
+v 0.34052200 0.00954645 -0.06972184
+v 0.27667445 -0.00657402 -0.23349830
+v 0.33996109 0.12783739 0.00352234
+v 0.31950958 0.20205053 -0.09976862
+v 0.32272197 0.12406003 -0.17966521
+v 0.33789469 0.01172204 -0.11296173
+v 0.33459230 -0.02060652 -0.07416655
+v 0.33867951 0.13889378 -0.12563156
+v 0.30596175 -0.00110628 -0.19631009
+v 0.33067458 0.11423991 0.05221802
+v 0.31813185 0.18720981 0.04888623
+v 0.33803875 0.15536826 -0.05554703
+v 0.27192306 0.18550808 -0.21413572
+v 0.29390779 0.10870794 -0.22343173
+v 0.32199024 -0.04716331 -0.11222272
+v 0.33750000 0.06857123 -0.15538392
+v 0.32449990 -0.04795315 -0.09754275
+v 0.32130279 0.17941516 -0.14062777
+v 0.33697375 0.13893581 0.01240945
+v 0.32164130 0.20186741 0.01047795
+v 0.27154091 0.01001205 -0.24320046
+v 0.29313847 0.15117442 -0.20837116
+v 0.32019569 -0.05136703 -0.11473238
+v 0.33729499 0.09572638 -0.15572582
+v 0.32176486 0.02777307 -0.17961846
+v 0.32244912 0.15101916 -0.16650116
+v 0.32212739 0.19625487 -0.09912848
+v 0.29185721 0.18117593 -0.19246038
+v 0.32029486 0.18334953 0.04525409
+v 0.33776225 0.14072800 0.00329599
+v 0.27239952 0.11262615 -0.24376047
+v 0.30847574 0.04118250 -0.20716124
+v 0.28048313 0.15371599 -0.22199216
+v 0.28296781 -0.00424187 -0.22726116
+v 0.33725574 0.12684190 -0.14130460
+v 0.27925215 0.18194973 -0.20843888
+v 0.32160330 0.19884184 0.01835597
+v 0.27974147 0.01200784 -0.23591907
+v 0.30938359 0.09676069 -0.20759676
+v 0.28067863 0.11154621 -0.23631013
+f 9 3 7
+f 13 7 3
+f 13 12 7
+f 14 9 7
+f 16 8 1
+f 16 13 3
+f 16 1 13
+f 17 8 16
+f 18 14 6
+f 18 9 14
+f 19 4 10
+f 19 17 4
+f 21 2 12
+f 22 12 2
+f 22 7 12
+f 22 14 7
+f 23 13 1
+f 23 12 13
+f 23 21 12
+f 23 1 21
+f 24 6 14
+f 25 16 3
+f 25 3 9
+f 26 10 4
+f 27 8 17
+f 27 17 19
+f 29 2 21
+f 29 21 1
+f 29 1 8
+f 30 14 22
+f 31 22 2
+f 31 29 15
+f 31 2 29
+f 32 24 14
+f 32 11 28
+f 33 24 10
+f 33 6 24
+f 33 10 26
+f 33 26 18
+f 33 18 6
+f 34 19 10
+f 34 10 24
+f 34 24 32
+f 34 32 28
+f 35 17 16
+f 35 16 25
+f 35 4 17
+f 36 25 9
+f 36 9 18
+f 36 18 26
+f 37 27 19
+f 37 19 5
+f 38 31 15
+f 38 22 31
+f 39 5 19
+f 39 28 20
+f 40 29 8
+f 40 15 29
+f 40 38 15
+f 41 30 11
+f 41 11 32
+f 41 32 14
+f 41 14 30
+f 42 34 28
+f 42 19 34
+f 42 39 19
+f 42 28 39
+f 43 35 25
+f 43 4 35
+f 43 25 36
+f 43 36 26
+f 43 26 4
+f 44 27 37
+f 44 38 40
+f 44 40 8
+f 44 8 27
+f 45 11 30
+f 45 30 22
+f 45 22 38
+f 45 28 11
+f 45 20 28
+f 45 44 20
+f 45 38 44
+f 46 37 5
+f 46 5 39
+f 46 39 20
+f 46 44 37
+f 46 20 44
\ No newline at end of file
diff --git a/mango/mango_14/collision/model_normalized_collision_9.obj b/mango/mango_14/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5fef43f2fa568d0037a14debb957e7b378ad18c
--- /dev/null
+++ b/mango/mango_14/collision/model_normalized_collision_9.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.19230081 -0.26741639 -0.16451962
+v -0.13300133 -0.14772121 -0.27492848
+v -0.12906478 -0.00757577 -0.16117993
+v -0.29549740 -0.00754716 -0.16104041
+v -0.21863371 -0.04795399 -0.25022229
+v -0.22500255 -0.24332181 -0.15216339
+v -0.12906478 -0.14393941 -0.16117993
+v -0.15337683 -0.01709821 -0.30832789
+v -0.28529842 -0.08063962 -0.15409573
+v -0.17660081 -0.13547866 -0.25085053
+v -0.18160359 -0.25739187 -0.17958962
+v -0.21347398 -0.25964792 -0.15298940
+v -0.20908988 -0.00548990 -0.27083021
+v -0.26919930 -0.14009828 -0.15228532
+v -0.24726026 -0.03339467 -0.22301072
+v -0.21909439 -0.12107468 -0.22015232
+v -0.16396734 -0.09118637 -0.28072249
+v -0.19135277 -0.25374653 -0.17450990
+v -0.20550289 -0.20997348 -0.18889015
+v -0.28233767 -0.00555498 -0.18219651
+v -0.20132950 -0.00683038 -0.27789378
+v -0.26232959 -0.06279912 -0.19272165
+v -0.24832010 -0.18203572 -0.16017572
+v -0.15259156 -0.09370290 -0.28674851
+v -0.16467095 -0.12183794 -0.26670288
+v -0.20363666 -0.12092734 -0.23498321
+v -0.21866860 -0.24105529 -0.16079448
+v -0.25072236 -0.00492564 -0.22625001
+v -0.27884586 -0.03381685 -0.17996820
+v -0.16628937 -0.07847091 -0.28360202
+v -0.20541773 -0.03339825 -0.26737114
+v -0.27856415 -0.07890089 -0.16467457
+v -0.25360198 -0.18516592 -0.15204707
+v -0.26233350 -0.13778098 -0.16207082
+v -0.15314850 -0.12494854 -0.27307940
+v -0.17575724 -0.10587925 -0.26541276
+v -0.20769678 -0.25475624 -0.16086105
+v -0.15462063 -0.08084352 -0.28991703
+f 7 2 3
+f 8 3 2
+f 9 3 4
+f 11 7 1
+f 11 2 7
+f 11 10 2
+f 12 1 7
+f 12 7 3
+f 12 3 6
+f 14 3 9
+f 16 15 5
+f 18 11 1
+f 18 1 12
+f 19 10 11
+f 19 11 18
+f 20 4 3
+f 21 13 3
+f 21 3 8
+f 24 8 2
+f 25 2 10
+f 26 16 5
+f 26 19 16
+f 26 10 19
+f 27 12 6
+f 27 6 23
+f 27 23 16
+f 27 16 19
+f 27 19 18
+f 28 20 3
+f 28 3 13
+f 28 13 5
+f 28 5 15
+f 29 9 4
+f 29 4 20
+f 29 15 22
+f 29 28 15
+f 29 20 28
+f 30 21 8
+f 31 5 13
+f 31 13 21
+f 31 21 30
+f 32 22 14
+f 32 14 9
+f 32 29 22
+f 32 9 29
+f 33 23 6
+f 33 6 3
+f 33 3 14
+f 34 15 16
+f 34 16 23
+f 34 22 15
+f 34 14 22
+f 34 33 14
+f 34 23 33
+f 35 24 2
+f 35 2 25
+f 35 25 17
+f 35 17 24
+f 36 25 10
+f 36 10 26
+f 36 17 25
+f 36 26 5
+f 36 5 31
+f 36 31 30
+f 36 30 17
+f 37 27 18
+f 37 18 12
+f 37 12 27
+f 38 24 17
+f 38 17 30
+f 38 30 8
+f 38 8 24
\ No newline at end of file
diff --git a/mango/mango_14/model.xml b/mango/mango_14/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..25dfac81e76b1e83966cdb1cc914d620f2a5d721
--- /dev/null
+++ b/mango/mango_14/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="mango_10">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="lambert2SG.006" 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="lambert2SG.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="-0.00010296824999999996 0.00033169027499999905 -0.037422593250000004" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00010296824999999996 0.00033169027499999905 0.038056034100000004" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.036163364999999996 0.05216760675 0.0003167204249999982" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/mango/mango_14/visual/material.mtl b/mango/mango_14/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/mango/mango_14/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/mango/mango_14/visual/model_normalized_0.obj b/mango/mango_14/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fb99e778fa27a8ec0c457cdb09be89351b87d9f
--- /dev/null
+++ b/mango/mango_14/visual/model_normalized_0.obj
@@ -0,0 +1,11023 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_0.obj b/mango/mango_15/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7945cca8bcd52035652bc38eee78160fb8e97962
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.14078209 -0.04688802 0.13311474
+v 0.14416433 -0.03529760 -0.23375380
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+v 0.14240412 0.01650674 -0.20728147
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\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_1.obj b/mango/mango_15/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b54b5154cf7ef4689de139a19b17b0f405e0f660
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_1.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.00759540 -0.24490899 -0.16395504
+v 0.01187044 -0.23225482 -0.18400053
+v 0.00757576 -0.00254349 -0.10338595
+v -0.21969697 -0.00254349 -0.10338595
+v -0.22709379 -0.16309979 -0.11062256
+v 0.00741388 -0.01040593 -0.22333245
+v 0.00757576 -0.15405864 -0.10338595
+v -0.12411354 -0.20515410 -0.14335407
+v 0.01232950 -0.20436316 -0.20944727
+v -0.21335098 -0.00421149 -0.17843539
+v -0.03182203 -0.22900632 -0.16792759
+v -0.03442344 -0.23439362 -0.15795394
+v 0.00880490 -0.06465878 -0.23959825
+v -0.16606899 -0.10245173 -0.19014507
+v -0.03610699 -0.00834277 -0.22056232
+v -0.00175103 -0.23000343 -0.18082990
+v -0.10360464 -0.18538476 -0.17625100
+v -0.07509961 -0.21328667 -0.16436137
+v -0.21070454 -0.07484681 -0.17516480
+v -0.00368497 -0.12090087 -0.23649408
+v -0.08062096 -0.03618534 -0.22083785
+v -0.01547819 -0.21369454 -0.19274879
+v -0.03099371 -0.18783710 -0.20642849
+v -0.20781138 -0.14392647 -0.14625453
+v -0.10534661 -0.19860218 -0.16312891
+v -0.18146420 -0.06114469 -0.19041745
+v 0.00970305 -0.12247776 -0.23897849
+v -0.06474865 -0.02169328 -0.22108895
+v -0.00582988 -0.06712332 -0.23832032
+v -0.04529426 -0.20014855 -0.19137511
+v -0.08968173 -0.17400736 -0.19009003
+v -0.00253090 -0.20204117 -0.20634459
+v -0.07735203 -0.10519981 -0.22098193
+v -0.11907915 -0.20067454 -0.15242602
+v -0.20912796 -0.11560833 -0.16126761
+v -0.18311060 -0.01843635 -0.19067176
+v 0.01138604 -0.17834900 -0.22410449
+v -0.12537529 -0.00731573 -0.20593234
+v -0.00127114 -0.17556319 -0.22212190
+v -0.19341163 -0.10383541 -0.17589302
+f 7 1 2
+f 7 2 3
+f 7 5 1
+f 7 3 4
+f 7 4 5
+f 9 3 2
+f 10 4 3
+f 10 5 4
+f 12 1 5
+f 12 5 8
+f 12 11 1
+f 13 6 3
+f 13 3 9
+f 15 10 3
+f 15 3 6
+f 15 6 13
+f 16 2 1
+f 16 1 11
+f 18 12 8
+f 18 11 12
+f 19 5 10
+f 22 9 2
+f 22 2 16
+f 22 16 11
+f 22 11 18
+f 26 19 10
+f 26 14 19
+f 28 15 13
+f 29 27 20
+f 29 13 27
+f 29 28 13
+f 29 21 28
+f 30 22 18
+f 30 23 22
+f 30 17 23
+f 30 25 17
+f 30 18 25
+f 31 23 17
+f 31 14 23
+f 31 17 24
+f 32 23 9
+f 32 9 22
+f 32 22 23
+f 33 14 26
+f 33 29 20
+f 33 21 29
+f 34 8 5
+f 34 5 24
+f 34 24 17
+f 34 17 25
+f 34 25 18
+f 34 18 8
+f 35 24 5
+f 35 5 19
+f 36 26 10
+f 36 33 26
+f 36 21 33
+f 37 27 13
+f 37 13 9
+f 38 10 15
+f 38 15 28
+f 38 36 10
+f 38 28 21
+f 38 21 36
+f 39 23 14
+f 39 14 33
+f 39 33 20
+f 39 20 27
+f 39 27 37
+f 39 37 9
+f 39 9 23
+f 40 35 19
+f 40 19 14
+f 40 14 31
+f 40 31 24
+f 40 24 35
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_10.obj b/mango/mango_15/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4221a7e170faa0f0d2c9d3ede95d2de90c5bf5a
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_10.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.19321930 -0.04760713 0.10599273
+v 0.26499751 -0.03476684 -0.23666327
+v 0.25400687 0.08793092 0.01012638
+v 0.13695267 0.16792417 0.04711777
+v 0.14416433 -0.03529760 -0.23375380
+v 0.26181229 0.05557087 -0.15223284
+v 0.13495745 0.08326710 0.12857756
+v 0.25912565 -0.03342539 0.06847100
+v 0.18904416 -0.04798978 0.10811050
+v 0.25730826 0.08298308 -0.09731278
+v 0.13838739 0.11791154 -0.10959284
+v 0.13508177 0.14279087 0.10054274
+v 0.20049680 -0.04674001 0.10164642
+v 0.16157625 0.02182912 0.12299278
+v 0.26489742 -0.01334536 -0.22344299
+v 0.14155634 -0.03278470 0.13458319
+v 0.24079712 0.09955840 -0.05453167
+v 0.13829407 0.13361306 -0.08103668
+v 0.14240412 0.01650674 -0.20728147
+v 0.13509864 0.15519508 0.08747730
+v 0.25297287 0.02308170 0.06061137
+v 0.23898915 0.00916843 0.07371855
+v 0.16523392 -0.03133776 0.12253142
+v 0.21575788 0.05593948 -0.16474168
+v 0.13723455 0.16777099 0.03405699
+v 0.23632890 0.10150120 0.01131566
+v 0.24361912 0.08335562 -0.11014324
+v 0.24570402 0.06909683 -0.13769751
+v 0.14346807 -0.01106690 -0.22272692
+v 0.24961217 0.07417391 0.03378386
+v 0.16256097 0.14739611 0.05544922
+v 0.22157823 0.05085485 0.07445711
+v 0.18319999 -0.04542677 0.11169557
+v 0.21798774 0.02787929 -0.19287758
+v 0.14784331 0.16144856 0.03421709
+v 0.13834214 0.15182007 -0.03724386
+v 0.14708879 0.16155248 0.04525739
+v 0.14537671 0.08422966 0.12032305
+v 0.23535377 0.07493973 0.04730399
+v 0.15830329 0.01646097 -0.20645570
+v 0.15113756 0.14626599 -0.03682426
+v 0.15169405 0.12964002 -0.07917513
+f 8 6 3
+f 9 5 2
+f 9 2 1
+f 10 3 6
+f 13 8 1
+f 13 1 2
+f 13 2 8
+f 15 8 2
+f 15 6 8
+f 16 7 5
+f 16 5 9
+f 16 14 7
+f 17 3 10
+f 19 5 7
+f 19 7 11
+f 19 15 2
+f 20 18 11
+f 20 11 7
+f 20 7 12
+f 21 8 3
+f 22 14 8
+f 22 7 14
+f 22 21 7
+f 22 8 21
+f 23 1 8
+f 23 8 14
+f 23 14 16
+f 24 11 6
+f 24 6 15
+f 25 17 10
+f 25 20 4
+f 25 18 20
+f 26 3 17
+f 27 10 6
+f 28 6 11
+f 28 11 18
+f 28 27 6
+f 28 18 27
+f 29 19 2
+f 29 2 5
+f 29 5 19
+f 30 20 12
+f 30 3 20
+f 30 21 3
+f 31 20 3
+f 31 4 20
+f 31 3 26
+f 33 23 16
+f 33 16 9
+f 33 9 1
+f 33 1 23
+f 34 19 11
+f 34 11 24
+f 34 24 15
+f 35 25 4
+f 35 17 25
+f 35 26 17
+f 36 18 25
+f 36 10 27
+f 37 31 26
+f 37 4 31
+f 37 35 4
+f 37 26 35
+f 38 32 12
+f 38 12 7
+f 38 7 21
+f 38 21 32
+f 39 30 12
+f 39 12 32
+f 39 32 21
+f 39 21 30
+f 40 34 15
+f 40 15 19
+f 40 19 34
+f 41 36 25
+f 41 25 10
+f 41 10 36
+f 42 36 27
+f 42 27 18
+f 42 18 36
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_11.obj b/mango/mango_15/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f871da7db39dbf4f8094d89fb58d09a01a7140f3
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_11.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.23466538 0.13313091 0.25607478
+v -0.23484848 0.13382015 0.06328072
+v -0.23278919 0.27001099 0.06657393
+v -0.26198911 0.26731025 0.13490539
+v -0.46150518 0.13348859 0.06339082
+v -0.23253880 0.25642698 0.17622673
+v -0.42151001 0.12755414 0.20306490
+v -0.28922846 0.23793058 0.02007145
+v -0.23246032 0.26789085 0.14948407
+v -0.45133805 0.12913883 0.16295919
+v -0.31940374 0.18229642 0.22626106
+v -0.36140267 0.23626063 0.09724341
+v -0.27639996 0.25063049 0.17447137
+v -0.36659269 0.13119909 0.23219258
+v -0.23420254 0.23168306 0.20631737
+v -0.34585279 0.21946944 0.02791920
+v -0.31872599 0.25240203 0.08215132
+v -0.42885406 0.18062685 0.14478412
+v -0.24703932 0.26608988 0.14841042
+v -0.32010048 0.25314736 0.13428113
+v -0.37626995 0.16667476 0.21197019
+v -0.32247281 0.13075518 0.24381143
+v -0.23452337 0.17272707 0.24434338
+v -0.30466616 0.21136073 0.21130664
+v -0.40299022 0.20661415 0.08413438
+v -0.26160722 0.26817877 0.08152529
+v -0.34672856 0.23667142 0.06925501
+v -0.44534308 0.15413359 0.14595963
+v -0.43103585 0.13847297 0.18732591
+v -0.36086970 0.23620641 0.13422265
+v -0.36478458 0.14318516 0.22879138
+v -0.27719734 0.17247284 0.24120168
+v -0.27677069 0.21484682 0.21695935
+v -0.33377039 0.19568813 0.21185567
+v -0.44735007 0.15387151 0.06461466
+v -0.30309511 0.25052316 0.05693084
+v -0.37522563 0.22125724 0.07079561
+v -0.43472455 0.12826113 0.19012517
+v -0.36200531 0.20939918 0.18486557
+v -0.41798412 0.14056111 0.19939795
+v -0.44679053 0.14054520 0.16130357
+v -0.30462245 0.23633069 0.18548075
+v -0.40142774 0.20699410 0.14595313
+v -0.32179227 0.14448828 0.24096938
+v -0.39064572 0.15452623 0.21139335
+v -0.43143954 0.17980538 0.08250607
+v -0.24698871 0.26806968 0.06737799
+v -0.31887707 0.23711466 0.04123660
+v -0.36253102 0.19463941 0.19898661
+v -0.30657531 0.15780883 0.24042444
+v -0.27876992 0.24896184 0.03615098
+v -0.33576912 0.22858167 0.03776899
+f 6 1 2
+f 7 2 1
+f 8 3 2
+f 8 2 5
+f 9 3 4
+f 9 6 2
+f 9 2 3
+f 10 5 2
+f 10 2 7
+f 13 6 9
+f 15 6 13
+f 16 8 5
+f 19 13 9
+f 19 9 4
+f 19 4 13
+f 20 13 4
+f 20 17 12
+f 22 14 7
+f 22 7 1
+f 23 1 6
+f 23 6 15
+f 26 4 3
+f 26 20 4
+f 26 17 20
+f 27 12 17
+f 28 18 5
+f 28 5 10
+f 30 20 12
+f 30 12 25
+f 31 11 21
+f 32 1 23
+f 33 24 11
+f 33 11 32
+f 33 32 23
+f 33 23 15
+f 34 21 11
+f 34 11 24
+f 35 25 16
+f 35 16 5
+f 36 17 26
+f 36 27 17
+f 37 25 12
+f 37 12 27
+f 37 27 16
+f 37 16 25
+f 38 10 7
+f 40 18 29
+f 40 38 7
+f 40 29 38
+f 41 28 10
+f 41 38 29
+f 41 10 38
+f 41 29 18
+f 41 18 28
+f 42 13 20
+f 42 20 30
+f 42 30 39
+f 42 39 24
+f 42 24 33
+f 42 33 15
+f 42 15 13
+f 43 30 25
+f 43 39 30
+f 43 40 39
+f 43 18 40
+f 44 31 14
+f 44 14 22
+f 45 31 21
+f 45 7 14
+f 45 14 31
+f 45 40 7
+f 46 35 5
+f 46 5 18
+f 46 25 35
+f 46 43 25
+f 46 18 43
+f 47 36 26
+f 47 26 3
+f 48 36 8
+f 48 8 16
+f 49 21 34
+f 49 34 24
+f 49 24 39
+f 49 45 21
+f 49 39 40
+f 49 40 45
+f 50 44 22
+f 50 22 1
+f 50 1 32
+f 50 32 11
+f 50 11 31
+f 50 31 44
+f 51 47 3
+f 51 3 8
+f 51 8 36
+f 51 36 47
+f 52 48 16
+f 52 16 27
+f 52 27 36
+f 52 36 48
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_12.obj b/mango/mango_15/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b47bcfe0462f06bccc85ec443641cf311b9ff663
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_12.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.14187707 -0.26230264 -0.03324873
+v 0.14843569 -0.25206718 -0.01479372
+v 0.00920354 -0.24530928 0.03412737
+v -0.09805969 -0.21030121 0.09084675
+v -0.03599665 -0.26146359 -0.02918081
+v 0.08083609 -0.20661742 0.07080029
+v 0.09570540 -0.25757873 -0.00655119
+v 0.14209527 -0.22400533 0.02817421
+v -0.07975112 -0.24226998 0.02717297
+v 0.01847895 -0.21370174 0.07789780
+v -0.09799049 -0.24173576 0.01691874
+v 0.14065660 -0.25715183 -0.02092494
+v -0.03487986 -0.25684015 -0.00081237
+v 0.09524440 -0.24225874 0.02141573
+v -0.05076727 -0.24100532 0.03931565
+v 0.02109541 -0.20597045 0.08532392
+v -0.02282453 -0.22737895 0.06664578
+v -0.09596961 -0.22885414 0.05576574
+v -0.04409683 -0.25922276 -0.02311774
+v -0.07969032 -0.24601286 0.01435278
+v 0.13861624 -0.24141136 0.00685032
+v 0.13382333 -0.25431220 -0.01295640
+v 0.08302602 -0.21366435 0.06232543
+v 0.03573823 -0.24126083 0.03780639
+v -0.03767895 -0.22768754 0.06676200
+v -0.10222056 -0.23913816 0.02434651
+v 0.13947728 -0.23008309 0.02167440
+v 0.07928996 -0.21323912 0.06395103
+v -0.09605677 -0.21516665 0.08404349
+v 0.06422633 -0.22772851 0.05067335
+f 8 2 1
+f 8 1 5
+f 11 4 6
+f 11 8 5
+f 11 6 8
+f 12 7 1
+f 12 1 2
+f 13 5 1
+f 13 1 7
+f 13 7 3
+f 15 13 3
+f 15 9 13
+f 16 10 6
+f 16 6 4
+f 16 4 10
+f 17 10 4
+f 18 9 15
+f 19 11 5
+f 19 5 13
+f 20 13 9
+f 20 19 13
+f 20 11 19
+f 21 2 8
+f 22 12 2
+f 22 21 14
+f 22 2 21
+f 22 14 7
+f 22 7 12
+f 23 8 6
+f 24 3 7
+f 24 7 14
+f 24 17 3
+f 24 10 17
+f 25 15 3
+f 25 3 17
+f 25 17 4
+f 26 9 18
+f 26 20 9
+f 26 11 20
+f 26 4 11
+f 27 21 8
+f 27 14 21
+f 27 23 14
+f 27 8 23
+f 28 23 6
+f 28 6 10
+f 29 18 15
+f 29 15 25
+f 29 25 4
+f 29 26 18
+f 29 4 26
+f 30 28 10
+f 30 10 24
+f 30 24 14
+f 30 14 23
+f 30 23 28
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_13.obj b/mango/mango_15/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df4d1216a5d6781803c0396d58bd035b3d9f37e9
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_13.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.45248203 -0.03666302 -0.05383276
+v 0.49388002 -0.03704725 -0.14415962
+v 0.45213763 0.01087990 -0.09414765
+v 0.25719133 0.09145407 -0.00205925
+v 0.26499751 -0.03476684 -0.23666327
+v 0.28038182 0.05833762 0.01751018
+v 0.49105842 -0.02419968 -0.10947089
+v 0.38341851 -0.03961149 -0.22777649
+v 0.43567883 -0.00314950 -0.05888666
+v 0.26589472 -0.03266738 0.06453812
+v 0.49428430 -0.03627135 -0.10765204
+v 0.46525026 -0.00421682 -0.15332255
+v 0.48015373 -0.03837371 -0.16923183
+v 0.25614054 0.03833696 0.05281681
+v 0.46185597 -0.00234029 -0.08562516
+v 0.30029086 -0.03660749 0.04621207
+v 0.47772896 -0.02518713 -0.08396618
+v 0.49000566 -0.02625524 -0.14318656
+v 0.45193230 0.00880282 -0.14195017
+v 0.44977918 -0.02898568 -0.19326172
+v 0.43449065 -0.02512963 -0.04364693
+v 0.26066873 0.07156960 -0.12540695
+v 0.29878082 -0.02277476 0.04452077
+v 0.43674280 -0.03694247 -0.04080451
+v 0.45190019 -0.03904404 -0.19736129
+v 0.48054832 -0.03598469 -0.08243547
+v 0.46172925 -0.01405900 -0.07390547
+v 0.47706909 -0.01548846 -0.15388128
+v 0.42569766 0.02335859 -0.13063313
+v 0.39642044 0.00884862 -0.18164819
+v 0.47686309 -0.02746943 -0.16603786
+v 0.42607087 -0.03933707 -0.21277015
+v 0.42417379 0.02401233 -0.09292428
+v 0.25913445 0.09068864 -0.05640591
+v 0.42466386 0.00860528 -0.16783863
+v 0.30905117 -0.01559915 -0.22299298
+v 0.39718497 -0.01625835 -0.20803689
+v 0.27487584 0.06789375 -0.12518165
+v 0.43796210 -0.00537481 -0.17950235
+v 0.36546394 0.03758047 -0.14118311
+v 0.26278807 0.04369772 -0.16854746
+v 0.43740779 -0.01694416 -0.19149568
+v 0.42402966 -0.02940384 -0.20748773
+v 0.33769894 0.01103984 -0.19350606
+v 0.38209547 -0.03011426 -0.22177737
+v 0.26489742 -0.01334536 -0.22344299
+v 0.29222868 0.04061957 -0.16754587
+v 0.33715841 -0.00300138 -0.20793368
+v 0.32213457 0.02533297 -0.18072623
+f 11 2 7
+f 13 11 1
+f 13 2 11
+f 14 9 6
+f 14 6 4
+f 14 5 10
+f 15 3 4
+f 15 4 6
+f 15 6 9
+f 15 7 3
+f 16 10 5
+f 16 5 8
+f 17 11 7
+f 17 7 15
+f 18 12 7
+f 18 7 2
+f 18 2 13
+f 19 3 7
+f 19 7 12
+f 21 9 14
+f 22 14 4
+f 22 5 14
+f 23 14 10
+f 23 10 16
+f 24 13 1
+f 24 1 21
+f 24 23 16
+f 24 21 14
+f 24 14 23
+f 25 24 16
+f 25 13 24
+f 26 17 1
+f 26 1 11
+f 26 11 17
+f 27 17 15
+f 27 15 9
+f 27 9 21
+f 27 21 1
+f 27 1 17
+f 28 12 18
+f 28 20 12
+f 29 3 19
+f 31 25 20
+f 31 13 25
+f 31 20 28
+f 31 28 18
+f 31 18 13
+f 32 20 25
+f 32 25 16
+f 32 16 8
+f 33 4 3
+f 33 3 29
+f 34 22 4
+f 34 33 29
+f 34 4 33
+f 35 19 12
+f 35 29 19
+f 36 8 5
+f 38 34 29
+f 38 22 34
+f 39 35 12
+f 39 12 20
+f 39 37 30
+f 39 30 35
+f 40 35 30
+f 40 30 22
+f 40 22 38
+f 40 38 29
+f 40 29 35
+f 41 5 22
+f 42 39 20
+f 42 37 39
+f 43 32 8
+f 43 8 37
+f 43 37 42
+f 43 42 20
+f 43 20 32
+f 44 30 37
+f 45 37 8
+f 45 8 36
+f 45 36 37
+f 46 41 36
+f 46 36 5
+f 46 5 41
+f 47 41 22
+f 47 22 30
+f 48 44 37
+f 48 37 36
+f 48 36 41
+f 49 41 47
+f 49 48 41
+f 49 44 48
+f 49 47 30
+f 49 30 44
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_14.obj b/mango/mango_15/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..478d7fff32be5ab9fdfadd771ba736173777b494
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_14.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.00920354 -0.24530928 0.03412737
+v 0.00757576 -0.13890712 0.01782617
+v 0.00577707 -0.13574798 0.14870437
+v -0.22068736 -0.14295060 0.15750321
+v -0.24581652 -0.19344752 0.02112139
+v -0.05512577 -0.19950035 0.10891975
+v -0.09799049 -0.24173576 0.01691874
+v 0.00451070 -0.19947606 0.09603223
+v -0.05565725 -0.16969110 0.13809248
+v -0.19925715 -0.21380287 0.01666703
+v -0.12666951 -0.21072942 0.08258143
+v -0.15586315 -0.16846218 0.14077432
+v 0.00267587 -0.15602552 0.13665985
+v -0.03988109 -0.18294095 0.12308620
+v -0.21646392 -0.20700886 0.01736702
+v -0.15459736 -0.22853131 0.01643119
+v -0.21339209 -0.19498300 0.07059672
+v -0.09596961 -0.22885414 0.05576574
+v -0.08234089 -0.19748329 0.11135555
+v -0.21465575 -0.16615904 0.12757988
+v -0.19785558 -0.20995327 0.04288176
+v -0.12656315 -0.18170692 0.12739660
+v -0.21460329 -0.15562978 0.14353713
+v -0.18301612 -0.21052398 0.05570370
+v -0.13967043 -0.22688446 0.04197915
+v -0.11030478 -0.22737606 0.05381845
+v -0.15408581 -0.22656264 0.02928592
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 7 2 1
+f 8 6 1
+f 8 1 3
+f 9 3 4
+f 12 9 4
+f 13 8 3
+f 13 3 9
+f 14 9 6
+f 14 6 8
+f 14 13 9
+f 14 8 13
+f 15 5 2
+f 15 2 10
+f 16 10 2
+f 16 2 7
+f 18 7 1
+f 19 6 9
+f 19 9 12
+f 19 11 18
+f 19 18 1
+f 19 1 6
+f 20 11 12
+f 20 4 5
+f 20 5 17
+f 21 10 16
+f 21 15 10
+f 21 17 5
+f 21 5 15
+f 22 19 12
+f 22 12 11
+f 22 11 19
+f 23 20 12
+f 23 12 4
+f 23 4 20
+f 24 20 17
+f 24 11 20
+f 24 17 21
+f 25 11 24
+f 26 18 11
+f 26 11 25
+f 26 25 7
+f 26 7 18
+f 27 16 7
+f 27 7 25
+f 27 21 16
+f 27 25 24
+f 27 24 21
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_15.obj b/mango/mango_15/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..421d4a26b34054c09f35546073cc1300796399d7
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_15.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00577707 -0.13574798 0.14870437
+v 0.00757576 -0.13890712 0.01782617
+v 0.00757576 -0.00254349 0.01782617
+v -0.34090909 -0.00254349 0.15418981
+v -0.24581652 -0.19344752 0.02112139
+v 0.02291359 -0.00870147 0.19280222
+v -0.22068736 -0.14295060 0.15750321
+v -0.35034530 -0.13595876 0.01495256
+v -0.34090909 -0.00254349 0.01782617
+v -0.33535300 -0.11028046 0.14441735
+f 5 2 1
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 9 8 4
+f 9 4 3
+f 9 3 8
+f 10 7 4
+f 10 4 8
+f 10 8 5
+f 10 5 7
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_16.obj b/mango/mango_15/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30b3798a0cf048eafcfa4b7ee786a0f511421ad4
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_16.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.01443765 -0.08638724 0.17251279
+v 0.00194767 -0.07174448 0.18308131
+v -0.09115019 -0.10023807 0.19285229
+v -0.08436532 0.23218368 0.18594230
+v -0.00188070 0.15753301 0.19727514
+v -0.01237007 0.22976898 0.14730286
+v -0.02947495 -0.06871380 0.19492038
+v 0.00085153 -0.02753780 0.19778883
+v -0.10218066 0.10161303 0.24547821
+v -0.03835517 0.23882857 0.15346941
+v 0.00451522 0.21939526 0.15024884
+v -0.01516498 -0.05584216 0.19510638
+v -0.09757031 0.19619957 0.21799012
+v -0.04400831 0.10106842 0.22631012
+v -0.10037588 -0.00030252 0.23420972
+v -0.03235018 0.21027450 0.18316675
+v -0.05801936 0.17378480 0.21553994
+v -0.09954187 -0.07460845 0.20907010
+v -0.01446213 0.01542956 0.21182458
+v -0.07301728 0.00068637 0.22758148
+v -0.00410206 0.20853789 0.16815437
+v -0.04472352 0.21361523 0.18663089
+v -0.04527458 0.17295283 0.21111816
+v -0.08829645 0.10195369 0.24186132
+v -0.10200733 0.07422963 0.24546773
+v -0.01734567 0.14229007 0.20956702
+v -0.02906179 -0.01341966 0.21175110
+v -0.03098188 0.22265126 0.16943009
+v -0.05816646 0.01540081 0.22643606
+v -0.04422225 0.04645018 0.22599913
+v -0.01521329 0.22440000 0.15700198
+v -0.04502539 0.22659335 0.17278540
+v -0.08931804 0.07377766 0.24176735
+f 6 1 3
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 10 6 3
+f 10 3 4
+f 11 5 1
+f 11 1 6
+f 11 6 10
+f 12 7 2
+f 12 2 8
+f 17 13 9
+f 18 13 4
+f 18 4 3
+f 18 3 7
+f 18 7 15
+f 18 9 13
+f 19 8 5
+f 20 15 7
+f 21 16 5
+f 21 5 11
+f 22 4 13
+f 23 5 16
+f 23 16 22
+f 23 22 13
+f 23 13 17
+f 24 17 9
+f 25 18 15
+f 25 9 18
+f 25 24 9
+f 26 19 5
+f 26 14 19
+f 26 5 23
+f 26 23 17
+f 26 24 14
+f 26 17 24
+f 27 12 8
+f 27 8 19
+f 27 20 7
+f 27 7 12
+f 28 21 11
+f 28 16 21
+f 28 22 16
+f 29 25 15
+f 29 15 20
+f 29 27 19
+f 29 20 27
+f 30 19 14
+f 30 14 24
+f 30 29 19
+f 30 25 29
+f 31 28 11
+f 31 11 10
+f 31 10 28
+f 32 28 10
+f 32 10 4
+f 32 4 22
+f 32 22 28
+f 33 30 24
+f 33 24 25
+f 33 25 30
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_17.obj b/mango/mango_15/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a488ab49a79818023dab5714278440b8b3d22602
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_17.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.00821802 -0.26716068 -0.02919291
+v 0.01009014 -0.24894871 -0.15822389
+v 0.00757576 -0.15405864 0.01782617
+v -0.21206222 -0.14749022 -0.14051827
+v -0.19559146 -0.21077003 -0.05386101
+v 0.00757576 -0.15405864 -0.16399201
+v 0.01127468 -0.26179040 -0.12942796
+v -0.14857180 -0.19611725 -0.13719096
+v -0.24052049 -0.19604374 0.02126800
+v -0.14289687 -0.15298520 -0.17727514
+v -0.19741218 -0.14592219 -0.15179451
+v 0.00767779 -0.24943247 0.02570004
+v -0.04872112 -0.25788126 -0.08524460
+v -0.20945337 -0.19426736 -0.07966053
+v -0.06113601 -0.22734573 -0.15285218
+v -0.16792531 -0.14718405 -0.16790984
+v -0.19408489 -0.15525635 -0.14720021
+v -0.09606219 -0.24270376 0.01433350
+v -0.20829421 -0.16931326 -0.12059911
+v -0.13617905 -0.17428108 -0.16696582
+v -0.01789154 -0.25576162 -0.12657566
+v -0.12061162 -0.22468651 -0.11011613
+v -0.16497173 -0.15776486 -0.16273757
+v -0.15459736 -0.22853131 0.01643119
+v -0.03720255 -0.25232550 0.01468500
+v -0.04932832 -0.25705109 -0.01530782
+v -0.19261471 -0.16918605 -0.13479076
+v -0.04663906 -0.24067482 -0.13902330
+v -0.03261185 -0.25594216 -0.11309576
+v -0.17957061 -0.20967675 -0.08071513
+v -0.08976737 -0.22490617 -0.13861318
+v -0.09189388 -0.24141061 -0.09714698
+v -0.14945633 -0.17110752 -0.16158462
+v -0.19925715 -0.21380287 0.01666703
+v -0.03535599 -0.25950710 -0.01542705
+v -0.10932604 -0.24225601 0.00105115
+v -0.20847827 -0.15611306 -0.13585130
+v -0.01669375 -0.24289922 -0.15395984
+v -0.10745922 -0.24227552 -0.07001107
+v -0.15052018 -0.22625563 -0.06883944
+v -0.21646392 -0.20700886 0.01736702
+f 7 6 3
+f 7 2 6
+f 9 3 4
+f 10 6 2
+f 11 4 3
+f 11 3 6
+f 12 7 3
+f 12 1 7
+f 12 3 9
+f 13 7 1
+f 14 5 9
+f 16 11 6
+f 16 6 10
+f 17 4 11
+f 19 8 14
+f 19 14 9
+f 19 9 4
+f 20 10 2
+f 20 2 15
+f 20 15 8
+f 21 2 7
+f 23 17 11
+f 23 11 16
+f 23 16 10
+f 23 10 20
+f 24 18 12
+f 24 12 9
+f 25 1 12
+f 25 12 18
+f 27 8 19
+f 29 21 7
+f 29 7 13
+f 30 14 8
+f 30 8 22
+f 30 5 14
+f 31 22 8
+f 31 8 15
+f 31 15 28
+f 32 29 13
+f 32 28 21
+f 32 21 29
+f 32 31 28
+f 32 22 31
+f 33 23 20
+f 33 17 23
+f 33 27 17
+f 33 20 8
+f 33 8 27
+f 34 24 9
+f 35 25 18
+f 35 18 26
+f 35 1 25
+f 35 26 13
+f 35 13 1
+f 36 13 26
+f 36 26 18
+f 36 18 24
+f 37 27 19
+f 37 19 4
+f 37 4 17
+f 37 17 27
+f 38 28 15
+f 38 15 2
+f 38 2 21
+f 38 21 28
+f 39 32 13
+f 39 34 5
+f 39 24 34
+f 39 36 24
+f 39 13 36
+f 40 30 22
+f 40 22 32
+f 40 5 30
+f 40 39 5
+f 40 32 39
+f 41 34 9
+f 41 9 5
+f 41 5 34
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_18.obj b/mango/mango_15/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70caae432356b7c5546e1d11e7866e080d4e774c
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_18.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.10037588 -0.00030252 0.23420972
+v -0.09848485 -0.00254349 0.03297769
+v -0.09848485 0.13382015 0.03297769
+v -0.23466538 0.13313091 0.25607478
+v -0.23484848 -0.00254349 0.03297769
+v -0.10251094 0.13081245 0.24207201
+v -0.23480329 0.00029385 0.25032811
+v -0.23484848 0.13382015 0.03297769
+v -0.19162890 0.05999460 0.25900121
+v -0.19083275 0.11613759 0.25812352
+v -0.23432142 0.04669858 0.25895884
+v -0.13178404 0.00138831 0.24130535
+v -0.10274798 0.03171991 0.24114041
+v -0.20516879 0.04484276 0.25817845
+v -0.23348916 0.11725021 0.25849410
+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 8 4 3
+f 8 3 5
+f 8 7 4
+f 8 5 7
+f 10 9 6
+f 10 6 4
+f 11 4 7
+f 12 7 1
+f 13 1 6
+f 13 6 9
+f 13 12 1
+f 13 9 12
+f 14 11 7
+f 14 9 11
+f 14 12 9
+f 14 7 12
+f 15 10 4
+f 15 4 11
+f 15 11 9
+f 15 9 10
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_19.obj b/mango/mango_15/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc0db9dec2f5b4369fb99d5d4165b7d6957b8b8f
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_19.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.38163750 -0.20651385 -0.09227928
+v 0.47971560 -0.10265574 -0.09369791
+v 0.37959834 -0.11970772 -0.00890565
+v 0.38366156 0.00937398 -0.03102341
+v 0.48651370 -0.03434829 -0.09172740
+v 0.37854040 0.00420862 -0.02241670
+v 0.43111749 -0.15452394 -0.07168757
+v 0.39240726 -0.20087821 -0.09444281
+v 0.41650270 0.00294832 -0.05033336
+v 0.46065894 -0.08830939 -0.05821330
+v 0.37868442 -0.20191038 -0.08113622
+v 0.46436323 -0.13079138 -0.09430507
+v 0.41960451 -0.03781221 -0.02813691
+v 0.39567913 0.00404259 -0.03508841
+v 0.47492479 -0.10110774 -0.08329197
+v 0.43321611 -0.11575864 -0.04376391
+v 0.37884914 -0.02134478 -0.00720615
+v 0.40288155 -0.15404852 -0.04364747
+v 0.38953435 -0.19702146 -0.08396263
+v 0.48054832 -0.03598469 -0.08243547
+v 0.40493199 -0.09023399 -0.01550498
+v 0.40608168 -0.01299335 -0.02952209
+v 0.46025021 -0.12832492 -0.08359080
+v 0.37984502 -0.14685978 -0.02313199
+v 0.46234415 -0.05029629 -0.05849742
+v 0.39049154 -0.11696557 -0.01432639
+v 0.40525720 -0.05045401 -0.01545476
+v 0.39063646 -0.02436904 -0.01390122
+v 0.46014352 -0.11436937 -0.07112748
+v 0.40513424 -0.12860652 -0.02902986
+v 0.39075843 -0.14396358 -0.02847445
+f 6 4 1
+f 8 1 5
+f 9 5 1
+f 9 1 4
+f 11 6 1
+f 12 8 5
+f 12 5 2
+f 12 7 8
+f 14 9 4
+f 14 4 6
+f 15 2 5
+f 15 5 10
+f 17 11 3
+f 17 6 11
+f 18 7 16
+f 19 8 7
+f 19 18 11
+f 19 7 18
+f 19 11 1
+f 19 1 8
+f 20 5 9
+f 20 10 5
+f 21 16 10
+f 21 17 3
+f 22 9 14
+f 22 20 9
+f 22 14 6
+f 22 6 17
+f 23 12 2
+f 23 2 15
+f 23 7 12
+f 24 3 11
+f 24 11 18
+f 25 10 20
+f 25 21 10
+f 25 22 13
+f 25 20 22
+f 26 21 3
+f 26 16 21
+f 27 13 17
+f 27 17 21
+f 27 25 13
+f 27 21 25
+f 28 22 17
+f 28 17 13
+f 28 13 22
+f 29 16 7
+f 29 7 23
+f 29 10 16
+f 29 23 15
+f 29 15 10
+f 30 18 16
+f 30 16 26
+f 30 26 3
+f 30 3 24
+f 31 30 24
+f 31 24 18
+f 31 18 30
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_2.obj b/mango/mango_15/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48496819dd520ba57be833c0297faf2c58035b8b
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_2.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 -0.16921015 -0.13368898
+v 0.34832215 -0.10621224 -0.25374712
+v 0.26515152 -0.03284652 -0.13368898
+v 0.08333334 -0.03284652 -0.13368898
+v 0.08458572 -0.16675974 -0.24402772
+v 0.34355669 -0.02273186 -0.22311260
+v 0.26460618 -0.16645114 -0.25778548
+v 0.08333334 -0.16921015 -0.13368898
+v 0.08313109 -0.03515590 -0.23377164
+v 0.32310921 -0.06846301 -0.25191201
+v 0.13006148 -0.12390869 -0.25426571
+v 0.33842911 -0.04326277 -0.23767022
+v 0.33821421 -0.10903266 -0.25570548
+v 0.12994293 -0.15204766 -0.25313803
+v 0.08372379 -0.05278369 -0.24008721
+v 0.33785939 -0.08238930 -0.25311086
+v 0.17550096 -0.08410805 -0.25229681
+v 0.14498200 -0.16522659 -0.25196503
+v 0.22162932 -0.06877009 -0.25154102
+v 0.14586906 -0.09552030 -0.25230154
+f 1 3 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 9 4 6
+f 9 8 4
+f 9 5 8
+f 12 10 9
+f 12 9 6
+f 12 6 2
+f 13 2 7
+f 13 7 11
+f 14 11 7
+f 14 5 11
+f 15 11 5
+f 15 5 9
+f 16 12 2
+f 16 10 12
+f 16 13 10
+f 16 2 13
+f 17 13 11
+f 18 14 7
+f 18 7 5
+f 18 5 14
+f 19 15 9
+f 19 9 10
+f 19 17 15
+f 19 10 13
+f 19 13 17
+f 20 17 11
+f 20 11 15
+f 20 15 17
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_20.obj b/mango/mango_15/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dad3b1be8df5c9595efa8c3a3a61fec7d2251cc
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_20.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.05818124 0.13136094 0.22855552
+v -0.04938439 0.13612048 0.22426414
+v -0.14667823 0.19992730 0.22700884
+v -0.27911477 0.22125915 0.21096655
+v -0.23466538 0.13313091 0.25607478
+v -0.10139052 0.21750813 0.20580663
+v -0.10343918 0.18491657 0.22521554
+v -0.23452337 0.17272707 0.24434338
+v -0.05601165 0.19055268 0.20707572
+v -0.06020823 0.14294502 0.22675110
+v -0.13223771 0.15881029 0.24264831
+v -0.10442905 0.21202594 0.21062270
+v -0.27677069 0.21484682 0.21695935
+v -0.05988324 0.18525903 0.21114506
+v -0.11762610 0.14544521 0.24304635
+v -0.16121030 0.17194857 0.24199108
+v -0.27724881 0.19893804 0.22769667
+v -0.11694881 0.13167062 0.24518834
+v -0.23484144 0.14361897 0.25398188
+v -0.28300681 0.20157472 0.22465998
+v -0.27869751 0.18796546 0.23385767
+f 5 2 1
+f 5 4 2
+f 6 4 3
+f 9 2 4
+f 9 4 6
+f 10 1 2
+f 11 7 3
+f 12 6 3
+f 12 3 7
+f 12 9 6
+f 12 7 9
+f 13 3 4
+f 14 9 7
+f 14 7 10
+f 14 10 2
+f 14 2 9
+f 15 10 7
+f 15 7 11
+f 15 1 10
+f 16 11 3
+f 16 3 8
+f 17 8 3
+f 17 3 13
+f 18 15 11
+f 18 11 5
+f 18 5 1
+f 18 1 15
+f 19 16 8
+f 19 5 11
+f 19 11 16
+f 20 17 13
+f 20 13 4
+f 20 4 5
+f 21 5 19
+f 21 20 5
+f 21 17 20
+f 21 19 8
+f 21 8 17
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_21.obj b/mango/mango_15/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8ad786011b11d25ec76838fdd38a498bf18d365
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_21.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v -0.23484848 -0.00254349 0.06328072
+v -0.23148418 -0.00317516 -0.17105017
+v -0.23175726 0.25489708 0.02491972
+v -0.27810921 0.26110167 0.06584263
+v -0.47657130 0.01514344 0.06591694
+v -0.40125973 0.13860647 -0.02509977
+v -0.23468551 0.26912152 0.06347709
+v -0.22903042 0.03884953 -0.16373108
+v -0.47254972 -0.00104766 0.06420336
+v -0.39098208 0.21021924 0.06843820
+v -0.27468931 0.25289646 0.04189406
+v -0.25958871 0.16597967 -0.08601759
+v -0.33034733 0.06856712 -0.11514182
+v -0.24388409 -0.00339463 -0.16565638
+v -0.36393061 0.22712530 0.06828497
+v -0.45958058 0.12510583 0.04108658
+v -0.23066434 0.15332795 -0.10337837
+v -0.25962658 0.20651593 -0.04406208
+v -0.30242499 0.06739151 -0.12912189
+v -0.33203436 0.16335557 -0.05643434
+v -0.44289503 0.00283508 -0.01647268
+v -0.30384798 0.23604767 0.02671382
+v -0.40211859 0.17796023 0.01481114
+v -0.47564471 0.09929800 0.06553062
+v -0.23164201 0.22282455 -0.03215644
+v -0.24264705 0.03659490 -0.15949551
+v -0.23123996 0.08096583 -0.14921277
+v -0.35740598 0.12206801 -0.07029279
+v -0.31614974 0.13578061 -0.08496428
+v -0.30266345 0.19207444 -0.04218833
+v -0.45751512 0.00350737 0.01160595
+v -0.44456794 0.08240988 -0.01338510
+v -0.33067497 -0.00098022 -0.11913358
+v -0.36185121 0.22276494 0.05328136
+v -0.44420366 0.15055715 0.04065785
+v -0.37634029 0.17650925 -0.01306851
+v -0.25982293 0.23540503 -0.00098194
+v -0.23028426 0.10868882 -0.13325497
+v -0.24448567 0.08025101 -0.14588540
+v -0.37373670 0.16569042 -0.02565864
+v -0.30463321 0.16457685 -0.06930350
+v -0.27375163 0.09311124 -0.12934892
+v -0.35836829 0.09422233 -0.08564395
+v -0.47434507 0.01591455 0.05157650
+v -0.45918999 0.09630595 0.01331122
+v -0.37459068 0.00147078 -0.08874300
+v -0.39002596 0.20610800 0.05289097
+v -0.44735007 0.15387151 0.06461466
+v -0.43053051 0.14993454 0.01634462
+v -0.41540352 0.13620957 -0.01343927
+v -0.33117284 0.17783808 -0.04262918
+v -0.31842891 0.20617956 -0.01581965
+v -0.24495250 0.22065414 -0.03046931
+v -0.24574312 0.25281085 0.02662485
+v -0.24643892 0.15182572 -0.10042608
+v -0.24430321 0.10668240 -0.13033022
+v -0.37238306 0.06754767 -0.08513784
+v -0.38753979 0.10820982 -0.05640440
+v -0.47341024 0.09784305 0.05185770
+v -0.40294564 0.19196509 0.04211072
+v -0.44519400 0.10937356 0.00079688
+v -0.30434127 0.22080877 -0.00143940
+v -0.40219744 0.08172298 -0.05604380
+f 7 1 3
+f 7 4 1
+f 8 1 2
+f 8 3 1
+f 9 1 5
+f 10 5 1
+f 11 4 7
+f 14 2 1
+f 14 1 9
+f 15 10 1
+f 15 1 4
+f 17 3 8
+f 19 14 13
+f 19 2 14
+f 22 4 11
+f 24 5 10
+f 25 17 12
+f 25 12 18
+f 25 3 17
+f 26 19 8
+f 26 8 2
+f 26 2 19
+f 29 28 20
+f 30 18 12
+f 31 21 9
+f 33 14 9
+f 33 9 21
+f 33 13 14
+f 34 15 4
+f 34 4 22
+f 36 23 34
+f 37 22 11
+f 37 3 25
+f 38 17 8
+f 38 8 27
+f 39 27 8
+f 39 8 19
+f 39 38 27
+f 40 28 6
+f 40 20 28
+f 40 6 36
+f 41 29 20
+f 41 12 29
+f 41 30 12
+f 42 19 13
+f 42 13 29
+f 42 39 19
+f 43 29 13
+f 43 28 29
+f 44 31 9
+f 44 9 5
+f 44 5 24
+f 45 31 44
+f 45 32 21
+f 45 21 31
+f 46 13 33
+f 46 33 21
+f 46 21 32
+f 47 34 23
+f 47 10 15
+f 47 15 34
+f 48 24 10
+f 48 35 16
+f 48 16 24
+f 49 35 23
+f 49 16 35
+f 50 36 6
+f 50 23 36
+f 50 49 23
+f 51 40 36
+f 51 20 40
+f 51 41 20
+f 51 30 41
+f 52 51 36
+f 52 30 51
+f 52 18 30
+f 52 36 34
+f 53 37 25
+f 53 25 18
+f 54 37 11
+f 54 3 37
+f 54 11 7
+f 54 7 3
+f 55 12 17
+f 55 17 38
+f 55 42 29
+f 55 29 12
+f 56 38 39
+f 56 39 42
+f 56 55 38
+f 56 42 55
+f 57 43 13
+f 57 13 46
+f 58 6 28
+f 58 28 43
+f 58 50 6
+f 59 24 16
+f 59 16 45
+f 59 45 44
+f 59 44 24
+f 60 10 47
+f 60 48 10
+f 60 35 48
+f 60 47 23
+f 60 23 35
+f 61 45 16
+f 61 16 49
+f 61 49 50
+f 61 32 45
+f 61 50 58
+f 62 22 37
+f 62 37 53
+f 62 53 18
+f 62 18 52
+f 62 52 34
+f 62 34 22
+f 63 57 46
+f 63 46 32
+f 63 61 58
+f 63 32 61
+f 63 58 43
+f 63 43 57
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_22.obj b/mango/mango_15/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..707311df0df445627e80ffd4156531d416e4b8c4
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_22.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.04250068 0.18797547 0.20300781
+v 0.02099613 0.22498748 0.02271271
+v -0.00288070 0.23539992 0.12899237
+v -0.10094568 0.27003663 0.12144830
+v -0.09848485 0.19442621 0.03297769
+v -0.02856282 0.25165001 0.05203355
+v -0.10213139 0.25588515 0.16193362
+v 0.01291381 0.20231179 0.16243176
+v 0.00096849 0.23790399 0.03820268
+v -0.02977635 0.25155179 0.11879743
+v -0.09959907 0.26249431 0.03521009
+v -0.10071701 0.19023648 0.22204995
+v -0.06043605 0.22363550 0.18445680
+v -0.08720501 0.26772209 0.12070911
+v -0.07451731 0.25095228 0.15727579
+v -0.10044370 0.26960687 0.06572014
+v -0.04264268 0.25234748 0.03853270
+v -0.10248708 0.20195299 0.21621725
+v -0.07337302 0.18722541 0.21512648
+v -0.04539645 0.19960405 0.19775875
+v -0.00015026 0.22524778 0.14533194
+v -0.01731414 0.23575201 0.14191914
+v -0.08614935 0.26744895 0.06597952
+v -0.07493759 0.19869932 0.20988805
+v -0.06032472 0.21117700 0.19564329
+f 8 2 3
+f 8 5 2
+f 8 1 5
+f 9 3 2
+f 10 9 6
+f 10 3 9
+f 11 2 5
+f 14 10 6
+f 14 4 7
+f 15 7 13
+f 15 14 7
+f 15 10 14
+f 16 7 4
+f 16 11 5
+f 17 9 2
+f 17 2 11
+f 17 6 9
+f 18 5 12
+f 18 16 5
+f 18 7 16
+f 18 13 7
+f 19 12 5
+f 19 5 1
+f 20 1 8
+f 20 8 13
+f 21 13 8
+f 21 8 3
+f 21 15 13
+f 22 3 10
+f 22 10 15
+f 22 21 3
+f 22 15 21
+f 23 16 4
+f 23 4 14
+f 23 14 6
+f 23 6 17
+f 23 17 11
+f 23 11 16
+f 24 18 12
+f 24 12 19
+f 24 19 1
+f 24 1 20
+f 25 24 20
+f 25 20 13
+f 25 13 18
+f 25 18 24
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_23.obj b/mango/mango_15/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80428eff0661e504e4fa2017d47d6f53c50a2683
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_23.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.26484852 -0.22732835 -0.22214115
+v 0.31479428 -0.17933397 -0.24825825
+v 0.31076655 -0.21524325 -0.22504720
+v 0.05572352 -0.16460286 -0.23859599
+v 0.18614518 -0.18369515 -0.25057204
+v 0.31033243 -0.16857442 -0.25312002
+v 0.05427582 -0.22613251 -0.20510184
+v 0.30664529 -0.20332292 -0.23645423
+v 0.19083321 -0.16621591 -0.25552966
+v 0.29344177 -0.17783115 -0.25206028
+v 0.18906158 -0.23776759 -0.21680855
+v 0.13158447 -0.20409498 -0.23676390
+v 0.26391011 -0.22021526 -0.22931107
+v 0.19042428 -0.17906802 -0.25236806
+v 0.29398642 -0.16583964 -0.25587125
+v 0.05787613 -0.20437496 -0.22183967
+v 0.08746200 -0.19110527 -0.23565647
+v 0.10201706 -0.21770675 -0.22272504
+v 0.04845966 -0.17936489 -0.23195465
+v 0.05677328 -0.21914272 -0.21169318
+v 0.05743841 -0.17600613 -0.23530720
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 3
+f 10 6 2
+f 10 2 8
+f 11 1 7
+f 13 8 3
+f 13 3 1
+f 13 10 8
+f 13 5 10
+f 13 1 11
+f 13 12 5
+f 13 11 12
+f 14 5 4
+f 14 4 9
+f 14 10 5
+f 15 9 4
+f 15 4 6
+f 15 6 10
+f 15 14 9
+f 15 10 14
+f 17 4 5
+f 17 5 12
+f 17 12 16
+f 18 12 11
+f 18 11 7
+f 18 16 12
+f 19 7 4
+f 19 17 16
+f 20 18 7
+f 20 16 18
+f 20 19 16
+f 20 7 19
+f 21 19 4
+f 21 4 17
+f 21 17 19
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_24.obj b/mango/mango_15/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcdcd5fa5ba624163f69ae3985e8dfcc92ff2e17
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_24.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.18709121 -0.27288601 -0.09053411
+v 0.26793482 -0.18102583 -0.25312057
+v 0.27956998 -0.19226996 -0.00175674
+v 0.14393940 -0.16921015 -0.02762837
+v 0.13839308 -0.17952487 -0.24771934
+v 0.13136580 -0.25888802 -0.02113470
+v 0.26110301 -0.25578245 -0.17298874
+v 0.18775958 -0.17760717 -0.25265009
+v 0.25883848 -0.24259901 -0.05388985
+v 0.14403320 -0.27417213 -0.14506457
+v 0.12760437 -0.26371014 -0.03160237
+v 0.26241288 -0.24418588 -0.20034650
+v 0.21430112 -0.25631935 -0.05186185
+v 0.26027786 -0.25791247 -0.09256523
+v 0.18700586 -0.27429014 -0.13232803
+v 0.12878449 -0.27509052 -0.07311579
+v 0.17498584 -0.22266802 -0.23009101
+v 0.21799516 -0.25710167 -0.18601182
+v 0.17179269 -0.27272162 -0.07665320
+v 0.18543837 -0.25679542 -0.03757983
+v 0.14513162 -0.25867492 -0.18446825
+v 0.14280952 -0.27524316 -0.07574275
+v 0.23364622 -0.22217110 -0.23048488
+v 0.17296889 -0.27341245 -0.14584655
+v 0.22982826 -0.24338513 -0.03787774
+v 0.14431255 -0.22780271 -0.22225253
+v 0.12923251 -0.27423953 -0.06821202
+v 0.26297733 -0.23387372 -0.21541452
+v 0.17534729 -0.22998514 -0.22387536
+v 0.25959138 -0.23134130 -0.03697765
+v 0.14532598 -0.23565323 -0.21506276
+v 0.23335836 -0.22931832 -0.22408631
+f 3 2 4
+f 6 3 4
+f 8 5 4
+f 8 4 2
+f 11 6 4
+f 11 4 5
+f 12 2 3
+f 12 3 7
+f 14 7 3
+f 14 3 9
+f 14 9 13
+f 15 14 1
+f 15 7 14
+f 16 11 5
+f 17 8 2
+f 17 5 8
+f 18 12 7
+f 19 14 13
+f 19 1 14
+f 20 6 11
+f 20 19 13
+f 20 11 19
+f 21 10 16
+f 21 18 10
+f 22 15 1
+f 22 1 19
+f 22 19 11
+f 22 16 10
+f 22 10 15
+f 23 17 2
+f 24 15 10
+f 24 10 18
+f 24 18 7
+f 24 7 15
+f 25 3 6
+f 25 6 20
+f 25 20 13
+f 25 13 9
+f 26 21 16
+f 26 16 5
+f 26 5 17
+f 27 22 11
+f 27 11 16
+f 27 16 22
+f 28 23 2
+f 28 2 12
+f 28 12 18
+f 29 17 23
+f 29 26 17
+f 29 18 21
+f 30 25 9
+f 30 9 3
+f 30 3 25
+f 31 29 21
+f 31 21 26
+f 31 26 29
+f 32 29 23
+f 32 23 28
+f 32 28 18
+f 32 18 29
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_25.obj b/mango/mango_15/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..190b6750e3d3f05c27c5081bd77b8a527cf186dc
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_25.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.23480329 0.00029385 0.25032811
+v -0.23484848 -0.00254349 0.06328072
+v -0.23484848 0.13382015 0.06328072
+v -0.40684082 0.12687876 0.21416448
+v -0.47380234 0.00209993 0.06628435
+v -0.23466538 0.13313091 0.25607478
+v -0.40559373 0.00434687 0.21167977
+v -0.46467871 0.12771026 0.06529283
+v -0.23403330 0.10113938 0.26041346
+v -0.37804093 0.00367941 0.22513426
+v -0.49452766 0.06906909 0.12128493
+v -0.47564471 0.09929800 0.06553062
+v -0.37867990 0.12852587 0.22833446
+v -0.23432142 0.04669858 0.25895884
+v -0.44607889 0.00442457 0.17424453
+v -0.45983563 0.12551596 0.14835985
+v -0.49565018 0.07333259 0.10061875
+v -0.27870522 0.08766299 0.25877195
+v -0.41971323 0.04645956 0.21255585
+v -0.47346836 0.00325467 0.10393497
+v -0.46010906 0.08418326 0.17470156
+v -0.49251249 0.08017316 0.12388961
+v -0.26364303 0.10018699 0.25876637
+v -0.27828773 0.05934018 0.25868632
+v -0.39279720 0.11240052 0.22663991
+v -0.39180710 0.03190101 0.22612661
+v -0.43327273 0.03097632 0.19889957
+v -0.45993753 0.00419317 0.14848175
+v -0.44629346 0.12504651 0.17486818
+v -0.41761132 0.11161623 0.21219526
+v -0.45965138 0.04600292 0.17322571
+v -0.33676348 0.12926122 0.24120004
+v -0.26366598 0.04450605 0.25820063
+v -0.35027299 0.03138100 0.24115246
+v -0.44407902 0.11353916 0.18448349
+v -0.44690422 0.03194385 0.18573066
+v -0.45892555 0.01778558 0.16026854
+v -0.35050893 0.11453795 0.24081917
+v -0.32123009 0.00267039 0.24127986
+f 5 2 1
+f 8 3 2
+f 8 6 3
+f 9 2 3
+f 9 3 6
+f 10 5 1
+f 12 8 2
+f 12 2 5
+f 13 6 8
+f 14 1 2
+f 14 2 9
+f 15 10 7
+f 15 5 10
+f 16 13 8
+f 16 4 13
+f 17 8 12
+f 17 12 5
+f 17 5 11
+f 20 11 5
+f 20 5 15
+f 22 16 8
+f 22 8 17
+f 22 17 11
+f 22 11 21
+f 23 18 9
+f 23 9 6
+f 24 14 9
+f 24 9 18
+f 25 13 4
+f 26 19 7
+f 26 7 10
+f 26 25 19
+f 27 15 7
+f 27 7 19
+f 28 20 15
+f 28 11 20
+f 29 4 16
+f 29 22 21
+f 29 16 22
+f 30 21 19
+f 30 25 4
+f 30 19 25
+f 31 21 11
+f 32 23 6
+f 32 6 13
+f 32 18 23
+f 33 1 14
+f 33 14 24
+f 34 24 18
+f 34 25 26
+f 34 26 10
+f 35 29 21
+f 35 21 30
+f 35 30 4
+f 35 4 29
+f 36 21 31
+f 36 27 19
+f 36 19 21
+f 36 31 15
+f 36 15 27
+f 37 28 15
+f 37 15 31
+f 37 31 11
+f 37 11 28
+f 38 18 32
+f 38 34 18
+f 38 25 34
+f 38 32 13
+f 38 13 25
+f 39 33 24
+f 39 24 34
+f 39 1 33
+f 39 34 10
+f 39 10 1
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_26.obj b/mango/mango_15/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ac712fc054cb875307d8b50aad2065e0b51a5aa
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_26.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.21476311 -0.19964124 0.05790780
+v -0.21125263 -0.13150458 -0.15137828
+v -0.22238304 -0.13588145 0.16533326
+v -0.32162922 -0.11405871 0.14873686
+v -0.35034530 -0.13595876 0.01495256
+v -0.22586313 -0.11608376 -0.15044957
+v -0.24374180 -0.16501921 0.11279256
+v -0.21460329 -0.15562978 0.14353713
+v -0.21298531 -0.20229516 -0.05437038
+v -0.31801125 -0.15080329 0.07253614
+v -0.21456046 -0.11952225 -0.15602878
+v -0.31724280 -0.11428972 -0.07916938
+v -0.22952207 -0.15131670 0.14262783
+v -0.33661469 -0.11527244 0.13495540
+v -0.24242660 -0.17932423 0.08457631
+v -0.24172516 -0.19630619 0.00232594
+v -0.28629647 -0.11515774 -0.10678695
+v -0.29770458 -0.15249674 -0.04853877
+v -0.31714036 -0.12002823 0.14234533
+v -0.33219600 -0.13425418 0.10047122
+v -0.28727319 -0.16482199 0.07376576
+v -0.33583862 -0.14620175 0.01854428
+v -0.22239182 -0.12755814 -0.14603222
+v -0.31411624 -0.15237893 -0.02254680
+v -0.22351890 -0.16846014 -0.10722276
+v -0.30202550 -0.13458169 0.12796137
+v -0.22680904 -0.19563278 0.05671086
+v -0.30210400 -0.14831628 0.09942627
+v -0.27051680 -0.18147255 0.01736424
+v -0.21294142 -0.16072560 -0.12659111
+v -0.31117575 -0.12317425 -0.07534707
+v -0.25368701 -0.18081528 -0.05049527
+v -0.27001843 -0.18161562 -0.01046566
+v -0.33180936 -0.11993161 0.13014727
+v -0.21253847 -0.17361764 -0.11075289
+v -0.28146568 -0.13771632 -0.08921738
+v -0.26709257 -0.16638889 -0.06387144
+v -0.22592467 -0.19591594 -0.05219579
+v -0.24112125 -0.19625300 -0.01163774
+v -0.28181733 -0.12476332 -0.10228675
+f 6 4 3
+f 8 7 1
+f 9 8 1
+f 9 2 8
+f 11 6 3
+f 11 2 6
+f 11 8 2
+f 11 3 8
+f 12 4 6
+f 13 8 3
+f 13 3 4
+f 13 7 8
+f 14 12 5
+f 14 4 12
+f 15 1 7
+f 16 9 1
+f 17 12 6
+f 19 13 4
+f 19 4 14
+f 20 14 5
+f 20 5 10
+f 21 20 10
+f 22 10 5
+f 23 17 6
+f 23 6 2
+f 24 5 12
+f 24 22 5
+f 26 7 13
+f 26 13 19
+f 26 19 14
+f 26 15 7
+f 27 1 15
+f 27 15 21
+f 27 16 1
+f 27 21 10
+f 28 21 15
+f 28 20 21
+f 28 26 20
+f 28 15 26
+f 29 10 22
+f 29 27 10
+f 29 16 27
+f 30 23 2
+f 30 17 23
+f 31 24 12
+f 31 18 24
+f 32 24 18
+f 33 22 24
+f 33 29 22
+f 33 16 29
+f 33 24 32
+f 34 26 14
+f 34 14 20
+f 34 20 26
+f 35 30 2
+f 35 2 9
+f 35 25 30
+f 36 31 12
+f 36 30 25
+f 36 18 31
+f 37 32 18
+f 37 25 35
+f 37 35 9
+f 37 9 32
+f 37 36 25
+f 37 18 36
+f 38 33 32
+f 38 32 9
+f 38 9 33
+f 39 33 9
+f 39 9 16
+f 39 16 33
+f 40 36 12
+f 40 12 17
+f 40 17 30
+f 40 30 36
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_27.obj b/mango/mango_15/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be1139c13fd8c88a9b1f059b238eb85243477396
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_27.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.33543810 -0.14187522 0.07477429
+v -0.33583862 -0.14620175 0.01854428
+v -0.34090909 -0.00254349 0.01782617
+v -0.43466303 0.00406051 0.18828281
+v -0.44455795 -0.04869428 0.10368465
+v -0.33879528 -0.00028949 0.23641021
+v -0.38765784 -0.10616468 0.08944691
+v -0.46245285 0.00135449 0.02430384
+v -0.36579973 0.00260583 0.22955302
+v -0.33574716 -0.02457963 0.22842086
+v -0.41525330 -0.07937032 0.02360906
+v -0.34626967 -0.13663490 0.07461230
+v -0.41655328 -0.04733334 0.15772766
+v -0.34600187 -0.13931083 0.01820689
+v -0.46404159 0.00250721 0.13339121
+v -0.33470698 -0.06537299 0.20096685
+v -0.44518767 -0.05149251 0.05164050
+v -0.40273245 -0.09062459 0.10017817
+v -0.38729417 -0.10759984 0.02101399
+v -0.43083837 -0.03295765 0.15788135
+v -0.33464704 -0.12513448 0.11709979
+v -0.39062428 -0.03328084 0.19859611
+v -0.44457991 -0.03736262 0.02395307
+v -0.45779784 -0.02288906 0.03863938
+v -0.40238425 -0.07576429 0.13032364
+v -0.46011635 -0.00976133 0.13064496
+v -0.44502583 -0.03457447 0.13010066
+v -0.35948949 -0.12010369 0.09975166
+v -0.36179821 -0.08940391 0.15630708
+v -0.43089975 -0.00798164 0.18490664
+v -0.42073176 0.00295429 0.20073346
+v -0.36292953 -0.03619922 0.21146437
+v -0.45851324 -0.01084516 0.02526562
+v -0.45859969 -0.02221881 0.11817223
+v -0.38835029 -0.06074380 0.17106553
+v -0.33535300 -0.11028046 0.14441735
+v -0.34699906 -0.10519168 0.14355086
+v -0.36418594 -0.00941693 0.22560559
+v -0.41795100 -0.00727636 0.19741809
+v -0.34797773 -0.06181787 0.19797027
+v -0.34613062 -0.12042121 0.11475205
+v -0.34890873 -0.02268748 0.22510093
+f 8 4 3
+f 9 6 3
+f 9 3 4
+f 10 3 6
+f 10 6 9
+f 12 2 1
+f 14 8 3
+f 14 3 2
+f 14 12 7
+f 14 2 12
+f 15 4 8
+f 16 2 3
+f 16 3 10
+f 18 17 7
+f 18 5 17
+f 19 14 7
+f 19 17 11
+f 19 7 17
+f 21 1 2
+f 21 2 16
+f 23 11 17
+f 23 19 11
+f 23 8 14
+f 23 14 19
+f 24 15 8
+f 24 23 17
+f 25 5 18
+f 26 4 15
+f 27 13 20
+f 27 25 13
+f 27 5 25
+f 27 20 26
+f 28 12 1
+f 28 1 21
+f 28 7 12
+f 28 25 18
+f 28 18 7
+f 29 25 28
+f 30 20 13
+f 30 13 22
+f 30 26 20
+f 30 4 26
+f 31 9 4
+f 31 4 30
+f 32 16 10
+f 33 24 8
+f 33 8 23
+f 33 23 24
+f 34 24 17
+f 34 17 5
+f 34 27 26
+f 34 5 27
+f 34 26 15
+f 34 15 24
+f 35 22 13
+f 35 13 25
+f 35 25 29
+f 36 21 16
+f 36 16 29
+f 37 29 28
+f 37 36 29
+f 37 21 36
+f 38 9 31
+f 38 22 32
+f 38 10 9
+f 39 31 30
+f 39 30 22
+f 39 38 31
+f 39 22 38
+f 40 32 22
+f 40 16 32
+f 40 22 35
+f 40 35 29
+f 40 29 16
+f 41 37 28
+f 41 28 21
+f 41 21 37
+f 42 38 32
+f 42 32 10
+f 42 10 38
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_28.obj b/mango/mango_15/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de0f0e2cebd1302b5f6041730d6a4dee052d26a1
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_28.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.09176580 0.13884329 0.23781021
+v -0.09848485 0.13382015 0.03297769
+v -0.10054293 0.26703944 0.05186190
+v -0.23246032 0.26789085 0.14948407
+v -0.23484144 0.14361897 0.25398188
+v -0.23401221 0.26048790 0.03739314
+v -0.10342377 0.23838857 0.18621295
+v -0.09959907 0.26249431 0.03521009
+v -0.23484848 0.13382015 0.03297769
+v -0.23177102 0.26729608 0.05353060
+v -0.23420254 0.23168306 0.20631737
+v -0.10162328 0.26726012 0.13436512
+v -0.10349158 0.22655022 0.19904995
+v -0.19012804 0.23953101 0.20000059
+v -0.23253880 0.25642698 0.17622673
+v -0.11751755 0.25273875 0.17267867
+v -0.20443052 0.23911495 0.20035804
+v -0.13081094 0.26685590 0.14753791
+f 8 1 2
+f 9 2 1
+f 9 1 5
+f 9 5 6
+f 9 8 2
+f 9 6 8
+f 10 6 4
+f 10 4 3
+f 10 8 6
+f 10 3 8
+f 11 6 5
+f 11 4 6
+f 12 7 1
+f 12 3 4
+f 12 8 3
+f 12 1 8
+f 13 5 1
+f 13 1 7
+f 14 13 7
+f 14 11 5
+f 14 5 13
+f 15 4 11
+f 16 14 7
+f 16 7 12
+f 16 15 14
+f 17 15 11
+f 17 11 14
+f 17 14 15
+f 18 16 12
+f 18 12 4
+f 18 4 15
+f 18 15 16
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_29.obj b/mango/mango_15/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2edf321ab442bbb9541ec2fe967d9d65d2f58f8c
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_29.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.02291359 -0.00870147 0.19280222
+v 0.00757576 -0.00254349 0.03297769
+v 0.02099613 0.22498748 0.02271271
+v -0.08436532 0.23218368 0.18594230
+v -0.09848485 -0.00254349 0.15418981
+v 0.01645251 0.20963785 0.15290787
+v -0.09848485 -0.00254349 0.03297769
+v 0.01291381 0.20231179 0.16243176
+v -0.09848485 0.19442621 0.03297769
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 8 6 4
+f 8 4 1
+f 8 1 6
+f 9 7 5
+f 9 5 4
+f 9 4 3
+f 9 3 7
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_3.obj b/mango/mango_15/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c51dc6c9cfbc24cea159c51c2ed09d44ed4e5dac
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_3.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.14280952 -0.27524316 -0.07574275
+v 0.14532598 -0.23565323 -0.21506276
+v 0.14393940 -0.03284652 -0.02762837
+v 0.00757576 -0.03284652 -0.02762837
+v 0.01187048 -0.25716572 -0.14203951
+v 0.08313109 -0.03515590 -0.23377164
+v 0.14609944 -0.25676760 -0.02225465
+v 0.14403320 -0.27417213 -0.14506457
+v 0.14393940 -0.03284652 -0.13368898
+v 0.00803771 -0.03505457 -0.23218750
+v 0.00821802 -0.26716068 -0.02919291
+v 0.11594396 -0.25631908 -0.18383091
+v 0.14513162 -0.25867492 -0.18446825
+v 0.13839308 -0.17952487 -0.24771934
+v 0.12760437 -0.26371014 -0.03160237
+v 0.05309484 -0.27394289 -0.05988683
+v 0.01030291 -0.13463155 -0.23702733
+v 0.10069196 -0.27215388 -0.14338611
+v 0.02861614 -0.22927790 -0.19386737
+v 0.14431255 -0.22780271 -0.22225253
+v 0.08372379 -0.05278369 -0.24008721
+v 0.12741357 -0.27311990 -0.06181892
+v 0.05477443 -0.27265368 -0.11571657
+v 0.01138604 -0.17834900 -0.22410449
+v 0.02760372 -0.25529394 -0.15481846
+v 0.08685161 -0.24318731 -0.19604081
+v 0.00911212 -0.05274817 -0.23738422
+v 0.07077199 -0.27234474 -0.12927625
+v 0.01232950 -0.20436316 -0.20944727
+v 0.08458572 -0.16675974 -0.24402772
+v 0.02698645 -0.19033318 -0.22227222
+v 0.01314278 -0.24398005 -0.16833319
+v 0.04213227 -0.24446047 -0.18082434
+v 0.08728238 -0.23132810 -0.20874303
+v 0.04366043 -0.16507410 -0.23622457
+v 0.02803139 -0.21495800 -0.20674267
+f 7 3 4
+f 8 7 1
+f 9 7 2
+f 9 3 7
+f 9 4 3
+f 10 9 6
+f 10 4 9
+f 11 7 4
+f 11 4 10
+f 13 2 7
+f 13 7 8
+f 13 12 2
+f 14 6 9
+f 15 1 7
+f 15 7 11
+f 16 8 1
+f 17 11 10
+f 18 13 8
+f 18 12 13
+f 20 14 9
+f 20 9 2
+f 21 10 6
+f 21 6 14
+f 22 15 11
+f 22 1 15
+f 22 16 1
+f 22 11 16
+f 23 16 11
+f 23 11 5
+f 23 8 16
+f 24 5 11
+f 24 11 17
+f 25 12 18
+f 26 2 12
+f 27 17 10
+f 27 10 21
+f 27 21 14
+f 28 23 5
+f 28 18 8
+f 28 8 23
+f 28 25 18
+f 28 5 25
+f 29 5 24
+f 30 27 14
+f 30 17 27
+f 31 14 20
+f 31 29 24
+f 31 30 14
+f 31 24 30
+f 32 25 5
+f 32 29 19
+f 32 5 29
+f 33 26 12
+f 33 12 25
+f 33 25 32
+f 33 32 19
+f 33 19 26
+f 34 20 2
+f 34 2 26
+f 34 26 19
+f 34 31 20
+f 35 30 24
+f 35 24 17
+f 35 17 30
+f 36 34 19
+f 36 19 29
+f 36 29 31
+f 36 31 34
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_30.obj b/mango/mango_15/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a71ecab08fce86ecaddef5e98742094f4fb11d17
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.27956998 -0.19226996 -0.00175674
+v 0.26515152 -0.16921015 -0.13368898
+v 0.26515152 -0.03284652 -0.02762837
+v 0.14393940 -0.03284652 -0.02762837
+v 0.14393940 -0.16921015 -0.13368898
+v 0.14393940 -0.03284652 -0.13368898
+v 0.26515152 -0.03284652 -0.13368898
+v 0.14393940 -0.16921015 -0.02762837
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 5 1
+f 8 1 4
+f 8 4 5
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_31.obj b/mango/mango_15/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c63b5b4f8bffe858e17285894c8fbf5e9fa97af
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.15405864 0.01782617
+v 0.00757576 -0.15405864 -0.10338595
+v 0.00757576 -0.00254349 -0.10338595
+v -0.21969697 -0.00254349 0.01782617
+v -0.24052049 -0.19604374 0.02126800
+v 0.00757576 -0.00254349 0.01782617
+v -0.23200751 -0.15346612 -0.11730838
+v -0.22709379 -0.16309979 -0.11062256
+v -0.21969697 -0.00254349 -0.10338595
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 3 2
+f 8 7 2
+f 8 2 5
+f 8 5 7
+f 9 7 5
+f 9 5 4
+f 9 4 3
+f 9 3 7
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_4.obj b/mango/mango_15/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deae71b972f19baeea7c90963825f260cd210aa5
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_4.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.00254349 0.03297769
+v 0.00764304 -0.00412930 -0.22062583
+v 0.00554711 0.23493767 0.03444028
+v -0.23401221 0.26048790 0.03739314
+v -0.23484848 -0.00254349 0.03297769
+v -0.01040305 0.16309286 -0.10337777
+v -0.05643012 0.25585128 0.03791108
+v 0.00808101 0.01887679 -0.20954236
+v -0.11002435 -0.00614612 -0.20881297
+v -0.01207330 0.24243443 0.03702490
+v -0.10040129 0.22177683 -0.04628998
+v 0.00316686 0.19134760 -0.06108192
+v -0.23148418 -0.00317516 -0.17105017
+v -0.06726643 0.01941982 -0.20597815
+v -0.08592538 0.25119083 0.01119913
+v 0.00742248 0.07715855 -0.17716467
+v 0.00109319 0.22263314 -0.00493364
+v -0.04100097 0.19231241 -0.07462459
+v -0.21335098 -0.00421149 -0.17843539
+v -0.22979141 0.13707276 -0.11489986
+v -0.10958890 0.00733431 -0.20559506
+v -0.21684295 0.25135916 0.01189577
+v -0.04170395 0.22034818 -0.03251239
+v -0.03707657 0.07775638 -0.17614184
+v -0.01322196 0.23840535 0.02355875
+v 0.00263423 0.22675151 0.00749758
+v -0.04246292 0.23641715 -0.00337624
+v -0.01030294 0.13445870 -0.13299560
+v -0.23164201 0.22282455 -0.03215644
+v -0.22866761 0.05187766 -0.15975177
+v -0.18555113 0.07859027 -0.15936682
+v -0.17048121 0.00823187 -0.19060889
+v -0.08605460 0.23651187 -0.01791431
+v -0.01250231 0.20512631 -0.04621211
+v -0.06670855 0.04818628 -0.19107668
+v -0.05759255 0.25152430 0.02444087
+v -0.20225236 0.16614968 -0.10143563
+v -0.06693451 0.12159816 -0.14693561
+v -0.23175726 0.25489708 0.02491972
+v -0.18644316 0.22219365 -0.04552482
+v -0.21371817 0.00881841 -0.17675812
+v -0.14027679 0.03375544 -0.19034184
+v -0.21641345 0.09327206 -0.14571722
+v -0.16821958 -0.00495745 -0.19374358
+v -0.01265933 0.22106989 -0.01767903
+v -0.21639666 0.17922394 -0.08701375
+v -0.05340920 0.12090420 -0.14724141
+v -0.14286179 0.13749677 -0.13154558
+v -0.21614788 0.23686033 -0.01571477
+v -0.14130069 0.06177344 -0.17572107
+v -0.21510828 0.06499510 -0.15892404
+v -0.21482038 0.20777565 -0.05769631
+v -0.17119375 0.10771029 -0.14552140
+v -0.12628108 0.09252144 -0.16069240
+f 7 5 1
+f 7 4 5
+f 8 1 2
+f 8 3 1
+f 9 2 1
+f 9 1 5
+f 10 7 1
+f 10 1 3
+f 13 5 4
+f 14 8 2
+f 15 4 7
+f 16 6 12
+f 16 12 3
+f 16 3 8
+f 18 12 6
+f 19 9 5
+f 19 5 13
+f 21 14 2
+f 21 2 9
+f 22 4 15
+f 23 18 11
+f 24 16 8
+f 25 10 3
+f 25 7 10
+f 26 3 12
+f 26 12 17
+f 26 25 3
+f 26 17 25
+f 27 25 17
+f 28 18 6
+f 28 11 18
+f 28 6 16
+f 29 20 13
+f 29 13 4
+f 30 13 20
+f 32 21 9
+f 33 22 15
+f 33 23 11
+f 33 27 23
+f 33 15 27
+f 34 12 18
+f 34 18 23
+f 35 24 8
+f 35 8 14
+f 36 27 15
+f 36 15 7
+f 36 7 25
+f 36 25 27
+f 38 16 24
+f 38 11 28
+f 39 29 4
+f 39 4 22
+f 40 33 11
+f 40 22 33
+f 41 19 13
+f 41 13 30
+f 41 30 32
+f 42 14 21
+f 42 32 30
+f 42 21 32
+f 43 30 20
+f 43 31 42
+f 44 32 9
+f 44 9 19
+f 44 41 32
+f 44 19 41
+f 45 17 12
+f 45 12 34
+f 45 27 17
+f 45 34 23
+f 45 23 27
+f 46 37 20
+f 46 20 29
+f 46 40 37
+f 47 38 28
+f 47 28 16
+f 47 16 38
+f 48 37 40
+f 48 40 11
+f 48 11 38
+f 49 39 22
+f 49 29 39
+f 49 40 29
+f 49 22 40
+f 50 35 14
+f 50 14 42
+f 50 42 31
+f 51 43 42
+f 51 42 30
+f 51 30 43
+f 52 46 29
+f 52 29 40
+f 52 40 46
+f 53 31 43
+f 53 43 20
+f 53 20 37
+f 53 37 48
+f 53 50 31
+f 54 48 38
+f 54 38 24
+f 54 24 35
+f 54 35 50
+f 54 53 48
+f 54 50 53
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_5.obj b/mango/mango_15/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a2d0d1ab0e1b388bb3c4fcc1655163839db7101
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.26133219 -0.26024040 -0.10579306
+v 0.48902804 -0.08921566 -0.15713606
+v 0.48997198 -0.07398066 -0.09642475
+v 0.26515152 -0.03284652 -0.08823443
+v 0.26506668 -0.10922084 -0.26151953
+v 0.43795639 -0.04192168 -0.20812179
+v 0.26401641 -0.25604201 -0.08926393
+v 0.34771354 -0.21139712 -0.21118924
+v 0.26542295 -0.02063651 -0.22831941
+v 0.48943247 -0.03809559 -0.15459744
+v 0.44557814 -0.16873985 -0.12212562
+v 0.26391011 -0.22021526 -0.22931107
+v 0.41999700 -0.14354827 -0.22180878
+v 0.26241288 -0.24418588 -0.20034650
+v 0.38081725 -0.05513692 -0.23629190
+v 0.49080965 -0.08771136 -0.10732378
+v 0.47609843 -0.05266929 -0.18064282
+v 0.48999872 -0.03665855 -0.09703180
+v 0.43335379 -0.17143245 -0.09721342
+v 0.36254883 -0.22677142 -0.16056095
+v 0.44530879 -0.15604080 -0.18377400
+v 0.32231565 -0.16380368 -0.25243078
+v 0.26460618 -0.16645114 -0.25778548
+v 0.31998241 -0.21240628 -0.22503499
+v 0.40875883 -0.04236192 -0.22205852
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+v 0.43593322 -0.08040980 -0.22187543
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+v 0.47496809 -0.11462308 -0.09634295
+v 0.30542195 -0.24009944 -0.18633189
+v 0.38999386 -0.21150313 -0.12179540
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+v 0.38991637 -0.19699682 -0.19742392
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+v 0.37668102 -0.21166106 -0.18555552
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+v 0.27520099 -0.25667997 -0.10703984
+v 0.34766375 -0.22609767 -0.09550890
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+f 51 41 27
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+f 52 34 35
+f 53 35 34
+f 53 40 13
+f 53 27 17
+f 53 17 40
+f 53 51 27
+f 53 34 51
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+f 56 8 24
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+f 56 50 33
+f 56 13 50
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+f 57 13 56
+f 57 53 13
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+f 57 37 22
+f 57 22 35
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+f 59 40 28
+f 59 28 21
+f 59 13 40
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+f 59 21 50
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+f 60 46 30
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+f 61 8 33
+f 61 32 20
+f 61 20 45
+f 61 50 32
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+f 62 46 1
+f 62 1 14
+f 62 14 54
+f 62 54 30
+f 62 30 46
+f 63 48 7
+f 63 7 1
+f 63 1 46
+f 63 46 48
+f 64 47 7
+f 64 7 48
+f 64 48 49
+f 64 49 31
+f 64 31 47
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_6.obj b/mango/mango_15/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71fa736958d5bcd4952354d47adccc695d5e87ce
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_6.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.06859422 -0.16190988 0.14718336
+v 0.00577707 -0.13574798 0.14870437
+v -0.16121947 -0.01381929 0.24224402
+v -0.33879528 -0.00028949 0.23641021
+v -0.34090909 -0.00254349 0.15418981
+v -0.26105681 -0.09300803 0.19855435
+v -0.10067619 -0.06958389 0.21194086
+v -0.00967960 -0.14810897 0.14510641
+v -0.09848485 -0.00254349 0.15418981
+v -0.23411616 -0.05368356 0.22666704
+v -0.32162922 -0.11405871 0.14873686
+v -0.05119346 -0.00351492 0.22123368
+v -0.10097237 -0.09748044 0.19584278
+v -0.29314566 0.00161478 0.24607614
+v -0.32125952 -0.03793638 0.22522249
+v -0.20448601 -0.05457188 0.22662503
+v -0.18806175 -0.15917959 0.14653573
+v -0.29069679 -0.12820506 0.14695591
+v -0.33849506 -0.10399572 0.15139717
+v 0.00612337 -0.07635309 0.17977222
+v -0.08779422 -0.02699735 0.22528610
+v -0.07103828 -0.15589567 0.15246348
+v -0.05712936 -0.08314619 0.19533756
+v -0.08630558 0.00018741 0.23118950
+v -0.29279825 -0.01096759 0.24174859
+v -0.18754565 -0.13915096 0.16909889
+v -0.25988339 -0.12195275 0.16942849
+v -0.33438764 -0.05084576 0.21274093
+v 0.01443765 -0.08638724 0.17251279
+v -0.11638872 -0.04072956 0.22623059
+v -0.05770343 -0.04258156 0.21306200
+v -0.01244428 -0.14238208 0.14962728
+v -0.05518220 -0.00128062 0.22270528
+v -0.16079842 0.00083539 0.24616605
+v -0.33574716 -0.02457963 0.22842086
+v -0.10047894 -0.14165796 0.16700520
+v -0.18542685 -0.15231835 0.15550049
+v -0.24699405 -0.14259799 0.14758348
+v -0.30357707 -0.10669985 0.16914552
+v 0.00371636 -0.09956305 0.16952289
+v -0.01115568 -0.07283000 0.18683642
+v -0.02866169 -0.09748898 0.17989279
+v -0.24511298 -0.13696488 0.15650882
+v -0.28854162 -0.12211072 0.15738192
+v -0.30501871 -0.07803249 0.19880840
+v -0.33290240 -0.09193601 0.17146966
+v -0.01295676 -0.08521435 0.18181138
+v 0.00285275 -0.12928099 0.15332728
+v -0.31763000 -0.10869383 0.15876595
+f 9 8 5
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+f 14 5 4
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+f 16 7 3
+f 16 3 10
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+f 23 7 13
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+f 24 21 12
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+f 25 3 14
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+f 25 14 4
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+f 26 10 6
+f 27 26 6
+f 28 4 19
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+f 29 2 9
+f 29 9 12
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+f 30 21 3
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+f 31 20 12
+f 31 12 21
+f 31 7 23
+f 31 30 7
+f 31 21 30
+f 32 22 8
+f 32 13 22
+f 32 23 13
+f 32 8 2
+f 33 24 12
+f 33 12 9
+f 33 9 24
+f 34 24 14
+f 34 14 3
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+f 35 25 4
+f 35 15 25
+f 35 28 15
+f 35 4 28
+f 36 13 16
+f 36 16 26
+f 36 22 13
+f 36 26 1
+f 36 1 22
+f 37 17 1
+f 37 1 26
+f 37 26 27
+f 38 18 17
+f 40 2 29
+f 41 31 23
+f 41 20 31
+f 42 23 32
+f 43 37 27
+f 43 17 37
+f 43 38 17
+f 44 11 18
+f 44 27 39
+f 44 43 27
+f 44 18 38
+f 44 38 43
+f 45 39 27
+f 45 27 6
+f 45 6 28
+f 46 28 19
+f 46 45 28
+f 46 39 45
+f 47 41 23
+f 47 40 29
+f 47 29 20
+f 47 20 41
+f 47 42 40
+f 47 23 42
+f 48 42 32
+f 48 32 2
+f 48 2 40
+f 48 40 42
+f 49 44 39
+f 49 11 44
+f 49 39 46
+f 49 46 19
+f 49 19 11
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_7.obj b/mango/mango_15/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84e57c0465f5824848bd95693f01f6f601b71929
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_7.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.32510443 -0.15279422 0.01789060
+v -0.21125395 -0.10253984 -0.16554921
+v -0.21969697 -0.00254349 0.01782617
+v -0.45928524 -0.00162051 0.01912909
+v -0.35486886 -0.09322994 -0.06039895
+v -0.21854086 -0.00285091 -0.17622941
+v -0.45066982 -0.02675726 0.02326049
+v -0.21969697 -0.12375561 0.01782617
+v -0.31693827 -0.14311616 -0.03778398
+v -0.37459068 0.00147078 -0.08874300
+v -0.41336159 -0.02515036 -0.04390303
+v -0.21456046 -0.11952225 -0.15602878
+v -0.43373700 -0.05450971 0.02299328
+v -0.44854864 0.00166441 -0.00551036
+v -0.32876725 -0.02722056 -0.11710049
+v -0.29741698 -0.11032981 -0.10187092
+v -0.34159188 -0.13735128 -0.00555171
+v -0.39932896 -0.06493480 -0.03154923
+v -0.43182661 0.00154794 -0.03254105
+v -0.44474436 -0.01039566 -0.00414166
+v -0.33067497 -0.00098022 -0.11913358
+v -0.23889858 -0.07197980 -0.16003631
+v -0.38737285 -0.02732458 -0.07086741
+v -0.25382690 -0.11397368 -0.13249708
+v -0.34052443 -0.10753824 -0.06104203
+v -0.34600187 -0.13931083 0.01820689
+v -0.38542308 -0.09237554 -0.01690801
+v -0.41506288 -0.06548190 -0.00501445
+v -0.44538338 -0.02507687 0.00999219
+v -0.42909693 -0.01141224 -0.03061774
+v -0.24388409 -0.00339463 -0.16565638
+v -0.37288170 -0.01387492 -0.08684364
+v -0.39921077 -0.05295927 -0.04401722
+v -0.35694107 -0.05572910 -0.08551715
+v -0.31239582 -0.06952601 -0.11471861
+v -0.32637832 -0.09692725 -0.08699160
+v -0.37025663 -0.10717032 -0.01783557
+v -0.42957585 -0.05325023 0.00917458
+v -0.22432697 -0.10073497 -0.15860695
+v -0.26729852 -0.09952594 -0.13144923
+v -0.32706493 -0.13676468 -0.03441275
+v -0.22586313 -0.11608376 -0.15044957
+f 6 3 2
+f 7 3 4
+f 8 2 3
+f 10 3 6
+f 12 8 1
+f 12 2 8
+f 12 1 9
+f 13 1 8
+f 13 8 3
+f 13 3 7
+f 14 4 3
+f 14 3 10
+f 17 9 1
+f 19 14 10
+f 20 4 14
+f 21 15 10
+f 21 10 6
+f 22 6 2
+f 23 19 10
+f 23 11 19
+f 24 12 9
+f 24 9 16
+f 25 16 9
+f 26 17 1
+f 26 1 13
+f 27 18 5
+f 27 5 25
+f 28 27 13
+f 28 18 27
+f 29 7 4
+f 29 4 20
+f 30 19 11
+f 30 29 20
+f 30 20 14
+f 30 14 19
+f 31 21 6
+f 31 6 22
+f 31 22 15
+f 31 15 21
+f 32 23 10
+f 32 10 15
+f 33 11 23
+f 33 30 11
+f 33 18 28
+f 33 28 29
+f 33 29 30
+f 33 5 18
+f 34 33 23
+f 34 5 33
+f 34 32 15
+f 34 23 32
+f 35 15 22
+f 35 34 15
+f 36 25 5
+f 36 16 25
+f 36 5 34
+f 36 35 16
+f 36 34 35
+f 37 26 13
+f 37 13 27
+f 37 17 26
+f 37 27 25
+f 38 28 13
+f 38 13 7
+f 38 29 28
+f 38 7 29
+f 39 35 22
+f 39 22 2
+f 39 2 12
+f 40 24 16
+f 40 16 35
+f 40 35 39
+f 41 9 17
+f 41 17 37
+f 41 37 25
+f 41 25 9
+f 42 40 39
+f 42 39 12
+f 42 12 24
+f 42 24 40
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_8.obj b/mango/mango_15/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41ff776b1bb686fceb9234fcacb7e348211297ee
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_8.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.26401641 -0.25604201 -0.08926393
+v 0.38163750 -0.20651385 -0.09227928
+v 0.25805141 -0.13200149 0.04877700
+v 0.26391642 -0.00304421 0.06119514
+v 0.26515152 -0.03284652 -0.08823443
+v 0.37490024 -0.10386901 -0.00098118
+v 0.28676511 -0.21201323 -0.02673800
+v 0.30438730 -0.24383910 -0.09319219
+v 0.25959138 -0.23134130 -0.03697765
+v 0.25697405 -0.00649700 0.06644589
+v 0.41650270 0.00294832 -0.05033336
+v 0.33046949 -0.15678530 -0.00022574
+v 0.36468145 -0.21720612 -0.09396005
+v 0.26107860 -0.24820087 -0.06470496
+v 0.25937256 -0.17606443 0.02214155
+v 0.37461507 -0.03689748 0.00041603
+v 0.25932211 -0.07510093 0.06567804
+v 0.37644253 -0.15696643 -0.02819003
+v 0.36110062 -0.13064629 -0.00261998
+v 0.35996811 -0.19677115 -0.05690851
+v 0.30255274 -0.24046415 -0.08018163
+v 0.30119006 -0.15867509 0.01362600
+v 0.31551732 -0.18469623 -0.01417774
+v 0.27503291 -0.00509100 0.05482780
+v 0.27023114 -0.12883791 0.04407763
+v 0.30029086 -0.03660749 0.04621207
+v 0.36185889 -0.21308662 -0.08303586
+v 0.37554299 -0.19659351 -0.07018540
+v 0.28787747 -0.24031226 -0.06845701
+v 0.28669496 -0.18417226 0.00217636
+v 0.36044436 -0.17050482 -0.02869461
+v 0.31657549 -0.19745697 -0.02743737
+v 0.30014730 -0.07524460 0.04441491
+v 0.30141807 -0.22667986 -0.05595144
+v 0.27237771 -0.17273488 0.01829420
+v 0.26871297 -0.07577832 0.06068858
+f 8 1 5
+f 10 4 5
+f 10 9 3
+f 10 5 9
+f 11 5 4
+f 11 2 5
+f 13 8 5
+f 13 5 2
+f 14 9 5
+f 14 5 1
+f 15 9 7
+f 15 3 9
+f 16 6 11
+f 17 10 3
+f 18 11 6
+f 18 2 11
+f 19 18 6
+f 19 12 18
+f 21 14 1
+f 21 1 8
+f 21 8 13
+f 22 19 3
+f 22 12 19
+f 24 4 10
+f 24 10 16
+f 24 16 11
+f 24 11 4
+f 25 17 3
+f 25 6 17
+f 25 19 6
+f 25 3 19
+f 26 16 10
+f 26 10 17
+f 26 6 16
+f 27 13 2
+f 27 21 13
+f 28 2 18
+f 28 27 2
+f 28 20 27
+f 29 9 14
+f 29 14 21
+f 30 23 12
+f 30 15 7
+f 31 18 12
+f 31 12 23
+f 31 28 18
+f 31 20 28
+f 32 31 23
+f 32 20 31
+f 32 30 7
+f 32 23 30
+f 33 26 17
+f 33 6 26
+f 34 7 9
+f 34 9 29
+f 34 32 7
+f 34 20 32
+f 34 27 20
+f 34 29 21
+f 34 21 27
+f 35 15 30
+f 35 22 3
+f 35 3 15
+f 35 30 12
+f 35 12 22
+f 36 33 17
+f 36 17 6
+f 36 6 33
\ No newline at end of file
diff --git a/mango/mango_15/collision/model_normalized_collision_9.obj b/mango/mango_15/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ddef5a72366747bf116be3a20eace37ee5880fa
--- /dev/null
+++ b/mango/mango_15/collision/model_normalized_collision_9.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.14387564 -0.25965705 -0.02783189
+v 0.26340577 -0.22542384 -0.03075366
+v 0.00494040 -0.17099888 0.12493921
+v 0.00590749 -0.03141379 0.19479520
+v 0.00757576 -0.03284652 -0.02762837
+v 0.25350243 -0.14605159 0.04396817
+v 0.12203794 -0.21270440 0.04954479
+v 0.21512566 -0.24706545 -0.03580258
+v 0.00428380 -0.26486933 -0.01988881
+v 0.06131172 -0.09990872 0.15015663
+v 0.26515152 -0.03284652 -0.02762837
+v 0.15131920 -0.16991408 0.07477571
+v 0.14051054 -0.24782168 -0.00451546
+v 0.15327446 -0.22700526 0.01983633
+v 0.00285275 -0.12928099 0.15332728
+v 0.18023686 -0.08825721 0.10318601
+v 0.03242736 -0.02886865 0.18550409
+v 0.27842564 -0.15156548 0.02866896
+v 0.24562806 -0.23521191 -0.03422116
+v 0.07761719 -0.18560064 0.09182173
+v 0.12057636 -0.11526273 0.11984071
+v 0.22694917 -0.18543077 0.03014920
+v 0.00732588 -0.22834000 0.06202456
+v 0.17017453 -0.24288468 -0.00948645
+v 0.00451070 -0.19947606 0.09603223
+v 0.00337050 -0.05909495 0.18723877
+v 0.25912565 -0.03342539 0.06847100
+v 0.09033228 -0.07313025 0.14963588
+v 0.25564091 -0.10356368 0.06026187
+v 0.21254498 -0.24108558 -0.02546603
+v 0.01788330 -0.17101350 0.12150765
+v 0.22545327 -0.14399657 0.05852547
+v 0.06175575 -0.12717882 0.13549908
+v 0.25587350 -0.18508182 0.01639429
+v 0.25717166 -0.21293495 -0.01139359
+v 0.12096510 -0.18516953 0.07546753
+v 0.07926347 -0.19953474 0.07858227
+v 0.00371636 -0.09956305 0.16952289
+v 0.03159238 -0.04405937 0.18213740
+v 0.16523392 -0.03133776 0.12253142
+v 0.13502754 -0.10010630 0.11961079
+v 0.01662849 -0.05686133 0.18337930
+v 0.27355839 -0.14618832 0.03380042
+v 0.12110187 -0.14236356 0.10476176
+v 0.24152111 -0.15797151 0.04336464
+v 0.01704650 -0.12761470 0.15005488
+v 0.27526154 -0.16326308 0.02330210
+v 0.24334441 -0.22937932 -0.02466527
+v 0.19830139 -0.19823007 0.03103471
+v 0.19679851 -0.21261889 0.01639719
+v 0.01927653 -0.19913139 0.09325013
+v 0.01620136 -0.09937813 0.16573881
+v 0.07523392 -0.04311288 0.16534210
+v 0.24032719 -0.07299172 0.07558117
+v 0.27028180 -0.15745180 0.02936504
+v 0.07643415 -0.03023462 0.16739638
+v 0.16448001 -0.04656177 0.12115772
+v 0.20901686 -0.08828895 0.08846812
+f 9 8 1
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\ No newline at end of file
diff --git a/mango/mango_15/model.xml b/mango/mango_15/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1ec859b6b25f8bd255b5e235456649062a71311d
--- /dev/null
+++ b/mango/mango_15/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="mango_1">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="0.7730104533627369 0.0 0.0 0.6343932841636456"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material_0.033" 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_0.033"/>
+        <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="-0.0011185756817839313 0.00012139756920997306 -0.03268994125" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0011185756817839313 0.00012139756920997306 0.03255168249999999" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03069562761524625 0.06255410836727432 -6.91293750000009e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/mango/mango_15/visual/material.mtl b/mango/mango_15/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..842b70538fc6029daec10eabd1278717f12035ab
--- /dev/null
+++ b/mango/mango_15/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/mango/mango_18/collision/model_normalized_collision_10.obj b/mango/mango_18/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3adb57919cf68cf41fc5aae6d7b97c0a37f8297
--- /dev/null
+++ b/mango/mango_18/collision/model_normalized_collision_10.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 0.17035758 0.00429630
+v 0.28911782 0.20741761 -0.23109612
+v 0.26946160 0.31954869 0.00643961
+v 0.00822953 0.36884315 0.00301829
+v -0.09848484 0.17035758 -0.17752188
+v 0.17040458 0.33501429 -0.12245864
+v -0.09848484 0.17035758 0.01944782
+v 0.00757577 0.17035758 -0.19267340
+v 0.25896955 0.31782097 -0.09633492
+v 0.13961388 0.36281406 0.00415159
+v -0.10302020 0.27149195 -0.18557997
+v 0.00757577 0.17035758 0.01944782
+v 0.25922264 0.32189502 -0.08251789
+v 0.24154605 0.28891900 -0.16917374
+v 0.11435768 0.34958797 -0.09839543
+v -0.09848484 0.26126667 0.01944782
+v 0.18509002 0.33450602 -0.11066615
+v 0.25978358 0.28884640 -0.15390071
+v 0.22978534 0.31769584 -0.12438372
+v 0.00994438 0.30766408 -0.18258884
+v 0.03788304 0.36656808 -0.02374227
+v 0.06762593 0.36737248 0.00560379
+v 0.00757577 0.26126667 0.01944782
+v 0.14360490 0.35096581 -0.08046952
+v 0.26192868 0.26578650 -0.18520810
+v 0.12439164 0.31728625 -0.16865729
+v 0.00811900 0.34922767 -0.09447066
+v 0.20939584 0.28923906 -0.18376614
+v 0.11731285 0.33271329 -0.14238958
+v 0.00964171 0.33279291 -0.13926298
+v 0.00948265 0.36486944 -0.02114798
+v 0.24468656 0.27953424 -0.17875818
+v 0.16767148 0.30335463 -0.17888134
+v 0.02608872 0.31779785 -0.16793628
+f 1 2 3
+f 7 5 1
+f 8 2 1
+f 8 1 5
+f 11 5 7
+f 11 8 5
+f 11 2 8
+f 12 7 1
+f 12 1 3
+f 13 3 2
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+f 19 14 6
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+f 20 2 11
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+f 22 21 4
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+f 22 3 10
+f 23 16 12
+f 23 12 3
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+f 23 3 22
+f 24 10 13
+f 24 13 17
+f 24 21 10
+f 24 15 21
+f 24 17 6
+f 24 6 15
+f 25 18 2
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+f 27 21 15
+f 28 25 2
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+f 31 4 21
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+f 32 28 14
+f 32 14 25
+f 32 25 28
+f 33 28 2
+f 33 2 20
+f 33 20 26
+f 33 26 6
+f 33 6 14
+f 33 14 28
+f 34 29 26
+f 34 26 20
+f 34 30 29
+f 34 20 30
\ No newline at end of file
diff --git a/mango/mango_18/collision/model_normalized_collision_11.obj b/mango/mango_18/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00517ff8f35c8901ac4b71048686d3fc571c1e62
--- /dev/null
+++ b/mango/mango_18/collision/model_normalized_collision_11.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.24879128 0.25878053 0.21488288
+v 0.26942475 0.31504701 -0.08974399
+v 0.23994638 0.31740231 0.10662500
+v 0.13770727 0.35165027 0.10865499
+v 0.20454546 0.26126667 0.00429630
+v 0.26177186 0.32585487 0.00637459
+v 0.18239092 0.32118992 0.16555295
+v 0.21176525 0.27418721 0.22322939
+v 0.14360490 0.35096581 -0.08046952
+v 0.18578784 0.34909019 0.06332026
+v 0.28090354 0.31174872 0.01178766
+v 0.23759519 0.28865458 0.17550955
+v 0.14304177 0.34935417 0.12548476
+v 0.19124635 0.32075941 -0.13983834
+v 0.21218491 0.33722542 -0.09308231
+v 0.22693015 0.33452724 0.05956410
+v 0.21037103 0.31672717 0.14757788
+v 0.19637911 0.29339943 0.20724375
+v 0.22453271 0.31436211 -0.13463728
+v 0.15678095 0.34268151 -0.09906320
+v 0.24356591 0.33297342 -0.02433998
+v 0.18355459 0.34808381 -0.05416729
+v 0.21400608 0.33259705 0.09102114
+v 0.15855444 0.33929118 0.14101461
+v 0.24330862 0.26677961 0.20759480
+v 0.18540875 0.32974609 -0.12962892
+v 0.25922264 0.32189502 -0.08251789
+v 0.15507080 0.34888139 -0.08213839
+v 0.20896295 0.28789017 0.20473809
+f 5 2 1
+f 8 5 1
+f 8 4 5
+f 9 5 4
+f 10 9 4
+f 11 1 2
+f 11 2 6
+f 11 6 3
+f 11 3 1
+f 12 1 3
+f 13 4 8
+f 13 10 4
+f 16 3 6
+f 16 6 10
+f 17 12 3
+f 18 13 8
+f 18 17 7
+f 18 12 17
+f 19 2 5
+f 19 5 14
+f 19 15 2
+f 20 14 5
+f 20 5 9
+f 21 10 6
+f 22 9 10
+f 22 21 15
+f 22 10 21
+f 23 3 16
+f 23 17 3
+f 23 16 10
+f 23 10 13
+f 24 7 17
+f 24 18 7
+f 24 13 18
+f 24 23 13
+f 24 17 23
+f 25 18 8
+f 25 8 1
+f 25 1 12
+f 26 19 14
+f 26 15 19
+f 26 14 20
+f 26 20 9
+f 27 21 6
+f 27 6 2
+f 27 2 15
+f 27 15 21
+f 28 22 15
+f 28 9 22
+f 28 26 9
+f 28 15 26
+f 29 25 12
+f 29 12 18
+f 29 18 25
\ No newline at end of file
diff --git a/mango/mango_18/collision/model_normalized_collision_13.obj b/mango/mango_18/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b74815a1c9f4c7bdd171f09fa0667ad81d3c388
--- /dev/null
+++ b/mango/mango_18/collision/model_normalized_collision_13.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v 0.24778272 -0.32295995 0.00103922
+v 0.41535106 -0.18527958 -0.12154508
+v 0.38680141 -0.23970276 -0.03741295
+v 0.33492651 -0.17069535 0.16386481
+v 0.26515152 -0.17812727 -0.17752188
+v 0.41960113 -0.17704428 -0.00276032
+v 0.32387805 -0.25286357 0.05799297
+v 0.25980506 -0.31482977 -0.18918157
+v 0.24680404 -0.23298996 0.16397167
+v 0.41288907 -0.20061095 -0.08163705
+v 0.35806322 -0.17711688 0.12828988
+v 0.39285439 -0.17313438 -0.17471696
+v 0.32713399 -0.28419317 -0.01703565
+v 0.25916137 -0.28611030 -0.24781474
+v 0.25000001 -0.17812727 0.00429630
+v 0.33163041 -0.18920256 0.14263246
+v 0.25540650 -0.29657938 0.05465709
+v 0.41382225 -0.19815030 -0.02869089
+v 0.35393393 -0.26946411 -0.11813745
+v 0.40586940 -0.16873020 0.04386375
+v 0.37160799 -0.23535721 0.01274643
+v 0.41624579 -0.17405126 -0.12544800
+v 0.31551202 -0.29774738 -0.06035296
+v 0.24546628 -0.31673779 0.01602752
+v 0.27028343 -0.27402351 -0.25840176
+v 0.26276946 -0.20474087 0.18771559
+v 0.33173913 -0.17752927 0.15899910
+v 0.26919747 -0.27901325 0.07101675
+v 0.27208184 -0.29518320 0.03981212
+v 0.38450599 -0.22265370 -0.14049854
+v 0.38369038 -0.24093601 -0.06813668
+v 0.36096403 -0.16955039 0.13441617
+v 0.39737746 -0.21218717 -0.00009048
+v 0.34538420 -0.26537121 -0.00138261
+v 0.40256796 -0.17314708 -0.15686000
+v 0.28770410 -0.30985547 -0.03010756
+v 0.31196087 -0.29772288 -0.14745706
+v 0.35860645 -0.26730714 -0.04498565
+v 0.24365638 -0.29984086 0.05832892
+v 0.28856572 -0.26191846 -0.24864920
+v 0.28442627 -0.28562479 -0.22270510
+v 0.28424250 -0.28174220 0.05205168
+v 0.25634639 -0.31281893 0.01597383
+v 0.39949484 -0.18711210 -0.15562876
+v 0.41494940 -0.18632352 -0.00058517
+v 0.39814473 -0.19681145 0.02288201
+v 0.36759253 -0.25555938 -0.02914790
+v 0.27286330 -0.31145993 -0.00372792
+v 0.28584132 -0.31000088 -0.15589371
+v 0.24417181 -0.24055195 0.15086138
+v 0.26944982 -0.28229908 -0.24540168
+v 0.28320748 -0.29867161 -0.19704987
+v 0.30963013 -0.26789221 -0.21408763
+v 0.32700376 -0.26503602 0.02665552
+v 0.38664481 -0.19807360 -0.16791830
+v 0.27115175 -0.31081004 -0.18456665
+v 0.31265041 -0.28284873 -0.18665736
+v 0.28219618 -0.27252747 -0.24656794
+v 0.36728196 -0.24009434 -0.15473663
+v 0.32812865 -0.28041427 -0.15546828
+v 0.37000810 -0.22606003 -0.16660642
+f 10 2 6
+f 15 4 5
+f 15 5 14
+f 16 9 7
+f 16 7 11
+f 18 10 6
+f 18 3 10
+f 20 12 5
+f 21 11 7
+f 22 6 2
+f 22 20 6
+f 24 14 8
+f 24 8 1
+f 25 14 5
+f 26 15 9
+f 26 4 15
+f 27 16 11
+f 27 11 4
+f 27 4 26
+f 27 26 9
+f 27 9 16
+f 28 7 9
+f 28 9 17
+f 30 2 10
+f 30 10 19
+f 31 19 10
+f 31 10 3
+f 31 3 19
+f 32 4 11
+f 32 20 5
+f 32 5 4
+f 33 21 3
+f 33 3 18
+f 34 21 7
+f 34 29 13
+f 35 22 2
+f 35 12 20
+f 35 20 22
+f 36 23 13
+f 37 19 23
+f 38 23 19
+f 38 19 3
+f 38 13 23
+f 38 34 13
+f 39 15 14
+f 39 14 24
+f 39 17 9
+f 39 24 1
+f 39 1 17
+f 40 25 5
+f 40 5 12
+f 42 28 17
+f 42 17 29
+f 42 7 28
+f 43 29 17
+f 43 17 1
+f 44 2 30
+f 44 35 2
+f 44 12 35
+f 45 6 20
+f 45 33 18
+f 45 18 6
+f 46 20 32
+f 46 32 11
+f 46 11 21
+f 46 21 33
+f 46 45 20
+f 46 33 45
+f 47 3 21
+f 47 21 34
+f 47 38 3
+f 47 34 38
+f 48 36 13
+f 48 1 36
+f 48 43 1
+f 48 13 29
+f 48 29 43
+f 49 36 1
+f 49 1 8
+f 49 37 23
+f 49 23 36
+f 50 39 9
+f 50 9 15
+f 50 15 39
+f 51 41 8
+f 51 8 14
+f 51 14 25
+f 51 25 41
+f 52 8 41
+f 54 34 7
+f 54 7 42
+f 54 42 29
+f 54 29 34
+f 55 40 12
+f 55 12 44
+f 56 49 8
+f 56 37 49
+f 56 52 37
+f 56 8 52
+f 57 52 41
+f 57 37 52
+f 58 41 25
+f 58 25 40
+f 58 40 53
+f 58 57 41
+f 58 53 57
+f 59 55 44
+f 59 44 30
+f 59 57 53
+f 59 30 19
+f 60 19 37
+f 60 37 57
+f 60 59 19
+f 60 57 59
+f 61 59 53
+f 61 55 59
+f 61 53 40
+f 61 40 55
\ No newline at end of file
diff --git a/mango/mango_18/collision/model_normalized_collision_14.obj b/mango/mango_18/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70528d468af3b4708f870fecd8675f5d87ba8a78
--- /dev/null
+++ b/mango/mango_18/collision/model_normalized_collision_14.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.14377341 -0.31993143 -0.27126310
+v 0.28685150 -0.21228001 -0.29452083
+v 0.26001574 -0.27852312 -0.26305648
+v 0.22768466 0.15730250 -0.30383661
+v 0.14284671 -0.11611227 -0.38880295
+v 0.27078367 0.14700984 -0.29239674
+v 0.18777207 -0.21186313 -0.35909651
+v 0.14393940 -0.01146060 -0.28358249
+v 0.24704321 0.06044292 -0.35399528
+v 0.25778831 -0.27426565 -0.27745688
+v 0.14092578 -0.24614793 -0.34523106
+v 0.14416165 -0.01275036 -0.39005500
+v 0.14393940 -0.19327878 -0.26843097
+v 0.25867454 0.12745222 -0.31468237
+v 0.25909877 0.02913607 -0.35668882
+v 0.25775617 -0.16365300 -0.34820899
+v 0.21482947 -0.30399883 -0.26326400
+v 0.13983540 -0.18858220 -0.37542627
+v 0.19411003 -0.26890069 -0.31527793
+v 0.18787023 0.07763648 -0.36338287
+v 0.24475599 -0.28752733 -0.26164345
+v 0.13923833 -0.28562123 -0.31492620
+v 0.21558217 0.03020566 -0.37023797
+v 0.25540681 0.08394491 -0.33937227
+v 0.25338737 -0.22546564 -0.31461702
+v 0.26269253 -0.12878846 -0.35761976
+v 0.22858949 -0.28210212 -0.28583404
+v 0.21665262 0.13206769 -0.32649701
+v 0.18440987 -0.29910137 -0.28582068
+v 0.15375716 -0.28539552 -0.31204978
+v 0.20002915 0.04349460 -0.37063791
+v 0.22615984 0.07619227 -0.35443693
+v 0.21684703 -0.24045243 -0.32618988
+v 0.23962351 -0.02812085 -0.37252258
+v 0.22802136 -0.11975582 -0.37262334
+v 0.21537865 -0.29883065 -0.27063412
+v 0.22912404 0.12634711 -0.32655794
+v 0.19599882 -0.28580188 -0.29708078
+v 0.14264615 -0.30631677 -0.29097068
+v 0.16947884 -0.01390243 -0.38659383
+v 0.18620627 0.04486899 -0.37302597
+v 0.16820418 -0.10994255 -0.38803169
+v 0.24357349 -0.08166587 -0.36986943
+v 0.19900533 -0.15934642 -0.37078648
+v 0.18601168 -0.05626293 -0.38885847
+v 0.19119890 -0.08085383 -0.38663474
+f 6 3 2
+f 8 6 4
+f 10 2 3
+f 13 6 8
+f 14 4 6
+f 15 6 2
+f 17 10 3
+f 17 13 1
+f 18 7 11
+f 18 12 5
+f 18 8 12
+f 19 11 7
+f 20 12 8
+f 20 8 4
+f 21 3 6
+f 21 6 13
+f 21 17 3
+f 21 13 17
+f 22 1 13
+f 22 18 11
+f 22 13 8
+f 22 8 18
+f 23 9 15
+f 24 14 6
+f 24 6 15
+f 24 15 9
+f 25 7 16
+f 25 16 2
+f 25 2 10
+f 26 15 2
+f 26 2 16
+f 26 16 7
+f 27 19 10
+f 28 20 4
+f 29 17 1
+f 30 22 11
+f 30 11 19
+f 31 9 23
+f 32 24 9
+f 32 31 20
+f 32 9 31
+f 33 19 7
+f 33 7 25
+f 33 25 10
+f 33 10 19
+f 34 23 15
+f 34 15 26
+f 35 26 7
+f 36 27 10
+f 36 10 17
+f 36 29 27
+f 36 17 29
+f 37 28 4
+f 37 4 14
+f 37 14 24
+f 37 24 32
+f 37 32 20
+f 37 20 28
+f 38 19 27
+f 38 27 29
+f 38 30 19
+f 38 29 30
+f 39 30 29
+f 39 29 1
+f 39 1 22
+f 39 22 30
+f 41 12 20
+f 41 20 31
+f 41 40 12
+f 41 31 23
+f 41 23 40
+f 42 18 5
+f 43 34 26
+f 43 26 35
+f 44 35 7
+f 44 7 18
+f 44 42 35
+f 44 18 42
+f 45 40 23
+f 45 23 34
+f 45 12 40
+f 45 42 5
+f 45 5 12
+f 46 35 42
+f 46 42 45
+f 46 43 35
+f 46 45 34
+f 46 34 43
\ No newline at end of file
diff --git a/mango/mango_18/collision/model_normalized_collision_16.obj b/mango/mango_18/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1b04766333a15e0600aa7b012b9eb3b76b74aff
--- /dev/null
+++ b/mango/mango_18/collision/model_normalized_collision_16.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.09848484 0.14005455 -0.17752188
+v -0.10622487 0.15772837 -0.27482801
+v -0.09252038 0.30822889 -0.13986176
+v -0.11343971 0.33600777 -0.07100073
+v -0.24436088 0.15275897 -0.19498042
+v -0.09848484 0.17035758 -0.07146128
+v -0.09113697 0.23520446 -0.22443375
+v -0.16814879 0.13341695 -0.25827438
+v -0.22518029 0.27207767 -0.09149825
+v -0.09777588 0.31945128 -0.11553419
+v -0.23484848 0.17035758 -0.07146128
+v -0.09501253 0.20818858 -0.24336774
+v -0.15568072 0.13643165 -0.26332874
+v -0.20854904 0.21534348 -0.17750475
+v -0.13604895 0.31842537 -0.09187887
+v -0.23107719 0.13649142 -0.21691837
+v -0.22932836 0.28150466 -0.06577260
+v -0.16396055 0.17699599 -0.23490238
+v -0.22000700 0.23450446 -0.14988834
+v -0.10800810 0.32638887 -0.09566177
+v -0.17810624 0.27384686 -0.13358810
+v -0.22249414 0.20357381 -0.17582165
+v -0.21146807 0.29376573 -0.06449655
+v -0.10388958 0.23649959 -0.21904660
+v -0.19261510 0.14577781 -0.23893444
+v -0.13464234 0.30282236 -0.12144202
+v -0.15032653 0.31865156 -0.07859043
+v -0.13282458 0.27507532 -0.16448824
+v -0.22427263 0.16008564 -0.20547766
+v -0.15338419 0.32341993 -0.06488505
+v -0.12320129 0.20044737 -0.23711508
+v -0.09308558 0.27756688 -0.18213095
+v -0.19528282 0.13518041 -0.24183553
+v -0.20938530 0.28869642 -0.07674980
+v -0.10649556 0.30448889 -0.13682045
+v -0.15024174 0.28682076 -0.13526263
+v -0.10681571 0.27497800 -0.17937386
+f 7 6 1
+f 7 3 6
+f 10 6 3
+f 10 4 6
+f 11 1 6
+f 12 7 1
+f 12 1 2
+f 13 2 1
+f 13 1 8
+f 15 10 3
+f 16 8 1
+f 16 1 11
+f 16 11 5
+f 17 9 5
+f 17 5 11
+f 18 2 13
+f 19 5 9
+f 20 15 4
+f 20 4 10
+f 20 10 15
+f 21 19 9
+f 22 19 14
+f 22 5 19
+f 23 9 17
+f 23 17 11
+f 23 11 6
+f 24 18 14
+f 24 7 12
+f 25 18 13
+f 25 13 8
+f 25 14 18
+f 25 22 14
+f 26 15 3
+f 27 26 21
+f 27 15 26
+f 28 14 19
+f 28 19 21
+f 28 24 14
+f 29 16 5
+f 29 5 22
+f 29 25 16
+f 29 22 25
+f 30 23 6
+f 30 6 4
+f 30 27 23
+f 30 4 15
+f 30 15 27
+f 31 24 12
+f 31 12 2
+f 31 2 18
+f 31 18 24
+f 32 3 7
+f 32 7 24
+f 33 25 8
+f 33 8 16
+f 33 16 25
+f 34 27 21
+f 34 21 9
+f 34 9 23
+f 34 23 27
+f 35 28 26
+f 35 26 3
+f 35 3 28
+f 36 28 21
+f 36 21 26
+f 36 26 28
+f 37 28 3
+f 37 3 32
+f 37 32 24
+f 37 24 28
\ No newline at end of file
diff --git a/mango/mango_18/collision/model_normalized_collision_17.obj b/mango/mango_18/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8fb44ba51fc07b0fe2a99d437b3cd13bb113e36
--- /dev/null
+++ b/mango/mango_18/collision/model_normalized_collision_17.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.24110018 0.00429588 0.32304822
+v 0.25000001 0.00369091 0.21641751
+v 0.24330862 0.26677961 0.20759480
+v 0.00751691 0.33628856 0.21608737
+v 0.00757577 0.00369091 0.21641751
+v 0.03592295 0.15065559 0.38050090
+v 0.24219153 0.13555760 0.31964835
+v 0.09731241 0.32636756 0.20945066
+v 0.00624613 0.00752950 0.38307726
+v 0.14034510 0.08977979 0.36629553
+v 0.15510292 0.30984867 0.20853407
+v 0.01863844 0.26118766 0.32295228
+v 0.03453180 0.00486875 0.37986467
+v 0.00586678 0.26316803 0.32244979
+v 0.12452679 0.13554807 0.36535416
+v 0.22768718 0.07683766 0.33459495
+v 0.05010364 0.30373073 0.26428587
+v 0.19469942 0.21940031 0.30295565
+v 0.11049481 0.00663735 0.36828099
+v 0.07864516 0.06622536 0.38090941
+v 0.00647967 0.30668745 0.26934439
+v 0.00616948 0.15037894 0.38232847
+v 0.13969189 0.04012634 0.36566232
+v 0.21189798 0.13585330 0.33440134
+v 0.06391247 0.31861618 0.23645719
+v 0.23952785 0.21688435 0.27698966
+v 0.09297338 0.25951174 0.30671666
+v 0.10782339 0.21857399 0.33573941
+v 0.21176171 0.00497166 0.33527668
+v 0.06346268 0.03650448 0.38153101
+v 0.06491147 0.12304662 0.38092534
+v 0.06468347 0.23318410 0.33657676
+v 0.18337732 0.09545704 0.35121205
+v 0.22496762 0.16193165 0.31772427
+v 0.09073937 0.32142756 0.22354067
+v 0.00732138 0.32365958 0.23986083
+v 0.24018686 0.22902157 0.26320725
+v 0.14987535 0.27509802 0.26472901
+v 0.10816286 0.14984013 0.36563241
+v 0.12389791 0.23236185 0.32063878
+v 0.16890436 0.00635625 0.35060048
+v 0.22806805 0.03826952 0.33289475
+v 0.07987366 0.09352158 0.38035283
+v 0.13844044 0.20480974 0.33461175
+v 0.23842892 0.17494500 0.30407671
+v 0.19634208 0.22794059 0.29428438
+v 0.15094287 0.30374133 0.22190519
+v 0.09399013 0.30299425 0.24932056
+v 0.20825794 0.25929266 0.24654619
+v 0.18137444 0.20438737 0.31846429
+v 0.16522131 0.24415433 0.29298627
+v 0.16534280 0.28960193 0.23450186
+v 0.12246287 0.27401519 0.27842864
+v 0.16598923 0.23184598 0.30402166
+f 5 2 1
+f 5 3 2
+f 7 1 2
+f 7 2 3
+f 8 5 4
+f 11 3 5
+f 11 5 8
+f 13 9 5
+f 13 5 1
+f 14 5 9
+f 16 1 7
+f 21 4 5
+f 21 5 14
+f 21 14 12
+f 21 12 17
+f 22 14 9
+f 23 10 20
+f 24 16 7
+f 25 21 17
+f 27 17 12
+f 29 19 13
+f 29 13 1
+f 30 9 13
+f 30 13 19
+f 30 23 20
+f 30 19 23
+f 30 22 9
+f 31 6 22
+f 31 30 20
+f 31 22 30
+f 31 10 15
+f 32 22 6
+f 32 12 14
+f 32 14 22
+f 32 6 28
+f 32 27 12
+f 33 23 16
+f 33 10 23
+f 33 16 24
+f 33 24 15
+f 33 15 10
+f 34 24 7
+f 35 8 4
+f 35 4 25
+f 35 11 8
+f 35 25 17
+f 36 25 4
+f 36 4 21
+f 36 21 25
+f 37 26 7
+f 37 7 3
+f 39 28 6
+f 39 31 15
+f 39 6 31
+f 40 32 28
+f 40 27 32
+f 41 29 23
+f 41 23 19
+f 41 19 29
+f 42 29 1
+f 42 1 16
+f 42 16 23
+f 42 23 29
+f 43 31 20
+f 43 20 10
+f 43 10 31
+f 44 28 39
+f 44 39 15
+f 44 15 24
+f 44 40 28
+f 44 18 40
+f 45 26 18
+f 45 34 7
+f 45 7 26
+f 46 18 26
+f 46 26 37
+f 47 11 35
+f 48 35 17
+f 48 47 35
+f 48 38 47
+f 49 37 3
+f 49 46 37
+f 49 38 46
+f 50 44 24
+f 50 24 34
+f 50 18 44
+f 50 45 18
+f 50 34 45
+f 51 46 38
+f 51 27 40
+f 51 18 46
+f 52 3 11
+f 52 11 47
+f 52 49 3
+f 52 47 38
+f 52 38 49
+f 53 48 17
+f 53 17 27
+f 53 38 48
+f 53 51 38
+f 53 27 51
+f 54 51 40
+f 54 40 18
+f 54 18 51
\ No newline at end of file
diff --git a/mango/mango_18/collision/model_normalized_collision_18.obj b/mango/mango_18/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6b492bea23ee0e2caa01b1fe0d71d8f18cc0af1
--- /dev/null
+++ b/mango/mango_18/collision/model_normalized_collision_18.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.09848484 0.18550910 0.21641751
+v -0.09848484 0.17035758 -0.07146128
+v -0.09848484 0.26126667 -0.07146128
+v -0.24625553 0.28464821 0.22724413
+v -0.23484848 0.17035758 0.01944782
+v -0.09848484 0.26126667 0.21641751
+v -0.09848484 0.17035758 0.01944782
+v -0.23484848 0.18550910 0.21641751
+v -0.24091394 0.27039824 -0.07638503
+v -0.23484848 0.17035758 -0.07146128
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 3 2
+f 9 4 3
+f 10 9 2
+f 10 2 5
+f 10 5 4
+f 10 4 9
\ No newline at end of file
diff --git a/mango/mango_18/collision/model_normalized_collision_19.obj b/mango/mango_18/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2686bbfe9db4f5988b3d31015c51cca18006153
--- /dev/null
+++ b/mango/mango_18/collision/model_normalized_collision_19.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.12302207 -0.33560091 0.06029632
+v 0.12914815 -0.33061562 0.06541837
+v 0.09514068 -0.30866648 0.12027543
+v -0.02189752 -0.30824457 0.13741172
+v -0.11423539 -0.33113519 0.01958818
+v 0.09574899 -0.32879806 0.08790017
+v 0.00729810 -0.35398783 0.01761501
+v 0.12773837 -0.32474945 0.07780017
+v 0.00454535 -0.31211635 0.13053614
+v -0.09216787 -0.32516959 0.07333354
+v 0.09215073 -0.31228726 0.11605124
+v 0.00638610 -0.30802061 0.13674349
+v 0.00723300 -0.32073028 0.11392570
+v -0.11292350 -0.32613871 0.04899918
+v 0.00835086 -0.34521585 0.04708849
+v -0.01830254 -0.31118068 0.13227301
+v -0.09626627 -0.32266474 0.07602092
+v -0.06447081 -0.34554949 0.01644517
+v -0.05110452 -0.32721088 0.08927110
+v -0.10903814 -0.33333529 0.01837039
+v -0.04062990 -0.34201133 0.04479300
+f 5 4 3
+f 7 5 2
+f 7 2 1
+f 7 1 6
+f 8 5 3
+f 8 2 5
+f 8 3 6
+f 8 6 1
+f 8 1 2
+f 11 9 6
+f 11 6 3
+f 12 3 4
+f 12 4 9
+f 12 11 3
+f 12 9 11
+f 13 6 9
+f 14 4 5
+f 15 7 6
+f 15 6 13
+f 16 13 9
+f 16 9 4
+f 17 14 10
+f 17 4 14
+f 18 10 14
+f 19 15 13
+f 19 13 16
+f 19 16 4
+f 19 17 10
+f 19 4 17
+f 20 18 14
+f 20 14 5
+f 20 5 7
+f 20 7 18
+f 21 7 15
+f 21 15 19
+f 21 18 7
+f 21 19 10
+f 21 10 18
\ No newline at end of file
diff --git a/mango/mango_18/collision/model_normalized_collision_20.obj b/mango/mango_18/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d405547d08c2a676f9a579844e6d3f4e93b4a55
--- /dev/null
+++ b/mango/mango_18/collision/model_normalized_collision_20.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.16907562 -0.21755845 0.24023073
+v -0.09848484 -0.13267272 0.21641751
+v -0.10016742 0.19206546 0.36883496
+v -0.25102843 0.27969396 0.23267351
+v -0.23901655 -0.20388994 0.22635154
+v -0.09848484 0.24611516 0.21641751
+v -0.09849830 -0.13274083 0.32257811
+v -0.24547221 0.17953711 0.34269820
+v -0.09945629 0.26177805 0.32487364
+v -0.19877794 -0.13638086 0.30495377
+v -0.23138374 -0.12079742 0.30451993
+v -0.23328403 0.24218029 0.30465119
+v -0.22769769 -0.17842588 0.26240817
+v -0.15492899 -0.18200843 0.27984994
+v -0.15560897 -0.13879079 0.31155137
+v -0.23023386 -0.16467866 0.27419454
+v -0.15552225 -0.16559523 0.29320244
+v -0.18463147 -0.17810739 0.27517245
+v -0.17214309 -0.16389073 0.29063352
+f 5 2 1
+f 6 5 4
+f 6 2 5
+f 7 1 2
+f 7 2 6
+f 8 4 5
+f 9 6 4
+f 9 7 6
+f 9 3 7
+f 9 8 3
+f 11 7 3
+f 11 3 8
+f 11 8 5
+f 12 9 4
+f 12 4 8
+f 12 8 9
+f 13 5 1
+f 14 1 7
+f 15 11 10
+f 15 7 11
+f 16 11 5
+f 16 5 13
+f 16 10 11
+f 17 14 7
+f 17 7 15
+f 17 15 10
+f 18 16 13
+f 18 13 1
+f 18 1 14
+f 19 14 17
+f 19 18 14
+f 19 16 18
+f 19 17 10
+f 19 10 16
\ No newline at end of file
diff --git a/mango/mango_18/collision/model_normalized_collision_22.obj b/mango/mango_18/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9495997c3c2aadf2f46c2b16e521d4d13005a1f3
--- /dev/null
+++ b/mango/mango_18/collision/model_normalized_collision_22.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.24956062 -0.22312486 0.17020942
+v 0.41861022 -0.05263081 0.16528268
+v 0.24455749 0.01839541 0.32253155
+v 0.24380363 0.28192955 0.18223620
+v 0.31813094 -0.18377553 0.16234559
+v 0.35405819 0.11112780 0.25680201
+v 0.24359519 -0.21126320 0.19236207
+v 0.25000001 0.00369091 0.17096297
+v 0.29967512 -0.08748813 0.25993353
+v 0.38935246 0.14817790 0.17716479
+v 0.24329889 0.16273206 0.30808981
+v 0.27451550 -0.21212878 0.16616965
+v 0.25551313 0.27568603 0.17953215
+v 0.35098898 -0.11059667 0.20460770
+v 0.24346784 -0.10975497 0.27714925
+v 0.35976304 -0.01476151 0.24610656
+v 0.42397262 0.04741364 0.17656908
+v 0.25496158 0.11819464 0.31803808
+v 0.24185034 0.24689175 0.23796889
+v 0.25558306 -0.20724255 0.19016470
+v 0.37516438 -0.12792092 0.16185211
+v 0.31802074 0.23097879 0.17902112
+v 0.24414421 -0.03666420 0.31045759
+v 0.31742143 0.06153566 0.28776474
+v 0.38608594 -0.03030304 0.21841022
+v 0.38237001 0.13304721 0.20691472
+v 0.42856696 0.00332088 0.17013782
+v 0.24363538 0.12041735 0.32306491
+v 0.29805741 0.13399065 0.28755384
+v 0.24329760 -0.15354105 0.24788872
+v 0.24755804 0.27878518 0.18917753
+v 0.31199680 -0.17999219 0.17548266
+v 0.29581027 0.20298789 0.24673370
+v 0.25628509 -0.07634550 0.29051087
+v 0.28356291 0.02270594 0.30557762
+v 0.32385568 0.10342008 0.28036721
+v 0.37010723 -0.06031490 0.21834325
+v 0.41307475 0.04524250 0.19591426
+v 0.40575897 0.10500769 0.18232890
+v 0.35215529 0.18818825 0.19392182
+v 0.41428010 -0.02054110 0.18874416
+v 0.25457912 0.16390284 0.30164734
+v 0.26483248 -0.12067109 0.26022930
+v 0.24503855 0.27895065 0.19011094
+v 0.28146834 -0.19051042 0.19008406
+v 0.35598591 0.15747741 0.22044693
+v 0.29686627 0.16232615 0.27457518
+v 0.29251870 0.21667215 0.23619507
+v 0.24456483 -0.07937252 0.29345752
+v 0.29553929 -0.05791662 0.27770672
+v 0.25807572 0.01978235 0.31801145
+v 0.32571000 0.00905107 0.27579610
+v 0.31317998 0.09159083 0.28886773
+v 0.31176639 -0.11959179 0.23325752
+v 0.32656264 -0.05004100 0.25907913
+v 0.39891352 0.08514595 0.20386067
+v 0.38268388 0.14467010 0.19490497
+v 0.35837391 0.18979895 0.17850917
+v 0.39951301 -0.03001805 0.20261993
+v 0.24422787 0.20778454 0.28124279
+v 0.28187042 -0.15135281 0.22859636
+v 0.31160990 0.20205763 0.23075854
+v 0.25588160 0.24262412 0.23415749
+v 0.31356733 0.22680601 0.19186302
+f 7 4 1
+f 8 1 4
+f 12 8 5
+f 12 1 8
+f 13 8 4
+f 19 4 7
+f 20 7 1
+f 20 1 12
+f 21 13 2
+f 21 5 8
+f 21 8 13
+f 21 2 14
+f 22 10 2
+f 22 2 13
+f 24 16 6
+f 27 2 10
+f 27 10 17
+f 28 18 11
+f 28 23 3
+f 28 15 23
+f 28 19 15
+f 28 11 19
+f 30 19 7
+f 30 15 19
+f 30 7 20
+f 31 13 4
+f 31 22 13
+f 32 12 5
+f 32 21 14
+f 32 5 21
+f 35 24 18
+f 36 24 6
+f 36 29 18
+f 36 6 29
+f 37 14 2
+f 38 6 16
+f 38 16 25
+f 38 27 17
+f 39 17 10
+f 39 10 26
+f 41 2 27
+f 41 38 25
+f 41 27 38
+f 42 11 18
+f 42 18 29
+f 43 15 30
+f 43 34 15
+f 43 9 34
+f 44 31 4
+f 44 4 19
+f 44 19 31
+f 45 20 12
+f 45 12 32
+f 46 33 6
+f 46 6 26
+f 47 29 6
+f 47 6 33
+f 47 42 29
+f 49 34 23
+f 49 23 15
+f 49 15 34
+f 50 34 9
+f 50 35 23
+f 50 23 34
+f 51 3 23
+f 51 23 35
+f 51 28 3
+f 51 35 18
+f 51 18 28
+f 52 16 24
+f 52 24 35
+f 52 35 50
+f 53 36 18
+f 53 18 24
+f 53 24 36
+f 54 14 37
+f 54 9 43
+f 54 32 14
+f 55 37 25
+f 55 25 16
+f 55 52 50
+f 55 16 52
+f 55 50 9
+f 55 54 37
+f 55 9 54
+f 56 26 6
+f 56 6 38
+f 56 39 26
+f 56 38 17
+f 56 17 39
+f 57 26 10
+f 57 10 40
+f 57 46 26
+f 57 40 46
+f 58 40 10
+f 58 10 22
+f 58 22 40
+f 59 41 25
+f 59 2 41
+f 59 37 2
+f 59 25 37
+f 60 19 11
+f 60 11 42
+f 60 33 48
+f 60 47 33
+f 60 42 47
+f 61 30 20
+f 61 20 45
+f 61 45 32
+f 61 32 54
+f 61 54 43
+f 61 43 30
+f 62 46 40
+f 62 33 46
+f 62 48 33
+f 63 48 31
+f 63 31 19
+f 63 60 48
+f 63 19 60
+f 64 40 22
+f 64 22 31
+f 64 31 48
+f 64 62 40
+f 64 48 62
\ No newline at end of file
diff --git a/mango/mango_18/collision/model_normalized_collision_23.obj b/mango/mango_18/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..391ab51254c0338342361346e845f699bc512670
--- /dev/null
+++ b/mango/mango_18/collision/model_normalized_collision_23.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.21969698 -0.01146060 -0.28358249
+v 0.22749378 -0.00689655 -0.37203674
+v 0.22768466 0.15730250 -0.30383661
+v -0.00341038 0.15349169 -0.31330146
+v -0.04405530 -0.00989296 -0.35691636
+v 0.14260415 0.07559123 -0.37054638
+v 0.00757577 -0.01146060 -0.28358249
+v 0.15966882 -0.01598721 -0.38948583
+v 0.21929405 0.07835646 -0.35610370
+v 0.17250309 0.12741460 -0.34269944
+v 0.02783934 0.08624065 -0.35810709
+v -0.03978274 0.05038181 -0.35003642
+v 0.18758158 -0.01357678 -0.38412702
+v -0.00288804 -0.01595642 -0.37423902
+v 0.05725595 0.13080894 -0.34169005
+v 0.17240235 0.10231544 -0.35577835
+v 0.21140823 0.11567620 -0.34047929
+v 0.11674752 0.01474217 -0.38939077
+v 0.01440019 0.11813411 -0.34099555
+v 0.18620627 0.04486899 -0.37302597
+v -0.03326039 -0.01314921 -0.36177360
+v -0.03522850 0.04681734 -0.35306640
+v 0.09656240 0.07133794 -0.37229403
+v 0.19957131 0.08735879 -0.35660638
+v 0.21665262 0.13206769 -0.32649701
+v 0.05748905 0.05744262 -0.37096424
+v 0.08497502 -0.01514725 -0.38975386
+v 0.05255856 0.10520339 -0.35500134
+v 0.01276609 0.13189191 -0.33170478
+v 0.15328790 0.00303426 -0.38862142
+v -0.00320070 -0.00040144 -0.37074773
+v -0.03209454 0.02859205 -0.35730455
+v 0.08512603 0.00177148 -0.38729189
+f 1 2 3
+f 7 1 3
+f 7 3 4
+f 9 3 2
+f 12 7 4
+f 12 5 7
+f 13 2 1
+f 13 1 8
+f 14 8 1
+f 14 1 7
+f 15 4 3
+f 15 3 10
+f 15 10 6
+f 16 6 10
+f 17 3 9
+f 17 16 10
+f 19 12 4
+f 20 9 2
+f 20 2 13
+f 21 14 7
+f 21 7 5
+f 22 19 11
+f 22 12 19
+f 22 5 12
+f 23 6 18
+f 24 6 16
+f 24 20 6
+f 24 9 20
+f 24 17 9
+f 24 16 17
+f 25 17 10
+f 25 10 3
+f 25 3 17
+f 26 23 18
+f 26 11 23
+f 27 18 8
+f 27 8 14
+f 28 19 15
+f 28 11 19
+f 28 23 11
+f 28 15 6
+f 28 6 23
+f 29 19 4
+f 29 4 15
+f 29 15 19
+f 30 20 13
+f 30 13 8
+f 30 8 18
+f 30 18 6
+f 30 6 20
+f 31 22 11
+f 31 14 22
+f 31 26 14
+f 31 11 26
+f 32 22 14
+f 32 14 21
+f 32 21 5
+f 32 5 22
+f 33 26 18
+f 33 18 27
+f 33 27 14
+f 33 14 26
\ No newline at end of file
diff --git a/mango/mango_18/collision/model_normalized_collision_25.obj b/mango/mango_18/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0406f2ac88dbe9da32112d7e1dcc137bdc9d6b8f
--- /dev/null
+++ b/mango/mango_18/collision/model_normalized_collision_25.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.38935246 0.14817790 0.17716479
+v 0.42041371 0.15050424 -0.06835985
+v 0.40106501 0.21875716 0.00878514
+v 0.34641665 0.26501458 0.03275657
+v 0.36872896 0.16834101 -0.18632163
+v 0.35666154 0.23282351 0.11032570
+v 0.42226244 0.15068512 0.08689533
+v 0.38954295 0.14672040 -0.17133533
+v 0.34686872 0.25428465 -0.11272940
+v 0.36630506 0.25096553 0.03405407
+v 0.35081390 0.19577977 0.18420251
+v 0.41354774 0.18523790 -0.06361981
+v 0.38617133 0.18396197 0.13206412
+v 0.37132287 0.16265023 0.18996005
+v 0.38893716 0.20591571 -0.11945959
+v 0.35579443 0.26202279 0.02264311
+v 0.34430672 0.23675655 0.11977815
+v 0.35103377 0.21051239 -0.17193033
+v 0.41559081 0.17487922 0.04173384
+v 0.39706556 0.17452631 0.11986543
+v 0.38450176 0.15785191 0.17524491
+v 0.35918990 0.19919125 0.16337842
+v 0.38322386 0.20078103 0.10612599
+v 0.38303900 0.16984908 -0.16992331
+v 0.35491934 0.24977570 -0.10839586
+v 0.35488099 0.26549643 0.00202357
+v 0.34701195 0.24055961 -0.13987218
+v 0.34750447 0.20742653 0.16741717
+v 0.36781293 0.18872200 0.16237543
+v 0.35870990 0.22890803 -0.14311661
+v 0.38296719 0.21868347 -0.09937414
+v 0.35898547 0.26275677 0.00171955
+f 8 7 1
+f 8 2 7
+f 10 6 3
+f 12 7 2
+f 12 2 8
+f 14 8 1
+f 14 5 8
+f 14 11 5
+f 15 12 8
+f 16 4 6
+f 16 6 10
+f 17 11 6
+f 17 6 4
+f 17 4 9
+f 18 5 11
+f 19 12 3
+f 19 3 7
+f 19 7 12
+f 20 1 7
+f 20 7 3
+f 21 20 13
+f 21 1 20
+f 21 14 1
+f 21 11 14
+f 22 13 6
+f 22 6 11
+f 23 3 6
+f 23 6 13
+f 23 20 3
+f 23 13 20
+f 24 15 8
+f 24 8 5
+f 24 5 18
+f 26 9 4
+f 26 4 16
+f 26 25 9
+f 27 18 17
+f 27 17 9
+f 27 9 25
+f 28 18 11
+f 28 11 17
+f 28 17 18
+f 29 21 13
+f 29 13 22
+f 29 22 11
+f 29 11 21
+f 30 24 18
+f 30 15 24
+f 30 18 27
+f 30 27 25
+f 30 25 15
+f 31 25 3
+f 31 15 25
+f 31 3 12
+f 31 12 15
+f 32 3 25
+f 32 25 26
+f 32 10 3
+f 32 26 16
+f 32 16 10
\ No newline at end of file
diff --git a/mango/mango_18/collision/model_normalized_collision_27.obj b/mango/mango_18/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..399dbf5d4af48522784540b9ee3f8e474ea8512c
--- /dev/null
+++ b/mango/mango_18/collision/model_normalized_collision_27.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v 0.16965899 -0.34702344 0.00027665
+v 0.24778272 -0.32295995 0.00103922
+v 0.13683814 -0.19471492 0.26005237
+v 0.00748610 0.00394976 0.38206199
+v 0.00757577 0.00369091 0.00429630
+v 0.24110018 0.00429588 0.32304822
+v 0.00885551 -0.34215798 0.05903082
+v 0.16352049 -0.29881688 0.11337859
+v 0.25000001 0.00369091 0.00429630
+v 0.23940150 -0.19248657 0.21694391
+v 0.10798951 -0.09427869 0.33417357
+v 0.11049481 0.00663735 0.36828099
+v 0.00809904 -0.19351706 0.27699624
+v 0.00751976 -0.35763713 0.00381452
+v 0.19938806 -0.32589332 0.04156036
+v 0.24563826 -0.23431981 0.16170943
+v 0.24214612 -0.12331182 0.27170072
+v 0.23876386 -0.05604703 0.30860572
+v 0.06603033 -0.03054783 0.36510505
+v 0.16890436 0.00635625 0.35060048
+v 0.04893235 -0.14237204 0.32002355
+v 0.08996787 -0.26700686 0.19062119
+v 0.09621271 -0.34167239 0.05625876
+v 0.00692835 -0.28290322 0.17389229
+v 0.22420186 -0.33059336 0.00227043
+v 0.24036903 -0.29566407 0.06903618
+v 0.13757704 -0.13381168 0.30514949
+v 0.20528464 -0.16342534 0.26334115
+v 0.12285939 -0.05046440 0.34783819
+v 0.09350615 -0.02282861 0.36359906
+v 0.21165439 -0.00821144 0.33263380
+v 0.00321789 -0.05048102 0.36602437
+v 0.05283561 -0.20754543 0.26058094
+v 0.17237157 -0.23382470 0.20508811
+v 0.15622294 -0.34123266 0.02832609
+v 0.13915674 -0.32533892 0.07099560
+v 0.06233550 -0.29598282 0.14681924
+v 0.17113788 -0.34384480 0.01222322
+v 0.22779729 -0.32591128 0.01344954
+v 0.24219127 -0.31008667 0.03997306
+v 0.19740061 -0.29516349 0.09904929
+v 0.12441739 -0.17912692 0.27508453
+v 0.18813788 -0.10773709 0.30500954
+v 0.16629164 -0.16681625 0.27369787
+v 0.16866032 -0.00725334 0.34837118
+v 0.11044623 -0.00531591 0.36479381
+v 0.21176171 0.00497166 0.33527668
+v 0.00865932 -0.13700162 0.32072925
+v 0.02075875 -0.19333843 0.27648488
+v 0.11780689 -0.23715006 0.21846606
+v 0.00807531 -0.22317913 0.24703952
+v 0.13904585 -0.26629975 0.17212926
+v 0.22205720 -0.23692474 0.17342664
+v 0.18176078 -0.19616081 0.24369484
+v 0.05026761 -0.28088386 0.17400091
+v 0.22522994 -0.31056148 0.05302997
+v 0.18686060 -0.07824290 0.31714633
+v 0.03563315 -0.22249278 0.24710945
+v 0.14024234 -0.20486844 0.24887607
+v 0.21153816 -0.20501761 0.21971958
+f 9 2 1
+f 9 1 5
+f 12 5 4
+f 12 9 5
+f 14 5 1
+f 16 9 6
+f 16 2 9
+f 17 16 6
+f 17 10 16
+f 18 17 6
+f 20 6 9
+f 20 9 12
+f 23 14 1
+f 23 7 14
+f 23 8 22
+f 24 14 7
+f 25 1 2
+f 27 11 21
+f 28 10 17
+f 30 12 4
+f 30 4 19
+f 30 19 11
+f 30 11 29
+f 31 18 6
+f 32 4 5
+f 32 5 14
+f 32 14 24
+f 32 19 4
+f 32 21 11
+f 32 11 19
+f 33 3 21
+f 35 15 23
+f 36 23 15
+f 36 15 8
+f 36 8 23
+f 37 23 22
+f 37 24 7
+f 37 7 23
+f 38 25 15
+f 38 1 25
+f 38 15 35
+f 38 35 23
+f 38 23 1
+f 39 25 2
+f 39 15 25
+f 40 2 16
+f 40 16 26
+f 40 39 2
+f 40 15 39
+f 41 26 16
+f 41 8 15
+f 42 27 21
+f 42 21 3
+f 43 11 27
+f 43 29 11
+f 43 17 18
+f 43 28 17
+f 43 27 28
+f 44 28 27
+f 44 42 3
+f 44 27 42
+f 45 20 12
+f 45 29 18
+f 45 18 31
+f 46 30 29
+f 46 12 30
+f 46 45 12
+f 46 29 45
+f 47 31 6
+f 47 6 20
+f 47 45 31
+f 47 20 45
+f 48 32 13
+f 48 13 21
+f 48 21 32
+f 49 33 21
+f 49 21 13
+f 50 33 22
+f 50 22 34
+f 51 32 24
+f 51 13 32
+f 52 34 22
+f 52 22 8
+f 52 8 34
+f 53 34 8
+f 53 41 16
+f 53 8 41
+f 54 44 3
+f 54 28 44
+f 55 37 22
+f 55 22 24
+f 55 24 37
+f 56 40 26
+f 56 15 40
+f 56 41 15
+f 56 26 41
+f 57 43 18
+f 57 18 29
+f 57 29 43
+f 58 49 13
+f 58 33 49
+f 58 13 51
+f 58 22 33
+f 58 51 24
+f 58 24 22
+f 59 3 33
+f 59 33 50
+f 59 50 34
+f 59 54 3
+f 59 34 54
+f 60 53 16
+f 60 16 10
+f 60 34 53
+f 60 54 34
+f 60 10 28
+f 60 28 54
\ No newline at end of file
diff --git a/mango/mango_18/collision/model_normalized_collision_28.obj b/mango/mango_18/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50648e9eaa7fb4a929cb5224fcab565f0f38329d
--- /dev/null
+++ b/mango/mango_18/collision/model_normalized_collision_28.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.28843336 -0.29524469 -0.19324535
+v 0.41714343 -0.02667542 -0.21971938
+v 0.40263130 -0.14461851 -0.17035844
+v 0.26380359 0.27323000 -0.17499496
+v 0.25859842 0.00535175 -0.36179525
+v 0.40243233 0.11609097 -0.17544122
+v 0.34324963 -0.25732087 -0.17169247
+v 0.25778831 -0.27426565 -0.27745688
+v 0.42745326 -0.00984245 -0.17777690
+v 0.34561470 0.21831360 -0.16984773
+v 0.37075708 0.07202465 -0.26671531
+v 0.26411968 -0.28197369 -0.25240775
+v 0.25292716 0.23682546 -0.22667531
+v 0.33823066 -0.25918400 -0.18117322
+v 0.34038346 -0.07658952 -0.31612423
+v 0.41814685 0.07482901 -0.17687320
+v 0.37243801 0.18096341 -0.17150140
+v 0.38908900 -0.19144671 -0.16931039
+v 0.30635084 0.25424494 -0.17009444
+v 0.25707363 -0.21587527 -0.31755760
+v 0.28649664 0.10963675 -0.31308392
+v 0.39885054 0.00160488 -0.26312326
+v 0.41428374 0.01742025 -0.22921832
+v 0.34208178 0.16167921 -0.23851406
+v 0.39955016 0.09524193 -0.21811514
+v 0.37495342 -0.21583985 -0.17006514
+v 0.36603414 -0.11307845 -0.27583983
+v 0.39902061 -0.06777485 -0.24130688
+v 0.27423548 0.26828917 -0.17292682
+v 0.29805315 0.25052747 -0.18253102
+v 0.25795980 -0.11348378 -0.35967508
+v 0.34346184 0.02185217 -0.31110084
+v 0.25748128 0.07221260 -0.34518829
+v 0.41550286 0.07548395 -0.19747099
+v 0.41396684 -0.02436417 -0.23105009
+v 0.34157206 0.09882397 -0.28082684
+v 0.32909703 0.17711698 -0.23704507
+v 0.36830097 0.09824851 -0.25501341
+v 0.40369385 0.05577677 -0.23760216
+v 0.35707481 -0.08036071 -0.29799434
+v 0.35263194 -0.19742345 -0.22540610
+v 0.31307212 -0.15534451 -0.31268325
+v 0.38409310 -0.11303798 -0.24115773
+v 0.39703792 -0.03837607 -0.25779252
+v 0.29474508 -0.10089913 -0.34531094
+v 0.36793303 0.02930762 -0.28652603
+v 0.32797683 -0.00141443 -0.32689099
+v 0.25940988 0.14845784 -0.30033299
+v 0.30080898 0.09905422 -0.31116077
+v 0.40104900 0.11386172 -0.18859247
+v 0.34270384 0.21521156 -0.17700570
+v 0.27333955 0.23055264 -0.22073758
+v 0.39709886 0.08886320 -0.22685369
+v 0.38686305 -0.18211459 -0.18238105
+v 0.32370149 -0.24296838 -0.22736663
+v 0.34146313 -0.12126840 -0.30144804
+v 0.27112906 -0.21066948 -0.31325371
+v 0.27240298 0.00170813 -0.35741792
+v 0.33088802 -0.06900499 -0.32558265
+v 0.30199637 0.01546202 -0.33972852
+v 0.26987189 0.14305709 -0.30073970
+v 0.26700992 0.21873739 -0.23501200
+v 0.36955052 -0.21236159 -0.18303342
+v 0.35367473 -0.22876184 -0.19395676
+f 7 4 1
+f 9 3 2
+f 12 8 1
+f 12 1 4
+f 12 4 8
+f 13 8 4
+f 14 7 1
+f 14 1 8
+f 16 3 9
+f 17 10 3
+f 17 16 6
+f 17 3 16
+f 18 3 10
+f 19 18 10
+f 20 8 13
+f 23 9 2
+f 24 10 17
+f 25 24 17
+f 26 7 14
+f 26 19 7
+f 26 18 19
+f 28 3 18
+f 29 19 4
+f 29 4 7
+f 29 7 19
+f 30 13 4
+f 30 4 19
+f 31 20 13
+f 33 31 13
+f 33 5 31
+f 34 16 9
+f 34 9 23
+f 34 6 16
+f 35 23 2
+f 35 22 23
+f 35 2 3
+f 35 3 28
+f 36 11 32
+f 37 30 19
+f 38 36 24
+f 38 11 36
+f 39 23 22
+f 39 11 38
+f 39 34 23
+f 39 25 34
+f 40 15 22
+f 43 27 28
+f 44 28 27
+f 44 35 28
+f 44 22 35
+f 44 40 22
+f 44 27 40
+f 46 32 11
+f 46 22 32
+f 46 39 22
+f 46 11 39
+f 47 32 22
+f 48 33 13
+f 49 33 21
+f 49 36 32
+f 49 24 36
+f 49 37 24
+f 50 34 25
+f 50 25 17
+f 50 17 6
+f 50 6 34
+f 51 37 19
+f 51 19 10
+f 51 10 24
+f 51 24 37
+f 52 13 30
+f 52 30 37
+f 53 38 24
+f 53 24 25
+f 53 39 38
+f 53 25 39
+f 54 41 27
+f 54 27 43
+f 54 43 28
+f 54 28 18
+f 55 14 8
+f 55 8 42
+f 55 42 27
+f 55 27 41
+f 56 40 27
+f 56 27 42
+f 56 15 40
+f 56 45 15
+f 56 42 45
+f 57 42 8
+f 57 8 20
+f 57 45 42
+f 57 20 31
+f 57 31 45
+f 58 45 31
+f 58 31 5
+f 58 5 33
+f 59 47 22
+f 59 22 15
+f 59 15 45
+f 59 58 47
+f 59 45 58
+f 60 32 47
+f 60 49 32
+f 60 33 49
+f 60 58 33
+f 60 47 58
+f 61 21 33
+f 61 33 48
+f 61 49 21
+f 61 37 49
+f 61 48 13
+f 62 52 37
+f 62 13 52
+f 62 61 13
+f 62 37 61
+f 63 41 54
+f 63 54 18
+f 63 18 26
+f 64 26 14
+f 64 14 55
+f 64 63 26
+f 64 55 41
+f 64 41 63
\ No newline at end of file
diff --git a/mango/mango_18/collision/model_normalized_collision_3.obj b/mango/mango_18/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..218ca684b160e6a041a6abc988082746be7698ad
--- /dev/null
+++ b/mango/mango_18/collision/model_normalized_collision_3.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.40630773 -0.18866369 0.01495116
+v 0.49292346 -0.00600896 -0.07396836
+v 0.44829308 0.11456888 0.00536497
+v 0.26177186 0.32585487 0.00637459
+v 0.26515152 -0.17812727 -0.17752188
+v 0.34561470 0.21831360 -0.16984773
+v 0.33936521 0.27529818 0.00821219
+v 0.49289537 0.02225934 -0.04421913
+v 0.38922879 -0.17891973 -0.17828135
+v 0.26515152 -0.17812727 0.00429630
+v 0.26041832 0.28004813 -0.16676304
+v 0.43332466 0.14621052 0.00715490
+v 0.49001703 -0.00575098 -0.04632884
+v 0.45317833 -0.01149369 0.00197700
+v 0.40015122 0.17443114 -0.12446432
+v 0.43021913 0.03119598 -0.17568343
+v 0.33507333 0.27034646 -0.11067946
+v 0.26064779 0.31153566 -0.11034295
+v 0.49547847 0.02163768 -0.06557421
+v 0.42770358 -0.02268877 -0.17280774
+v 0.39938837 0.13051849 -0.17054465
+v 0.30461893 0.25888271 -0.16584009
+v 0.34448212 0.24846333 -0.13544331
+v 0.37174569 0.24729642 -0.03145943
+v 0.29664330 0.30814197 -0.06121662
+v 0.49182941 0.01218329 -0.07673535
+v 0.41474233 0.09129976 -0.17107258
+v 0.28535945 0.30352858 -0.10605985
+v 0.35898547 0.26275677 0.00171955
+v 0.39936711 0.19198498 -0.10134815
+v 0.30175367 0.30299781 0.00367862
+v 0.26108867 0.32369506 -0.06829622
+v 0.31285485 0.29220674 -0.08690220
+v 0.27300448 0.27647034 -0.16559467
+v 0.34182394 0.27450225 -0.03766607
+v 0.33777386 0.26822923 -0.11022322
+v 0.27468002 0.31868502 -0.07203264
+v 0.36803711 0.24996675 -0.04167573
+f 7 4 1
+f 9 2 1
+f 9 1 5
+f 10 5 1
+f 10 1 4
+f 11 6 5
+f 11 5 10
+f 12 7 1
+f 12 1 3
+f 13 1 2
+f 14 8 3
+f 14 3 1
+f 14 13 8
+f 14 1 13
+f 16 9 5
+f 16 5 6
+f 18 11 10
+f 18 10 4
+f 19 12 3
+f 19 3 8
+f 19 13 2
+f 19 8 13
+f 20 16 2
+f 20 2 9
+f 20 9 16
+f 21 16 6
+f 21 6 15
+f 21 15 19
+f 22 6 11
+f 23 15 6
+f 23 22 17
+f 23 6 22
+f 26 19 2
+f 26 2 16
+f 26 16 19
+f 27 21 19
+f 27 19 16
+f 27 16 21
+f 28 17 22
+f 29 7 12
+f 29 12 24
+f 30 15 23
+f 30 19 15
+f 30 24 12
+f 30 12 19
+f 31 25 4
+f 31 4 7
+f 31 29 25
+f 31 7 29
+f 32 18 4
+f 33 17 28
+f 34 28 22
+f 34 22 11
+f 34 11 18
+f 34 18 28
+f 35 33 25
+f 35 25 29
+f 36 30 23
+f 36 23 17
+f 36 17 33
+f 36 33 35
+f 37 32 4
+f 37 4 25
+f 37 28 18
+f 37 18 32
+f 37 33 28
+f 37 25 33
+f 38 35 29
+f 38 29 24
+f 38 36 35
+f 38 24 30
+f 38 30 36
\ No newline at end of file
diff --git a/mango/mango_18/collision/model_normalized_collision_31.obj b/mango/mango_18/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0bbe797942d1a37c7652b71d39c0cdd6d14d3a0
--- /dev/null
+++ b/mango/mango_18/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.25000001 0.00369091 0.21641751
+v 0.25000001 0.00369091 0.00429630
+v 0.27268148 0.21649689 0.25046262
+v 0.00757577 0.18550910 0.21641751
+v 0.00757577 0.00369091 0.00429630
+v 0.00757577 0.00369091 0.21641751
+v 0.00757577 0.18550910 0.00429630
+v 0.25000001 0.18550910 0.00429630
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 2 5
+f 7 5 4
+f 7 4 3
+f 8 7 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/mango/mango_18/collision/model_normalized_collision_4.obj b/mango/mango_18/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7601b4982e028f0e74787d7553db707c23d01e51
--- /dev/null
+++ b/mango/mango_18/collision/model_normalized_collision_4.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.43250658 0.00183799 0.16191842
+v 0.45367563 0.00638941 0.00456839
+v 0.42894029 0.14661563 0.05677097
+v 0.24567804 0.32535918 0.06170751
+v 0.25000001 0.00369091 0.00429630
+v 0.35488099 0.26549643 0.00202357
+v 0.34447763 0.20389142 0.18088288
+v 0.44457857 0.05789481 0.12413884
+v 0.44829308 0.11456888 0.00536497
+v 0.24728557 0.33057119 0.00259093
+v 0.25000001 0.00369091 0.18611448
+v 0.32493741 0.26211438 0.11902077
+v 0.44700411 0.02522548 0.13198316
+v 0.41538795 0.08964362 0.17803848
+v 0.43332466 0.14621052 0.00715490
+v 0.44304955 0.12148140 0.03486404
+v 0.24174042 0.31156897 0.11804167
+v 0.31995928 0.29100527 0.00384551
+v 0.39813323 0.14975978 0.16685360
+v 0.44357324 0.00709523 0.13635336
+v 0.42773405 0.07199857 0.16104155
+v 0.42110510 0.00449212 0.17959905
+v 0.43015574 0.11280657 0.11489509
+v 0.24380363 0.28192955 0.18223620
+v 0.28296148 0.30430490 0.07345746
+v 0.26948745 0.32121998 0.00256499
+v 0.33781880 0.23213833 0.14608877
+v 0.34108635 0.25937889 0.08398612
+v 0.39998535 0.12843480 0.17897695
+v 0.44322838 0.07421459 0.10697494
+v 0.28428290 0.25803519 0.17983160
+v 0.25951710 0.30455146 0.11814810
+v 0.27325749 0.31725452 0.01686898
+v 0.31403432 0.28869315 0.04658396
+v 0.27005160 0.30278105 0.10399595
+v 0.29796460 0.27222798 0.13611580
+f 5 2 1
+f 6 2 5
+f 9 2 6
+f 10 6 5
+f 11 5 1
+f 13 9 8
+f 13 2 9
+f 15 9 6
+f 15 6 3
+f 16 8 9
+f 16 15 3
+f 16 9 15
+f 17 10 5
+f 17 4 10
+f 17 5 11
+f 20 13 1
+f 20 1 2
+f 20 2 13
+f 21 13 8
+f 21 1 13
+f 22 11 1
+f 22 21 14
+f 22 1 21
+f 22 7 11
+f 23 16 3
+f 23 3 19
+f 23 21 8
+f 23 19 14
+f 23 14 21
+f 24 17 11
+f 24 11 7
+f 26 18 6
+f 26 6 10
+f 26 10 4
+f 26 4 25
+f 27 19 12
+f 27 12 7
+f 27 7 19
+f 28 19 3
+f 28 3 6
+f 28 12 19
+f 29 19 7
+f 29 14 19
+f 29 22 14
+f 29 7 22
+f 30 23 8
+f 30 8 16
+f 30 16 23
+f 31 24 7
+f 31 7 12
+f 32 17 24
+f 32 25 4
+f 32 4 17
+f 33 26 25
+f 33 25 18
+f 33 18 26
+f 34 25 12
+f 34 12 28
+f 34 18 25
+f 34 28 6
+f 34 6 18
+f 35 32 12
+f 35 12 25
+f 35 25 32
+f 36 31 12
+f 36 12 32
+f 36 32 24
+f 36 24 31
\ No newline at end of file
diff --git a/mango/mango_18/collision/model_normalized_collision_6.obj b/mango/mango_18/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1454ac4124bdce9e5dcb5c126b2f403f672b6f7a
--- /dev/null
+++ b/mango/mango_18/collision/model_normalized_collision_6.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.27268148 0.21649689 0.25046262
+v 0.28090354 0.31174872 0.01178766
+v 0.13668409 0.33297774 0.17491991
+v -0.12565502 0.34889723 0.15196295
+v -0.09848484 0.18550910 0.01944782
+v 0.13961388 0.36281406 0.00415159
+v -0.17103077 0.30694453 0.24125280
+v 0.19593432 0.30216034 0.19220751
+v 0.25000001 0.18550910 0.00429630
+v 0.13938158 0.35053330 0.12373027
+v -0.09728942 0.36028018 0.02078098
+v -0.03781328 0.34954321 0.18494484
+v -0.09848484 0.18550910 0.21641751
+v 0.24879128 0.25878053 0.21488288
+v 0.06366888 0.33435607 0.20746144
+v 0.00757577 0.18550910 0.00429630
+v 0.18291285 0.33532421 0.12228704
+v -0.15787940 0.34699870 0.12458404
+v -0.09761514 0.33435237 0.21098529
+v 0.02176467 0.36448501 0.12120663
+v -0.15909090 0.26126667 0.12550842
+v 0.19637911 0.29339943 0.20724375
+v 0.08017719 0.35138012 0.15956730
+v 0.00822953 0.36884315 0.00301829
+v 0.18224267 0.33246498 0.13397100
+v -0.15492961 0.33531393 0.17976133
+v -0.07866382 0.36567654 0.09288247
+v -0.09844199 0.34835152 0.16886190
+v 0.09503670 0.36375409 0.07888025
+v 0.13882660 0.31743057 0.20581926
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+v -0.13970352 0.34876140 0.13786229
+v -0.15508715 0.32440333 0.20991050
+v -0.08172272 0.36501848 0.03686581
+v -0.02296412 0.36543662 0.12170556
+v -0.13966618 0.33372163 0.19473214
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+v -0.14049611 0.35058202 0.12297665
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\ No newline at end of file
diff --git a/mango/mango_18/collision/model_normalized_collision_7.obj b/mango/mango_18/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9175d20168004c7c583eb77d7afa20218fbb5a41
--- /dev/null
+++ b/mango/mango_18/collision/model_normalized_collision_7.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.00757577 0.26126667 0.01944782
+v 0.00276587 0.29306785 -0.19938977
+v 0.00540766 0.37078066 0.02202687
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+v -0.24091394 0.27039824 -0.07638503
+v -0.17103077 0.30694453 0.24125280
+v 0.00959142 0.32525352 -0.15409149
+v -0.10302020 0.27149195 -0.18557997
+v -0.18074063 0.33361971 -0.00726890
+v -0.15508715 0.32440333 0.20991050
+v -0.24625553 0.28464821 0.22724413
+v 0.00796270 0.31370953 -0.17270219
+v 0.00934260 0.36734461 -0.00814269
+v -0.15257489 0.34819472 0.02331381
+v -0.16564350 0.31892255 -0.06314485
+v -0.22398755 0.31784328 0.01096617
+v -0.18231272 0.31845290 0.20882538
+v -0.06189800 0.30571910 -0.16533027
+v -0.04987933 0.36643415 0.02269681
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+v -0.22721383 0.31813162 0.15251625
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+v 0.00740023 0.33788699 -0.12734943
+v -0.03613048 0.34942745 -0.07954926
+v -0.21246285 0.31670969 0.18124694
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+f 41 13 30
+f 42 37 17
+f 42 17 38
+f 42 38 33
+f 42 33 37
\ No newline at end of file
diff --git a/mango/mango_18/collision/model_normalized_collision_9.obj b/mango/mango_18/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64c92786952c5ebd673722e314ba1d7b7e70e878
--- /dev/null
+++ b/mango/mango_18/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.00869426 -0.35387985 -0.17501920
+v 0.01347721 -0.31569930 -0.25960678
+v 0.00994438 0.30766408 -0.18258884
+v -0.01981035 0.31163257 -0.16973950
+v -0.24436088 0.15275897 -0.19498042
+v 0.00796270 0.31370953 -0.17270219
+v 0.01069264 -0.34397781 -0.19897602
+v -0.22548584 -0.24550309 -0.16800840
+v 0.01013743 -0.01437657 -0.37644417
+v -0.03099667 0.17873760 -0.29300139
+v -0.02201768 0.30417610 -0.18122192
+v -0.01435748 -0.34931594 -0.17305068
+v -0.09459923 0.28577042 -0.17181906
+v 0.01120558 0.07580957 -0.35746261
+v -0.22396763 -0.03887554 -0.26573899
+v -0.00074544 0.20460193 -0.28375894
+v -0.10447882 -0.31459244 -0.17048161
+v -0.04422481 -0.32632097 -0.21381919
+v -0.07891699 0.29572119 -0.17010650
+v -0.13559962 0.17315936 -0.25427716
+v 0.01107841 -0.14591016 -0.37402765
+v -0.22267169 -0.12653950 -0.25023585
+v -0.12977612 0.05571242 -0.31672524
+v -0.02910543 0.23328166 -0.25244287
+v 0.00951302 0.16046692 -0.31489609
+v -0.00295957 -0.34099071 -0.20038167
+v -0.21055849 -0.26133661 -0.16967098
+v -0.09308558 0.27756688 -0.18213095
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+v -0.22142468 0.08411569 -0.25371343
+v -0.04838930 0.11216699 -0.32563621
+v -0.04682917 0.27657541 -0.20493133
+v -0.07369577 0.23237242 -0.23660504
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+v -0.11600892 -0.23636830 -0.26937405
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+v -0.04157692 -0.29552682 -0.25763549
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+v -0.15947823 -0.14211899 -0.29665452
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+v -0.08833988 -0.13896207 -0.34197792
+v -0.00288804 -0.01595642 -0.37423902
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+v -0.17936948 0.01436202 -0.29416555
+v -0.22522315 0.11112560 -0.23642254
+v -0.12203288 0.11269489 -0.29505795
+v -0.15565693 0.10953728 -0.28126288
+v -0.08996352 -0.28357760 -0.23731356
+v -0.13236287 -0.20955534 -0.28200201
+v -0.20934324 -0.25629835 -0.17509451
+f 6 1 3
+f 6 4 1
+f 7 2 3
+f 7 3 1
+f 11 6 3
+f 11 4 6
+f 12 1 4
+f 13 5 8
+f 14 3 2
+f 17 12 4
+f 17 4 8
+f 18 1 12
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+f 19 13 8
+f 19 8 4
+f 19 4 11
+f 21 14 2
+f 21 9 14
+f 22 8 5
+f 22 5 15
+f 24 11 3
+f 24 3 16
+f 24 16 10
+f 25 10 16
+f 26 7 1
+f 26 1 18
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+f 26 2 7
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+f 30 14 9
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+f 33 11 24
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+f 35 16 3
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+f 43 5 20
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+f 45 10 25
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+f 45 30 32
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+f 50 48 37
+f 50 21 2
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+f 52 9 21
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+f 52 21 50
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+f 53 50 29
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+f 54 30 9
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+f 57 31 23
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+f 58 39 15
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+f 62 46 27
+f 62 27 37
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+f 62 48 18
+f 62 18 46
+f 63 37 27
+f 63 49 29
+f 63 50 37
+f 63 29 50
+f 64 27 8
+f 64 8 49
+f 64 63 27
+f 64 49 63
\ No newline at end of file
diff --git a/mango/mango_18/model.xml b/mango/mango_18/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a0b3bde76948b5acb097f6bb1d88cb6ea138474b
--- /dev/null
+++ b/mango/mango_18/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="mango_2">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.09499999999999999 0.09499999999999999 0.09499999999999999" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material_0.035" 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_0.035"/>
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+      <site rgba="0 0 0 0" size="0.005" pos="0.03522416269999999 0.04662760929999999 -0.00033144265000000043" name="horizontal_radius_site"/>
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diff --git a/mango/mango_18/visual/material.mtl b/mango/mango_18/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b5d0f127cc1df2efd6b4835e0300358bb6dde72
--- /dev/null
+++ b/mango/mango_18/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 359.99999300
+map_Kd material_0.png
\ No newline at end of file
diff --git a/mango/mango_18/visual/model_normalized_0.obj b/mango/mango_18/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..647e06a9da96ebe956c3f061febc5269f6a6a6a9
--- /dev/null
+++ b/mango/mango_18/visual/model_normalized_0.obj
@@ -0,0 +1,234473 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_0.obj b/mango/mango_19/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01829188ef0ac6ed806465b3c2f29f24aa07e8f9
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.19353120 -0.26186984 0.28954199
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+v -0.28663744 -0.08279938 0.26659920
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\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_1.obj b/mango/mango_19/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..460b84c5d7c7cad1b300e93c56ea278e037fe0e9
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.21796494 0.26290832 0.22894397
+v 0.18184950 0.23484848 -0.14380069
+v 0.16971184 0.41431849 -0.00689625
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+v 0.08273322 0.42661849 0.16314939
+v 0.16894144 0.36775965 -0.13343555
+v 0.01068694 0.48905622 -0.02019128
+v -0.15148384 0.23484848 -0.14380069
+v 0.16880670 0.39831907 0.12320581
+v -0.11238031 0.43036272 0.17716739
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+v -0.12621482 0.44421760 -0.10084865
+v -0.00379671 0.47269628 0.12287700
+v 0.17371394 0.36136553 0.18094627
+v 0.16947078 0.41475196 0.03644306
+v -0.00289621 0.44397689 0.17746900
+v 0.12632161 0.39973290 -0.12999986
+v 0.08256076 0.45881475 -0.04944981
+v -0.00234303 0.45867365 -0.10332207
+v -0.08747538 0.48962775 -0.03104129
+v -0.14007329 0.41430050 -0.12894126
+v -0.01660157 0.48976079 0.06525619
+v 0.05296741 0.47305806 0.06381659
+v -0.08597071 0.47336187 0.12217722
+v 0.13953415 0.39800598 0.16172828
+v 0.17091747 0.38397285 0.15065294
+v -0.07283992 0.44499006 0.17636795
+v 0.03909865 0.44339422 0.16239934
+v 0.05445266 0.42890248 0.17870676
+v 0.15366556 0.39919242 -0.10183566
+v 0.09729072 0.41425261 -0.13033413
+v 0.14098658 0.42844974 -0.04846419
+v 0.09637546 0.45925445 0.00883999
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+v -0.11337652 0.45806932 -0.08838894
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+v 0.09621151 0.45822552 0.03549623
+v -0.12671817 0.47287507 0.07787529
+v -0.13901775 0.41634552 0.17365142
+v -0.11423140 0.45786343 0.13529745
+f 5 2 1
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+f 13 3 1
+f 13 1 8
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+f 28 16 1
+f 28 1 11
+f 28 11 27
+f 29 12 1
+f 29 1 18
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+f 32 13 8
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+f 54 4 41
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+f 57 21 56
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+f 57 22 39
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+f 58 14 55
+f 58 55 37
+f 58 37 22
+f 58 22 56
+f 59 25 15
+f 59 15 30
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+f 59 44 25
+f 59 42 44
+f 60 44 11
+f 60 11 17
+f 61 35 25
+f 61 25 44
+f 61 44 60
+f 61 60 17
+f 61 17 35
+f 62 26 4
+f 62 37 45
+f 62 54 37
+f 62 4 54
+f 63 45 5
+f 63 5 12
+f 63 46 45
+f 63 12 46
+f 64 45 46
+f 64 62 45
+f 64 26 62
+f 64 47 26
+f 64 46 47
\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_10.obj b/mango/mango_19/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eb37ef1926124bc3c9008dcf296c2b0a3fab042
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_10.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.17555547 0.09459166 0.32664504
+v 0.22533719 0.11300052 0.29286109
+v 0.07258800 0.22854544 0.32270989
+v -0.21312803 0.25208574 0.23119578
+v -0.18178687 0.09848485 0.20468416
+v 0.13639495 0.23484848 0.20468416
+v -0.13090630 0.09523715 0.34194333
+v 0.15748265 0.19753627 0.30553509
+v 0.13639495 0.09848485 0.20468416
+v 0.16267665 0.23102069 0.28747552
+v 0.08779406 0.09614835 0.35708342
+v -0.07183615 0.22829130 0.32210553
+v -0.16069815 0.09535390 0.32956139
+v 0.19999432 0.16710777 0.29269904
+v 0.19227727 0.09642294 0.31761749
+v 0.22188160 0.14093972 0.28695917
+v 0.12795661 0.22518599 0.30675946
+v -0.08668558 0.09467858 0.35582942
+v 0.11496264 0.15432168 0.33581797
+v -0.04332423 0.13944913 0.35389937
+v -0.17888406 0.09703376 0.32040914
+v -0.12740557 0.18238254 0.32081216
+v 0.17652764 0.21636022 0.28620592
+v 0.20473994 0.10238109 0.30861416
+v 0.17232958 0.12350216 0.32101893
+v 0.15713869 0.22673771 0.29218384
+v 0.14532988 0.09552782 0.33971688
+v 0.14363274 0.16882483 0.32144151
+v 0.08531189 0.18324078 0.33668659
+v -0.04291271 0.19891886 0.33696160
+v -0.07202040 0.18274016 0.33724001
+v -0.12907153 0.12469621 0.33651212
+v -0.15388543 0.22521521 0.29164416
+v 0.20656400 0.17061876 0.28690584
+v 0.21565314 0.13715024 0.29269904
+v 0.08782594 0.11049370 0.35454833
+v 0.14344045 0.10973666 0.33720120
+v 0.10036258 0.21219583 0.32171313
+v 0.05669018 0.19796638 0.33719063
+v -0.07170649 0.12437209 0.35286571
+v -0.11393302 0.19699893 0.32092738
+v -0.15925895 0.12408716 0.32327286
+v -0.16941329 0.19839855 0.29319136
+v 0.21916637 0.11052747 0.29789221
+v 0.05852281 0.13997969 0.35331608
+v -0.08672192 0.10976878 0.35259862
+v -0.17124355 0.22749085 0.27909249
+v -0.17186125 0.15235402 0.30860448
+v -0.15535431 0.18283788 0.30729730
+f 6 5 4
+f 9 1 5
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+f 12 3 4
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+f 15 1 9
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+f 18 1 11
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+f 21 4 5
+f 21 5 13
+f 23 10 8
+f 23 8 14
+f 23 6 10
+f 24 15 9
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+f 25 14 8
+f 25 1 15
+f 26 17 8
+f 26 8 10
+f 26 10 17
+f 27 11 1
+f 28 8 17
+f 28 25 8
+f 29 19 28
+f 30 3 12
+f 31 30 12
+f 31 20 30
+f 32 13 7
+f 32 7 18
+f 33 12 4
+f 34 23 14
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+f 34 6 23
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+f 35 25 15
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+f 35 34 14
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+f 36 11 27
+f 36 19 29
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+f 37 1 25
+f 37 25 28
+f 37 28 19
+f 37 36 27
+f 37 19 36
+f 38 17 3
+f 38 3 29
+f 38 29 28
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+f 39 29 3
+f 39 3 30
+f 39 30 20
+f 40 18 20
+f 40 20 31
+f 41 31 12
+f 41 32 31
+f 41 22 32
+f 41 33 22
+f 41 12 33
+f 42 32 22
+f 42 21 13
+f 42 13 32
+f 44 24 2
+f 44 2 35
+f 44 35 15
+f 44 15 24
+f 45 20 11
+f 45 11 36
+f 45 39 20
+f 45 36 29
+f 45 29 39
+f 46 32 18
+f 46 18 40
+f 46 40 31
+f 46 31 32
+f 47 43 33
+f 47 33 4
+f 47 4 43
+f 48 43 4
+f 48 4 21
+f 48 21 42
+f 49 22 33
+f 49 33 43
+f 49 43 48
+f 49 48 42
+f 49 42 22
\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_11.obj b/mango/mango_19/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e88692efdc61ea73e00084c2da1ccbfdabb2985
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.22730404 -0.00757576 -0.17410372
+v 0.23048037 -0.00667403 -0.31611235
+v 0.24623996 0.24999785 -0.18773852
+v -0.21096068 0.25652433 -0.20494304
+v -0.20779444 0.00086976 -0.31075163
+v 0.07243882 0.21128243 -0.30683311
+v -0.18178687 -0.00757576 -0.17410372
+v 0.20063670 0.17920900 -0.27650524
+v 0.11495415 0.22416533 -0.29049534
+v -0.10057208 0.18106173 -0.30639634
+v -0.24748752 0.10090929 -0.25554739
+v 0.01520347 -0.00851838 -0.37360315
+v 0.21669735 0.12248280 -0.29222850
+v -0.08583393 0.22575468 -0.29151751
+v 0.18605243 0.22441497 -0.26119707
+v -0.17180766 0.10696506 -0.30562174
+v -0.13285170 -0.00263272 -0.34549560
+v 0.13247599 -0.00918525 -0.35770885
+v -0.02840293 0.13879718 -0.33773941
+v 0.21608202 0.20997974 -0.24984203
+v 0.13036502 0.18075967 -0.30605254
+v 0.15801456 0.22363037 -0.27525729
+v -0.21738325 0.09410265 -0.28189169
+v -0.18358952 0.22522964 -0.24698828
+v -0.13028762 0.03404472 -0.34008013
+v 0.05936051 -0.00901893 -0.37103438
+v 0.16042340 0.04932211 -0.33835656
+v -0.04234856 0.21152090 -0.30765060
+v 0.21817047 0.22631936 -0.23652682
+v 0.20007755 0.20932291 -0.26152168
+v 0.17302157 0.17983044 -0.29054577
+v -0.23357279 0.09441356 -0.26959871
+v -0.12819479 0.22554544 -0.27685325
+v -0.18542358 0.16552643 -0.27582104
+v -0.21342188 0.18061882 -0.24882777
+v -0.09987248 0.09346271 -0.33628761
+v 0.04445404 0.09380667 -0.35301547
+v 0.17420861 0.09282623 -0.32199086
+v 0.16090668 0.03522910 -0.34048975
+v -0.02779619 0.18240095 -0.32266915
+v -0.08581815 0.15193400 -0.32213612
+v -0.12829933 0.19537428 -0.29118612
+v -0.21500000 0.10729241 -0.27892034
+v -0.15731267 0.16591601 -0.29122957
+v -0.23570752 0.15523506 -0.24192530
+v -0.18930939 0.22944340 -0.24028588
+v -0.12966865 0.04864631 -0.33697112
+v -0.07220705 0.03524544 -0.35728323
+v 0.07222241 0.13741059 -0.33708256
+v 0.08741584 0.07904959 -0.35150658
+v 0.04451934 0.01995761 -0.36872619
+v -0.01374899 0.09303830 -0.35235696
+v 0.18837432 0.12223785 -0.30623298
+v 0.13161745 0.01947943 -0.35376315
+v -0.08649850 0.10801394 -0.33594982
+v -0.21318408 0.15057135 -0.26293568
+v -0.21910353 0.18449033 -0.24139284
+v 0.10186618 0.12248582 -0.33629089
+v 0.05736860 0.18140081 -0.32233263
+v 0.05938718 0.00543261 -0.36943961
+v 0.01503028 0.02016998 -0.37027771
+v 0.14521764 0.07743234 -0.33710069
+v -0.07102085 0.06377735 -0.35118163
+v -0.22922904 0.12160756 -0.26255735
+f 1 2 3
+f 7 1 3
+f 7 3 4
+f 9 4 3
+f 11 7 4
+f 11 5 7
+f 13 3 2
+f 14 9 6
+f 14 4 9
+f 17 12 7
+f 17 7 5
+f 18 2 1
+f 18 1 7
+f 20 13 8
+f 20 3 13
+f 21 6 9
+f 22 9 3
+f 22 3 15
+f 22 21 9
+f 23 16 5
+f 25 17 5
+f 25 5 16
+f 26 18 7
+f 26 7 12
+f 28 14 6
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+f 29 15 3
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+f 30 20 8
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+f 33 4 14
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+f 39 27 2
+f 39 2 18
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+f 44 24 33
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+f 44 16 34
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+f 44 42 10
+f 44 10 41
+f 45 11 4
+f 46 35 4
+f 46 24 35
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+f 46 4 33
+f 47 36 25
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+f 47 16 36
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+f 48 25 36
+f 49 6 21
+f 50 37 49
+f 51 26 12
+f 51 37 50
+f 52 19 37
+f 53 31 13
+f 53 13 38
+f 53 38 21
+f 53 21 31
+f 54 39 18
+f 54 27 39
+f 55 41 19
+f 55 36 41
+f 56 35 34
+f 56 34 43
+f 56 45 35
+f 57 45 4
+f 57 4 35
+f 57 35 45
+f 58 49 21
+f 58 21 38
+f 58 50 49
+f 59 40 6
+f 59 6 49
+f 59 49 37
+f 59 37 40
+f 60 51 50
+f 60 26 51
+f 60 50 54
+f 60 54 18
+f 60 18 26
+f 61 12 48
+f 61 48 52
+f 61 51 12
+f 61 52 37
+f 61 37 51
+f 62 54 50
+f 62 27 54
+f 62 50 58
+f 62 58 38
+f 62 38 27
+f 63 48 36
+f 63 36 55
+f 63 52 48
+f 63 55 19
+f 63 19 52
+f 64 56 43
+f 64 43 32
+f 64 32 11
+f 64 11 45
+f 64 45 56
\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_12.obj b/mango/mango_19/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f642cd0432ecdb25be8c582f3befebda53241aec
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_12.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.01828741 -0.42861474 0.21149256
+v 0.20963763 -0.40619652 -0.16941001
+v 0.19700101 -0.26515152 0.18953265
+v -0.18178687 -0.26515152 0.18953265
+v -0.19216068 -0.41936849 -0.16866697
+v 0.13155161 -0.25972956 -0.34088979
+v 0.19376422 -0.38191752 0.18630713
+v -0.18376655 -0.40487295 0.19183188
+v 0.17922772 -0.26325255 -0.31999427
+v -0.17586144 -0.25974113 -0.31219574
+v 0.13029446 -0.37167257 -0.27750437
+v 0.16151365 -0.26035602 -0.32906189
+v 0.19700101 -0.26515152 -0.15895220
+v 0.00082704 -0.30183974 -0.33747401
+v 0.17155126 -0.34345847 -0.27868569
+v -0.08698024 -0.25984467 -0.34009911
+v 0.11651721 -0.31580088 -0.32174392
+v -0.08729816 -0.37125314 -0.27876588
+v 0.17245926 -0.37265763 -0.25162440
+v 0.10287959 -0.28781624 -0.33813276
+v 0.10288230 -0.34321026 -0.30751216
+v 0.15713123 -0.31423639 -0.30641328
+v 0.15752907 -0.28695759 -0.32053626
+v -0.17079201 -0.37064962 -0.24803919
+v -0.05708534 -0.31563243 -0.32270631
+v 0.15673081 -0.37080647 -0.26451762
+v 0.05932717 -0.30168619 -0.33697292
+v 0.12946262 -0.27350449 -0.33671431
+v -0.04273997 -0.34374290 -0.30736040
+v 0.15667302 -0.35691755 -0.27711715
+v 0.17098245 -0.30059584 -0.30667924
+v -0.17254812 -0.33003162 -0.27855632
+v -0.05609997 -0.28661959 -0.33697332
+v -0.11544403 -0.34370800 -0.29364929
+v -0.07326948 -0.35796128 -0.29249015
+v -0.15812793 -0.34271919 -0.27674816
+v -0.14483651 -0.30149873 -0.30640776
+v -0.14428409 -0.32852195 -0.29154843
+v -0.17428208 -0.27370868 -0.30747994
+v -0.08507059 -0.27227507 -0.33600214
+f 1 3 4
+f 5 2 1
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 10 4 3
+f 10 3 6
+f 10 5 4
+f 11 2 5
+f 12 6 3
+f 13 3 2
+f 13 2 9
+f 13 12 3
+f 13 9 12
+f 15 9 2
+f 16 10 6
+f 16 6 14
+f 18 11 5
+f 19 15 2
+f 20 14 6
+f 21 17 11
+f 21 11 18
+f 23 22 17
+f 23 12 9
+f 24 18 5
+f 26 19 2
+f 26 2 11
+f 26 15 19
+f 27 20 17
+f 27 14 20
+f 27 21 14
+f 27 17 21
+f 28 20 6
+f 28 17 20
+f 28 23 17
+f 28 6 12
+f 28 12 23
+f 29 21 18
+f 29 14 21
+f 29 25 14
+f 30 22 15
+f 30 11 17
+f 30 17 22
+f 30 26 11
+f 30 15 26
+f 31 9 15
+f 31 15 22
+f 31 23 9
+f 31 22 23
+f 32 24 5
+f 32 5 10
+f 33 16 14
+f 33 14 25
+f 34 18 24
+f 35 29 18
+f 35 18 34
+f 35 34 25
+f 35 25 29
+f 36 34 24
+f 36 24 32
+f 37 10 16
+f 37 33 25
+f 37 25 34
+f 38 36 32
+f 38 34 36
+f 38 37 34
+f 38 32 37
+f 39 37 32
+f 39 32 10
+f 39 10 37
+f 40 37 16
+f 40 16 33
+f 40 33 37
\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_13.obj b/mango/mango_19/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7f2212c11897a7517c74c0f7d022bbd9c70bdc7
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_13.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.21189993 -0.28850361 -0.27952748
+v -0.17586144 -0.25974113 -0.31219574
+v -0.18178687 -0.00757576 -0.23470978
+v -0.36050710 -0.00824889 -0.15735215
+v -0.28888421 -0.14249703 -0.26354526
+v -0.34184594 -0.26210483 -0.15527363
+v -0.23042345 -0.22900473 -0.29196484
+v -0.17867115 0.03662183 -0.31931082
+v -0.30937664 -0.28652421 -0.18748144
+v -0.27269596 -0.00757576 -0.15895220
+v -0.34625382 -0.17076682 -0.19338207
+v -0.21516574 -0.25802848 -0.29182449
+v -0.17511952 0.00527921 -0.32675481
+v -0.25944845 -0.01068951 -0.27806920
+v -0.27382203 -0.21394531 -0.26387241
+v -0.36544796 -0.02493594 -0.15323540
+v -0.22114476 0.04160591 -0.29427067
+v -0.19764229 0.04446223 -0.30750242
+v -0.31642983 -0.24233531 -0.20610736
+v -0.18780323 -0.25723603 -0.30758396
+v -0.18808580 -0.20089160 -0.32188958
+v -0.31740162 -0.07076476 -0.23543610
+v -0.24556900 -0.04026256 -0.29303538
+v -0.30587878 -0.25869621 -0.20911846
+v -0.24393037 -0.24256177 -0.27758653
+v -0.30211864 -0.15700563 -0.24980309
+v -0.24543196 -0.18613561 -0.29172356
+v -0.34992191 -0.24563852 -0.15233903
+v -0.33097562 -0.01206400 -0.20535380
+v -0.21697487 -0.01078310 -0.30757023
+v -0.33073985 -0.25708214 -0.17801901
+v -0.21716497 -0.20089878 -0.30654390
+v -0.17621717 -0.20243531 -0.32654869
+v -0.34534418 -0.02697115 -0.19083039
+v -0.30366518 -0.07093868 -0.24938366
+v -0.31767707 -0.14238943 -0.23480177
+v -0.31648162 -0.21325077 -0.21981283
+v -0.36475913 -0.18716040 -0.15261113
+v -0.34889356 -0.01101120 -0.18072296
+v -0.20123060 0.03449730 -0.30778304
+v -0.18723157 0.00394224 -0.32117549
+v -0.34489268 -0.24263937 -0.16439788
+v -0.36003098 -0.02619318 -0.16506783
+v -0.28945964 -0.09904311 -0.26335384
+v -0.33101031 -0.19960840 -0.20678286
+v -0.35908601 -0.18620363 -0.16528335
+v -0.34572139 -0.21422401 -0.17940769
+f 1 2 3
+f 9 1 3
+f 10 9 3
+f 10 6 9
+f 13 8 3
+f 13 3 2
+f 16 10 4
+f 17 4 10
+f 18 10 3
+f 18 3 8
+f 18 17 10
+f 20 12 7
+f 20 2 1
+f 20 1 12
+f 21 2 20
+f 24 1 9
+f 24 19 15
+f 24 9 19
+f 25 12 1
+f 25 24 15
+f 25 1 24
+f 25 15 7
+f 25 7 12
+f 26 5 15
+f 27 15 5
+f 27 7 15
+f 27 5 23
+f 28 6 10
+f 28 10 16
+f 29 17 14
+f 29 14 22
+f 30 13 21
+f 30 21 23
+f 30 23 14
+f 30 14 17
+f 31 19 9
+f 31 9 6
+f 32 21 20
+f 32 20 7
+f 32 7 27
+f 32 27 23
+f 32 23 21
+f 33 21 13
+f 33 13 2
+f 33 2 21
+f 34 22 11
+f 34 29 22
+f 35 22 14
+f 35 14 23
+f 36 5 26
+f 36 22 35
+f 36 11 22
+f 37 26 15
+f 37 15 19
+f 38 28 16
+f 39 4 17
+f 39 17 29
+f 39 29 34
+f 40 18 8
+f 40 30 17
+f 40 17 18
+f 41 8 13
+f 41 13 30
+f 41 40 8
+f 41 30 40
+f 42 31 6
+f 42 6 28
+f 43 34 11
+f 43 39 34
+f 43 16 4
+f 43 4 39
+f 44 35 23
+f 44 23 5
+f 44 36 35
+f 44 5 36
+f 45 36 26
+f 45 26 37
+f 45 11 36
+f 45 37 19
+f 46 38 16
+f 46 43 11
+f 46 16 43
+f 47 45 19
+f 47 19 31
+f 47 31 42
+f 47 42 28
+f 47 28 38
+f 47 38 46
+f 47 46 11
+f 47 11 45
\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_14.obj b/mango/mango_19/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a73e09c69d4926d26639532efb53468160eb368c
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_14.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.18184950 0.23484848 -0.14380069
+v 0.17951577 0.23185106 -0.26032507
+v 0.17447155 0.36146596 -0.13728980
+v -0.07383995 0.43694167 -0.13537371
+v -0.15148384 0.23484848 -0.14380069
+v 0.05589322 0.37005211 -0.20370793
+v -0.11594711 0.22783243 -0.28072153
+v -0.20102406 0.34745862 -0.13551550
+v 0.12675031 0.32588135 -0.21702214
+v 0.07155858 0.42164954 -0.13629868
+v 0.13254361 0.22797782 -0.28289430
+v -0.02840293 0.34399218 -0.23197750
+v 0.15821050 0.37390031 -0.13572868
+v -0.14569025 0.22897149 -0.26765204
+v 0.16982874 0.29620916 -0.21764123
+v 0.01346768 0.42944411 -0.14634623
+v 0.12529543 0.36989312 -0.17302784
+v 0.16183919 0.22924292 -0.27033425
+v 0.07294693 0.31358892 -0.24575215
+v -0.05749494 0.22793462 -0.29706574
+v -0.14411076 0.40684309 -0.13392173
+v -0.21187770 0.32557986 -0.14362797
+v -0.09932361 0.34195752 -0.21633170
+v 0.15737902 0.26759508 -0.24694732
+v 0.05549443 0.38454633 -0.18898634
+v 0.01371004 0.43622143 -0.13640422
+v -0.07192941 0.42964024 -0.14454824
+v 0.04263332 0.35725998 -0.21894134
+v 0.09888446 0.34008129 -0.21844659
+v 0.16822844 0.32420982 -0.19039952
+v 0.15452647 0.36883776 -0.14668736
+v 0.07360866 0.22853044 -0.29789513
+v -0.16880113 0.32742771 -0.18897494
+v -0.14267459 0.26886530 -0.24652221
+v -0.09945159 0.29909637 -0.24545917
+v 0.17183532 0.25324589 -0.24941333
+v 0.15964630 0.23960307 -0.26477329
+v 0.06956601 0.41501021 -0.14578756
+v -0.07176504 0.37187511 -0.20159507
+v -0.11675215 0.42224148 -0.13469065
+v 0.01453162 0.34375110 -0.23265251
+v 0.09921709 0.35424846 -0.20381506
+v 0.13011892 0.24000425 -0.27724012
+v 0.17075610 0.35663903 -0.14737235
+v -0.19601889 0.34339896 -0.14631391
+v -0.20180924 0.31707717 -0.16477742
+v -0.14089535 0.37076860 -0.17183349
+v -0.14426337 0.24049250 -0.26247441
+v -0.14192864 0.31229445 -0.21712389
+v -0.05552538 0.26841946 -0.27619432
+v -0.11254200 0.31405304 -0.23053137
+v -0.08479572 0.32759080 -0.23213217
+v 0.08495788 0.39838325 -0.16028558
+v -0.05632876 0.35759306 -0.21713123
+v -0.11284593 0.41561448 -0.14353774
+v 0.02857581 0.29779913 -0.26266134
+v 0.10189670 0.25466474 -0.27711863
+v -0.19604865 0.32909207 -0.16039561
+v -0.14035226 0.40053416 -0.14270154
+v -0.11253602 0.37184249 -0.18654102
+v -0.11372561 0.23965344 -0.27527694
+v -0.15471307 0.34209769 -0.18731242
+v -0.02840293 0.29941229 -0.26249886
+v 0.05846349 0.26900752 -0.27715729
+f 1 2 3
+f 7 1 5
+f 8 5 1
+f 11 1 7
+f 13 8 1
+f 13 1 3
+f 13 10 4
+f 14 7 5
+f 15 3 2
+f 17 10 13
+f 18 2 1
+f 18 1 11
+f 20 11 7
+f 21 13 4
+f 21 8 13
+f 22 14 5
+f 22 5 8
+f 24 9 15
+f 26 16 4
+f 26 4 10
+f 26 10 16
+f 27 16 12
+f 27 4 16
+f 28 25 6
+f 28 16 25
+f 29 17 9
+f 29 9 24
+f 29 28 6
+f 29 19 28
+f 30 15 9
+f 30 9 17
+f 30 3 15
+f 31 17 13
+f 31 13 3
+f 32 11 20
+f 36 24 15
+f 36 15 2
+f 36 2 24
+f 37 24 2
+f 37 2 18
+f 38 25 16
+f 38 16 10
+f 40 21 4
+f 40 4 27
+f 41 12 16
+f 41 16 28
+f 41 28 19
+f 42 17 29
+f 42 29 6
+f 42 6 25
+f 43 29 24
+f 43 24 37
+f 43 37 18
+f 43 18 11
+f 44 30 17
+f 44 3 30
+f 44 31 3
+f 44 17 31
+f 45 8 21
+f 45 21 33
+f 45 22 8
+f 46 14 22
+f 47 33 21
+f 48 7 14
+f 48 33 34
+f 48 46 33
+f 48 14 46
+f 49 34 33
+f 51 35 34
+f 51 49 23
+f 51 34 49
+f 52 50 35
+f 52 23 39
+f 52 51 23
+f 52 35 51
+f 53 38 10
+f 53 10 17
+f 53 25 38
+f 53 42 25
+f 53 17 42
+f 54 39 27
+f 54 27 12
+f 54 52 39
+f 54 12 52
+f 55 40 27
+f 55 27 39
+f 56 41 19
+f 57 19 29
+f 57 29 43
+f 57 43 11
+f 57 11 32
+f 58 45 33
+f 58 33 46
+f 58 46 22
+f 58 22 45
+f 59 47 21
+f 59 21 40
+f 59 55 47
+f 59 40 55
+f 60 39 23
+f 60 23 49
+f 60 55 39
+f 60 47 55
+f 61 7 48
+f 61 35 50
+f 61 50 20
+f 61 20 7
+f 61 48 34
+f 61 34 35
+f 62 49 33
+f 62 33 47
+f 62 60 49
+f 62 47 60
+f 63 52 12
+f 63 50 52
+f 63 12 41
+f 63 41 56
+f 63 20 50
+f 63 56 32
+f 63 32 20
+f 64 56 19
+f 64 32 56
+f 64 57 32
+f 64 19 57
\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_15.obj b/mango/mango_19/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c3f48f9a3298ec8c0679c85bdfe0c5d34924fe0
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_15.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.26092460 -0.29440080 0.20465935
+v 0.37543713 -0.17149842 -0.12425975
+v 0.36380319 -0.14053991 0.15229801
+v 0.22730404 -0.14393940 0.17438113
+v 0.22730404 -0.26515152 -0.14380069
+v 0.33729618 -0.14215800 -0.21112618
+v 0.35415424 -0.14203936 0.16919658
+v 0.36024541 -0.24186126 0.03753994
+v 0.37970444 -0.14232905 -0.12553090
+v 0.22730404 -0.14393940 -0.14380069
+v 0.30996661 -0.26150919 -0.19941591
+v 0.31520994 -0.25531254 0.16296943
+v 0.34924636 -0.14161417 -0.19423553
+v 0.37578616 -0.19892300 0.05164475
+v 0.32623483 -0.14509838 -0.22544838
+v 0.34513802 -0.25725742 -0.13698937
+v 0.34469489 -0.18397298 0.16510408
+v 0.34661044 -0.25578611 0.07987637
+v 0.36501895 -0.14227184 -0.16755907
+v 0.33140997 -0.18509694 -0.20793206
+v 0.36047059 -0.24244575 -0.08175758
+v 0.37556913 -0.19918286 -0.06716359
+v 0.37901303 -0.14166332 0.10958974
+v 0.31190399 -0.23263824 -0.21515309
+v 0.32888214 -0.22640718 0.16360439
+v 0.36182977 -0.15465058 0.14977732
+v 0.32978462 -0.25419535 0.13466143
+v 0.36060870 -0.22704938 0.07942820
+v 0.36001432 -0.19901047 -0.15107260
+v 0.34517411 -0.17024407 -0.19248288
+v 0.36039870 -0.22769130 -0.12425975
+v 0.35866406 -0.18263902 0.13675128
+v 0.37525640 -0.18449876 0.07858871
+v 0.36124636 -0.17011032 -0.16552130
+v 0.34496785 -0.22775502 -0.16396364
+v 0.35815480 -0.21240323 0.10853594
+v 0.37640193 -0.15500709 0.10907165
+v 0.31552404 -0.25788927 -0.19328285
+v 0.31722209 -0.22911720 -0.20923927
+f 5 1 4
+f 7 3 4
+f 7 4 1
+f 10 4 3
+f 10 5 4
+f 11 1 5
+f 13 3 9
+f 13 10 3
+f 13 6 10
+f 15 10 6
+f 16 1 11
+f 17 7 1
+f 18 1 16
+f 19 13 9
+f 20 15 6
+f 21 14 8
+f 21 18 16
+f 21 8 18
+f 22 2 9
+f 22 9 14
+f 22 14 21
+f 23 14 9
+f 23 9 3
+f 24 11 5
+f 24 5 10
+f 24 10 15
+f 24 15 20
+f 25 17 1
+f 25 1 12
+f 26 3 7
+f 26 7 17
+f 26 23 3
+f 27 12 1
+f 27 1 18
+f 27 25 12
+f 28 18 8
+f 28 8 14
+f 28 27 18
+f 30 20 6
+f 30 6 13
+f 30 13 19
+f 31 21 16
+f 31 22 21
+f 31 2 22
+f 31 29 2
+f 31 16 29
+f 32 26 17
+f 32 17 25
+f 32 25 27
+f 33 28 14
+f 33 14 23
+f 34 2 29
+f 34 19 9
+f 34 9 2
+f 34 30 19
+f 35 29 16
+f 35 34 29
+f 35 20 30
+f 35 30 34
+f 36 32 27
+f 36 27 28
+f 36 28 33
+f 37 23 26
+f 37 26 32
+f 37 32 36
+f 37 36 33
+f 37 33 23
+f 38 35 16
+f 38 16 11
+f 38 11 24
+f 39 24 20
+f 39 20 35
+f 39 38 24
+f 39 35 38
\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_16.obj b/mango/mango_19/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dc3955b6fb6d9df5100f9ddfce5a81830960809
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_16.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.10609192 0.35606061 -0.05289160
+v 0.12052439 0.38109118 -0.16108907
+v 0.11709600 0.43911432 -0.05770883
+v -0.06227019 0.49944919 0.00495581
+v -0.16263972 0.36880454 -0.15771399
+v 0.02058658 0.47388107 -0.06289644
+v 0.02553783 0.48775040 0.00857514
+v -0.15148384 0.35606061 0.00771446
+v 0.10189670 0.40707227 -0.13746201
+v -0.06279401 0.47960072 -0.06757988
+v -0.18072808 0.45096156 0.00817223
+v 0.01518283 0.35606061 0.00771446
+v -0.14411076 0.40684309 -0.13392173
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 6 4
+f 7 3 6
+f 8 5 1
+f 9 6 3
+f 9 3 2
+f 10 4 6
+f 10 6 9
+f 11 5 8
+f 11 4 10
+f 11 8 7
+f 11 7 4
+f 12 8 1
+f 12 1 7
+f 12 7 8
+f 13 10 9
+f 13 9 2
+f 13 2 5
+f 13 11 10
+f 13 5 11
\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_17.obj b/mango/mango_19/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00c4a312f0f4a6306fd010fe94331641fc8c5a42
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_17.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.33274793 -0.27275941 -0.14985036
+v 0.37494190 -0.14325252 -0.14259006
+v 0.22730404 -0.26515152 -0.14380069
+v 0.22730404 0.09848485 -0.14380069
+v 0.22091933 0.03546950 -0.31393211
+v 0.36535952 0.05070695 -0.13800083
+v 0.27330294 -0.18559242 -0.27815849
+v 0.21844705 -0.25972956 -0.29776770
+v 0.22086106 0.09510983 -0.29903932
+v 0.31469866 -0.21399928 -0.22070106
+v 0.33069805 -0.01017786 -0.22209347
+v 0.24562632 -0.15612547 -0.30671305
+v 0.35404187 0.09614605 -0.14000845
+v 0.36501895 -0.14227184 -0.16755907
+v 0.28573409 -0.25746505 -0.23730539
+v 0.28810221 0.03403948 -0.26368460
+v 0.22007711 -0.20172984 -0.31456095
+v 0.31622307 -0.15653991 -0.23713830
+v 0.34454279 0.06332604 -0.17781139
+v 0.36029653 -0.05463828 -0.17979270
+v 0.25822407 -0.22899923 -0.27850601
+v 0.28576703 -0.22888171 -0.25107481
+v 0.30393794 -0.25931064 -0.21112618
+v 0.25880329 0.02013020 -0.29354407
+v 0.24546589 -0.02447380 -0.30839511
+v 0.23027538 -0.20015164 -0.30827508
+v 0.28682325 -0.18502231 -0.26504046
+v 0.36026397 0.04920802 -0.15131543
+v 0.32986463 0.04844049 -0.20742675
+v 0.34500062 0.01935872 -0.19300442
+v 0.33140319 -0.12670017 -0.22185538
+v 0.22927845 -0.25668379 -0.29169391
+v 0.24470971 0.06270462 -0.29298438
+v 0.23177178 0.03441537 -0.30779823
+v 0.34464109 0.09267297 -0.16345063
+v 0.35915211 0.02055503 -0.16538099
+v 0.31548273 0.01891806 -0.23566586
+v 0.36077633 -0.12714186 -0.17836599
+v 0.31715926 0.09395047 -0.20757539
+v 0.25742717 0.07694035 -0.27851286
+v 0.23128506 0.09221089 -0.29364935
+v 0.30063730 0.07750769 -0.23460230
+v 0.27253723 0.03406346 -0.27806136
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 8 3 4
+f 8 1 3
+f 9 8 4
+f 9 5 8
+f 13 9 4
+f 13 4 6
+f 14 2 1
+f 14 1 10
+f 15 1 8
+f 17 8 5
+f 18 14 10
+f 20 6 2
+f 22 10 15
+f 22 15 21
+f 23 15 10
+f 23 10 1
+f 23 1 15
+f 25 17 5
+f 25 12 17
+f 25 18 12
+f 25 24 16
+f 25 16 11
+f 26 17 12
+f 26 12 7
+f 26 7 21
+f 27 7 12
+f 27 12 18
+f 27 18 10
+f 27 10 22
+f 27 22 21
+f 27 21 7
+f 28 13 6
+f 30 20 11
+f 30 29 19
+f 30 11 29
+f 31 11 20
+f 31 25 11
+f 31 18 25
+f 32 21 15
+f 32 15 8
+f 32 26 21
+f 32 8 17
+f 32 17 26
+f 34 25 5
+f 34 24 25
+f 34 33 24
+f 35 28 19
+f 35 13 28
+f 36 28 6
+f 36 6 20
+f 36 20 30
+f 36 30 19
+f 36 19 28
+f 37 29 11
+f 37 11 16
+f 38 31 20
+f 38 14 18
+f 38 18 31
+f 38 20 2
+f 38 2 14
+f 39 9 13
+f 39 13 35
+f 39 35 19
+f 39 19 29
+f 40 24 33
+f 41 33 34
+f 41 40 33
+f 41 9 39
+f 41 39 40
+f 41 34 5
+f 41 5 9
+f 42 37 16
+f 42 40 39
+f 42 16 40
+f 42 39 29
+f 42 29 37
+f 43 40 16
+f 43 16 24
+f 43 24 40
\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_18.obj b/mango/mango_19/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a5020e111c04b76de9b3ac42666cc987ec9e087
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_18.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.35415424 -0.14203936 0.16919658
+v 0.37647951 -0.14142388 -0.13850018
+v 0.39132675 0.07984372 0.02121063
+v 0.22730404 0.09848485 0.17438113
+v 0.22730404 -0.14393940 -0.14380069
+v 0.34591947 0.09383848 0.16559792
+v 0.39133699 -0.14016528 0.02020950
+v 0.22730404 -0.14393940 0.17438113
+v 0.22730404 0.09848485 -0.14380069
+v 0.37523316 0.00470815 0.13687092
+v 0.39198915 -0.14058291 0.00810138
+v 0.35404187 0.09614605 -0.14000845
+v 0.35907842 0.03448028 0.16495689
+v 0.37552595 0.09448404 0.09279741
+v 0.39153565 -0.06789536 0.08021794
+v 0.37546303 -0.14038717 0.12298749
+v 0.39207308 -0.03827942 -0.08071832
+v 0.37566837 0.11692020 -0.05554226
+v 0.35936798 -0.12421121 0.16514098
+v 0.39025286 0.05081652 0.06501950
+v 0.37511898 0.04958035 0.12057582
+v 0.39146542 -0.09654435 0.06538249
+v 0.37535399 -0.09818090 0.13752076
+v 0.39223489 -0.12613899 -0.05199487
+v 0.37484940 -0.00972863 -0.13728975
+v 0.36871090 0.11526094 -0.08475399
+v 0.39049763 0.05071273 -0.05042332
+v 0.36380319 -0.14053991 0.15229801
+v 0.39122558 0.06545241 0.04947309
+v 0.39124625 0.00575020 0.07933926
+v 0.37433926 0.07850616 0.10770917
+v 0.36043329 0.09259515 0.13587663
+v 0.39190780 -0.09716198 -0.08029833
+v 0.37411289 0.06438331 -0.10598259
+v 0.39088687 0.08029483 -0.00618353
+v 0.39131660 0.02096128 -0.06412023
+v 0.35993434 0.07890613 -0.13560329
+v 0.36124277 0.09431980 -0.12264514
+v 0.37599685 0.10871377 -0.06457535
+v 0.37902353 0.10961609 -0.04982099
+v 0.37114004 0.11128091 -0.08085018
+v 0.39036336 0.06578497 -0.03478573
+f 5 2 1
+f 6 4 1
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 11 1 2
+f 12 2 5
+f 12 5 9
+f 13 6 1
+f 16 11 7
+f 16 1 11
+f 18 9 4
+f 18 4 6
+f 18 6 14
+f 18 14 3
+f 19 13 1
+f 21 13 10
+f 22 7 11
+f 22 11 15
+f 22 16 7
+f 22 15 16
+f 23 16 15
+f 23 15 10
+f 23 10 13
+f 23 13 19
+f 24 11 2
+f 24 15 11
+f 24 17 3
+f 24 3 15
+f 25 17 2
+f 25 2 12
+f 26 12 9
+f 26 9 18
+f 28 19 1
+f 28 1 16
+f 28 23 19
+f 28 16 23
+f 29 3 14
+f 29 14 20
+f 29 15 3
+f 30 10 15
+f 30 29 20
+f 30 15 29
+f 30 21 10
+f 30 20 21
+f 31 21 20
+f 31 20 14
+f 32 6 13
+f 32 13 21
+f 32 21 31
+f 32 31 14
+f 32 14 6
+f 33 24 2
+f 33 2 17
+f 33 17 24
+f 36 17 25
+f 36 34 27
+f 36 25 34
+f 36 27 35
+f 36 35 3
+f 36 3 17
+f 37 34 25
+f 37 25 12
+f 38 12 26
+f 38 37 12
+f 38 34 37
+f 39 27 34
+f 40 18 3
+f 40 3 35
+f 40 39 18
+f 40 27 39
+f 41 38 26
+f 41 34 38
+f 41 39 34
+f 41 26 18
+f 41 18 39
+f 42 40 35
+f 42 35 27
+f 42 27 40
\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_19.obj b/mango/mango_19/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0766ce6ec6fe850def9a3300855018f87a91505
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_19.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.34237611 0.09677716 0.17094851
+v 0.38217592 0.09572630 -0.05042333
+v 0.34434168 0.19512187 0.07846233
+v 0.25529787 0.25278248 0.19578684
+v 0.22675796 0.09821105 -0.29447610
+v 0.30111711 0.21170228 0.16507553
+v 0.37854673 0.09457803 0.08046512
+v 0.22730404 0.09848485 0.17438113
+v 0.28479859 0.22389207 -0.16278850
+v 0.34295150 0.16591606 0.12215132
+v 0.31471939 0.22522594 0.12151196
+v 0.32843106 0.15276607 0.16327503
+v 0.37586252 0.13804049 0.00712467
+v 0.24635724 0.09365353 -0.28154127
+v 0.22282497 0.23078288 -0.22954404
+v 0.35118047 0.09534238 0.15335626
+v 0.35929458 0.13707522 0.10721377
+v 0.29110497 0.22778627 0.16675798
+v 0.33063229 0.22369249 -0.04929084
+v 0.32858831 0.20999816 0.10564445
+v 0.37474146 0.12282518 0.06438354
+v 0.33469129 0.09409973 -0.18097748
+v 0.22004461 0.13935694 -0.28348747
+v 0.34564477 0.12301477 0.14959094
+v 0.36523179 0.09477293 0.12308919
+v 0.30128597 0.22625202 0.14843741
+v 0.32847011 0.22461769 0.07888321
+v 0.35993513 0.16615495 -0.04847607
+v 0.35947857 0.16654014 0.06377123
+v 0.37544687 0.13726336 0.02178395
+v 0.34913363 0.09437624 -0.15300525
+v 0.30495116 0.09385685 -0.22322694
+v 0.21966188 0.19783876 -0.25471654
+v 0.22984116 0.13792953 -0.27766370
+v 0.35845527 0.12348199 0.11970329
+v 0.37524274 0.12290070 -0.04932533
+v 0.34387378 0.16563478 -0.10688654
+v 0.29941040 0.16500155 -0.19068522
+v 0.24403592 0.10750403 -0.27866280
+v 0.35967496 0.12306087 -0.10612427
+v 0.31392999 0.22256970 -0.10548988
+v 0.33003120 0.13769782 -0.16377738
+v 0.25624545 0.17954005 -0.23435992
+v 0.27206154 0.12103544 -0.24823056
+v 0.36640388 0.09515979 -0.10836419
+v 0.35881459 0.15130564 -0.07734865
+v 0.34559047 0.10845726 -0.15176473
+v 0.33126949 0.10826070 -0.17939343
+v 0.34390746 0.13711183 -0.13649022
+v 0.24272540 0.17958414 -0.24714834
+v 0.24111747 0.22266057 -0.21875848
+v 0.28473544 0.20765718 -0.17636452
+v 0.27122885 0.15080821 -0.23456286
+v 0.30238933 0.10741408 -0.22061284
+v 0.22947013 0.19504452 -0.24891831
+f 8 1 4
+f 11 6 10
+f 12 6 4
+f 12 4 1
+f 12 10 6
+f 13 7 2
+f 14 8 5
+f 15 8 4
+f 16 1 8
+f 16 8 14
+f 17 3 10
+f 18 4 6
+f 19 15 4
+f 19 9 15
+f 19 3 13
+f 20 11 10
+f 20 10 3
+f 21 17 7
+f 23 5 8
+f 24 12 1
+f 24 1 16
+f 24 17 10
+f 24 10 12
+f 25 16 14
+f 25 14 7
+f 25 7 17
+f 25 24 16
+f 26 11 4
+f 26 4 18
+f 26 18 6
+f 26 6 11
+f 27 19 4
+f 27 4 11
+f 27 3 19
+f 27 20 3
+f 27 11 20
+f 28 19 13
+f 29 13 3
+f 29 3 17
+f 29 17 21
+f 30 21 7
+f 30 7 13
+f 30 29 21
+f 30 13 29
+f 31 2 7
+f 31 7 22
+f 32 22 7
+f 32 7 14
+f 33 23 8
+f 33 8 15
+f 34 5 23
+f 34 23 33
+f 35 25 17
+f 35 17 24
+f 35 24 25
+f 36 28 13
+f 36 13 2
+f 37 19 28
+f 39 14 5
+f 39 5 34
+f 40 36 2
+f 41 37 9
+f 41 9 19
+f 41 19 37
+f 42 38 9
+f 42 9 37
+f 44 32 14
+f 44 14 39
+f 44 39 34
+f 45 40 2
+f 45 2 31
+f 45 31 40
+f 46 40 37
+f 46 37 28
+f 46 28 36
+f 46 36 40
+f 47 31 22
+f 48 22 32
+f 48 47 22
+f 48 42 47
+f 49 42 37
+f 49 37 40
+f 49 47 42
+f 49 40 31
+f 49 31 47
+f 50 34 33
+f 50 44 34
+f 51 15 9
+f 51 43 50
+f 52 9 38
+f 52 38 43
+f 52 51 9
+f 52 43 51
+f 53 43 38
+f 53 50 43
+f 53 44 50
+f 54 48 32
+f 54 38 42
+f 54 42 48
+f 54 53 38
+f 54 32 44
+f 54 44 53
+f 55 50 33
+f 55 33 15
+f 55 51 50
+f 55 15 51
\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_2.obj b/mango/mango_19/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4504f74214f24a8d1f661fb455f82ae80b675bc0
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_2.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.24668181 -0.22831705 -0.28858522
+v 0.22513898 -0.21875874 -0.30721663
+v 0.22245179 0.08128853 -0.30190917
+v 0.09094040 0.09848485 -0.26501281
+v 0.01518283 -0.14393940 -0.26501281
+v 0.13639495 0.09848485 -0.26501281
+v 0.25473953 -0.00259385 -0.29969222
+v 0.14873246 -0.22856677 -0.34363138
+v 0.09839947 0.10742607 -0.34151910
+v 0.13639495 -0.21969697 -0.26501281
+v 0.21656202 -0.17158319 -0.32234368
+v 0.20924874 0.09669103 -0.30462384
+v 0.16021647 -0.05342176 -0.35287436
+v 0.01569579 -0.14324880 -0.37628811
+v 0.20441313 -0.18711939 -0.32714748
+v 0.21853788 -0.00998495 -0.32255937
+v 0.17346234 0.03411815 -0.33577614
+v 0.01518283 -0.00757576 -0.26501281
+v 0.10228800 -0.15764060 -0.36843440
+v 0.08776501 -0.01017287 -0.36828499
+v 0.15953331 -0.15676248 -0.35259144
+v 0.21653477 0.07817681 -0.30611005
+v 0.17894027 0.09642286 -0.31884875
+v 0.18836687 -0.01040557 -0.33686812
+v 0.01520347 -0.00851838 -0.37360315
+v 0.09016937 -0.18849835 -0.36632308
+v 0.11684814 -0.06971396 -0.36808426
+v 0.14532988 0.00442805 -0.35157310
+v 0.18789843 -0.17121753 -0.33823371
+v 0.14568544 -0.18646444 -0.35347154
+v 0.20425431 0.09357365 -0.30799777
+v 0.08813608 -0.15705022 -0.37097779
+v 0.11714113 -0.11308483 -0.36831955
+f 6 4 5
+f 7 6 1
+f 7 3 6
+f 8 2 1
+f 9 4 6
+f 10 6 5
+f 10 1 6
+f 10 8 1
+f 10 5 8
+f 11 7 1
+f 11 1 2
+f 12 9 6
+f 12 6 3
+f 14 8 5
+f 15 11 2
+f 15 2 8
+f 16 7 11
+f 18 5 4
+f 22 3 7
+f 22 7 16
+f 22 16 17
+f 22 12 3
+f 23 17 9
+f 23 9 12
+f 23 22 17
+f 24 17 16
+f 24 16 13
+f 25 14 5
+f 25 5 18
+f 25 9 20
+f 25 18 4
+f 25 4 9
+f 26 8 14
+f 27 25 20
+f 27 14 25
+f 28 27 20
+f 28 13 27
+f 28 24 13
+f 28 17 24
+f 28 20 9
+f 28 9 17
+f 29 11 15
+f 29 15 8
+f 29 16 11
+f 29 21 13
+f 29 13 16
+f 30 19 21
+f 30 26 19
+f 30 8 26
+f 30 29 8
+f 30 21 29
+f 31 23 12
+f 31 12 22
+f 31 22 23
+f 32 26 14
+f 32 19 26
+f 32 14 27
+f 33 21 19
+f 33 32 27
+f 33 19 32
+f 33 27 13
+f 33 13 21
\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_20.obj b/mango/mango_19/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3655372acf2acdfce5c7b997e909d55fc776e42
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_20.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.27395848 0.22940854 0.15365181
+v -0.22379719 0.33831431 -0.11152330
+v -0.22207092 0.33772543 0.15543492
+v -0.22039131 0.39588972 0.08031742
+v -0.31972285 0.23017867 -0.02026148
+v -0.21883158 0.39507817 -0.03521838
+v -0.26810884 0.33170776 0.06325648
+v -0.25650871 0.24836502 0.17378735
+v -0.29047275 0.22855672 -0.10847410
+v -0.25285065 0.33096225 0.10470588
+v -0.31904009 0.23135507 0.03519247
+v -0.25426185 0.35912689 -0.00292458
+v -0.30432303 0.22778969 -0.07740706
+v -0.26647441 0.25628012 -0.12999069
+v -0.23866448 0.37394686 0.07593167
+v -0.25372181 0.28732984 0.14827071
+v -0.31556428 0.24409581 0.03398712
+v -0.28709566 0.22893540 0.12173864
+v -0.25458119 0.32944698 -0.06097923
+v -0.25528496 0.35995251 0.05033833
+v -0.29876083 0.24117496 -0.07503917
+v -0.23876679 0.32992866 0.13474864
+v -0.22887292 0.33282311 0.15005452
+v -0.31545872 0.24275386 -0.01826302
+v -0.28356999 0.28752902 0.07673488
+v -0.22490304 0.38812399 -0.03243459
+v -0.24122566 0.33038315 -0.08963627
+v -0.22688620 0.38956059 0.07697939
+v -0.28574095 0.24083074 -0.10484225
+v -0.28316814 0.26976745 -0.07506625
+v -0.23931124 0.31639398 0.14752256
+v -0.29900071 0.26921834 -0.03191247
+v -0.29963012 0.27184953 0.04761303
+v -0.28310141 0.24258354 0.11957464
+v -0.25394508 0.29914931 -0.10369789
+v -0.26861497 0.32944477 -0.01746762
+v -0.23010571 0.33249496 -0.10733084
+v -0.26789753 0.31463711 -0.04681176
+f 6 3 2
+f 6 4 3
+f 8 2 3
+f 13 9 1
+f 14 8 1
+f 14 1 9
+f 14 2 8
+f 15 7 10
+f 16 1 8
+f 17 5 11
+f 18 11 5
+f 18 17 11
+f 18 13 1
+f 18 5 13
+f 20 6 12
+f 20 7 15
+f 20 17 7
+f 21 9 13
+f 22 15 10
+f 22 10 16
+f 23 3 4
+f 23 15 22
+f 23 8 3
+f 24 5 17
+f 24 13 5
+f 24 20 12
+f 24 17 20
+f 25 10 7
+f 25 16 10
+f 26 19 12
+f 26 12 6
+f 26 6 19
+f 27 19 6
+f 27 6 2
+f 28 4 6
+f 28 6 20
+f 28 20 15
+f 28 23 4
+f 28 15 23
+f 29 21 14
+f 29 14 9
+f 29 9 21
+f 30 14 21
+f 31 23 22
+f 31 22 16
+f 31 16 8
+f 31 8 23
+f 32 19 30
+f 32 30 21
+f 32 21 13
+f 32 13 24
+f 33 25 7
+f 33 7 17
+f 33 17 25
+f 34 18 1
+f 34 1 16
+f 34 16 25
+f 34 25 17
+f 34 17 18
+f 35 14 30
+f 35 30 19
+f 35 19 27
+f 36 32 24
+f 36 24 12
+f 36 12 19
+f 37 35 27
+f 37 27 2
+f 37 2 14
+f 37 14 35
+f 38 36 19
+f 38 19 32
+f 38 32 36
\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_21.obj b/mango/mango_19/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8525e35187ee35d6008cc1f757ee5a8d09b8716d
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_21.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v -0.17888406 0.09703376 0.32040914
+v -0.20469884 0.11127738 -0.28501937
+v -0.17918674 0.23303816 -0.24619512
+v -0.17690890 0.23199044 0.27348263
+v -0.34748364 0.09352547 0.07947642
+v -0.17296903 0.21423778 0.28362155
+v -0.24945187 0.09540921 -0.25579469
+v -0.28810835 0.09389421 0.22388984
+v -0.31589249 0.22994984 0.04764916
+v -0.17539546 0.12579971 0.31441565
+v -0.24049612 0.09766099 -0.26263656
+v -0.21600107 0.09376199 0.29604080
+v -0.35139587 0.09444032 -0.10789680
+v -0.25510364 0.22796788 0.19210749
+v -0.31625722 0.10816359 0.16740836
+v -0.21241601 0.20967858 -0.23302524
+v -0.18917720 0.09500097 0.31466002
+v -0.26888658 0.12216563 0.23639822
+v -0.17460002 0.17093927 0.29998294
+v -0.31857745 0.09305841 -0.17873200
+v -0.34437894 0.13740682 0.03428672
+v -0.30009377 0.22915412 0.09157297
+v -0.31943162 0.09478251 0.16952468
+v -0.29928336 0.12028535 0.19318358
+v -0.23491752 0.12501141 -0.25660281
+v -0.29988784 0.22561902 -0.09035257
+v -0.18651953 0.12437411 0.30807865
+v -0.22602469 0.12157914 0.27897422
+v -0.25390721 0.21121337 0.20583257
+v -0.18410338 0.21149282 0.27704543
+v -0.33338446 0.09362959 -0.15240440
+v -0.32864594 0.19714527 -0.04783539
+v -0.26893028 0.21303045 0.17980582
+v -0.26883944 0.15153410 0.22202144
+v -0.28625059 0.12137859 -0.20516526
+v -0.31537339 0.22774987 -0.04774127
+v -0.25446965 0.22447415 -0.17654491
+v -0.21254733 0.10781491 0.29413397
+v -0.18603502 0.22884689 0.26774209
+v -0.34372521 0.12138749 -0.10310633
+v -0.32919088 0.19958523 0.01982354
+v -0.34546537 0.13619111 -0.07827639
+v -0.26940201 0.22806282 0.16481966
+v -0.28615341 0.10796817 0.22053099
+v -0.24026492 0.20975720 -0.20493499
+v -0.24319985 0.12181062 -0.25011328
+v -0.28478287 0.14895634 -0.19069147
+v -0.32961583 0.10564041 -0.15112357
+v -0.31360600 0.21054799 -0.07528452
+v -0.19967826 0.22665370 -0.23367375
+v -0.31523267 0.10730489 -0.17637964
+f 1 2 3
+f 6 3 4
+f 9 4 3
+f 10 1 3
+f 10 3 6
+f 11 2 1
+f 11 1 7
+f 12 8 5
+f 15 9 5
+f 17 12 7
+f 17 7 1
+f 18 8 12
+f 19 10 6
+f 20 12 5
+f 20 7 12
+f 21 13 5
+f 21 5 9
+f 22 4 9
+f 22 9 15
+f 23 15 5
+f 23 5 8
+f 24 23 8
+f 24 15 23
+f 25 11 7
+f 25 2 11
+f 25 16 3
+f 25 3 2
+f 27 17 1
+f 27 1 10
+f 27 12 17
+f 27 10 19
+f 28 18 12
+f 28 27 19
+f 30 19 6
+f 30 6 4
+f 30 28 19
+f 31 20 5
+f 31 5 13
+f 33 15 24
+f 33 29 14
+f 33 24 29
+f 34 29 24
+f 35 7 20
+f 36 9 3
+f 36 3 26
+f 37 26 3
+f 38 28 12
+f 38 12 27
+f 38 27 28
+f 39 4 14
+f 39 14 29
+f 39 30 4
+f 39 29 34
+f 39 34 18
+f 39 18 28
+f 39 28 30
+f 41 21 9
+f 41 36 32
+f 41 9 36
+f 42 13 21
+f 42 41 32
+f 42 21 41
+f 42 40 13
+f 42 32 36
+f 42 36 40
+f 43 22 15
+f 43 15 33
+f 43 33 14
+f 43 14 4
+f 43 4 22
+f 44 34 24
+f 44 24 8
+f 44 8 18
+f 44 18 34
+f 46 25 7
+f 46 7 35
+f 46 35 45
+f 46 45 16
+f 46 16 25
+f 47 45 35
+f 47 37 45
+f 48 26 37
+f 48 40 26
+f 48 31 13
+f 48 13 40
+f 49 40 36
+f 49 36 26
+f 49 26 40
+f 50 45 37
+f 50 37 3
+f 50 3 16
+f 50 16 45
+f 51 47 35
+f 51 35 20
+f 51 20 31
+f 51 31 48
+f 51 48 37
+f 51 37 47
\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_22.obj b/mango/mango_19/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e60694693c61b39410411bcb60405ce7e5b0ca5
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_22.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.26092460 -0.29440080 0.20465935
+v 0.35131459 -0.15602678 0.16748998
+v 0.22028720 0.02130018 0.31514618
+v 0.25529787 0.25278248 0.19578684
+v 0.30924147 -0.25975678 0.16830397
+v 0.34525854 0.02097971 0.19239385
+v 0.22038608 -0.25992093 0.27222169
+v 0.29110497 0.22778627 0.16675798
+v 0.28662784 -0.11098867 0.26592364
+v 0.25825624 0.12360135 0.26463876
+v 0.22270268 0.23156676 0.24450081
+v 0.28605431 -0.21226639 0.23469256
+v 0.31957144 -0.24344167 0.16597550
+v 0.35167991 0.06582745 0.16772200
+v 0.28742044 -0.00903281 0.26473989
+v 0.34606762 -0.11118175 0.19280270
+v 0.21959638 -0.14223162 0.31364316
+v 0.27106232 0.19582377 0.21886261
+v 0.21950564 0.15456693 0.28416715
+v 0.27026492 -0.24047297 0.23612387
+v 0.32894350 -0.18344823 0.19113762
+v 0.32016773 0.16876365 0.16689487
+v 0.33032216 0.09359670 0.19374855
+v 0.27356061 -0.03892457 0.27939788
+v 0.24368357 0.04959539 0.29404064
+v 0.31713543 -0.06775712 0.23595506
+v 0.25821225 -0.16978974 0.27918274
+v 0.28533889 0.20829572 0.19214655
+v 0.23156087 0.22810698 0.23848384
+v 0.21740658 -0.24349260 0.28329705
+v 0.22983692 -0.25609358 0.26646349
+v 0.28672879 -0.25458218 0.20627385
+v 0.31348917 -0.24057690 0.17790687
+v 0.33118517 -0.13988003 0.20728342
+v 0.34532656 0.06432691 0.17965596
+v 0.33005209 0.04944479 0.20710839
+v 0.33563014 0.12568345 0.16733389
+v 0.29910684 0.18165215 0.19177742
+v 0.30132500 0.12394475 0.21912018
+v 0.27345999 -0.09576139 0.27964542
+v 0.27206021 0.07903637 0.26351959
+v 0.22986082 0.01852790 0.30918790
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\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_23.obj b/mango/mango_19/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ec257220ff2f70b5c2918cb2909a55f70ff57f1
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_23.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.10256580 -0.43317919 0.18249334
+v 0.18758676 -0.38958150 0.18219295
+v 0.10228910 -0.25933707 0.32820354
+v -0.16027238 -0.25868242 0.31209388
+v -0.18178687 -0.26515152 0.18953265
+v -0.05914882 -0.34408155 0.29334172
+v 0.14522855 -0.34217767 0.26316288
+v -0.11820433 -0.43666639 0.18238173
+v 0.19700101 -0.26515152 0.18953265
+v 0.00071623 -0.25978056 0.34330078
+v 0.17050192 -0.38568578 0.20583266
+v 0.07136776 -0.37239499 0.26377248
+v -0.17306749 -0.35742836 0.24816384
+v 0.19353120 -0.26186984 0.28954199
+v 0.17661208 -0.25994507 0.30059863
+v -0.08852836 -0.28751035 0.32269500
+v 0.11497029 -0.41368350 0.20645070
+v -0.02909843 -0.44428574 0.19307926
+v 0.06964993 -0.31460365 0.30700555
+v -0.10198519 -0.37275916 0.26383873
+v -0.17802143 -0.26190110 0.30297682
+v -0.17908076 -0.41218385 0.18578913
+v 0.18587128 -0.31211084 0.26366547
+v 0.13001840 -0.28578942 0.30716498
+v -0.11708403 -0.26021846 0.32734335
+v -0.01388862 -0.30043838 0.32281816
+v -0.14350093 -0.31495132 0.29134831
+v 0.11406148 -0.35731648 0.26380373
+v -0.00092270 -0.45091286 0.18267339
+v 0.04464011 -0.42853271 0.20860704
+v 0.02868891 -0.27275941 0.33741300
+v 0.02929389 -0.34280846 0.29367151
+v -0.07318253 -0.42967855 0.20798680
+v -0.16251667 -0.42203216 0.18338437
+v -0.17390308 -0.31558530 0.27780643
+v 0.18409763 -0.38550542 0.19211817
+v 0.17165045 -0.34203378 0.24947817
+v 0.18778998 -0.28672915 0.27983858
+v 0.14664048 -0.26043885 0.31321532
+v 0.07149347 -0.28601769 0.32363298
+v -0.10106717 -0.31533239 0.30618725
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+v -0.14395102 -0.28621285 0.30636534
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+v -0.17273383 -0.40077132 0.20448531
+v -0.17383993 -0.28614646 0.29319569
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+f 63 59 21
+f 63 21 35
+f 63 35 44
+f 63 44 59
\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_24.obj b/mango/mango_19/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84cbbf58e142559193c4832b2d8e350f1ba92c7a
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_24.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.17653472 -0.46494577 0.07914424
+v -0.17363637 -0.34584663 -0.26664372
+v -0.18314651 -0.26633476 0.29805941
+v -0.27490049 -0.25904480 0.23694927
+v -0.37594494 -0.27487861 -0.06519526
+v -0.21733740 -0.39905953 0.17572178
+v -0.17433257 -0.33178800 0.26766118
+v -0.27395155 -0.39871571 -0.10495036
+v -0.18066740 -0.26423275 -0.30811938
+v -0.34546537 -0.31667718 0.10824463
+v -0.17388391 -0.40337834 -0.20993457
+v -0.17531667 -0.41816640 0.18042597
+v -0.22874146 -0.28458809 0.26234279
+v -0.31520848 -0.27133801 -0.19013560
+v -0.17642137 -0.28997335 -0.29924970
+v -0.21925423 -0.25822565 0.28242166
+v -0.25699012 -0.35645713 0.18986388
+v -0.36339775 -0.26017939 0.12330959
+v -0.33090397 -0.35736777 -0.06345324
+v -0.27446855 -0.39921421 0.10731482
+v -0.17595839 -0.46330285 -0.07901092
+v -0.19980847 -0.38539743 0.20386027
+v -0.18949646 -0.44510836 0.12091656
+v -0.30203216 -0.35753771 -0.13321585
+v -0.24714901 -0.25955563 -0.26780156
+v -0.17627568 -0.30422047 0.28287157
+v -0.31550771 -0.31453532 0.16239944
+v -0.28621988 -0.30035664 0.20330582
+v -0.23010891 -0.32970236 0.23227326
+v -0.37509744 -0.28706253 0.00536406
+v -0.31968187 -0.25770680 -0.19355114
+v -0.25859895 -0.39814814 0.13545742
+v -0.33064017 -0.35902164 0.03597730
+v -0.25989698 -0.43016626 0.02125296
+v -0.18817789 -0.44302193 -0.12071812
+v -0.17521222 -0.44785165 -0.12243760
+v -0.18799765 -0.41407099 0.17704425
+v -0.17641866 -0.44974380 0.12285253
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+v -0.23041759 -0.39856398 -0.16297644
+v -0.31626534 -0.35738583 -0.10563571
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+v -0.28819977 -0.40052550 -0.06488132
+v -0.18810895 -0.28761500 -0.29446575
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+f 63 41 8
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+f 64 42 9
+f 64 9 15
+f 64 62 42
+f 64 15 62
\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_25.obj b/mango/mango_19/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..603feaedd7c6bbe7df6b8b8e6854b7ec1d417524
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_25.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.26043480 0.22717757 0.20967089
+v 0.27148042 0.23397572 0.18870345
+v 0.12963049 0.39019791 0.18113646
+v -0.08812208 0.43748802 0.18123905
+v -0.15148384 0.23484848 0.18953265
+v 0.04382155 0.22954548 0.32714343
+v 0.23200031 0.30246422 0.18150805
+v 0.02656696 0.37246255 0.24801953
+v -0.14474976 0.22742214 0.29591344
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+v 0.14200096 0.29831067 0.26105591
+v 0.02740014 0.43472298 0.18166935
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+v -0.14394402 0.40668503 0.17943519
+v -0.07129810 0.34400702 0.26371055
+v 0.22705071 0.28364829 0.20421739
+v 0.08367424 0.36962484 0.23365789
+v 0.02610994 0.42885096 0.19040959
+v 0.17350195 0.22817699 0.28264541
+v -0.04301295 0.22883208 0.32690312
+v 0.08459953 0.31276914 0.27684526
+v 0.17371394 0.36136553 0.18094627
+v -0.04275058 0.37276759 0.24890218
+v -0.14116415 0.32742591 0.24638641
+v 0.25637025 0.23975251 0.20491949
+v 0.04045770 0.40124412 0.21791148
+v 0.06853341 0.41409753 0.19178368
+v 0.11492663 0.27009368 0.29156002
+v 0.19766627 0.28238394 0.23365402
+v -0.11455895 0.27072338 0.29127566
+v 0.02838533 0.33001169 0.27783442
+v 0.09846530 0.32689815 0.26260969
+v 0.15477026 0.34248402 0.21725490
+v -0.08514171 0.40220144 0.21711653
+v -0.08611507 0.43019983 0.18963311
+v 0.25661287 0.25465147 0.19247395
+v 0.07125571 0.42014301 0.18157463
+v 0.08259362 0.38429594 0.21990346
+v 0.17055315 0.24115078 0.27785938
+v 0.11491065 0.24164435 0.30539680
+v 0.05765241 0.27142159 0.30707260
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+v 0.16963376 0.35538396 0.19079063
+v -0.13909405 0.40061915 0.18953068
+v 0.11150262 0.37012592 0.21873384
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+f 19 13 9
+f 19 9 1
+f 20 13 6
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+f 22 7 10
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+f 52 34 15
+f 52 15 23
+f 52 23 34
+f 53 15 34
+f 53 48 15
+f 53 24 48
+f 53 34 35
+f 53 35 4
+f 54 27 38
+f 54 37 27
+f 54 3 37
+f 54 51 22
+f 54 22 3
+f 55 11 39
+f 55 49 11
+f 55 29 49
+f 55 44 29
+f 55 39 19
+f 55 19 43
+f 55 43 44
+f 56 41 28
+f 56 28 21
+f 56 21 31
+f 56 31 41
+f 57 6 13
+f 57 13 41
+f 57 41 31
+f 57 45 20
+f 57 20 6
+f 58 31 23
+f 58 23 15
+f 58 57 31
+f 58 45 57
+f 59 20 45
+f 60 30 47
+f 60 59 30
+f 60 46 20
+f 60 20 59
+f 60 47 9
+f 60 9 46
+f 61 15 48
+f 61 58 15
+f 61 45 58
+f 61 48 30
+f 61 59 45
+f 61 30 59
+f 62 49 42
+f 62 42 22
+f 62 33 49
+f 62 51 33
+f 62 22 51
+f 63 14 24
+f 63 24 53
+f 63 53 4
+f 63 4 14
+f 64 54 38
+f 64 38 50
+f 64 51 54
+f 64 50 33
+f 64 33 51
\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_26.obj b/mango/mango_19/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e240d52541fef53c27739f13234e6d0a57afc948
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_26.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.18178687 -0.00757576 0.18953265
+v -0.17867115 0.03662183 -0.31931082
+v -0.18178687 0.09848485 0.18953265
+v -0.31494545 0.09358488 0.18239225
+v -0.38199387 -0.00950331 -0.09632344
+v -0.17894895 0.09711143 -0.30501841
+v -0.33713951 -0.00924469 0.18355419
+v -0.17466825 0.07989463 -0.31185167
+v -0.21182331 -0.00765363 -0.31001466
+v -0.35962891 0.09368221 -0.08004340
+v -0.19941644 -0.00263918 -0.31590473
+v -0.31757351 -0.01104317 -0.22211125
+v -0.19059069 0.03541168 -0.31352518
+v -0.37527135 0.04762115 0.01938766
+v -0.36185774 -0.01095688 0.12327208
+v -0.32860298 0.09231753 -0.16334971
+v -0.24264332 0.09265108 -0.26250546
+v -0.23322083 -0.00961634 -0.29738107
+v -0.18548400 0.07865984 -0.30617101
+v -0.35976281 0.09215821 0.03309387
+v -0.37490895 0.04692021 -0.06445883
+v -0.36363626 -0.01066630 -0.15202392
+v -0.37907436 -0.01074229 0.06459335
+v -0.33027858 0.03376196 0.18242961
+v -0.30057035 0.09068580 -0.20426068
+v -0.27344630 0.00460722 -0.26324607
+v -0.23167080 0.01855802 -0.29242185
+v -0.20132622 0.09322148 -0.29281230
+v -0.34422815 0.09259673 0.09350703
+v -0.37660190 0.01841205 -0.09500638
+v -0.34889356 -0.01101120 -0.18072296
+v -0.34366785 0.04777413 0.13712043
+v -0.27435497 -0.01030138 -0.26529273
+v -0.28568260 0.06167624 -0.23409678
+v -0.21516574 0.06252462 -0.29249516
+v -0.37617571 0.00367982 0.06361762
+v -0.35944779 0.03262631 -0.13661174
+v -0.31547284 0.04700161 -0.20505593
+v -0.32879135 0.06293485 0.16764634
+v -0.35932167 0.00326256 0.12223378
+v -0.31569267 0.00374247 -0.22030266
+v -0.36104459 0.00361422 -0.15092855
+v -0.32944472 0.03211507 -0.19242041
+v -0.34603710 0.00288349 -0.17935663
+f 7 1 3
+f 7 3 4
+f 8 1 2
+f 8 3 1
+f 8 6 3
+f 10 4 3
+f 10 3 6
+f 11 2 1
+f 11 1 9
+f 13 8 2
+f 13 11 9
+f 13 2 11
+f 15 12 1
+f 15 1 7
+f 16 10 6
+f 17 16 6
+f 18 9 1
+f 18 1 12
+f 19 6 8
+f 19 8 13
+f 20 10 14
+f 21 14 10
+f 21 5 14
+f 23 14 5
+f 23 5 22
+f 24 15 7
+f 24 7 4
+f 25 16 17
+f 27 13 9
+f 27 9 18
+f 27 26 17
+f 27 18 26
+f 28 17 6
+f 28 6 19
+f 29 4 10
+f 29 10 20
+f 30 21 10
+f 30 5 21
+f 31 23 22
+f 31 12 15
+f 31 15 23
+f 32 4 29
+f 33 26 18
+f 33 18 12
+f 33 12 26
+f 34 25 17
+f 34 17 26
+f 35 19 13
+f 35 13 27
+f 35 28 19
+f 35 27 17
+f 35 17 28
+f 36 29 20
+f 36 20 14
+f 36 14 23
+f 36 32 29
+f 37 30 10
+f 37 10 16
+f 38 25 34
+f 38 16 25
+f 39 32 24
+f 39 24 4
+f 39 4 32
+f 40 15 24
+f 40 24 32
+f 40 32 36
+f 40 36 23
+f 40 23 15
+f 41 34 26
+f 41 26 12
+f 41 38 34
+f 41 12 31
+f 42 30 37
+f 42 22 5
+f 42 5 30
+f 42 31 22
+f 42 37 16
+f 43 16 38
+f 43 41 31
+f 43 38 41
+f 44 42 16
+f 44 31 42
+f 44 43 31
+f 44 16 43
\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_27.obj b/mango/mango_19/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a36ef21304c6f7bcca28174b9028ada51794991b
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_27.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.29110497 0.22778627 0.16675798
+v 0.32011598 0.22765405 -0.07918656
+v 0.28645009 0.29728510 0.05134147
+v 0.17423800 0.40423326 0.08210054
+v 0.17951577 0.23185106 -0.26032507
+v 0.19667368 0.38406931 -0.06216364
+v 0.24088298 0.32510126 0.13459408
+v 0.32216567 0.22844229 0.09516063
+v 0.21817047 0.22631936 -0.23652682
+v 0.21796494 0.26290832 0.22894397
+v 0.28531817 0.29736533 -0.03538773
+v 0.18441975 0.39826462 0.08062865
+v 0.17338434 0.38987644 -0.09265599
+v 0.30493274 0.22629922 -0.12242742
+v 0.28290276 0.26852786 0.13537434
+v 0.19074054 0.22872681 -0.25565025
+v 0.27969051 0.22909141 0.18257598
+v 0.17371394 0.36136553 0.18094627
+v 0.31471939 0.25416643 -0.03375717
+v 0.17414524 0.40443885 -0.04987837
+v 0.18441975 0.39804509 -0.04841036
+v 0.25613829 0.32551147 0.09311989
+v 0.30588431 0.22781810 0.13826612
+v 0.22698495 0.29476841 -0.16181434
+v 0.26911047 0.29659302 -0.09061066
+v 0.24054366 0.29621569 0.17718696
+v 0.17586250 0.24238946 -0.25493962
+v 0.17518768 0.39280198 0.12523584
+v 0.29918198 0.26786820 -0.06271234
+v 0.31448289 0.25298162 0.06562736
+v 0.25554671 0.32524298 -0.06261091
+v 0.18279960 0.38428923 -0.08959440
+v 0.27055258 0.31274242 0.07995210
+v 0.26934392 0.29821224 0.12106628
+v 0.30023671 0.23957274 0.13633945
+v 0.24654633 0.22665958 -0.20989496
+v 0.28538251 0.23701511 -0.14642874
+v 0.26972832 0.25224287 0.17667962
+v 0.18288284 0.35624622 0.17715906
+v 0.17273259 0.32915699 -0.17985035
+v 0.19693027 0.38537061 0.09331162
+v 0.29904201 0.23737531 -0.11987568
+v 0.19793921 0.35559824 -0.11748250
+v 0.29853939 0.25405259 0.11963228
+v 0.29862320 0.26861423 0.09290623
+v 0.26896234 0.26912239 0.16221905
+v 0.29029314 0.22644381 -0.15101002
+v 0.25513507 0.29672339 -0.11806959
+v 0.24172981 0.26600468 -0.17686353
+v 0.28507620 0.23975251 0.16517399
+v 0.22523915 0.32601029 0.16195703
+v 0.19715210 0.36992600 0.13591140
+v 0.18441975 0.28231061 -0.21929433
+v 0.31421328 0.23750715 -0.07853291
+v 0.21243795 0.30929994 -0.16218713
+v 0.31619081 0.23990331 0.09353309
+v 0.19582977 0.35475617 0.16315131
+v 0.18512021 0.38601455 0.12261124
+v 0.19918875 0.25194610 -0.23225851
+v 0.18742948 0.23852409 -0.25059814
+v 0.17455487 0.28583380 -0.22301379
+v 0.24172415 0.23713437 -0.20556071
+v 0.18333073 0.32490629 -0.17491601
+v 0.21343415 0.23638180 -0.23284287
+f 14 2 8
+f 14 1 9
+f 17 10 5
+f 17 5 16
+f 17 16 9
+f 17 9 1
+f 18 4 13
+f 19 8 2
+f 19 11 3
+f 20 4 12
+f 20 13 4
+f 21 20 12
+f 21 13 20
+f 21 12 3
+f 21 3 11
+f 23 14 8
+f 23 1 14
+f 27 5 10
+f 27 10 18
+f 28 12 4
+f 28 4 18
+f 29 11 19
+f 29 25 11
+f 30 19 3
+f 30 8 19
+f 31 21 11
+f 31 6 21
+f 31 11 25
+f 32 21 6
+f 32 13 21
+f 33 3 12
+f 33 30 3
+f 34 22 7
+f 34 33 22
+f 34 7 26
+f 35 1 23
+f 35 23 8
+f 38 26 10
+f 38 10 17
+f 39 18 10
+f 39 10 26
+f 40 27 18
+f 40 18 13
+f 41 12 28
+f 41 33 12
+f 41 22 33
+f 42 2 14
+f 42 25 29
+f 43 40 13
+f 43 13 32
+f 43 32 6
+f 43 6 31
+f 44 34 15
+f 44 35 8
+f 44 15 35
+f 45 30 33
+f 45 33 34
+f 45 34 44
+f 46 34 26
+f 46 15 34
+f 46 26 38
+f 46 35 15
+f 47 14 9
+f 47 9 36
+f 47 42 14
+f 47 37 42
+f 48 42 37
+f 48 25 42
+f 48 24 43
+f 48 43 31
+f 48 31 25
+f 49 48 37
+f 49 24 48
+f 49 47 36
+f 49 37 47
+f 50 38 17
+f 50 17 1
+f 50 46 38
+f 50 1 35
+f 50 35 46
+f 51 39 26
+f 51 26 7
+f 52 28 18
+f 52 51 7
+f 52 7 22
+f 52 22 41
+f 54 42 29
+f 54 2 42
+f 54 29 19
+f 54 19 2
+f 55 43 24
+f 55 24 49
+f 55 49 53
+f 56 8 30
+f 56 30 45
+f 56 45 44
+f 56 44 8
+f 57 52 18
+f 57 18 39
+f 57 39 51
+f 57 51 52
+f 58 52 41
+f 58 41 28
+f 58 28 52
+f 60 16 5
+f 60 5 27
+f 60 59 16
+f 60 53 59
+f 61 27 40
+f 61 40 53
+f 61 60 27
+f 61 53 60
+f 62 53 49
+f 62 49 36
+f 63 40 43
+f 63 43 55
+f 63 55 53
+f 63 53 40
+f 64 59 53
+f 64 53 62
+f 64 9 16
+f 64 16 59
+f 64 62 36
+f 64 36 9
\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_28.obj b/mango/mango_19/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2aef5152dfc509207b1a7482859e7d53f47156ad
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_28.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.25059400 -0.28455929 0.22583368
+v 0.21403231 -0.25655547 0.27901213
+v 0.13639495 -0.26515152 0.20468416
+v 0.13735211 0.23582972 0.29795063
+v 0.21428169 0.18022439 0.27718458
+v 0.14085412 -0.27254946 0.30956162
+v 0.24146496 0.24404322 0.21813565
+v 0.13639495 0.23484848 0.20468416
+v 0.18445662 0.22474253 0.27699978
+v 0.21661404 0.22792527 0.25165691
+v 0.21458351 0.20991814 0.26297504
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 3
+f 8 7 3
+f 8 3 4
+f 8 4 7
+f 9 7 4
+f 9 4 5
+f 10 7 9
+f 11 10 9
+f 11 9 5
+f 11 5 7
+f 11 7 10
\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_29.obj b/mango/mango_19/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75e05be1a3c86ab72f1dfe134dd7e810f338c261
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.25059400 -0.28455929 0.22583368
+v 0.22730404 -0.26515152 -0.17410372
+v 0.24623996 0.24999785 -0.18773852
+v 0.01518283 0.23484848 0.20468416
+v 0.01518283 -0.26515152 0.20468416
+v 0.01518283 0.23484848 -0.17410372
+v 0.24146496 0.24404322 0.21813565
+v 0.01518283 -0.26515152 -0.17410372
+f 1 2 3
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 2 1
+f 8 1 5
+f 8 5 6
+f 8 6 3
+f 8 3 2
\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_3.obj b/mango/mango_19/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9277769825d2d712cb16f78a4ef064ce8789bd1d
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_3.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.28186175 -0.26178127 0.22872564
+v -0.31783166 -0.28301655 -0.17809472
+v -0.33502884 0.00445220 -0.19451382
+v -0.32404946 -0.00314942 0.20842303
+v -0.39087630 -0.21640989 0.03525178
+v -0.27860376 -0.24466173 0.24099274
+v -0.37553524 -0.25920397 0.06460392
+v -0.39090892 -0.14335899 -0.09323195
+v -0.37714563 -0.26057412 -0.07805386
+v -0.33137139 -0.25977905 0.17599291
+v -0.36062797 -0.21559782 -0.15031970
+v -0.39198233 -0.02522736 0.00698224
+v -0.39213911 -0.21629626 -0.05042329
+v -0.35892750 -0.25806178 0.13334929
+v -0.29067378 -0.25923534 0.22184184
+v -0.34582713 -0.18752516 0.17883712
+v -0.37581390 -0.05474563 -0.13738029
+v -0.37551340 -0.20076796 -0.12111575
+v -0.36129908 -0.25991390 -0.11884409
+v -0.36752298 0.04301351 -0.10344533
+v -0.39245879 -0.03965812 -0.05119965
+v -0.39128370 -0.17294547 0.06450625
+v -0.37591923 -0.21746881 0.10970327
+v -0.29191331 -0.21608560 0.24020635
+v -0.34517136 -0.24488644 0.16261734
+v -0.37508336 -0.15751464 -0.13728973
+v -0.37501479 -0.23114904 -0.10632074
+v -0.39201856 -0.20188725 -0.06424114
+v -0.34625179 -0.25797054 -0.15031970
+v -0.37566769 -0.01161332 0.07869813
+v -0.36347594 0.04195671 -0.11836373
+v -0.39109341 -0.08452705 -0.09410611
+v -0.39240250 -0.02483542 -0.02258594
+v -0.39092112 -0.20190072 0.04999133
+v -0.35946713 -0.21703035 0.14913754
+v -0.37558335 -0.11463240 0.12221327
+v -0.28648868 -0.24165197 0.23454606
+v -0.30130141 -0.24239014 0.21834924
+v -0.28452230 -0.21839822 0.24695742
+v -0.31629665 -0.22994920 0.20628582
+v -0.37149009 0.03561638 -0.09660743
+v -0.36363626 -0.01066630 -0.15202392
+v -0.34444404 -0.05438536 0.18027151
+v -0.37506185 -0.18724598 0.12218249
+v -0.39070361 -0.08520456 0.06389421
+v -0.37665355 0.00388289 -0.10789763
+v -0.36777404 0.03497321 -0.11025542
+v -0.36003462 -0.02667264 0.13713285
+v -0.39097090 -0.04051531 0.03509177
+v -0.37454629 -0.01112487 -0.12182287
+v -0.36019128 -0.05510270 0.15021063
+v -0.34541299 -0.01036952 0.16675250
+v -0.39030523 -0.05513705 0.04933389
+v -0.37447551 -0.02582107 0.09255810
+v -0.33713951 -0.00924469 0.18355419
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 9 7 5
+f 9 2 7
+f 10 2 1
+f 11 3 2
+f 13 9 5
+f 14 7 2
+f 14 2 10
+f 15 10 1
+f 15 1 6
+f 19 2 9
+f 22 13 5
+f 23 5 7
+f 23 7 14
+f 24 4 16
+f 25 14 10
+f 26 17 3
+f 26 3 11
+f 26 11 18
+f 26 18 8
+f 27 18 11
+f 27 19 9
+f 27 11 19
+f 28 8 18
+f 28 13 21
+f 28 18 27
+f 28 27 9
+f 28 9 13
+f 29 19 11
+f 29 11 2
+f 29 2 19
+f 30 4 20
+f 31 20 4
+f 31 4 3
+f 32 28 21
+f 32 8 28
+f 32 26 8
+f 32 17 26
+f 33 22 12
+f 33 21 13
+f 33 13 22
+f 34 23 22
+f 34 22 5
+f 34 5 23
+f 35 23 14
+f 35 25 16
+f 35 14 25
+f 37 15 6
+f 38 10 15
+f 38 37 24
+f 38 15 37
+f 39 6 4
+f 39 4 24
+f 39 37 6
+f 39 24 37
+f 40 24 16
+f 40 16 25
+f 40 25 10
+f 40 38 24
+f 40 10 38
+f 41 30 20
+f 41 12 30
+f 41 33 12
+f 41 21 33
+f 42 31 3
+f 42 3 17
+f 43 36 16
+f 43 16 4
+f 44 36 22
+f 44 22 23
+f 44 23 35
+f 44 35 16
+f 44 16 36
+f 45 12 22
+f 45 22 36
+f 46 32 21
+f 46 21 41
+f 46 17 32
+f 46 31 42
+f 47 41 20
+f 47 20 31
+f 47 46 41
+f 47 31 46
+f 49 30 12
+f 49 12 45
+f 50 46 42
+f 50 42 17
+f 50 17 46
+f 51 43 4
+f 51 36 43
+f 51 45 36
+f 52 4 30
+f 52 30 48
+f 52 48 51
+f 53 49 45
+f 53 30 49
+f 54 51 48
+f 54 48 30
+f 54 45 51
+f 54 53 45
+f 54 30 53
+f 55 52 51
+f 55 51 4
+f 55 4 52
\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_30.obj b/mango/mango_19/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..553263fc55519d0af5cca0473e343cc403fbdc5f
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.22730404 -0.14393940 -0.17410372
+v 0.25611505 -0.15023557 -0.30049880
+v 0.25473953 -0.00259385 -0.29969222
+v 0.01518283 -0.00757576 -0.17410372
+v 0.01518283 -0.14393940 -0.26501281
+v 0.22730404 -0.00757576 -0.17410372
+v 0.01518283 -0.14393940 -0.17410372
+v 0.01518283 -0.00757576 -0.26501281
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_31.obj b/mango/mango_19/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9a32d23f1c6e7b4ac5fe1419f740e859174cf2f
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01518283 -0.00757576 0.20468416
+v 0.01518283 -0.00757576 -0.17410372
+v 0.01518283 0.23484848 0.20468416
+v -0.21312803 0.25208574 0.23119578
+v -0.18178687 -0.00757576 -0.17410372
+v -0.21096068 0.25652433 -0.20494304
+v -0.18178687 -0.00757576 0.20468416
+v 0.01518283 0.23484848 -0.17410372
+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/mango/mango_19/collision/model_normalized_collision_4.obj b/mango/mango_19/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d44bf9b2b89babc28fb6905b05de4180af6b597b
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_4.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.19009267 -0.43807943 0.00552446
+v 0.35046871 -0.25869125 -0.11109089
+v 0.31333235 -0.29833961 0.10956063
+v 0.19353120 -0.26186984 0.28954199
+v 0.17922772 -0.26325255 -0.31999427
+v 0.31906273 -0.25767831 0.15336558
+v 0.18947346 -0.37639854 0.19873179
+v 0.30286240 -0.33993017 -0.02429394
+v 0.21482303 -0.39790557 -0.17859725
+v 0.35132073 -0.25807432 0.05094500
+v 0.20525181 -0.25918739 0.28404449
+v 0.21844705 -0.25972956 -0.29776770
+v 0.25820182 -0.36907402 0.09384207
+v 0.17415146 -0.40470460 -0.21128197
+v 0.25612077 -0.32720679 0.17670630
+v 0.22680193 -0.41747346 -0.09625173
+v 0.33668767 -0.25872994 0.10961554
+v 0.33041329 -0.29886281 -0.09591327
+v 0.31450623 -0.31356374 0.06467474
+v 0.18906489 -0.30207628 0.26863912
+v 0.29216420 -0.25794422 0.19667824
+v 0.19028283 -0.26132150 -0.31494106
+v 0.28513923 -0.28489596 -0.22039227
+v 0.18989675 -0.40702321 0.14054230
+v 0.28555336 -0.31294961 0.14872739
+v 0.19019290 -0.43227946 -0.13907499
+v 0.25717666 -0.38520329 -0.00974154
+v 0.31458412 -0.26921943 0.14880753
+v 0.33072638 -0.27004176 0.10803054
+v 0.33025855 -0.29908640 0.02124152
+v 0.34471340 -0.27064368 -0.11092323
+v 0.27275049 -0.37102042 -0.08044412
+v 0.27166897 -0.35743370 -0.15293456
+v 0.34455029 -0.27012961 0.05083038
+v 0.28622456 -0.34054502 0.09389885
+v 0.19065209 -0.27555860 0.28482909
+v 0.25547974 -0.28299733 0.22136200
+v 0.17525867 -0.42015427 -0.18286672
+v 0.17528218 -0.33298095 -0.28422735
+v 0.30393794 -0.25931064 -0.21112618
+v 0.21475441 -0.39800655 0.10956176
+v 0.21356557 -0.38513862 0.15161835
+v 0.28735122 -0.27044582 0.19286316
+v 0.21333172 -0.41317164 -0.14974385
+v 0.20144338 -0.42776838 -0.13588571
+v 0.22720306 -0.41599962 -0.06698859
+v 0.27272942 -0.37049114 -0.00893401
+v 0.29935297 -0.31314598 0.12024885
+v 0.30034951 -0.34275343 -0.05142502
+v 0.24163272 -0.35560696 -0.20753347
+v 0.33082901 -0.28565539 -0.13728972
+v 0.31580420 -0.31312387 -0.12423601
+v 0.21305052 -0.28407892 0.26268116
+v 0.18184950 -0.26515152 -0.15895220
+v 0.19902637 -0.37218749 0.19378346
+v 0.18981046 -0.42075182 0.08123922
+v 0.18041544 -0.42897830 -0.15746119
+v 0.18664858 -0.41492210 -0.18006797
+v 0.17399083 -0.28819740 -0.31152088
+v 0.24238210 -0.31287589 -0.24869539
+v 0.22944897 -0.28578942 -0.27739034
+v 0.24366420 -0.38278966 0.08142994
+v 0.25643472 -0.35406038 0.13582595
+v 0.22785296 -0.38382121 0.12407183
+f 10 2 6
+f 11 5 4
+f 12 6 2
+f 17 10 6
+f 21 12 11
+f 21 6 12
+f 22 5 11
+f 22 11 12
+f 27 13 1
+f 28 17 6
+f 29 10 17
+f 29 28 3
+f 29 17 28
+f 30 18 10
+f 30 8 18
+f 30 19 8
+f 31 2 10
+f 31 10 18
+f 33 32 16
+f 34 3 19
+f 34 29 3
+f 34 10 29
+f 34 30 10
+f 34 19 30
+f 35 8 19
+f 36 11 4
+f 37 21 11
+f 38 20 14
+f 38 7 20
+f 38 24 7
+f 40 12 2
+f 41 24 1
+f 42 7 24
+f 43 15 25
+f 43 37 15
+f 43 21 37
+f 43 25 28
+f 43 28 6
+f 43 6 21
+f 44 33 16
+f 44 9 33
+f 45 16 1
+f 45 1 26
+f 45 44 16
+f 45 26 38
+f 45 9 44
+f 46 27 1
+f 46 1 16
+f 47 8 35
+f 47 35 13
+f 47 13 27
+f 47 16 32
+f 47 46 16
+f 47 27 46
+f 48 28 25
+f 48 3 28
+f 48 35 19
+f 48 19 3
+f 49 18 8
+f 49 47 32
+f 49 8 47
+f 50 33 9
+f 50 23 33
+f 50 9 14
+f 50 14 39
+f 51 31 18
+f 51 33 23
+f 51 23 40
+f 51 40 2
+f 51 2 31
+f 52 32 33
+f 52 49 32
+f 52 18 49
+f 52 51 18
+f 52 33 51
+f 53 36 20
+f 53 11 36
+f 53 37 11
+f 54 36 4
+f 54 4 5
+f 55 15 37
+f 55 7 42
+f 55 37 53
+f 55 53 20
+f 55 20 7
+f 56 38 1
+f 56 1 24
+f 56 24 38
+f 57 38 26
+f 57 26 1
+f 57 1 38
+f 58 38 14
+f 58 14 9
+f 58 45 38
+f 58 9 45
+f 59 5 22
+f 59 54 5
+f 59 36 54
+f 59 20 36
+f 59 39 14
+f 59 14 20
+f 60 50 39
+f 60 23 50
+f 61 40 23
+f 61 12 40
+f 61 23 60
+f 61 60 39
+f 61 39 59
+f 61 59 22
+f 61 22 12
+f 62 41 1
+f 62 1 13
+f 62 13 41
+f 63 25 15
+f 63 55 42
+f 63 15 55
+f 63 48 25
+f 63 35 48
+f 63 13 35
+f 64 41 13
+f 64 63 42
+f 64 13 63
+f 64 42 24
+f 64 24 41
\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_5.obj b/mango/mango_19/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d266bb6202fb9097d5a6bbe90bc50939956c29a8
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_5.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.01518283 -0.26515152 -0.26501281
+v 0.01592576 -0.27827185 -0.34846820
+v 0.01576066 0.05010705 -0.36475285
+v -0.19730392 0.10691171 -0.29101474
+v -0.19930064 -0.27891982 -0.29221102
+v 0.01518283 -0.00757576 -0.26501281
+v -0.05739538 -0.14245985 -0.36854754
+v -0.12998664 0.12148205 -0.31894500
+v 0.01569579 -0.14324880 -0.37628811
+v -0.07266544 -0.26055885 -0.34340310
+v -0.15906518 -0.01060908 -0.33696036
+v -0.04248386 0.00519733 -0.36870864
+v -0.17409787 -0.22994682 -0.32180928
+v -0.01351364 -0.17200695 -0.37146346
+v -0.17311993 0.09414008 -0.30862517
+v -0.05682391 -0.00921422 -0.36783026
+v 0.01503028 0.02016998 -0.37027771
+v -0.11677999 0.10973214 -0.32674124
+v -0.14609693 -0.25972956 -0.32315813
+v -0.08834937 -0.21547571 -0.35209545
+v -0.15915852 -0.17261332 -0.33682960
+v -0.17309235 0.03479255 -0.32226323
+v -0.02840293 -0.17217158 -0.36995938
+v -0.14364352 0.11923957 -0.31415542
+v -0.11532920 -0.00938995 -0.35247420
+v -0.01404891 0.02049884 -0.36929730
+v -0.14414346 0.09301498 -0.32145473
+v -0.17586144 -0.25974113 -0.31219574
+v -0.12998905 -0.23052263 -0.33611328
+v -0.10032604 -0.25836094 -0.33665532
+v -0.11510543 -0.17174165 -0.35186832
+v -0.08555311 0.03387761 -0.35392763
+v 0.01508015 0.03722956 -0.36757819
+v -0.12958480 0.10945283 -0.32277086
+v -0.14483121 0.01931087 -0.33741252
+v -0.10064008 0.01931776 -0.35228552
+f 5 2 1
+f 5 1 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 8 6 3
+f 8 4 6
+f 9 3 2
+f 10 2 5
+f 14 9 2
+f 16 12 9
+f 16 9 7
+f 17 3 9
+f 18 8 3
+f 19 10 5
+f 21 13 11
+f 22 13 5
+f 22 5 4
+f 22 11 13
+f 22 4 15
+f 23 14 2
+f 23 2 10
+f 23 10 20
+f 23 20 7
+f 23 7 9
+f 23 9 14
+f 24 15 4
+f 24 4 8
+f 25 16 7
+f 25 21 11
+f 26 18 3
+f 26 17 9
+f 26 9 12
+f 27 15 24
+f 27 22 15
+f 28 19 5
+f 28 5 13
+f 28 13 19
+f 29 19 13
+f 30 20 10
+f 30 10 19
+f 30 29 20
+f 30 19 29
+f 31 7 20
+f 31 20 29
+f 31 29 13
+f 31 13 21
+f 31 25 7
+f 31 21 25
+f 32 12 16
+f 32 26 12
+f 32 18 26
+f 33 26 3
+f 33 3 17
+f 33 17 26
+f 34 8 18
+f 34 18 32
+f 34 27 24
+f 34 24 8
+f 35 11 22
+f 35 22 27
+f 35 25 11
+f 35 27 34
+f 36 32 16
+f 36 16 25
+f 36 25 35
+f 36 35 34
+f 36 34 32
\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_6.obj b/mango/mango_19/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b3c948cc2ab7337e8d29834c7061677b88172a5
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_6.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01518283 -0.26515152 0.20468416
+v 0.01518283 -0.26515152 -0.26501281
+v 0.01518283 -0.00757576 -0.26501281
+v -0.32404946 -0.00314942 0.20842303
+v -0.31783166 -0.28301655 -0.17809472
+v 0.01518283 -0.00757576 0.20468416
+v -0.19930064 -0.27891982 -0.29221102
+v -0.30224079 -0.27147834 0.20407493
+v -0.33502884 0.00445220 -0.19451382
+v -0.20779444 0.00086976 -0.31075163
+v -0.18178687 -0.26515152 0.20468416
+v -0.27535319 -0.26657485 -0.23721645
+v -0.28823046 -0.00372777 -0.25174286
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 4 5
+f 9 5 4
+f 9 4 6
+f 10 3 2
+f 10 2 7
+f 10 9 6
+f 10 6 3
+f 11 8 1
+f 11 1 4
+f 11 4 8
+f 12 7 5
+f 12 5 9
+f 13 10 7
+f 13 7 12
+f 13 12 9
+f 13 9 10
\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_7.obj b/mango/mango_19/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4136f870945dc0d973e2c8962e84addb81752c88
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_7.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.22730404 -0.26515152 -0.17410372
+v 0.25611505 -0.15023557 -0.30049880
+v 0.22730404 -0.14393940 -0.17410372
+v 0.01518283 -0.14393940 -0.17410372
+v -0.08184890 -0.27532720 -0.33556147
+v 0.08906275 -0.14239947 -0.37223752
+v 0.20238037 -0.25872425 -0.30880109
+v 0.01518283 -0.26515152 -0.17410372
+v -0.08920942 -0.14715439 -0.36123813
+v 0.21844705 -0.25972956 -0.29776770
+v 0.17545595 -0.18715912 -0.34169684
+v 0.07359971 -0.25895442 -0.35225783
+v -0.01364767 -0.14257207 -0.37422298
+v 0.22123520 -0.18766883 -0.31672416
+v 0.14425442 -0.25868228 -0.33684034
+v -0.08130177 -0.14501517 -0.36334767
+v 0.07385273 -0.18706649 -0.36855251
+v -0.02752998 -0.25857603 -0.35251124
+v 0.21478017 -0.24363807 -0.30658528
+v 0.20441313 -0.18711939 -0.32714748
+v 0.17396136 -0.21470522 -0.33698620
+v 0.10255326 -0.24571600 -0.35207640
+v -0.07359900 -0.18761187 -0.36012457
+v -0.01399564 -0.18698950 -0.36943229
+v 0.20127254 -0.21537926 -0.32275278
+v 0.18736732 -0.24390012 -0.32225176
+v 0.13100704 -0.21607467 -0.35197444
+v -0.07032939 -0.22983308 -0.35243618
+v 0.08842616 -0.17162645 -0.36923132
+v -0.07266544 -0.26055885 -0.34340310
+v -0.05813135 -0.24409066 -0.35142569
+f 1 2 3
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 10 2 1
+f 10 1 5
+f 11 6 2
+f 13 4 6
+f 15 10 5
+f 15 7 10
+f 15 5 12
+f 16 9 4
+f 16 4 13
+f 17 13 6
+f 18 12 5
+f 19 10 7
+f 19 14 2
+f 19 2 10
+f 20 11 2
+f 20 2 14
+f 21 11 20
+f 22 15 12
+f 22 12 17
+f 23 16 13
+f 23 9 16
+f 24 17 12
+f 24 12 18
+f 24 13 17
+f 24 23 13
+f 25 20 14
+f 25 14 19
+f 25 21 20
+f 26 7 15
+f 26 15 21
+f 26 21 25
+f 26 25 19
+f 26 19 7
+f 27 21 15
+f 27 15 22
+f 27 11 21
+f 27 6 11
+f 28 5 9
+f 28 9 23
+f 28 23 24
+f 29 27 22
+f 29 22 17
+f 29 17 6
+f 29 6 27
+f 30 18 5
+f 30 5 28
+f 31 28 24
+f 31 24 18
+f 31 30 28
+f 31 18 30
\ No newline at end of file
diff --git a/mango/mango_19/collision/model_normalized_collision_8.obj b/mango/mango_19/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66b115a6eb58eaa32e348b37529533a1b3ecb369
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_8.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.14884809 0.23272934 0.29107189
+v -0.15036661 0.23388593 -0.26295665
+v -0.14388511 0.25964445 0.28156827
+v -0.14396079 0.46629048 0.06479552
+v -0.28600437 0.23385738 -0.11268756
+v -0.14561188 0.25712574 -0.25246796
+v -0.26023604 0.22799610 -0.16538893
+v -0.26025487 0.22918381 0.18330790
+v -0.14231244 0.37600264 0.20821139
+v -0.17363484 0.22871019 -0.25196616
+v -0.19552917 0.41758720 -0.05911001
+v -0.18369189 0.24200317 0.26347171
+v -0.27653137 0.22931794 -0.13820008
+v -0.14326445 0.42009218 -0.11920437
+v -0.21119317 0.40143621 0.08946448
+v -0.15961784 0.22973398 0.28536648
+v -0.15734416 0.25414082 -0.24820892
+v -0.19673637 0.30041998 0.21886259
+v -0.23901108 0.29900876 -0.13316539
+v -0.14482756 0.30232309 -0.22261514
+v -0.14277847 0.43498215 0.14941538
+v -0.14367985 0.46357551 -0.04608009
+v -0.16858513 0.46000660 0.02176674
+v -0.24460903 0.36204287 -0.03305009
+v -0.24336920 0.22843774 0.20976941
+v -0.15542271 0.25665395 0.27644044
+v -0.17103242 0.24045256 -0.24776082
+v -0.22347381 0.34342707 0.14801230
+v -0.27120777 0.24171660 -0.13659116
+v -0.19411895 0.37266198 -0.11855841
+v -0.19631574 0.42975005 0.06078354
+v -0.15463819 0.44432823 -0.07213998
+v -0.14330023 0.44989375 -0.07613894
+v -0.16735638 0.46047024 -0.01778917
+v -0.23825579 0.34399611 0.11986687
+v -0.24000382 0.34406015 -0.07502410
+v -0.18603502 0.22884689 0.26774209
+v -0.15435923 0.31481152 0.24583992
+v -0.22532579 0.25505869 -0.19075968
+v -0.16929237 0.26825254 -0.23137474
+v -0.20966297 0.31537509 0.19195853
+v -0.17955293 0.40217918 0.14936940
+v -0.23954631 0.26945837 -0.16114369
+v -0.16701099 0.41499959 -0.10119094
+v -0.15511331 0.37323639 -0.15969163
+v -0.18420586 0.44457387 0.04783534
+v -0.22553111 0.40347406 0.03701299
+v -0.15435923 0.45914465 -0.04247529
+v -0.15352598 0.41533427 -0.11557320
+v -0.25605376 0.25878897 0.16656259
+v -0.27535459 0.25780068 -0.10769564
+v -0.25484336 0.28432489 -0.11921091
+v -0.24104447 0.35989037 -0.04623232
+v -0.18066842 0.30021636 0.23404671
+v -0.14309796 0.31665481 0.25208313
+v -0.19796775 0.25394078 -0.21870715
+v -0.15671391 0.29898916 -0.21820779
+v -0.22424185 0.26906268 0.20700271
+v -0.15227296 0.42995480 0.14635217
+v -0.18060430 0.35744092 0.19064272
+v -0.25560856 0.24056007 -0.16199680
+v -0.21028834 0.31310337 -0.15903224
+v -0.18032775 0.40175640 -0.10133042
+v -0.18141783 0.42987731 -0.06033409
+f 6 1 2
+f 6 3 1
+f 9 3 6
+f 13 8 5
+f 13 7 8
+f 16 10 2
+f 16 2 1
+f 17 6 2
+f 20 14 9
+f 20 9 6
+f 20 6 17
+f 22 4 21
+f 25 8 7
+f 25 12 18
+f 26 16 1
+f 26 1 3
+f 27 17 2
+f 27 2 10
+f 29 7 13
+f 29 13 5
+f 33 22 21
+f 33 21 9
+f 33 9 14
+f 34 23 4
+f 34 4 22
+f 35 24 5
+f 36 30 19
+f 36 11 30
+f 37 25 7
+f 37 7 10
+f 37 10 16
+f 37 12 25
+f 37 26 12
+f 37 16 26
+f 38 12 26
+f 40 17 27
+f 42 35 28
+f 42 15 35
+f 43 29 19
+f 45 14 20
+f 46 4 23
+f 47 15 31
+f 47 35 15
+f 47 24 35
+f 47 31 46
+f 47 34 11
+f 47 11 24
+f 47 46 23
+f 47 23 34
+f 48 33 32
+f 48 22 33
+f 48 34 22
+f 49 33 14
+f 49 32 33
+f 49 44 32
+f 49 14 45
+f 49 45 30
+f 49 30 44
+f 50 35 5
+f 50 5 8
+f 50 28 35
+f 50 41 28
+f 50 8 25
+f 51 5 24
+f 51 24 36
+f 51 29 5
+f 52 36 19
+f 52 19 29
+f 52 51 36
+f 52 29 51
+f 53 36 24
+f 53 24 11
+f 53 11 36
+f 54 18 12
+f 54 12 38
+f 55 38 26
+f 55 26 3
+f 55 3 9
+f 55 9 38
+f 56 27 10
+f 56 10 7
+f 56 7 39
+f 56 40 27
+f 57 20 17
+f 57 17 40
+f 57 45 20
+f 57 56 45
+f 57 40 56
+f 58 25 18
+f 58 18 41
+f 58 50 25
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diff --git a/mango/mango_19/collision/model_normalized_collision_9.obj b/mango/mango_19/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15b089f0c7ccdab74b4f349d9d69228f11e2703a
--- /dev/null
+++ b/mango/mango_19/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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+v -0.08683763 -0.38782556 -0.26466081
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\ No newline at end of file
diff --git a/mango/mango_19/model.xml b/mango/mango_19/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c11f3cbd43c3c6287453758cccd2e9055634222e
--- /dev/null
+++ b/mango/mango_19/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="mango_16">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.09000000000000002 0.09000000000000002 0.09000000000000002" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material_0.039" texture="image0" specular="0.5" shininess="0.15999998099999999"/>
+  </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_0.039"/>
+        <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"/>
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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"/>
+        <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"/>
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+      <site rgba="0 0 0 0" size="0.005" pos="-1.0075499999999961e-05 0.00040220819999999864 -0.03386592990000001" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-1.0075499999999961e-05 0.00040220819999999864 0.03326812470000001" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03530114010000001 0.04495042710000001 -0.0002989026000000001" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/mango/mango_19/visual/material.mtl b/mango/mango_19/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac7612074176632fe5be688b8bc892b458617616
--- /dev/null
+++ b/mango/mango_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 159.99998100
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_0.obj b/mango/mango_4/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d446676bab3caea99649eb8df060acada70508d
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_0.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.21757793 -0.18486362 0.01980075
+v 0.21890780 -0.18936386 -0.37147788
+v 0.22877832 0.14724575 0.02462078
+v -0.17770042 0.12582774 0.00757575
+v -0.21046375 -0.19716339 -0.25189713
+v 0.06876729 0.13375722 -0.46471107
+v -0.17770042 -0.16205105 0.00757575
+v 0.20907172 0.13646411 -0.43261370
+v -0.17770042 0.12582774 -0.23484849
+v -0.05039178 -0.10904741 -0.47369521
+v -0.00627264 -0.13731560 -0.47274900
+v -0.13382473 0.10149648 -0.43136506
+v -0.15466822 -0.17049250 -0.36318858
+v 0.19518432 -0.08100004 -0.47493130
+v -0.13626534 0.11796988 -0.41961688
+v -0.06526042 0.06189175 -0.48905753
+v -0.10701308 -0.13535931 -0.43020372
+v -0.13362330 -0.06556344 -0.44405258
+v 0.12336223 -0.13768812 -0.47415276
+v 0.19649874 -0.00241229 -0.47290593
+v -0.13456068 0.07345094 -0.44461206
+v 0.02030698 -0.08543828 -0.49189474
+v -0.12125323 0.11735816 -0.43276657
+v -0.04954800 -0.13595657 -0.45911412
+v -0.13605227 -0.12273399 -0.41734839
+v -0.06617612 -0.02198011 -0.49010047
+v -0.10741503 -0.07988139 -0.45782664
+v 0.19341768 -0.13744988 -0.44994290
+v 0.09070527 0.02907841 -0.49039321
+v -0.02221604 -0.06886221 -0.49083443
+v 0.03457527 -0.08612437 -0.49187428
+v -0.05098700 0.07516084 -0.48960817
+v -0.09179368 0.07502761 -0.47371479
+v -0.13861045 -0.13922689 -0.40513871
+v -0.12007704 -0.09338131 -0.44413800
+v -0.07731766 -0.08111688 -0.47279330
+v -0.10649034 -0.00749896 -0.47469157
+v 0.17903319 -0.10784355 -0.47283001
+v 0.19206900 -0.12171089 -0.46091164
+v 0.17750274 -0.13621706 -0.45898060
+v 0.19535244 0.05171219 -0.45958434
+v -0.05262562 -0.05291637 -0.48844057
+v 0.08671625 -0.01540718 -0.49010747
+v 0.00151226 0.07865409 -0.49070148
+v -0.11983239 -0.12223921 -0.42948237
+v -0.12051617 -0.05138718 -0.45799231
+v -0.09318117 -0.05116511 -0.47332949
+v -0.10529232 0.04577714 -0.47367464
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 6 3
+f 8 3 2
+f 9 4 3
+f 9 3 6
+f 9 5 4
+f 13 11 2
+f 13 2 5
+f 14 8 2
+f 15 9 6
+f 15 5 9
+f 19 2 11
+f 20 8 14
+f 21 15 12
+f 21 5 15
+f 21 18 5
+f 23 15 6
+f 23 12 15
+f 23 21 12
+f 24 17 10
+f 24 10 11
+f 24 11 13
+f 24 13 17
+f 25 13 5
+f 25 5 18
+f 27 10 17
+f 29 6 8
+f 29 20 14
+f 30 22 11
+f 30 11 10
+f 30 26 22
+f 31 19 11
+f 31 11 22
+f 32 23 6
+f 32 26 16
+f 33 21 23
+f 33 32 16
+f 33 23 32
+f 34 17 13
+f 34 13 25
+f 35 25 18
+f 35 18 27
+f 35 27 17
+f 36 10 27
+f 37 18 21
+f 37 16 26
+f 38 31 14
+f 38 19 31
+f 39 14 2
+f 39 2 28
+f 39 38 14
+f 40 28 2
+f 40 2 19
+f 40 39 28
+f 40 19 38
+f 40 38 39
+f 41 29 8
+f 41 8 20
+f 41 20 29
+f 42 30 10
+f 42 26 30
+f 42 36 26
+f 42 10 36
+f 43 31 29
+f 43 29 14
+f 43 14 31
+f 44 31 22
+f 44 29 31
+f 44 22 26
+f 44 26 32
+f 44 32 6
+f 44 6 29
+f 45 34 25
+f 45 17 34
+f 45 35 17
+f 45 25 35
+f 46 27 18
+f 46 18 37
+f 47 37 26
+f 47 26 36
+f 47 46 37
+f 47 36 27
+f 47 27 46
+f 48 37 21
+f 48 21 33
+f 48 33 16
+f 48 16 37
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_1.obj b/mango/mango_4/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da6b536a8df96af2fa5691696d32af7e1953537c
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.07635980 -0.26406180 -0.04097886
+v 0.31298750 -0.13884815 -0.29323951
+v 0.21757793 -0.18486362 0.01980075
+v -0.17770042 -0.16205105 0.00757575
+v -0.15466822 -0.17049250 -0.36318858
+v 0.30934860 -0.14000116 -0.10312636
+v -0.11540062 -0.26586703 0.00505502
+v 0.09411282 -0.24965045 -0.33326362
+v 0.29709499 -0.13747473 -0.33615017
+v 0.20577968 -0.23528055 -0.10193920
+v 0.10438701 -0.24805281 0.00183266
+v -0.17381173 -0.25452383 0.00590072
+v 0.00351327 -0.28191859 -0.21739780
+v 0.22662102 -0.18129870 -0.37602667
+v 0.30683703 -0.16222238 -0.21799888
+v 0.24799721 -0.20651853 -0.10129491
+v -0.02649024 -0.26580388 0.00546667
+v 0.19139022 -0.21973862 -0.01443467
+v 0.13569500 -0.26549024 -0.11566115
+v -0.21046375 -0.19716339 -0.25189713
+v -0.05522962 -0.28158200 -0.18718744
+v -0.06411109 -0.23338776 -0.34500051
+v 0.28519164 -0.14080894 -0.35209094
+v 0.26167815 -0.19164502 -0.29034469
+v 0.27578421 -0.17694358 -0.09017111
+v 0.03192104 -0.26462735 -0.01118296
+v 0.14882613 -0.23408100 0.00085102
+v 0.19148439 -0.23365449 -0.05774324
+v 0.13479318 -0.24805990 -0.02875767
+v 0.03317398 -0.28168415 -0.13085877
+v 0.13668642 -0.26547826 -0.23335545
+v -0.14297470 -0.26514827 -0.02375664
+v 0.14939835 -0.23351089 -0.34709349
+v -0.01051807 -0.26502423 -0.28950804
+v -0.12357202 -0.24884839 -0.26036910
+v 0.26090151 -0.17683148 -0.33258508
+v 0.30574283 -0.14774659 -0.29097128
+v 0.23448024 -0.22025409 -0.24800955
+v 0.30510822 -0.14825859 -0.10528175
+v 0.30599842 -0.16268412 -0.20575728
+v 0.19391799 -0.21066611 0.00215040
+v 0.16258418 -0.23368016 -0.01375680
+v 0.17810153 -0.24901878 -0.10122420
+v 0.12184766 -0.26343238 -0.08598826
+v -0.02478820 -0.28209660 -0.12971831
+v 0.06340782 -0.26505646 -0.29133016
+v 0.06306348 -0.28154636 -0.18851687
+v -0.00929068 -0.24948143 -0.33327716
+v 0.13622257 -0.24849782 -0.31973821
+v 0.19093115 -0.23431957 -0.30376696
+v -0.05436795 -0.26483172 -0.27501284
+v -0.13830182 -0.20710292 -0.33066247
+v -0.12527023 -0.26475950 -0.17359964
+v 0.27954225 -0.14928518 -0.34961819
+v 0.29134664 -0.14625384 -0.33197411
+v 0.23378682 -0.21997941 -0.11624907
+v 0.24839596 -0.20584162 -0.27597219
+v 0.17787346 -0.22049234 0.00047342
+v 0.16397360 -0.24874388 -0.07221711
+v 0.17763484 -0.25017280 -0.26227060
+v -0.05489913 -0.28200709 -0.17427025
+v 0.12247932 -0.26443501 -0.26285549
+v 0.03362319 -0.28133194 -0.21806403
+v 0.06221927 -0.28127931 -0.16070669
+f 6 4 3
+f 9 5 4
+f 9 6 2
+f 9 4 6
+f 12 7 3
+f 12 3 4
+f 15 2 6
+f 17 11 3
+f 17 3 7
+f 18 16 3
+f 20 12 4
+f 20 4 5
+f 22 5 14
+f 23 14 5
+f 23 5 9
+f 25 3 16
+f 26 1 11
+f 26 11 17
+f 27 3 11
+f 28 16 18
+f 29 11 1
+f 29 27 11
+f 30 19 1
+f 30 1 26
+f 30 26 17
+f 32 7 12
+f 33 22 14
+f 37 2 15
+f 37 15 24
+f 37 24 36
+f 39 6 3
+f 39 3 25
+f 40 25 16
+f 40 39 25
+f 40 15 6
+f 40 6 39
+f 41 18 3
+f 42 28 18
+f 42 27 29
+f 43 10 28
+f 44 29 1
+f 44 1 19
+f 45 7 32
+f 45 30 17
+f 45 17 7
+f 46 13 34
+f 47 45 13
+f 47 30 45
+f 47 31 19
+f 48 33 8
+f 48 22 33
+f 48 46 34
+f 48 8 46
+f 49 8 33
+f 49 46 8
+f 50 33 14
+f 50 49 33
+f 50 14 36
+f 51 34 13
+f 51 13 21
+f 51 21 35
+f 51 35 22
+f 51 48 34
+f 51 22 48
+f 52 35 20
+f 52 20 5
+f 52 5 22
+f 52 22 35
+f 53 35 21
+f 53 21 32
+f 53 32 12
+f 53 12 20
+f 53 20 35
+f 54 23 9
+f 54 36 14
+f 54 14 23
+f 55 37 36
+f 55 9 2
+f 55 2 37
+f 55 54 9
+f 55 36 54
+f 56 10 38
+f 56 28 10
+f 56 16 28
+f 56 40 16
+f 56 38 15
+f 56 15 40
+f 57 24 15
+f 57 15 38
+f 57 38 50
+f 57 50 36
+f 57 36 24
+f 58 18 41
+f 58 42 18
+f 58 27 42
+f 58 41 3
+f 58 3 27
+f 59 42 29
+f 59 28 42
+f 59 43 28
+f 59 19 43
+f 59 44 19
+f 59 29 44
+f 60 43 19
+f 60 19 31
+f 60 38 10
+f 60 10 43
+f 60 50 38
+f 60 49 50
+f 61 21 13
+f 61 13 45
+f 61 45 32
+f 61 32 21
+f 62 31 47
+f 62 46 49
+f 62 60 31
+f 62 49 60
+f 63 47 13
+f 63 13 46
+f 63 62 47
+f 63 46 62
+f 64 47 19
+f 64 19 30
+f 64 30 47
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_10.obj b/mango/mango_4/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d0f0a5a7b7f79bb2e63c845bd3d34b6416f7470
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_10.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.11337226 0.11735925 0.26107165
+v 0.12477026 0.12540166 0.21942878
+v 0.02523479 0.19947596 0.26150854
+v -0.12727391 0.21195375 0.26195114
+v -0.19285193 0.12582774 0.14393939
+v -0.22072389 0.17016504 0.27594345
+v 0.05054118 0.18490514 0.25960531
+v 0.07987534 0.12582774 0.14393939
+v -0.01464600 0.21392161 0.26129601
+v -0.18635457 0.21526805 0.14104308
+v 0.11291539 0.14516589 0.21393027
+v 0.03037995 0.23066023 0.13870916
+v -0.17120345 0.19876032 0.26186504
+v 0.10710378 0.12629915 0.25950894
+v 0.07675303 0.21031789 0.14156209
+v -0.09916578 0.22923090 0.20089939
+v -0.18789931 0.19135492 0.26327918
+v -0.14219380 0.22749683 0.15577471
+v 0.10910063 0.14292780 0.22605934
+v 0.06008422 0.21923197 0.13971569
+v 0.06614564 0.18385796 0.22787976
+v -0.01430593 0.22713785 0.19954049
+v -0.18533016 0.21301287 0.15600595
+v -0.15647311 0.21231004 0.21592659
+v -0.14352049 0.22944103 0.14153878
+f 6 1 3
+f 6 5 1
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 6 3
+f 9 4 6
+f 10 5 6
+f 11 1 2
+f 12 9 3
+f 12 8 5
+f 12 5 10
+f 13 6 4
+f 14 7 1
+f 14 1 11
+f 15 11 2
+f 15 2 8
+f 15 3 7
+f 16 4 9
+f 17 10 6
+f 17 6 13
+f 18 4 16
+f 19 14 11
+f 19 11 7
+f 19 7 14
+f 20 15 8
+f 20 8 12
+f 20 12 3
+f 20 3 15
+f 21 15 7
+f 21 7 11
+f 21 11 15
+f 22 16 9
+f 22 9 12
+f 22 12 16
+f 23 17 13
+f 23 10 17
+f 24 13 4
+f 24 4 18
+f 24 23 13
+f 24 18 10
+f 24 10 23
+f 25 18 16
+f 25 16 12
+f 25 12 10
+f 25 10 18
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_11.obj b/mango/mango_4/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd9dd93eddb3b25141f861b41c5f573d22cc1dad
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_11.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.07684499 -0.25428929 0.00401150
+v 0.15317249 -0.23098443 0.00514498
+v -0.01246678 -0.17747271 0.28735362
+v -0.20639760 -0.17491223 0.27783843
+v -0.19285193 -0.14689953 0.00757575
+v -0.14392543 -0.23485192 0.15499954
+v 0.02995347 -0.21771961 0.16642148
+v 0.13535002 -0.23846652 0.00255883
+v 0.14446833 -0.12382512 0.19640992
+v -0.11550557 -0.20434160 0.25802208
+v -0.18633099 -0.25064669 0.00598160
+v 0.11332026 -0.18963161 0.14869597
+v 0.00149611 -0.24952912 0.07953388
+v 0.15563292 -0.14689953 0.00757575
+v 0.04521383 -0.23449981 0.10736152
+v 0.09972599 -0.12262674 0.25883191
+v -0.15829841 -0.20461488 0.24273358
+v -0.04353928 -0.20362443 0.24349428
+v -0.24984311 -0.20131650 0.14237604
+v 0.11362883 -0.20340597 0.12191829
+v 0.16477858 -0.14067881 0.15126206
+v -0.14432033 -0.25004901 0.08023840
+v -0.04274472 -0.23446474 0.15324197
+v 0.07610212 -0.25068866 0.01815959
+v 0.03099926 -0.24905940 0.06318712
+v -0.02618527 -0.13174802 0.14393939
+v 0.08060304 -0.14443051 0.25518986
+v -0.18780264 -0.19057020 0.25829560
+v -0.13072187 -0.21905930 0.21340800
+v -0.00183123 -0.18842013 0.25647064
+v -0.08765518 -0.20399597 0.25762070
+v -0.27794731 -0.17768697 0.15422962
+v 0.14699301 -0.21857928 0.04512884
+v 0.03943434 -0.17231595 0.25399018
+v -0.18681262 -0.23309001 0.12470120
+v 0.00112413 -0.23356170 0.13813633
+v 0.12609071 -0.16015398 0.17738337
+v -0.18664187 -0.20303379 0.22766204
+v -0.15921365 -0.21956686 0.19895124
+v -0.08773047 -0.21923886 0.21326362
+v -0.28815903 -0.18351983 0.09057194
+v 0.14243665 -0.17645496 0.13235188
+v 0.05599884 -0.20258050 0.17919045
+v -0.25544935 -0.21076576 0.08391390
+v -0.17310237 -0.24960859 0.05023202
+v -0.02921529 -0.21806927 0.19730939
+v 0.13992060 -0.14670163 0.17668231
+v 0.09544746 -0.13201596 0.25300072
+v -0.18561692 -0.24951563 0.02049434
+f 10 3 4
+f 11 8 1
+f 11 5 8
+f 14 8 5
+f 14 2 8
+f 14 5 9
+f 15 8 2
+f 16 4 3
+f 20 15 2
+f 20 7 15
+f 21 9 16
+f 21 14 9
+f 21 2 14
+f 22 11 1
+f 22 1 13
+f 22 13 6
+f 23 6 13
+f 24 15 1
+f 24 1 8
+f 24 8 15
+f 25 13 1
+f 25 1 15
+f 26 16 9
+f 26 9 5
+f 26 5 4
+f 26 4 16
+f 27 16 3
+f 28 17 10
+f 28 10 4
+f 29 10 17
+f 30 18 7
+f 30 3 18
+f 31 18 3
+f 31 3 10
+f 32 19 4
+f 32 4 5
+f 33 20 2
+f 33 2 21
+f 34 20 12
+f 34 3 30
+f 34 27 3
+f 34 12 27
+f 35 22 6
+f 36 23 13
+f 36 15 7
+f 36 25 15
+f 36 13 25
+f 37 27 12
+f 38 28 4
+f 38 4 19
+f 38 19 35
+f 38 17 28
+f 39 29 17
+f 39 6 29
+f 39 17 38
+f 39 38 35
+f 39 35 6
+f 40 29 6
+f 40 6 23
+f 40 31 10
+f 40 10 29
+f 41 32 5
+f 41 5 11
+f 42 12 20
+f 42 20 33
+f 42 33 21
+f 42 37 12
+f 42 21 37
+f 43 34 30
+f 43 30 7
+f 43 7 20
+f 43 20 34
+f 44 35 19
+f 44 41 11
+f 44 19 32
+f 44 32 41
+f 45 11 22
+f 45 22 35
+f 46 36 7
+f 46 7 18
+f 46 23 36
+f 46 40 23
+f 46 18 31
+f 46 31 40
+f 47 37 21
+f 47 21 16
+f 48 16 27
+f 48 27 37
+f 48 47 16
+f 48 37 47
+f 49 44 11
+f 49 35 44
+f 49 45 35
+f 49 11 45
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_12.obj b/mango/mango_4/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65d145604e2a7ed7379efc55fc8f9694949d58a8
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_12.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.07987534 0.12582774 0.14393939
+v 0.07987534 0.12582774 0.00757575
+v 0.07723786 0.25223741 0.00525463
+v -0.09818464 0.24358447 0.12517625
+v -0.25345800 0.09552471 0.14393939
+v 0.07071747 0.21475419 0.13799667
+v -0.19285193 0.09552471 0.14393939
+v -0.25345800 0.09552471 0.00757575
+v -0.01405127 0.24483659 0.12420170
+v -0.14352049 0.22944103 0.14153878
+v 0.04579749 0.26095602 0.00410864
+v -0.19285193 0.09552471 0.00757575
+v 0.04247095 0.22718366 0.13698917
+v -0.24429290 0.20211999 0.00650785
+v -0.02689566 0.26016187 0.06441713
+v 0.07431383 0.24290144 0.04752872
+v -0.24326570 0.18560122 0.14153431
+v -0.15691681 0.24566176 0.00625057
+v 0.03129084 0.25768851 0.03322891
+v 0.05675071 0.22698224 0.12173117
+v 0.04488236 0.25795965 0.01889067
+v -0.09833714 0.25849121 0.03482012
+v -0.19883266 0.21238433 0.12568859
+v 0.01400358 0.24301564 0.10896912
+v -0.15645280 0.24432927 0.02075645
+v -0.11249493 0.24281666 0.10974853
+v -0.08332992 0.25933154 0.05062861
+v -0.09854009 0.26235262 0.00611131
+v -0.18635457 0.21526805 0.14104308
+v -0.18446050 0.22747974 0.06613617
+v -0.24165533 0.19843680 0.06601984
+v -0.05579484 0.25953674 0.06469214
+v -0.22765537 0.19802446 0.12549775
+v -0.15635574 0.22823628 0.12553891
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 7 1 5
+f 8 7 5
+f 10 5 1
+f 10 1 6
+f 10 9 4
+f 11 3 2
+f 12 2 7
+f 12 7 8
+f 12 11 2
+f 12 8 11
+f 13 10 6
+f 13 9 10
+f 14 8 5
+f 14 11 8
+f 15 4 9
+f 16 6 3
+f 17 14 5
+f 17 5 10
+f 18 11 14
+f 19 15 9
+f 19 11 15
+f 20 16 13
+f 20 13 6
+f 20 6 16
+f 21 16 3
+f 21 3 11
+f 21 11 19
+f 24 19 9
+f 24 9 13
+f 24 13 16
+f 24 21 19
+f 24 16 21
+f 25 10 22
+f 26 22 10
+f 26 10 4
+f 26 4 22
+f 27 22 4
+f 28 11 18
+f 28 25 22
+f 28 18 25
+f 28 22 27
+f 28 15 11
+f 29 17 10
+f 30 18 14
+f 30 25 18
+f 30 23 29
+f 31 14 17
+f 31 30 14
+f 32 27 4
+f 32 4 15
+f 32 28 27
+f 32 15 28
+f 33 29 23
+f 33 17 29
+f 33 31 17
+f 33 23 30
+f 33 30 31
+f 34 29 10
+f 34 10 25
+f 34 30 29
+f 34 25 30
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_13.obj b/mango/mango_4/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaff8b99503260a17d9eed4e5b3be7aa765a9955
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_13.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.09986020 0.08961541 0.39858037
+v 0.13053486 0.08941776 0.26188421
+v 0.01457049 0.20415658 0.26219857
+v -0.11249196 0.21328252 0.27693871
+v -0.16254890 0.09552471 0.26515151
+v -0.04117522 0.15401558 0.44796231
+v 0.08097338 0.15780365 0.26036676
+v 0.12626739 0.08799910 0.27603261
+v -0.15827941 0.20313199 0.26314957
+v 0.03875904 0.15431356 0.40916102
+v -0.02940259 0.19796382 0.35088073
+v -0.18127426 0.10973025 0.42966731
+v 0.07652583 0.12705298 0.39629419
+v 0.12432435 0.10074656 0.25954018
+v -0.02954257 0.21704610 0.26189111
+v -0.12437037 0.16727951 0.40625489
+v 0.04451448 0.11794826 0.45303227
+v 0.03778520 0.18275561 0.30625856
+v -0.01780595 0.16868477 0.42284663
+v 0.09345833 0.10186524 0.39653409
+v -0.11288424 0.21567661 0.26208541
+v 0.06764337 0.17090393 0.25961000
+v -0.00085830 0.19793338 0.32145630
+v -0.08533604 0.21429515 0.29233432
+v -0.12666228 0.19697683 0.33466062
+v -0.10978601 0.12816390 0.45874242
+v -0.15474553 0.18329337 0.34770194
+v 0.03803483 0.13785105 0.43655241
+v -0.11229944 0.11908448 0.46331266
+v 0.06360365 0.14070961 0.39586970
+v -0.00130845 0.18258102 0.37927561
+v -0.09728750 0.18278706 0.39187710
+v -0.02900340 0.21425213 0.27711305
+v 0.01139683 0.18231080 0.36585244
+v -0.15647064 0.19828186 0.29197111
+v -0.09835224 0.19907296 0.35084420
+v -0.15361700 0.13005278 0.43492961
+v -0.11134612 0.15319514 0.43481426
+v 0.01280865 0.15229423 0.43494758
+v -0.08521551 0.12249007 0.47088300
+v 0.03934146 0.16820326 0.36602054
+v -0.02844637 0.18363267 0.39421312
+v -0.09717683 0.16752795 0.41987538
+v -0.12517364 0.18137995 0.37744806
+v -0.04293063 0.21376673 0.29196252
+v 0.01189315 0.19895471 0.29210325
+v 0.01371695 0.16664420 0.40852629
+v -0.13805367 0.12980968 0.44544144
+v -0.15303464 0.15444114 0.40503244
+v 0.01313671 0.14069482 0.44845294
+v -0.08341277 0.13130808 0.46541027
+v 0.02477631 0.16686002 0.39520389
+v -0.06860564 0.15180876 0.44916117
+v -0.13926903 0.15200964 0.41970485
+v -0.15783063 0.12123040 0.43885590
+v -0.14067337 0.12019569 0.44891394
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 12 5 1
+f 12 9 5
+f 14 2 5
+f 14 5 9
+f 14 7 13
+f 20 14 13
+f 20 1 2
+f 20 2 14
+f 20 17 1
+f 20 13 17
+f 21 9 4
+f 21 14 9
+f 22 15 3
+f 22 21 15
+f 22 7 14
+f 22 14 21
+f 22 3 18
+f 24 21 4
+f 24 15 21
+f 28 17 13
+f 29 12 1
+f 30 13 7
+f 30 7 22
+f 30 28 13
+f 30 10 28
+f 31 23 11
+f 33 11 23
+f 33 23 3
+f 33 3 15
+f 34 23 31
+f 35 25 4
+f 35 4 9
+f 35 27 25
+f 35 9 12
+f 35 12 27
+f 36 24 4
+f 36 4 25
+f 39 28 10
+f 39 19 6
+f 40 29 1
+f 40 1 17
+f 40 26 29
+f 41 10 30
+f 41 18 34
+f 41 30 22
+f 41 22 18
+f 42 31 11
+f 42 32 19
+f 42 36 32
+f 42 11 36
+f 43 6 19
+f 43 19 32
+f 43 32 16
+f 43 16 38
+f 44 27 16
+f 44 16 32
+f 44 32 36
+f 44 36 25
+f 44 25 27
+f 45 11 33
+f 45 36 11
+f 45 24 36
+f 45 33 15
+f 45 15 24
+f 46 34 18
+f 46 18 3
+f 46 3 23
+f 46 23 34
+f 47 34 31
+f 47 39 10
+f 47 19 39
+f 47 42 19
+f 47 31 42
+f 48 29 26
+f 48 26 38
+f 49 27 12
+f 49 12 37
+f 49 16 27
+f 50 39 6
+f 50 17 28
+f 50 28 39
+f 50 40 17
+f 50 6 40
+f 51 38 26
+f 51 26 40
+f 51 40 6
+f 52 41 34
+f 52 10 41
+f 52 47 10
+f 52 34 47
+f 53 43 38
+f 53 6 43
+f 53 51 6
+f 53 38 51
+f 54 48 38
+f 54 37 48
+f 54 49 37
+f 54 38 16
+f 54 16 49
+f 55 48 37
+f 55 37 12
+f 56 55 12
+f 56 12 29
+f 56 29 48
+f 56 48 55
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_14.obj b/mango/mango_4/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..731c203386b5772dfdd4fc493ced7f54277bb47b
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_14.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.22877832 0.14724575 0.02462078
+v 0.21762481 0.21861328 -0.28743452
+v 0.18909808 0.22813967 -0.08731320
+v 0.11768568 0.23618483 0.01314124
+v 0.11017837 0.12582774 -0.23484849
+v 0.11691566 0.25205424 -0.28969068
+v 0.18841888 0.19926991 -0.00009953
+v 0.20108746 0.12582774 -0.23484849
+v 0.11017837 0.12582774 0.00757575
+v 0.17899038 0.24404371 -0.24773092
+v 0.15757111 0.22287336 -0.34401856
+v 0.16114380 0.22787076 -0.02867227
+v 0.16140876 0.21727216 0.00137974
+v 0.11017837 0.18643380 -0.28030304
+v 0.17793571 0.24349326 -0.14563797
+v 0.17152767 0.21929743 -0.34214840
+v 0.15034844 0.22247729 0.00397446
+v 0.15001281 0.24771202 -0.08557037
+v 0.16552061 0.23089564 -0.32020596
+v 0.16170140 0.24273740 -0.08651469
+v 0.14892927 0.23336091 -0.02637345
+v 0.15106833 0.24774087 -0.27653509
+v 0.19428233 0.23242119 -0.27654700
+v 0.15410107 0.22657705 -0.33840322
+v 0.15207626 0.23448181 -0.32097759
+v 0.16468402 0.24373604 -0.27591336
+v 0.16795770 0.22299200 -0.33660642
+f 1 2 3
+f 7 1 3
+f 8 2 1
+f 9 1 4
+f 9 8 1
+f 9 5 8
+f 12 7 3
+f 13 1 7
+f 13 7 12
+f 14 5 9
+f 14 11 5
+f 14 6 11
+f 14 9 4
+f 14 4 6
+f 15 3 2
+f 15 2 10
+f 16 8 5
+f 16 5 11
+f 16 2 8
+f 17 13 12
+f 17 12 4
+f 17 4 1
+f 17 1 13
+f 18 6 4
+f 18 15 10
+f 19 2 16
+f 20 12 3
+f 20 3 15
+f 20 15 18
+f 21 18 4
+f 21 4 12
+f 21 20 18
+f 21 12 20
+f 22 18 10
+f 22 6 18
+f 23 10 2
+f 23 2 19
+f 24 16 11
+f 24 11 6
+f 25 22 19
+f 25 6 22
+f 25 24 6
+f 25 19 24
+f 26 22 10
+f 26 10 23
+f 26 23 19
+f 26 19 22
+f 27 24 19
+f 27 19 16
+f 27 16 24
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_15.obj b/mango/mango_4/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eaf6306ed1b1bfc4cf89c8fe7460416c290d482
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_15.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.03042887 -0.13457119 0.37944526
+v 0.09874389 -0.01192639 0.38809957
+v 0.01322962 -0.00688503 0.47995880
+v -0.17047354 -0.00510652 0.46142695
+v -0.16254890 -0.01053589 0.38636363
+v 0.05547384 -0.00356653 0.45450532
+v -0.09883592 -0.05762779 0.45952335
+v 0.08551900 -0.04911949 0.38103425
+v -0.21360364 -0.10909055 0.37616054
+v 0.08200358 -0.00570441 0.42232838
+v 0.02479825 -0.10184231 0.39118185
+v -0.02939761 -0.05763421 0.45965671
+v -0.14176059 -0.01060892 0.47571142
+v -0.23307755 -0.08318936 0.38076258
+v -0.15728625 -0.13167556 0.38638244
+v 0.06699542 -0.07625739 0.37921782
+v -0.23051532 -0.09121618 0.37708053
+v 0.07874256 -0.01758602 0.41953814
+v 0.01150987 -0.04252497 0.45831567
+v -0.12187259 -0.03364765 0.47320753
+v -0.01892068 -0.11452803 0.40239146
+v -0.19217003 -0.01029786 0.44609392
+v -0.15952637 -0.13688712 0.37942398
+v 0.02881485 -0.10727269 0.37977996
+v -0.18167152 -0.08952233 0.41395875
+v 0.08076637 -0.04541455 0.39280583
+v 0.06417887 -0.04195499 0.41681078
+v 0.02412223 -0.02949933 0.46023427
+v -0.01525900 -0.03277776 0.47369732
+v -0.15514315 -0.08800181 0.42820651
+v -0.03135054 -0.12883852 0.38920565
+v -0.01789361 -0.07052096 0.44597271
+v 0.01006613 -0.10039208 0.40241888
+v -0.18541992 -0.00651126 0.45282126
+v 0.06523616 -0.07304741 0.38638867
+v -0.22446497 -0.08894712 0.38470199
+v 0.05146888 -0.01522816 0.45037551
+v 0.01077349 -0.01297612 0.47778338
+v 0.05099919 -0.05740607 0.41495787
+v -0.14040108 -0.01834785 0.47435192
+v -0.21082627 -0.10182852 0.38486868
+v -0.18310475 -0.03246364 0.44553924
+v 0.05150125 -0.07156941 0.40046642
+v -0.16642725 -0.02297150 0.45920871
+v -0.22691416 -0.07963811 0.38792254
+f 6 4 3
+f 6 5 4
+f 8 5 2
+f 10 2 5
+f 10 5 6
+f 13 3 4
+f 15 12 7
+f 16 1 9
+f 17 5 8
+f 17 16 9
+f 17 8 16
+f 17 14 5
+f 18 2 10
+f 18 10 6
+f 20 7 12
+f 20 3 13
+f 22 5 14
+f 23 15 9
+f 23 9 1
+f 24 1 16
+f 25 9 15
+f 26 8 2
+f 26 2 18
+f 27 26 18
+f 28 6 3
+f 29 12 19
+f 29 20 12
+f 29 3 20
+f 30 15 7
+f 30 7 20
+f 30 25 15
+f 31 11 21
+f 31 24 11
+f 31 1 24
+f 31 23 1
+f 31 15 23
+f 31 12 15
+f 32 19 12
+f 32 31 21
+f 32 12 31
+f 33 21 11
+f 33 11 19
+f 33 32 21
+f 33 19 32
+f 34 4 5
+f 34 5 22
+f 35 24 16
+f 35 11 24
+f 35 26 27
+f 35 16 8
+f 35 8 26
+f 36 17 9
+f 36 14 17
+f 37 27 18
+f 37 18 6
+f 37 6 28
+f 38 28 3
+f 38 19 28
+f 38 29 19
+f 38 3 29
+f 39 28 19
+f 39 37 28
+f 39 27 37
+f 39 35 27
+f 39 19 11
+f 40 30 20
+f 40 20 13
+f 41 36 9
+f 41 9 25
+f 41 25 36
+f 42 36 25
+f 42 34 22
+f 42 25 30
+f 43 39 11
+f 43 11 35
+f 43 35 39
+f 44 40 13
+f 44 13 4
+f 44 4 34
+f 44 34 42
+f 44 42 30
+f 44 30 40
+f 45 42 22
+f 45 22 14
+f 45 14 36
+f 45 36 42
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_16.obj b/mango/mango_4/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56642518c1731c0472818a6f1ac9ac7bcec8570a
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_16.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.14467437 -0.24677805 -0.23321842
+v -0.13861045 -0.13922689 -0.40513871
+v -0.13955059 0.20396993 -0.30363773
+v -0.14581571 0.22877904 -0.23370829
+v -0.30030386 -0.03871449 -0.22945517
+v -0.14151382 0.22096203 -0.26089190
+v -0.14058219 -0.24061081 -0.26081587
+v -0.16934288 0.21733103 -0.22945748
+v -0.14908952 0.07423005 -0.43212804
+v -0.13867254 0.18930882 -0.33360029
+v -0.23604083 -0.17849761 -0.24079149
+v -0.21095300 -0.20806402 -0.22851464
+v -0.15358348 0.21569581 -0.25849822
+v -0.19158353 -0.02352275 -0.40183495
+v -0.13935880 -0.19478181 -0.34808265
+v -0.14064599 0.07659669 -0.43843603
+v -0.28117515 0.08961544 -0.24117341
+v -0.25583979 0.14487072 -0.22825078
+v -0.15646745 -0.24150692 -0.23157478
+v -0.28463488 -0.09611019 -0.22807996
+v -0.17994928 0.19848592 -0.25591738
+v -0.17905446 -0.20572493 -0.28677242
+v -0.13855451 0.16131586 -0.37821233
+v -0.16304181 0.03245726 -0.43063169
+v -0.26442616 0.04545645 -0.30030803
+v -0.22691522 0.17332900 -0.22836678
+v -0.29955098 0.04764471 -0.22887744
+v -0.17967245 -0.21900133 -0.25764463
+v -0.24041615 -0.18087480 -0.22831450
+v -0.25028051 -0.06535006 -0.31464461
+v -0.14980571 0.19843612 -0.30180950
+v -0.20786297 -0.20479909 -0.24141019
+v -0.19181967 -0.16404556 -0.32881049
+v -0.13871976 -0.11225039 -0.42015954
+v -0.14896936 0.12910140 -0.40119076
+v -0.19166476 0.03347649 -0.40157766
+v -0.22285778 0.15541642 -0.27043806
+v -0.28637554 0.08995058 -0.22931877
+v -0.29518039 -0.03820729 -0.24192706
+v -0.27997807 0.07358347 -0.25515745
+v -0.21910627 -0.12285545 -0.32811547
+v -0.23548206 -0.05099432 -0.34310001
+v -0.22113477 -0.17708501 -0.27013589
+v -0.15003024 -0.19052076 -0.34325487
+v -0.14068474 -0.06793401 -0.43774564
+v -0.13963975 0.13297330 -0.40690821
+v -0.16153098 0.08694100 -0.41501879
+v -0.22006323 0.11263850 -0.32873905
+v -0.22439861 0.16933238 -0.24142485
+v -0.16215281 0.15507374 -0.35917087
+v -0.17720126 0.16908397 -0.31594069
+v -0.29429242 0.04611032 -0.24111757
+v -0.27951580 -0.05029772 -0.26962320
+v -0.24915271 -0.09434674 -0.29877114
+v -0.20517474 -0.10908310 -0.35606414
+v -0.23581088 0.04640054 -0.34304616
+v -0.16423116 -0.18983551 -0.32917867
+v -0.16253772 -0.02243387 -0.43118169
+v -0.14870957 0.15557562 -0.37428275
+v -0.17646669 0.08722455 -0.40005669
+v -0.25106078 0.14197081 -0.24178526
+v -0.26379231 0.07450889 -0.28468008
+v -0.14878725 0.18349961 -0.33088444
+v -0.17590763 0.14161343 -0.35853099
+f 6 4 1
+f 7 6 1
+f 7 3 6
+f 8 1 4
+f 10 3 7
+f 13 6 3
+f 13 8 4
+f 13 4 6
+f 15 10 7
+f 15 2 10
+f 19 1 8
+f 19 8 12
+f 19 7 1
+f 21 8 13
+f 22 15 7
+f 23 10 2
+f 24 9 16
+f 26 12 8
+f 26 8 21
+f 26 18 20
+f 27 20 18
+f 27 5 20
+f 28 19 12
+f 28 7 19
+f 28 22 7
+f 29 20 11
+f 29 26 20
+f 29 12 26
+f 31 21 13
+f 31 13 3
+f 31 3 10
+f 32 29 11
+f 32 12 29
+f 32 28 12
+f 32 22 28
+f 34 23 2
+f 34 16 23
+f 36 24 14
+f 36 9 24
+f 38 27 18
+f 38 18 17
+f 39 5 27
+f 39 20 5
+f 40 38 17
+f 40 27 38
+f 43 32 11
+f 43 22 32
+f 43 33 22
+f 43 41 33
+f 43 11 41
+f 44 33 2
+f 44 2 15
+f 45 16 34
+f 46 23 16
+f 47 16 9
+f 47 46 16
+f 47 35 46
+f 49 37 18
+f 49 18 26
+f 49 26 21
+f 49 21 37
+f 51 37 21
+f 51 21 31
+f 51 50 37
+f 52 39 27
+f 52 25 39
+f 52 40 25
+f 52 27 40
+f 53 20 39
+f 53 42 30
+f 53 39 25
+f 53 25 42
+f 54 41 11
+f 54 11 20
+f 54 30 41
+f 54 53 30
+f 54 20 53
+f 55 34 2
+f 55 2 33
+f 55 33 41
+f 55 41 30
+f 55 30 42
+f 55 45 34
+f 55 42 14
+f 55 14 45
+f 56 36 14
+f 56 14 42
+f 56 42 25
+f 57 44 15
+f 57 15 22
+f 57 22 33
+f 57 33 44
+f 58 24 16
+f 58 16 45
+f 58 45 14
+f 58 14 24
+f 59 46 35
+f 59 23 46
+f 59 50 23
+f 60 47 9
+f 60 9 36
+f 60 36 56
+f 60 56 48
+f 60 48 35
+f 60 35 47
+f 61 48 17
+f 61 17 18
+f 61 18 37
+f 61 37 48
+f 62 40 17
+f 62 17 48
+f 62 25 40
+f 62 56 25
+f 62 48 56
+f 63 10 23
+f 63 23 50
+f 63 50 51
+f 63 51 31
+f 63 31 10
+f 64 48 37
+f 64 37 50
+f 64 35 48
+f 64 59 35
+f 64 50 59
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_17.obj b/mango/mango_4/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfaaf3bbcee3bc8337a4f2c23558f44c0cdca536
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_17.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.11017837 0.12582774 -0.34090910
+v 0.18982069 0.16133447 -0.42286225
+v 0.10896460 0.23746353 -0.33633598
+v -0.03872305 0.23215958 -0.33470969
+v -0.09583962 0.11818966 -0.45083473
+v -0.02209373 0.19970624 -0.40520579
+v -0.13867254 0.18930882 -0.33360029
+v 0.16921525 0.19752376 -0.38394935
+v 0.16904532 0.12318773 -0.45512800
+v 0.02061738 0.22868041 -0.36350786
+v -0.16926858 0.14709520 -0.36058751
+v -0.07819458 0.18359939 -0.40303493
+v 0.12148255 0.19843929 -0.40286996
+v 0.10860592 0.12117879 -0.46343579
+v -0.03688874 0.21348975 -0.37637738
+v -0.13626534 0.11796988 -0.41961688
+v -0.04927289 0.15704462 -0.44429865
+v -0.13230672 0.16979451 -0.37437711
+v -0.08226209 0.21949097 -0.33526978
+v 0.16547833 0.18472684 -0.40570996
+v 0.07923600 0.21370506 -0.39054960
+v 0.15203832 0.20575193 -0.37968292
+v 0.10769581 0.15869044 -0.44491077
+v 0.01967813 0.21399402 -0.39099871
+v -0.03665294 0.22777959 -0.34704777
+v -0.06404851 0.19894777 -0.38929121
+v -0.05093341 0.18450202 -0.41715487
+v -0.07705497 0.14319792 -0.44345189
+v -0.06683782 0.11894179 -0.46551006
+v -0.08034205 0.21457792 -0.34770844
+v -0.13374962 0.12828854 -0.41521008
+v 0.13654014 0.17122587 -0.43007757
+v 0.09308736 0.22809589 -0.36265664
+v 0.15119021 0.19925005 -0.39112491
+v 0.06185712 0.14511181 -0.46012540
+v -0.06468596 0.12871324 -0.46022350
+v -0.11921094 0.16964809 -0.38767993
+v -0.06532005 0.21271638 -0.36192415
+v -0.10482327 0.15554327 -0.41522691
+v 0.13583871 0.18422287 -0.41705372
+v 0.16605073 0.14461167 -0.44403638
+v 0.10704172 0.23171093 -0.34994625
+v -0.03716653 0.14303410 -0.45842382
+v -0.09224261 0.12949067 -0.44517795
+f 7 1 3
+f 7 3 4
+f 8 1 2
+f 8 3 1
+f 9 2 1
+f 10 4 3
+f 11 1 7
+f 14 9 1
+f 16 1 11
+f 16 14 1
+f 16 5 14
+f 18 11 7
+f 19 7 4
+f 20 8 2
+f 22 3 8
+f 24 15 10
+f 24 6 15
+f 24 10 21
+f 25 4 10
+f 25 10 15
+f 25 19 4
+f 26 15 6
+f 27 6 17
+f 27 26 6
+f 27 12 26
+f 28 27 17
+f 28 12 27
+f 29 14 5
+f 30 18 7
+f 30 7 19
+f 30 26 12
+f 30 19 25
+f 31 16 11
+f 31 5 16
+f 33 21 10
+f 33 10 3
+f 33 13 21
+f 34 33 22
+f 34 13 33
+f 34 22 8
+f 34 8 20
+f 35 9 14
+f 35 14 29
+f 35 6 24
+f 35 24 21
+f 35 21 23
+f 36 28 17
+f 36 29 5
+f 37 30 12
+f 37 18 30
+f 37 31 11
+f 37 11 18
+f 38 30 25
+f 38 25 15
+f 38 15 26
+f 38 26 30
+f 39 31 37
+f 39 37 12
+f 39 12 28
+f 40 20 2
+f 40 2 32
+f 40 34 20
+f 40 13 34
+f 40 21 13
+f 40 32 23
+f 40 23 21
+f 41 32 2
+f 41 2 9
+f 41 23 32
+f 41 35 23
+f 41 9 35
+f 42 33 3
+f 42 3 22
+f 42 22 33
+f 43 17 6
+f 43 6 35
+f 43 36 17
+f 43 35 29
+f 43 29 36
+f 44 36 5
+f 44 28 36
+f 44 39 28
+f 44 5 31
+f 44 31 39
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_18.obj b/mango/mango_4/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c7a7d6d11309c88572739e8698fa76886222aae
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_18.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.31323854 -0.14616002 0.14381159
+v -0.31191514 -0.14550230 -0.09778144
+v -0.31523418 0.09620090 0.21995019
+v -0.31939557 0.09024781 0.21700340
+v -0.35736260 -0.03839731 -0.03450247
+v -0.32392713 -0.09064061 0.22271490
+v -0.34089865 -0.10914761 -0.03582908
+v -0.31910617 0.11342864 -0.09951508
+v -0.34100087 0.02990972 0.21464174
+v -0.33276178 -0.05993081 -0.11928623
+v -0.32484105 -0.13614056 -0.06351166
+v -0.35699156 -0.06703458 0.11132287
+v -0.32897105 0.11959988 0.00712514
+v -0.32739574 0.07404774 0.21614836
+v -0.34011415 -0.08145965 -0.07913783
+v -0.33242203 0.07109645 -0.11825660
+v -0.32598366 -0.13422069 0.12526779
+v -0.35681614 -0.06689407 -0.00572168
+v -0.35701146 0.04514152 0.09664368
+v -0.34085089 -0.05127117 0.21322327
+v -0.34062989 0.08680296 0.11114865
+v -0.34004954 -0.03699587 -0.10847250
+v -0.32793924 -0.11108914 -0.09469820
+v -0.34123895 0.08817142 -0.03514341
+v -0.34089764 -0.10785573 0.12622682
+v -0.31939229 -0.13931822 0.14192733
+v -0.34010392 -0.09588905 -0.06418128
+v -0.35564836 0.01576471 0.15600699
+v -0.35753011 0.04542223 -0.00549476
+v -0.32588806 0.08605623 0.20023844
+v -0.33680757 0.10637277 0.00780936
+v -0.34033122 0.07229934 0.15578698
+v -0.33640807 -0.05452283 -0.11125168
+v -0.34010274 0.04688396 -0.10978646
+v -0.31643510 -0.13996850 -0.09428727
+v -0.32560001 0.10152980 -0.09572046
+v -0.34097098 -0.07898236 0.18419997
+v -0.35657110 -0.03834020 0.15567122
+v -0.34041631 0.06014322 -0.09534181
+v -0.34072667 0.04456334 0.20053545
+v -0.35651582 0.03146962 -0.03567889
+v -0.33658441 0.06292516 -0.11182634
+v -0.33064438 -0.08085298 0.21451138
+v -0.35616264 -0.05332564 0.14109820
+f 1 2 3
+f 6 1 3
+f 8 3 2
+f 9 6 3
+f 11 2 1
+f 13 3 8
+f 14 9 3
+f 14 3 4
+f 16 8 2
+f 16 2 10
+f 17 11 1
+f 17 7 11
+f 18 12 5
+f 18 7 12
+f 20 6 9
+f 21 3 13
+f 22 15 5
+f 23 15 10
+f 23 10 2
+f 25 12 7
+f 25 7 17
+f 26 17 1
+f 26 1 6
+f 26 25 17
+f 27 7 18
+f 27 15 23
+f 27 23 11
+f 27 11 7
+f 27 18 5
+f 27 5 15
+f 29 5 12
+f 29 12 19
+f 30 4 3
+f 30 3 21
+f 30 14 4
+f 31 21 13
+f 31 19 21
+f 31 29 19
+f 31 24 29
+f 31 13 8
+f 31 8 24
+f 32 21 19
+f 32 30 21
+f 32 14 30
+f 32 19 28
+f 33 22 10
+f 33 10 15
+f 33 15 22
+f 34 16 10
+f 34 10 22
+f 34 22 5
+f 35 23 2
+f 35 2 11
+f 35 11 23
+f 36 24 8
+f 36 8 16
+f 37 12 25
+f 37 26 6
+f 37 25 26
+f 38 28 19
+f 38 19 12
+f 38 20 9
+f 38 9 28
+f 38 37 20
+f 39 29 24
+f 40 32 28
+f 40 28 9
+f 40 9 14
+f 40 14 32
+f 41 34 5
+f 41 5 29
+f 41 39 34
+f 41 29 39
+f 42 36 16
+f 42 24 36
+f 42 39 24
+f 42 16 34
+f 42 34 39
+f 43 37 6
+f 43 6 20
+f 43 20 37
+f 44 38 12
+f 44 12 37
+f 44 37 38
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_19.obj b/mango/mango_4/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06eeab630dfa0a61fc1e9b80b145198261e18b7d
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_19.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.01583901 -0.18122619 0.28169780
+v 0.15563292 -0.14689953 0.00757575
+v 0.12432435 0.10074656 0.25954018
+v -0.22072389 0.17016504 0.27594345
+v -0.19285193 -0.14689953 0.00757575
+v 0.15563292 0.12582774 0.00757575
+v 0.11337226 0.11735925 0.26107165
+v 0.13798392 -0.10673630 0.22218781
+v -0.20639760 -0.17491223 0.27783843
+v -0.19285193 0.12582774 0.00757575
+v 0.14678598 -0.01006359 0.26090038
+v 0.13642759 0.11416703 0.21066641
+v 0.15915609 -0.15037319 0.14693520
+v 0.13966979 0.07187887 0.26016687
+v 0.10882294 -0.11588984 0.25445285
+v 0.13747535 -0.06431495 0.25445016
+f 5 2 1
+f 6 2 5
+f 7 4 1
+f 7 6 4
+f 9 5 1
+f 9 1 4
+f 9 4 5
+f 10 6 5
+f 10 5 4
+f 10 4 6
+f 12 7 3
+f 12 6 7
+f 13 1 2
+f 13 2 6
+f 13 6 11
+f 14 7 1
+f 14 1 11
+f 14 3 7
+f 14 12 3
+f 14 11 6
+f 14 6 12
+f 15 11 1
+f 15 13 8
+f 15 1 13
+f 16 13 11
+f 16 8 13
+f 16 15 8
+f 16 11 15
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_2.obj b/mango/mango_4/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a827f2f01a267fe9807032bae1022ed058c11c9b
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_2.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.02909569 -0.19440750 0.25960198
+v 0.14269772 -0.03838032 0.25859298
+v 0.08924049 -0.02381734 0.39875432
+v -0.18127426 0.10973025 0.42966731
+v -0.16254890 0.09552471 0.26515151
+v 0.13053486 0.08941776 0.26188421
+v -0.17871279 -0.11902707 0.38807427
+v 0.07074857 -0.15059600 0.25782226
+v 0.09986020 0.08961541 0.39858037
+v 0.13966979 0.07187887 0.26016687
+v -0.00342145 -0.12849118 0.37381937
+v -0.19223791 -0.02617078 0.44146527
+v -0.17392617 -0.19401527 0.26002967
+v 0.11323051 -0.10798489 0.25732113
+v 0.10722088 0.00607374 0.37976400
+v 0.10556841 0.08548537 0.38361429
+v 0.04993214 -0.11521682 0.34429251
+v 0.01510773 -0.18134915 0.25898518
+v -0.19251061 -0.13880791 0.35625405
+v -0.05939703 -0.14374213 0.37536447
+v 0.12851060 -0.08006333 0.25900145
+v 0.13685700 0.04680517 0.28970154
+v 0.02371781 -0.11410066 0.37412003
+v 0.07751279 -0.08713983 0.34544485
+v -0.01716736 -0.15737224 0.33127476
+v -0.18082682 -0.18808387 0.26955531
+v -0.14388919 -0.14489375 0.37407967
+v 0.09036778 -0.04572465 0.37610241
+v 0.10581643 -0.02029280 0.36387857
+v 0.13699972 0.02071216 0.28918999
+v 0.01257297 -0.17597494 0.27146159
+v 0.07913556 -0.11676696 0.29858018
+v -0.01767125 -0.17251984 0.30110457
+v -0.04618528 -0.15818423 0.34534613
+v -0.17241535 -0.13451853 0.37606072
+v -0.15776656 -0.15986182 0.34490610
+v 0.09354686 -0.01939023 0.39303519
+v 0.12198201 0.00853951 0.33417969
+v -0.03073701 -0.18949939 0.27215490
+v -0.04543689 -0.17276775 0.31662993
+v -0.17213337 -0.14633882 0.35964073
+v -0.15850314 -0.17315921 0.31787739
+v -0.05922858 -0.18860609 0.28764610
+v -0.17312313 -0.18892241 0.27275773
+v -0.14335113 -0.18905316 0.28765775
+f 6 5 4
+f 9 6 4
+f 10 5 6
+f 12 9 4
+f 12 3 9
+f 12 11 3
+f 13 5 10
+f 14 10 2
+f 14 13 10
+f 14 8 13
+f 15 9 3
+f 16 10 6
+f 16 6 9
+f 16 9 15
+f 18 13 8
+f 18 1 13
+f 19 12 4
+f 19 4 5
+f 19 7 12
+f 20 11 12
+f 21 14 2
+f 22 16 15
+f 22 2 10
+f 22 10 16
+f 23 3 11
+f 23 18 8
+f 23 8 17
+f 24 23 17
+f 26 19 5
+f 26 5 13
+f 27 20 12
+f 27 12 7
+f 28 21 3
+f 28 14 21
+f 28 24 14
+f 28 3 23
+f 28 23 24
+f 29 21 2
+f 29 2 15
+f 30 22 15
+f 30 2 22
+f 31 23 11
+f 31 18 23
+f 31 25 18
+f 31 11 25
+f 32 24 17
+f 32 17 8
+f 32 8 14
+f 32 14 24
+f 33 18 25
+f 34 25 11
+f 34 11 20
+f 35 27 7
+f 35 7 19
+f 37 29 15
+f 37 15 3
+f 37 3 21
+f 37 21 29
+f 38 30 15
+f 38 15 2
+f 38 2 30
+f 39 1 18
+f 39 18 33
+f 40 33 25
+f 40 25 34
+f 40 39 33
+f 41 19 26
+f 41 26 36
+f 41 35 19
+f 41 36 27
+f 41 27 35
+f 42 36 26
+f 43 20 27
+f 43 1 39
+f 43 39 40
+f 43 40 34
+f 43 34 20
+f 44 42 26
+f 44 26 13
+f 45 36 42
+f 45 13 1
+f 45 1 43
+f 45 44 13
+f 45 42 44
+f 45 43 27
+f 45 27 36
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_20.obj b/mango/mango_4/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07ee9399e635d287cf2ef8f3e6f100c159f5ec75
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_20.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.20091853 -0.23748983 -0.09854047
+v 0.34784185 -0.01089469 -0.09622309
+v 0.19391799 -0.21066611 0.00215040
+v 0.19417751 0.22099357 -0.07090407
+v 0.20814579 0.22016051 -0.10167939
+v 0.30378250 0.04563582 -0.00228922
+v 0.19531410 -0.22685806 -0.04139308
+v 0.30934860 -0.14000116 -0.10312636
+v 0.19741811 0.22591851 -0.09961708
+v 0.19455121 0.19296585 0.00308065
+v 0.32563558 0.10481714 -0.10138794
+v 0.22327276 -0.22467654 -0.10064823
+v 0.30200801 -0.08096764 -0.00268339
+v 0.19409064 0.20657089 -0.02632966
+v 0.27454377 -0.13437078 -0.00082884
+v 0.31852590 0.07459238 -0.04797357
+v 0.30838320 0.13082374 -0.10274645
+v 0.26309431 -0.19277360 -0.10202950
+v 0.21904334 -0.21853877 -0.05844791
+v 0.32415043 -0.06784603 -0.04276543
+v 0.24632336 0.18491020 -0.07458210
+v 0.31855038 0.04592986 -0.03199204
+v 0.26113659 0.12833026 -0.00319210
+v 0.23495467 0.20137179 -0.10239120
+v 0.25978435 -0.17683083 -0.04416678
+v 0.20756355 -0.22121839 -0.04389026
+v 0.26096751 -0.19244091 -0.08724592
+v 0.31921063 -0.06780691 -0.03033897
+v 0.30386104 -0.13499893 -0.07257124
+v 0.20511948 0.21451984 -0.07309044
+v 0.20312208 0.20075624 -0.02917744
+v 0.28982572 0.08567786 -0.00446531
+v 0.28931433 0.11409770 -0.03232937
+v 0.25951058 0.14058178 -0.01786237
+v 0.21735154 -0.20386222 -0.01590810
+v 0.28838658 -0.13447502 -0.03061198
+v 0.29015425 -0.14775544 -0.05903709
+v 0.23361511 0.19883295 -0.08770810
+v 0.21614232 0.18396178 -0.01645181
+v 0.30344024 0.07402682 -0.01836438
+v 0.30571138 0.12823377 -0.08879285
+v 0.31966980 0.09864069 -0.07424062
+v 0.20323258 0.18683310 0.00042099
+v 0.25929584 -0.16290882 -0.01666777
+v 0.20392607 -0.20545242 -0.00025824
+v 0.23339204 -0.20329927 -0.04383927
+v 0.28984551 0.14108329 -0.07600484
+v 0.30339638 0.11367485 -0.06095354
+f 7 3 4
+f 7 4 1
+f 9 5 1
+f 9 1 4
+f 9 4 5
+f 11 2 8
+f 12 1 5
+f 14 4 3
+f 14 3 10
+f 15 10 3
+f 15 6 10
+f 15 13 6
+f 16 2 11
+f 17 11 8
+f 18 12 5
+f 19 1 12
+f 20 8 2
+f 22 16 6
+f 22 2 16
+f 23 10 6
+f 24 17 8
+f 24 21 17
+f 24 18 5
+f 24 8 18
+f 26 7 1
+f 26 1 19
+f 26 3 7
+f 27 19 12
+f 27 12 18
+f 27 18 8
+f 28 6 13
+f 28 22 6
+f 28 20 2
+f 28 2 22
+f 29 8 20
+f 30 4 14
+f 30 5 4
+f 31 21 14
+f 31 14 10
+f 32 23 6
+f 33 23 32
+f 34 23 33
+f 35 3 26
+f 36 28 13
+f 36 20 28
+f 36 29 20
+f 36 13 15
+f 37 27 8
+f 37 8 29
+f 37 25 27
+f 37 29 36
+f 38 30 14
+f 38 14 21
+f 38 21 24
+f 38 24 5
+f 38 5 30
+f 39 31 10
+f 39 21 31
+f 39 34 21
+f 40 32 6
+f 40 6 16
+f 40 33 32
+f 41 11 17
+f 42 16 11
+f 42 11 41
+f 42 40 16
+f 42 33 40
+f 43 10 23
+f 43 23 34
+f 43 39 10
+f 43 34 39
+f 44 36 15
+f 44 37 36
+f 44 25 37
+f 45 15 3
+f 45 3 35
+f 45 44 15
+f 45 35 44
+f 46 27 25
+f 46 44 35
+f 46 25 44
+f 46 19 27
+f 46 35 26
+f 46 26 19
+f 47 34 33
+f 47 21 34
+f 47 41 17
+f 47 17 21
+f 48 42 41
+f 48 33 42
+f 48 47 33
+f 48 41 47
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_21.obj b/mango/mango_4/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21dcb8dc7238e80cfdbd8e00d8df1e03ca55a603
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_21.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.15317249 -0.23098443 0.00514498
+v 0.29436992 -0.09615579 0.00097184
+v 0.14652487 -0.05349078 0.24450340
+v 0.16744207 0.11879378 0.15072289
+v 0.15563292 0.09552471 0.00757575
+v 0.28822102 0.04454103 0.02502010
+v 0.20138256 -0.14663735 0.10088595
+v 0.24854300 -0.16497736 0.00016058
+v 0.14611102 -0.18069852 0.12163513
+v 0.14762912 0.10498485 0.20023209
+v 0.25877750 -0.05246891 0.08649079
+v 0.28282912 0.09110050 0.00193682
+v 0.16432630 -0.22683883 0.00347832
+v 0.25958813 -0.13401596 0.02632592
+v 0.14928944 -0.22286260 0.03139759
+v 0.14585420 -0.08247357 0.22772750
+v 0.20128766 -0.17618518 0.05886851
+v 0.14860336 0.06258100 0.24729189
+v 0.28728882 -0.07875972 0.02708489
+v 0.29679474 0.06164238 0.00114288
+v 0.19391799 -0.21066611 0.00215040
+v 0.27929737 -0.12493415 0.00050443
+v 0.22856172 -0.14827956 0.05859728
+v 0.15717256 -0.17520764 0.11668164
+v 0.21374132 -0.09509517 0.13043961
+v 0.25898683 0.00282062 0.08673882
+v 0.16820933 -0.00834446 0.22303199
+v 0.24368203 -0.11904246 0.07009964
+v 0.22960537 -0.17811042 0.01354696
+v 0.16101905 -0.21826209 0.02923417
+v 0.17405667 -0.20367839 0.04453268
+v 0.18570708 -0.16005639 0.10242935
+v 0.17316071 -0.19005305 0.07183033
+v 0.22823276 -0.05198674 0.13120755
+v 0.20007878 -0.12062441 0.12944215
+v 0.27227660 0.02899231 0.05783569
+v 0.16787407 0.01746274 0.22438766
+v 0.28904434 -0.09289915 0.01375017
+v 0.27417894 -0.12309726 0.01324415
+v 0.23460853 -0.17991837 0.00110623
+v 0.19119904 -0.20665537 0.01463490
+v 0.24562377 -0.16100896 0.01224838
+v 0.21327846 -0.06701717 0.14488155
+v 0.22875103 0.01632817 0.13177419
+f 10 4 5
+f 10 5 9
+f 12 5 4
+f 12 4 10
+f 12 8 5
+f 13 1 5
+f 15 9 5
+f 15 5 1
+f 15 1 13
+f 16 10 9
+f 16 3 10
+f 18 10 3
+f 18 12 10
+f 20 8 12
+f 20 19 2
+f 20 6 19
+f 20 18 6
+f 20 12 18
+f 21 13 5
+f 21 5 8
+f 22 14 8
+f 22 20 2
+f 22 8 20
+f 23 7 17
+f 24 16 9
+f 24 7 16
+f 25 3 16
+f 25 19 11
+f 26 19 6
+f 26 11 19
+f 27 18 3
+f 28 19 25
+f 28 23 14
+f 28 7 23
+f 29 23 17
+f 30 15 13
+f 30 13 21
+f 30 9 15
+f 31 30 21
+f 31 9 30
+f 32 24 17
+f 32 17 7
+f 32 7 24
+f 33 24 9
+f 33 17 24
+f 33 31 17
+f 33 9 31
+f 34 25 11
+f 34 27 3
+f 34 11 27
+f 35 25 16
+f 35 16 7
+f 35 28 25
+f 35 7 28
+f 36 26 6
+f 36 6 18
+f 37 18 27
+f 37 27 11
+f 37 11 26
+f 38 2 19
+f 38 19 28
+f 39 28 14
+f 39 14 22
+f 39 38 28
+f 39 22 2
+f 39 2 38
+f 40 29 21
+f 40 21 8
+f 40 8 29
+f 41 29 17
+f 41 21 29
+f 41 31 21
+f 41 17 31
+f 42 29 8
+f 42 8 14
+f 42 14 23
+f 42 23 29
+f 43 34 3
+f 43 3 25
+f 43 25 34
+f 44 36 18
+f 44 26 36
+f 44 37 26
+f 44 18 37
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_22.obj b/mango/mango_4/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..304af2665728e56d55b73ff6958a6cff242c9427
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_22.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.29829203 -0.15217684 -0.09618208
+v 0.31946005 -0.00838593 -0.37818778
+v 0.28159788 0.16181599 -0.10181807
+v 0.19421334 0.23537133 -0.14522203
+v 0.22662102 -0.18129870 -0.37602667
+v 0.27991982 0.15935492 -0.33498764
+v 0.20108746 -0.14689953 -0.09848486
+v 0.28519164 -0.14080894 -0.35209094
+v 0.27904891 0.18373958 -0.26367876
+v 0.21264935 0.19806481 -0.35386508
+v 0.19741811 0.22591851 -0.09961708
+v 0.27761326 0.18499706 -0.19125848
+v 0.25217616 0.20032075 -0.27855669
+v 0.20108746 -0.01053589 -0.35606062
+v 0.24953762 0.19860985 -0.13225123
+v 0.19563376 0.23464380 -0.26320517
+v 0.23551059 0.21391554 -0.24857348
+v 0.21807655 0.21335268 -0.10259089
+v 0.27755618 0.17176172 -0.11882633
+v 0.23430083 0.21330906 -0.16184471
+v 0.20740955 0.22920027 -0.26158444
+v 0.20621402 0.22893369 -0.14654863
+v 0.26266979 0.18479674 -0.11894907
+f 1 2 3
+f 7 5 1
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 3 2
+f 9 2 6
+f 10 6 2
+f 10 2 5
+f 11 7 1
+f 11 1 3
+f 11 4 7
+f 12 3 9
+f 13 9 6
+f 13 6 10
+f 14 7 4
+f 14 10 5
+f 14 5 7
+f 16 14 4
+f 16 10 14
+f 17 12 9
+f 17 9 13
+f 18 11 3
+f 19 3 12
+f 20 15 12
+f 20 12 17
+f 21 13 10
+f 21 10 16
+f 21 17 13
+f 21 16 4
+f 22 18 15
+f 22 11 18
+f 22 15 20
+f 22 4 11
+f 22 20 17
+f 22 21 4
+f 22 17 21
+f 23 18 3
+f 23 3 19
+f 23 15 18
+f 23 19 12
+f 23 12 15
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_23.obj b/mango/mango_4/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc5e72b4c53d887b33344e5e949ba5160b66d89d
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_23.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.16535119 -0.19165525 0.27067052
+v -0.17732831 -0.19114085 0.26464236
+v -0.16244731 0.20129860 0.26509759
+v -0.21624697 -0.17903323 0.25891241
+v -0.17241535 -0.13451853 0.37606072
+v -0.15909058 -0.16535529 0.33471426
+v -0.30993827 0.05853062 0.28807892
+v -0.17244885 -0.17612972 0.30404385
+v -0.15648262 0.06261238 0.46484554
+v -0.31414192 0.07297086 0.26075222
+v -0.27992181 -0.07472103 0.33434412
+v -0.18661371 -0.17240787 0.30175723
+v -0.15635447 0.18710794 0.33613275
+v -0.15696377 -0.07743117 0.43330134
+v -0.20052746 0.18576190 0.26176784
+v -0.23707501 -0.11683266 0.34246049
+v -0.26816925 0.01621512 0.38709428
+v -0.31426200 -0.08114917 0.25889215
+v -0.18487037 -0.15904400 0.33074778
+v -0.25255050 0.12726684 0.33103080
+v -0.15361700 0.13005278 0.43492961
+v -0.18264140 0.18180497 0.31804122
+v -0.22422513 -0.06413539 0.40073848
+v -0.30013420 -0.10705036 0.25865422
+v -0.24389723 -0.16283768 0.25746807
+v -0.29521488 -0.00909215 0.33157227
+v -0.19696288 -0.14535703 0.34329966
+v -0.21283149 -0.17457921 0.27215340
+v -0.27988775 0.09881458 0.31619338
+v -0.24429477 0.15784608 0.26179006
+v -0.15649932 -0.00881587 0.46745684
+v -0.20611112 0.10112684 0.41512926
+v -0.16972609 0.15535464 0.39106960
+v -0.23805063 -0.08940310 0.37176137
+v -0.26560379 -0.00457419 0.38874985
+v -0.26863520 -0.11761544 0.29932191
+v -0.29634251 -0.10368345 0.27095081
+v -0.29566022 0.01837652 0.33156905
+v -0.31016112 -0.05240160 0.28574000
+v -0.21134012 -0.11468461 0.37221753
+v -0.23995098 -0.14356688 0.29942653
+v -0.23964794 -0.15873842 0.27148035
+v -0.31063618 0.07184807 0.27350243
+v -0.27958552 0.06158124 0.34608573
+v -0.29942846 0.10130800 0.26119615
+v -0.19879463 0.18340231 0.27669675
+v -0.23895308 0.13909420 0.33240604
+v -0.19660827 -0.04720091 0.42877983
+v -0.19470416 0.04685567 0.44600772
+v -0.16709905 0.10253971 0.44265699
+v -0.15712703 0.15989483 0.39372215
+v -0.17034072 0.17015326 0.36397318
+v -0.19581530 0.13969606 0.38955416
+v -0.25198486 -0.10069075 0.34418554
+v -0.26561344 -0.06423183 0.35966265
+v -0.27975230 -0.05153772 0.34539382
+v -0.31000762 -0.07771587 0.27071084
+v -0.18425253 -0.13171237 0.37188048
+v -0.16821872 -0.07520396 0.42948145
+v -0.19754248 -0.07278593 0.41437052
+v -0.27965753 0.08747964 0.32988994
+v -0.25240017 0.08758336 0.37219933
+v -0.26583740 0.12646821 0.30339400
+v -0.29619728 0.09972154 0.27372317
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 8 2 1
+f 8 1 6
+f 12 4 2
+f 12 2 8
+f 13 6 3
+f 14 5 6
+f 15 3 4
+f 18 7 10
+f 19 12 8
+f 19 8 6
+f 19 6 5
+f 21 14 6
+f 21 6 13
+f 22 13 3
+f 22 3 15
+f 25 18 10
+f 25 10 15
+f 25 24 18
+f 25 15 4
+f 27 19 5
+f 28 4 12
+f 28 12 19
+f 28 19 27
+f 31 21 9
+f 31 14 21
+f 35 17 26
+f 36 24 25
+f 37 11 18
+f 37 18 24
+f 37 36 11
+f 37 24 36
+f 38 26 17
+f 38 17 7
+f 39 7 18
+f 39 38 7
+f 39 26 38
+f 40 16 27
+f 40 34 16
+f 41 27 16
+f 41 28 27
+f 41 36 25
+f 41 16 36
+f 42 25 4
+f 42 4 28
+f 42 41 25
+f 42 28 41
+f 43 10 7
+f 44 7 17
+f 45 30 15
+f 45 15 10
+f 45 10 43
+f 46 30 22
+f 46 22 15
+f 46 15 30
+f 47 22 30
+f 48 35 23
+f 48 31 35
+f 49 31 9
+f 49 35 31
+f 49 17 35
+f 49 32 17
+f 50 9 21
+f 50 21 32
+f 50 49 9
+f 50 32 49
+f 51 33 21
+f 51 21 13
+f 52 13 22
+f 52 22 47
+f 52 51 13
+f 52 33 51
+f 53 32 21
+f 53 21 33
+f 53 52 47
+f 53 33 52
+f 53 47 20
+f 54 34 11
+f 54 16 34
+f 54 36 16
+f 54 11 36
+f 55 34 23
+f 55 23 35
+f 55 35 11
+f 55 11 34
+f 56 35 26
+f 56 11 35
+f 56 39 11
+f 56 26 39
+f 57 39 18
+f 57 18 11
+f 57 11 39
+f 58 40 27
+f 58 27 5
+f 58 5 40
+f 59 40 5
+f 59 5 14
+f 59 14 31
+f 59 31 48
+f 60 23 34
+f 60 34 40
+f 60 40 59
+f 60 59 48
+f 60 48 23
+f 61 43 7
+f 61 29 43
+f 61 7 44
+f 61 20 29
+f 62 44 17
+f 62 17 32
+f 62 61 44
+f 62 20 61
+f 62 53 20
+f 62 32 53
+f 63 29 20
+f 63 30 45
+f 63 47 30
+f 63 20 47
+f 64 45 43
+f 64 43 29
+f 64 63 45
+f 64 29 63
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_24.obj b/mango/mango_4/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52afe7bb84d67e404c4a14df3dac56b39586f8c6
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_24.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.19372584 0.09094586 0.13919792
+v 0.28282912 0.09110050 0.00193682
+v 0.08481962 0.17440671 0.21529782
+v 0.07482257 0.24628252 0.03403672
+v 0.07987534 0.12582774 0.00757575
+v 0.19455121 0.19296585 0.00308065
+v 0.10374188 0.14633721 0.23038074
+v 0.15563292 0.09552471 0.00757575
+v 0.07257804 0.19022773 0.19986910
+v 0.07723786 0.25223741 0.00525463
+v 0.13076040 0.11979097 0.21535607
+v 0.17094049 0.18388840 0.05942262
+v 0.27853043 0.10201999 -0.00143380
+v 0.27657017 0.08894626 0.01253779
+v 0.07163510 0.20269406 0.16908481
+v 0.14317775 0.19837597 0.07504164
+v 0.07577077 0.18072656 0.21719833
+v 0.13346375 0.23180253 0.00253228
+v 0.24682588 0.09066989 0.05822731
+v 0.15826837 0.10267753 0.18321578
+v 0.21435620 0.14120824 0.05664081
+v 0.21667032 0.08965664 0.10314472
+v 0.09878701 0.21244794 0.10607790
+v 0.09101928 0.24847965 0.00448470
+v 0.16140876 0.21727216 0.00137974
+v 0.24354894 0.12721152 0.02671587
+v 0.18690158 0.18567931 0.02992970
+v 0.10175325 0.22782265 0.06165046
+v 0.15937226 0.21296830 0.01504044
+v 0.08781667 0.24236618 0.03228758
+v 0.13039174 0.22870610 0.01685774
+f 10 5 4
+f 11 7 5
+f 12 3 7
+f 13 8 5
+f 13 2 8
+f 13 11 2
+f 13 7 11
+f 14 8 2
+f 15 4 5
+f 15 5 9
+f 16 12 6
+f 16 3 12
+f 17 7 3
+f 17 16 9
+f 17 3 16
+f 17 9 5
+f 17 5 7
+f 19 11 1
+f 19 2 11
+f 19 14 2
+f 19 1 14
+f 20 8 1
+f 20 1 11
+f 20 11 5
+f 20 5 8
+f 21 12 7
+f 22 14 1
+f 22 1 8
+f 22 8 14
+f 23 15 9
+f 24 10 4
+f 24 18 5
+f 24 5 10
+f 25 6 13
+f 25 13 5
+f 25 5 18
+f 25 23 9
+f 26 13 6
+f 26 6 21
+f 26 21 7
+f 26 7 13
+f 27 21 6
+f 27 6 12
+f 27 12 21
+f 28 15 23
+f 28 23 25
+f 29 16 6
+f 29 6 25
+f 29 25 9
+f 29 9 16
+f 30 24 4
+f 30 4 15
+f 30 15 28
+f 30 28 18
+f 30 18 24
+f 31 28 25
+f 31 25 18
+f 31 18 28
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_25.obj b/mango/mango_4/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45c5462ee075ecf171c2025477a71317cfb78abe
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_25.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.17381173 -0.25452383 0.00590072
+v -0.17176622 -0.25515340 -0.08214889
+v -0.17770042 -0.14689953 0.00757575
+v -0.31939229 -0.13931822 0.14192733
+v -0.27215543 -0.20610814 0.00862393
+v -0.18960913 -0.22843567 0.14147168
+v -0.18633099 -0.25064669 0.00598160
+v -0.31643510 -0.13996850 -0.09428727
+v -0.19285193 -0.14689953 0.08333333
+v -0.25655131 -0.20490239 0.10934432
+v -0.21318536 -0.23439928 -0.09685552
+v -0.18845331 -0.23812438 0.09604596
+v -0.31292318 -0.16457115 0.00802823
+v -0.17770042 -0.14689953 -0.09848486
+v -0.19787295 -0.22393707 0.14807335
+v -0.28387221 -0.19254933 0.06604319
+v -0.24316863 -0.21852857 0.08036997
+v -0.18387707 -0.24981377 -0.08142947
+v -0.28292408 -0.19162687 -0.06524560
+v -0.24259993 -0.21877484 -0.09691568
+v -0.17697995 -0.25128310 -0.09837879
+v -0.27794731 -0.17768697 0.15422962
+v -0.20057898 -0.23448084 0.09538076
+v -0.31206762 -0.16420846 0.03628423
+v -0.21647228 -0.23490607 0.05139989
+v -0.21622043 -0.21940377 0.13961232
+v -0.27085046 -0.20504747 0.05114821
+v -0.29762962 -0.17842232 -0.05187141
+v -0.31041582 -0.15028820 -0.09279270
+v -0.27034273 -0.20586823 -0.02173926
+v -0.28467612 -0.17583949 0.14016572
+v -0.29751118 -0.17771981 0.06586184
+v -0.24336352 -0.20621075 0.13885068
+v -0.31183452 -0.16367251 -0.02102880
+v -0.31285341 -0.14784284 0.13964374
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 9 6 3
+f 9 3 4
+f 11 7 5
+f 12 1 6
+f 13 4 8
+f 14 8 4
+f 14 4 3
+f 14 3 2
+f 15 6 9
+f 16 13 5
+f 18 2 7
+f 18 7 11
+f 20 8 14
+f 20 11 5
+f 21 14 2
+f 21 20 14
+f 21 11 20
+f 21 18 11
+f 21 2 18
+f 22 15 9
+f 22 9 4
+f 23 12 6
+f 23 7 1
+f 23 1 12
+f 24 4 13
+f 24 13 16
+f 25 5 7
+f 25 23 17
+f 25 7 23
+f 26 17 23
+f 26 23 6
+f 26 6 15
+f 27 16 5
+f 27 25 17
+f 27 5 25
+f 27 17 10
+f 27 10 16
+f 28 19 5
+f 28 5 13
+f 29 20 19
+f 29 8 20
+f 29 19 28
+f 30 20 5
+f 30 5 19
+f 30 19 20
+f 31 16 10
+f 31 10 22
+f 32 24 16
+f 33 10 17
+f 33 17 26
+f 33 22 10
+f 33 26 15
+f 33 15 22
+f 34 29 28
+f 34 28 13
+f 34 13 8
+f 34 8 29
+f 35 31 22
+f 35 22 4
+f 35 16 31
+f 35 32 16
+f 35 4 24
+f 35 24 32
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_26.obj b/mango/mango_4/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83e4cfde807d8aacc7a03f9d64e1f2e8ef7384c1
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_26.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.11017837 0.12582774 0.00757575
+v 0.16665133 0.24937962 -0.23811211
+v 0.15623616 0.21780056 0.00796241
+v -0.11284605 0.25884766 0.00498854
+v -0.17770042 0.12582774 -0.23484849
+v 0.06159427 0.27457744 -0.08569710
+v -0.17770042 0.12582774 0.00757575
+v 0.11017837 0.12582774 -0.23484849
+v -0.06727446 0.25921525 -0.22982640
+v 0.13367786 0.25901745 -0.11526811
+v 0.05890255 0.25802001 0.00302471
+v -0.17415838 0.23904334 0.00658227
+v -0.16934288 0.21733103 -0.22945748
+v 0.06337417 0.27507573 -0.21753878
+v 0.14739629 0.24268583 -0.05824766
+v -0.04045335 0.27570070 -0.03963479
+v 0.11847771 0.25756915 -0.07289359
+v -0.15691681 0.24566176 0.00625057
+v -0.16803088 0.24346872 -0.12639187
+v 0.13440145 0.25923038 -0.23278888
+v 0.07561009 0.27530271 -0.11581907
+v 0.10343001 0.24454239 0.00323057
+v 0.01668803 0.27509793 -0.04068928
+v -0.06680771 0.27398369 -0.15670961
+v 0.07484035 0.25743810 -0.01214215
+v -0.13943604 0.24239494 -0.20020274
+v -0.17018179 0.24374609 -0.03934389
+v 0.15307510 0.25393179 -0.23389458
+v 0.07676669 0.27504314 -0.20329194
+v 0.14689561 0.23039374 -0.01315150
+v 0.11818568 0.24285766 -0.01230791
+v -0.02199921 0.27305736 -0.21353368
+v -0.06839021 0.27499763 -0.06937181
+v -0.15176011 0.22752372 -0.22816775
+v -0.16748644 0.22898288 -0.19726141
+v -0.11057039 0.25705935 -0.18494400
+v -0.12746389 0.25925549 -0.03926157
+v 0.13346375 0.23180253 0.00253228
+v -0.03678220 0.27357778 -0.20006578
+v -0.15329979 0.24310030 -0.17035336
+v -0.12483182 0.25932317 -0.14216547
+v 0.15034844 0.22247729 0.00397446
+f 7 1 3
+f 7 5 1
+f 8 2 3
+f 8 3 1
+f 8 5 2
+f 8 1 5
+f 11 4 3
+f 12 7 3
+f 12 5 7
+f 13 9 2
+f 13 2 5
+f 13 5 12
+f 15 3 2
+f 15 2 10
+f 16 4 11
+f 17 15 10
+f 18 12 3
+f 18 3 4
+f 19 13 12
+f 20 2 9
+f 20 9 14
+f 21 10 20
+f 21 17 10
+f 21 6 17
+f 21 14 16
+f 22 11 3
+f 23 16 11
+f 23 11 6
+f 23 21 16
+f 23 6 21
+f 25 17 6
+f 25 6 11
+f 25 22 17
+f 25 11 22
+f 27 19 12
+f 27 12 18
+f 28 20 10
+f 28 10 2
+f 28 2 20
+f 29 21 20
+f 29 20 14
+f 29 14 21
+f 30 3 15
+f 31 15 17
+f 31 17 22
+f 31 30 15
+f 32 14 9
+f 33 4 16
+f 33 16 14
+f 33 14 24
+f 34 26 9
+f 34 9 13
+f 35 13 19
+f 35 34 13
+f 35 26 34
+f 36 9 26
+f 37 27 18
+f 37 18 4
+f 37 4 33
+f 38 22 3
+f 38 31 22
+f 38 30 31
+f 39 24 14
+f 39 14 32
+f 39 32 9
+f 39 36 24
+f 39 9 36
+f 40 35 19
+f 40 26 35
+f 40 36 26
+f 41 24 36
+f 41 19 27
+f 41 27 37
+f 41 37 33
+f 41 33 24
+f 41 40 19
+f 41 36 40
+f 42 38 3
+f 42 3 30
+f 42 30 38
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_27.obj b/mango/mango_4/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74526646e84662f2f6858e639a134adc9498919d
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_27.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.25345800 0.09552471 0.14393939
+v -0.24807770 0.19494027 -0.09721645
+v -0.25345800 0.09552471 0.00757575
+v -0.24659899 0.19105396 0.09671526
+v -0.34241119 0.09468883 0.00764110
+v -0.33400369 0.09107219 0.14214114
+v -0.29896509 0.15568042 0.06633380
+v -0.32241957 0.10735171 -0.09732787
+v -0.24977196 0.18099920 0.14305347
+v -0.28490482 0.17012384 0.03788589
+v -0.32620534 0.11397610 0.11110438
+v -0.29657074 0.14469768 -0.10889112
+v -0.27119720 0.16934444 0.12571302
+v -0.31233271 0.14209938 0.05216373
+v -0.28441810 0.17067121 -0.05119316
+v -0.31177890 0.14224524 -0.02071914
+v -0.26036775 0.17434790 0.14138860
+v -0.29941515 0.14122755 0.14005416
+v -0.25646273 0.18447575 0.09592582
+v -0.25690721 0.18775316 -0.09633876
+v -0.31119232 0.12803392 -0.09518124
+v -0.29729162 0.15661973 -0.05203513
+v -0.28444617 0.15533305 0.13975134
+v -0.31201088 0.12715413 0.14017790
+v -0.32599140 0.11562529 -0.04919232
+v -0.32873374 0.10236200 0.14086477
+v -0.33156079 0.10426141 -0.05085381
+f 1 3 4
+f 3 2 4
+f 6 5 3
+f 6 3 1
+f 8 3 5
+f 9 6 1
+f 9 1 4
+f 10 4 2
+f 11 5 6
+f 12 2 3
+f 12 3 8
+f 13 10 7
+f 14 5 11
+f 14 7 10
+f 15 10 2
+f 15 14 10
+f 16 5 14
+f 16 14 15
+f 17 9 4
+f 18 9 17
+f 19 4 10
+f 19 10 13
+f 19 17 4
+f 19 13 17
+f 20 15 2
+f 20 2 12
+f 20 12 15
+f 21 12 8
+f 22 16 15
+f 22 15 12
+f 22 21 16
+f 22 12 21
+f 23 13 7
+f 23 7 18
+f 23 18 17
+f 23 17 13
+f 24 6 9
+f 24 9 18
+f 24 14 11
+f 24 18 7
+f 24 7 14
+f 25 21 8
+f 25 5 16
+f 25 16 21
+f 26 24 11
+f 26 11 6
+f 26 6 24
+f 27 25 8
+f 27 8 5
+f 27 5 25
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_28.obj b/mango/mango_4/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60183165f0555370c15a7d2e57c7b917008b187e
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_28.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.12271279 -0.23935220 -0.34991158
+v 0.22662102 -0.18129870 -0.37602667
+v -0.13935880 -0.19478181 -0.34808265
+v -0.13861045 -0.13922689 -0.40513871
+v 0.09385097 -0.16433805 -0.45939873
+v -0.16122650 -0.15951379 -0.36850322
+v 0.19549367 -0.21199913 -0.35074103
+v 0.16408797 -0.17543314 -0.43209334
+v 0.19341768 -0.13744988 -0.44994290
+v -0.00781247 -0.21975173 -0.38915813
+v -0.12055559 -0.16122735 -0.40100536
+v -0.08132850 -0.22486870 -0.34810521
+v 0.10871109 -0.19111374 -0.43311092
+v 0.16443580 -0.22042173 -0.36183142
+v -0.02251764 -0.14054922 -0.46612568
+v 0.14940280 -0.15025848 -0.46037015
+v 0.19070231 -0.17509520 -0.41692754
+v -0.13482275 -0.14965953 -0.40036831
+v -0.13565007 -0.19054633 -0.35734382
+v -0.02422912 -0.24010878 -0.34952652
+v -0.03538977 -0.19082619 -0.41752900
+v 0.04918614 -0.20573232 -0.41942900
+v 0.16579535 -0.22594336 -0.35035341
+v 0.13590789 -0.20391684 -0.40530163
+v -0.06672194 -0.13790630 -0.45050848
+v 0.16357242 -0.16261925 -0.44535232
+v 0.15163829 -0.13980409 -0.46676010
+v 0.10735934 -0.17890497 -0.44590947
+v 0.19065265 -0.14730096 -0.44410053
+v 0.19295183 -0.20678597 -0.36432324
+v -0.12094138 -0.17591022 -0.38569161
+v -0.05086393 -0.21967606 -0.37466363
+v 0.10694557 -0.21909795 -0.39056905
+v 0.00625783 -0.19008549 -0.43203237
+v -0.02339228 -0.23451141 -0.36068331
+v 0.14935964 -0.21799618 -0.37526634
+v -0.09456582 -0.13894000 -0.43577302
+v -0.03364600 -0.16345079 -0.44515096
+v 0.02250636 -0.16379077 -0.46112773
+v -0.06393867 -0.20467319 -0.38693082
+v 0.12118894 -0.23380049 -0.36139109
+v 0.03607981 -0.20488267 -0.41947470
+v -0.06320247 -0.14899416 -0.44420259
+v 0.00677853 -0.17714909 -0.44620921
+v -0.02079331 -0.15046440 -0.45994188
+v -0.07851886 -0.21893639 -0.35875240
+v -0.09175304 -0.14893859 -0.42959127
+f 6 2 4
+f 7 6 3
+f 7 2 6
+f 9 4 2
+f 12 7 3
+f 18 11 6
+f 18 6 4
+f 19 3 6
+f 19 12 3
+f 20 1 12
+f 23 1 14
+f 23 12 1
+f 23 7 12
+f 24 13 8
+f 24 8 17
+f 25 4 9
+f 26 16 9
+f 26 8 13
+f 26 17 8
+f 27 9 16
+f 27 25 9
+f 27 15 25
+f 27 16 5
+f 28 5 16
+f 28 13 22
+f 28 26 13
+f 28 16 26
+f 29 9 2
+f 29 2 17
+f 29 26 9
+f 29 17 26
+f 30 17 2
+f 30 2 7
+f 30 14 17
+f 30 23 14
+f 30 7 23
+f 31 19 6
+f 31 6 11
+f 32 20 12
+f 32 21 10
+f 33 22 13
+f 33 13 24
+f 34 10 21
+f 35 22 20
+f 35 10 22
+f 35 32 10
+f 35 20 32
+f 36 24 17
+f 36 17 14
+f 36 14 1
+f 37 18 4
+f 37 4 25
+f 37 11 18
+f 39 27 5
+f 39 15 27
+f 39 28 22
+f 39 5 28
+f 40 31 21
+f 40 21 32
+f 40 19 31
+f 41 22 33
+f 41 1 20
+f 41 20 22
+f 41 33 24
+f 41 36 1
+f 41 24 36
+f 42 22 10
+f 42 10 34
+f 42 39 22
+f 43 37 25
+f 43 38 21
+f 44 34 21
+f 44 21 38
+f 44 42 34
+f 44 39 42
+f 45 15 39
+f 45 38 43
+f 45 43 25
+f 45 25 15
+f 45 44 38
+f 45 39 44
+f 46 40 32
+f 46 32 12
+f 46 12 19
+f 46 19 40
+f 47 11 37
+f 47 37 43
+f 47 43 21
+f 47 31 11
+f 47 21 31
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_29.obj b/mango/mango_4/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cedcc03b6ac823d3c15e1d67c2446b0bb22d7a9
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_29.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v -0.17697995 -0.25128310 -0.09837879
+v -0.17420983 -0.23133509 -0.23291963
+v -0.17045726 0.23363321 -0.17137266
+v -0.17512798 0.24223104 -0.09824587
+v -0.33037093 0.09043591 -0.09625647
+v -0.17204576 -0.24099022 -0.20193328
+v -0.32793924 -0.11108914 -0.09469820
+v -0.29413636 0.07374090 -0.22623950
+v -0.28263318 0.15707623 -0.12524517
+v -0.17085196 0.22111471 -0.21605261
+v -0.19814170 0.22954203 -0.09704917
+v -0.25857977 -0.20831734 -0.09729602
+v -0.32509258 -0.02224085 -0.16779493
+v -0.29412465 0.11592022 -0.18217608
+v -0.17467981 0.21247775 -0.23326815
+v -0.22452377 0.19814355 -0.16894826
+v -0.29926786 -0.16569612 -0.09499779
+v -0.24126018 0.20057328 -0.09645533
+v -0.19714159 0.22873760 -0.11105233
+v -0.19882077 -0.23493254 -0.15584437
+v -0.32593740 0.03380754 -0.16751956
+v -0.28030224 -0.10947438 -0.22595923
+v -0.32568835 0.06098674 -0.15369839
+v -0.31191565 0.11697042 -0.12359848
+v -0.29494447 -0.06552071 -0.22659399
+v -0.26705303 0.13014111 -0.22786060
+v -0.18074219 0.22810025 -0.16963679
+v -0.18129994 0.21495875 -0.21410789
+v -0.20193404 -0.24005919 -0.09751004
+v -0.25250179 -0.17795431 -0.21025524
+v -0.29904859 0.14442552 -0.09695129
+v -0.25247371 0.18635586 -0.12478066
+v -0.23973913 0.19945818 -0.11150416
+v -0.23781204 -0.20540238 -0.18137036
+v -0.31002614 0.06099721 -0.19667523
+v -0.28203568 0.14319080 -0.16824050
+v -0.32531418 0.08755332 -0.12400257
+v -0.25249301 -0.16565505 -0.22717823
+v -0.31025832 -0.05078881 -0.19729945
+v -0.30966009 -0.11011493 -0.15188926
+v -0.23812523 0.17077510 -0.21234511
+v -0.22683793 -0.21995490 -0.15601253
+v -0.22360028 -0.20572304 -0.21089760
+v -0.28139439 -0.17770424 -0.12425457
+v -0.29628464 0.12918350 -0.15314469
+v -0.29385591 -0.12368288 -0.18063739
+v -0.32409472 -0.11046442 -0.10763601
+v -0.19443023 0.19956839 -0.22790030
+v -0.26593997 0.14118791 -0.21225281
+v -0.25209288 0.16916600 -0.18356945
+v -0.25383639 -0.20670460 -0.12535310
+v -0.18371691 -0.23553927 -0.20012894
+v -0.19623686 -0.21984492 -0.22720290
+v -0.29665230 -0.16481046 -0.10875593
+v -0.25245751 -0.19030557 -0.18183675
+v -0.29756545 0.14320170 -0.10962584
+v -0.29381761 -0.13724631 -0.16666090
+v -0.21139536 -0.21936569 -0.19822338
+v -0.30863463 -0.13829886 -0.12204547
+f 1 3 4
+f 6 3 1
+f 10 6 2
+f 10 3 6
+f 11 1 4
+f 15 10 2
+f 17 11 7
+f 18 5 7
+f 18 7 11
+f 19 11 4
+f 19 4 3
+f 19 18 11
+f 20 6 1
+f 21 13 7
+f 21 7 5
+f 23 21 5
+f 25 15 2
+f 25 21 8
+f 26 8 14
+f 26 25 8
+f 26 15 25
+f 27 3 10
+f 27 19 3
+f 28 10 15
+f 28 27 10
+f 28 16 27
+f 29 1 11
+f 29 11 17
+f 29 17 12
+f 29 20 1
+f 31 18 9
+f 31 5 18
+f 31 24 5
+f 32 9 18
+f 33 18 19
+f 33 32 18
+f 33 16 32
+f 33 27 16
+f 33 19 27
+f 35 23 14
+f 35 14 8
+f 35 8 21
+f 35 21 23
+f 36 26 14
+f 37 23 5
+f 37 5 24
+f 37 24 14
+f 37 14 23
+f 38 25 2
+f 38 22 25
+f 39 13 21
+f 39 21 25
+f 39 7 13
+f 40 39 25
+f 42 29 12
+f 42 20 29
+f 43 34 30
+f 43 30 38
+f 45 36 14
+f 45 14 24
+f 46 40 25
+f 46 25 22
+f 47 7 39
+f 47 39 40
+f 48 15 26
+f 48 26 41
+f 48 28 15
+f 48 41 16
+f 48 16 28
+f 49 41 26
+f 49 26 36
+f 50 32 16
+f 50 16 41
+f 50 9 32
+f 50 36 9
+f 50 49 36
+f 50 41 49
+f 51 42 12
+f 51 34 42
+f 51 12 17
+f 51 17 44
+f 52 6 20
+f 52 20 42
+f 52 2 6
+f 53 43 38
+f 53 38 2
+f 53 2 52
+f 54 44 17
+f 55 30 34
+f 55 51 44
+f 55 34 51
+f 55 54 30
+f 55 44 54
+f 56 45 24
+f 56 24 31
+f 56 31 9
+f 56 9 36
+f 56 36 45
+f 57 46 22
+f 57 22 38
+f 57 38 30
+f 57 30 54
+f 57 40 46
+f 58 34 43
+f 58 43 53
+f 58 42 34
+f 58 53 52
+f 58 52 42
+f 59 54 17
+f 59 17 7
+f 59 57 54
+f 59 7 47
+f 59 47 40
+f 59 40 57
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_3.obj b/mango/mango_4/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..798c07970994ac8a96b6257158146ab27cb9f9b4
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_3.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.17770042 -0.14689953 0.00757575
+v -0.17770042 -0.14689953 -0.09848486
+v -0.17415838 0.23904334 0.00658227
+v -0.17512798 0.24223104 -0.09824587
+v -0.32897105 0.11959988 0.00712514
+v -0.32176518 -0.15257778 0.00801176
+v -0.31910617 0.11342864 -0.09951508
+v -0.24429290 0.20211999 0.00650785
+v -0.31191514 -0.14550230 -0.09778144
+v -0.19888380 0.22803428 0.00574330
+v -0.24126018 0.20057328 -0.09645533
+v -0.22746055 0.21377616 -0.02414161
+v -0.22636738 0.21441369 -0.06714605
+v -0.19814170 0.22954203 -0.09704917
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 6 1 3
+f 6 3 5
+f 7 4 2
+f 7 6 5
+f 8 5 3
+f 9 7 2
+f 9 2 6
+f 9 6 7
+f 10 8 3
+f 10 3 4
+f 11 7 5
+f 11 5 8
+f 11 4 7
+f 12 10 4
+f 12 8 10
+f 13 11 8
+f 13 8 12
+f 13 12 4
+f 14 13 4
+f 14 4 11
+f 14 11 13
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_30.obj b/mango/mango_4/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..187dabb0b7470b6b6e905f901403be399c35804b
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_30.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.20078757 -0.20691914 -0.35578601
+v 0.32487575 -0.08246877 -0.35055574
+v 0.22450910 -0.19586981 -0.35053546
+v 0.20108746 -0.01053589 -0.35606062
+v 0.19714955 -0.06673673 -0.47797353
+v 0.26404224 -0.16505823 -0.34920214
+v 0.19414702 -0.18089269 -0.40741520
+v 0.32191274 -0.01082393 -0.37506096
+v 0.19616552 -0.19736469 -0.38043631
+v 0.19723824 -0.01523931 -0.47682841
+v 0.23352304 -0.17715595 -0.37438843
+v 0.33422277 -0.01078371 -0.35451297
+v 0.26218569 -0.09288724 -0.43032509
+v 0.22093394 -0.19182114 -0.36378262
+v 0.19341768 -0.13744988 -0.44994290
+v 0.23771762 -0.01347075 -0.46117863
+v 0.20757639 -0.19241584 -0.37806433
+v 0.31955976 -0.05350353 -0.37350883
+v 0.29094051 -0.11850268 -0.37545543
+v 0.20622179 -0.13465423 -0.44453616
+v 0.19436034 -0.11109291 -0.46441890
+v 0.30580222 -0.08036132 -0.38758894
+v 0.23528846 -0.06633711 -0.46038493
+v 0.20998850 -0.01536808 -0.47334941
+v 0.20600643 -0.17637663 -0.40366142
+v 0.31183317 -0.10960025 -0.35112107
+v 0.26050175 -0.16136349 -0.36051304
+v 0.20774891 -0.10764093 -0.45934571
+v 0.31950748 -0.08071079 -0.36206297
+v 0.29056291 -0.10613571 -0.38896978
+v 0.20937575 -0.06743113 -0.47416492
+v 0.27732284 -0.09448045 -0.41397240
+v 0.27954225 -0.14928518 -0.34961819
+v 0.23496177 -0.10527739 -0.44423445
+v 0.30796395 -0.10638857 -0.36292397
+v 0.22033817 -0.09448829 -0.45986514
+v 0.27603585 -0.14683989 -0.35813850
+f 1 3 4
+f 6 2 4
+f 6 4 3
+f 9 1 4
+f 9 4 7
+f 11 6 3
+f 12 8 4
+f 12 4 2
+f 14 3 1
+f 14 11 3
+f 15 7 4
+f 15 4 10
+f 16 10 4
+f 16 4 8
+f 17 9 7
+f 17 11 14
+f 17 14 1
+f 17 1 9
+f 18 12 2
+f 18 8 12
+f 20 7 15
+f 21 15 10
+f 21 10 5
+f 22 16 8
+f 22 8 18
+f 23 22 13
+f 23 16 22
+f 24 5 10
+f 24 10 16
+f 25 17 7
+f 25 11 17
+f 25 7 20
+f 27 6 11
+f 27 11 19
+f 28 20 15
+f 28 15 21
+f 29 22 18
+f 29 18 2
+f 30 19 11
+f 30 11 25
+f 31 16 23
+f 31 24 16
+f 31 5 24
+f 31 21 5
+f 32 25 20
+f 32 20 13
+f 32 30 25
+f 32 13 22
+f 32 22 30
+f 33 26 2
+f 33 2 6
+f 33 19 26
+f 33 6 27
+f 34 13 20
+f 35 22 29
+f 35 30 22
+f 35 26 19
+f 35 19 30
+f 35 29 2
+f 35 2 26
+f 36 28 21
+f 36 21 31
+f 36 31 23
+f 36 23 13
+f 36 13 34
+f 36 34 20
+f 36 20 28
+f 37 33 27
+f 37 27 19
+f 37 19 33
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_31.obj b/mango/mango_4/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acc187a9a31c47a3d4025837b4d703acf55b21dc
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.19285193 -0.14689953 0.14393939
+v -0.19285193 -0.14689953 0.00757575
+v -0.19285193 0.09552471 0.14393939
+v -0.32752437 0.10255565 0.14653083
+v -0.32176518 -0.15257778 0.00801176
+v -0.33588380 0.10794620 0.00690147
+v -0.31323854 -0.14616002 0.14381159
+v -0.19285193 0.09552471 0.00757575
+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/mango/mango_4/collision/model_normalized_collision_4.obj b/mango/mango_4/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06919979c861572f70fae600034f5c7cf83987ca
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_4.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.09178948 -0.00619947 0.40631077
+v 0.09799084 -0.00639258 0.39482054
+v 0.04747654 0.15253413 0.40021552
+v -0.17161494 0.13761455 0.41242874
+v -0.19223791 -0.02617078 0.44146527
+v 0.05622526 0.14660873 0.39887858
+v 0.01692182 0.06336434 0.48996428
+v 0.08980582 0.09195897 0.42991599
+v -0.02901642 -0.00566447 0.48871230
+v -0.05518866 0.14919323 0.45519130
+v 0.09262021 0.02448942 0.42134880
+v 0.09345833 0.10186524 0.39653409
+v 0.05050602 0.13948913 0.42277536
+v -0.09848888 0.05939088 0.49039101
+v 0.05243041 0.05347681 0.47578255
+v 0.07916041 0.11000674 0.42393269
+v -0.02538151 0.14186965 0.46075747
+v -0.12391420 0.11735889 0.45937695
+v -0.14176059 -0.01060892 0.47571142
+v -0.07079475 -0.00451801 0.48956510
+v 0.08287407 0.07371778 0.44636716
+v 0.01387273 0.03784525 0.48953359
+v 0.05212895 -0.00096773 0.45919832
+v 0.05154176 0.08423176 0.47577229
+v -0.06701275 0.08835240 0.48967854
+v -0.15260014 0.08642651 0.45840363
+v -0.09885768 0.00853780 0.48871876
+v 0.07943124 0.03925771 0.44731129
+v 0.02564445 -0.00282333 0.47405873
+v 0.07890664 0.10174442 0.43312864
+v -0.00910756 0.08965979 0.48861597
+v 0.03936252 0.11154950 0.46162754
+v -0.08234541 0.11668104 0.47459029
+v -0.15224926 0.11724090 0.44409725
+v -0.14007197 0.06082833 0.47304003
+v 0.06497744 0.03878210 0.46255496
+v 0.06441883 0.00246313 0.44937242
+v 0.04074326 0.01574227 0.47395967
+v 0.00006577 0.11383522 0.47623158
+v 0.01049801 0.12700815 0.46170651
+v -0.05436613 0.14415861 0.45945884
+v -0.10951498 0.10185638 0.47209774
+v -0.15649932 -0.00881587 0.46745684
+v -0.12377161 0.08579304 0.47237777
+f 5 2 1
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 9 5 1
+f 10 3 4
+f 11 1 2
+f 11 2 8
+f 12 8 2
+f 12 2 6
+f 13 6 3
+f 16 12 6
+f 16 8 12
+f 16 6 13
+f 17 13 3
+f 17 3 10
+f 18 10 4
+f 19 5 9
+f 20 7 14
+f 20 19 9
+f 21 11 8
+f 22 15 7
+f 22 20 9
+f 22 7 20
+f 24 21 8
+f 24 7 15
+f 24 15 21
+f 25 14 7
+f 26 4 5
+f 27 20 14
+f 27 14 19
+f 27 19 20
+f 28 11 21
+f 29 9 1
+f 29 1 23
+f 29 22 9
+f 30 16 13
+f 30 24 8
+f 30 8 16
+f 31 7 24
+f 31 25 7
+f 32 30 13
+f 32 24 30
+f 33 10 18
+f 34 26 18
+f 34 18 4
+f 34 4 26
+f 35 26 5
+f 35 19 14
+f 36 28 21
+f 36 21 15
+f 37 23 1
+f 37 1 11
+f 37 11 28
+f 37 36 23
+f 37 28 36
+f 38 29 23
+f 38 15 22
+f 38 22 29
+f 38 36 15
+f 38 23 36
+f 39 31 24
+f 39 25 31
+f 39 33 25
+f 39 17 33
+f 39 24 32
+f 40 32 13
+f 40 13 17
+f 40 39 32
+f 40 17 39
+f 41 33 17
+f 41 17 10
+f 41 10 33
+f 42 33 18
+f 42 14 25
+f 42 25 33
+f 43 35 5
+f 43 5 19
+f 43 19 35
+f 44 35 14
+f 44 14 42
+f 44 26 35
+f 44 42 18
+f 44 18 26
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_5.obj b/mango/mango_4/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d64b12f935d8436e4b3437b3fd2c85142b2f2389
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_5.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.34322213 -0.01076006 -0.33674219
+v 0.33728052 -0.01115735 -0.34839792
+v 0.26328999 0.17032632 -0.34606399
+v 0.10896460 0.23746353 -0.33633598
+v 0.20108746 -0.01053589 -0.34090910
+v 0.29345047 0.14570486 -0.33322604
+v 0.20055045 -0.01127992 -0.47484004
+v 0.22470029 0.20126295 -0.33485351
+v 0.33926213 0.04791922 -0.33447994
+v 0.23771762 -0.01347075 -0.46117863
+v 0.11017837 0.12582774 -0.34090910
+v 0.26594123 0.17396600 -0.33419081
+v 0.13726231 0.23248098 -0.33546777
+v 0.28957403 0.06229323 -0.40283965
+v 0.11017837 0.12582774 -0.38636365
+v 0.23484660 0.18344946 -0.36033473
+v 0.32095045 0.01827538 -0.37310320
+v 0.32116964 0.08808014 -0.34625511
+v 0.24731280 0.14249272 -0.40148856
+v 0.10704172 0.23171093 -0.34994625
+v 0.16539838 0.21206945 -0.36121390
+v 0.33362049 0.04530620 -0.34588856
+v 0.32191274 -0.01082393 -0.37506096
+v 0.32609182 0.09110651 -0.33481214
+v 0.26053461 0.14229332 -0.38716269
+v 0.21993501 0.10154737 -0.44366803
+v 0.10726476 0.21743764 -0.37906257
+v 0.20876292 0.19664974 -0.36010400
+v 0.31840757 0.07357739 -0.36010110
+v 0.28986329 0.11416365 -0.37394671
+v 0.28946751 0.14208175 -0.34538522
+v 0.24844037 0.15535303 -0.38672253
+v 0.26134769 0.10163299 -0.41480047
+v 0.18064256 0.10488668 -0.45813872
+v 0.13589664 0.22763927 -0.34639390
+v 0.22206888 0.19703005 -0.34697921
+v 0.17971992 0.17165613 -0.41677681
+v 0.30372194 0.08789643 -0.37376649
+v 0.23404270 0.11800407 -0.42739948
+v 0.27580487 0.06189519 -0.41656767
+v 0.27554315 0.09978682 -0.40151602
+v 0.16887450 0.05114176 -0.46691823
+v 0.13544604 0.21269085 -0.37610443
+v 0.16698391 0.15968275 -0.43282121
+v 0.20753070 0.16926741 -0.40316893
+v 0.24972057 0.08828771 -0.42911913
+v 0.20782860 0.14233538 -0.42926750
+v 0.16665298 0.10611905 -0.46155662
+v 0.22062387 0.18335726 -0.37345329
+v 0.26294671 0.04828653 -0.42898650
+v 0.17989650 0.15758091 -0.43049514
+v 0.19332654 0.13164533 -0.44331578
+f 5 2 1
+f 9 5 1
+f 9 1 2
+f 10 2 5
+f 10 5 7
+f 11 7 5
+f 11 5 4
+f 12 8 6
+f 12 6 3
+f 13 6 8
+f 13 9 6
+f 13 4 5
+f 13 5 9
+f 15 7 11
+f 16 12 3
+f 16 8 12
+f 20 11 4
+f 20 4 13
+f 21 13 8
+f 22 9 2
+f 22 2 17
+f 23 17 2
+f 23 2 10
+f 23 10 14
+f 23 14 17
+f 24 6 9
+f 24 9 18
+f 27 15 11
+f 27 11 20
+f 28 21 8
+f 29 18 9
+f 29 9 22
+f 29 22 17
+f 29 17 14
+f 30 24 18
+f 31 25 3
+f 31 3 6
+f 31 30 25
+f 31 6 24
+f 31 24 30
+f 32 25 19
+f 32 16 3
+f 32 3 25
+f 34 26 10
+f 34 10 7
+f 35 27 20
+f 35 20 13
+f 35 13 21
+f 36 28 8
+f 36 8 16
+f 36 16 28
+f 37 21 28
+f 38 30 18
+f 38 18 29
+f 38 29 14
+f 39 19 33
+f 40 33 14
+f 40 14 10
+f 41 33 19
+f 41 19 25
+f 41 25 30
+f 41 30 38
+f 41 38 14
+f 41 14 33
+f 42 7 15
+f 42 15 27
+f 43 35 21
+f 43 27 35
+f 43 37 27
+f 43 21 37
+f 44 27 37
+f 45 32 19
+f 46 39 33
+f 46 26 39
+f 46 33 40
+f 46 10 26
+f 47 19 39
+f 47 45 19
+f 48 34 7
+f 48 7 42
+f 48 42 27
+f 48 27 44
+f 49 16 32
+f 49 32 45
+f 49 28 16
+f 49 45 37
+f 49 37 28
+f 50 46 40
+f 50 40 10
+f 50 10 46
+f 51 37 45
+f 51 45 47
+f 51 44 37
+f 52 47 39
+f 52 39 26
+f 52 26 34
+f 52 51 47
+f 52 34 48
+f 52 48 44
+f 52 44 51
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_6.obj b/mango/mango_4/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbe7651b88daeac40285fb32cd656b8ba65cf7a8
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_6.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.18269994 0.04379855 -0.46246792
+v 0.16887450 0.05114176 -0.46691823
+v 0.17868746 0.14194997 -0.44221902
+v -0.11095718 0.12075001 -0.43856018
+v -0.08087063 0.07593131 -0.47856690
+v -0.12407605 0.10537983 -0.43743900
+v 0.16668928 0.11834865 -0.45744474
+v 0.06604237 0.04125149 -0.48495816
+v 0.07021852 0.14975480 -0.45571499
+v -0.10583868 0.08759875 -0.46035713
+v -0.13068176 0.07961286 -0.44504804
+v -0.05079982 0.11595425 -0.47241564
+v 0.04603593 0.12055023 -0.47370824
+v -0.11839303 0.10176513 -0.44404881
+v -0.10778977 0.07591677 -0.46360102
+v -0.07796356 0.08893741 -0.47567085
+v -0.10483368 0.11572838 -0.44622437
+v -0.12404755 0.07667721 -0.45153133
+f 6 1 3
+f 6 3 4
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 7 2
+f 9 4 3
+f 9 3 7
+f 11 8 1
+f 11 1 6
+f 12 4 9
+f 13 9 7
+f 13 7 8
+f 13 12 9
+f 13 8 5
+f 13 5 12
+f 14 6 4
+f 14 11 6
+f 15 5 8
+f 16 12 5
+f 16 15 10
+f 16 5 15
+f 17 14 4
+f 17 10 14
+f 17 16 10
+f 17 4 12
+f 17 12 16
+f 18 10 15
+f 18 14 10
+f 18 11 14
+f 18 15 8
+f 18 8 11
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_7.obj b/mango/mango_4/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9f2a1ac5bc481c1cd261caf6bd4547d545a14f5
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_7.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.20108746 0.12582774 -0.23484849
+v 0.28402583 0.16261033 -0.32193817
+v 0.22236673 0.22360608 -0.23624266
+v -0.05258125 0.26245136 -0.23098743
+v -0.16926858 0.14709520 -0.36058751
+v 0.10673812 0.24483484 -0.31955435
+v 0.12143579 0.26297021 -0.23294609
+v 0.29123456 0.17052350 -0.28015173
+v 0.20108746 0.12582774 -0.34090910
+v -0.14739739 0.12582774 -0.23484849
+v 0.23596915 0.19712791 -0.33173485
+v -0.05120792 0.22983057 -0.33319661
+v 0.15307510 0.25393179 -0.23389458
+v 0.06410903 0.25921551 -0.28902822
+v -0.14083523 0.23218511 -0.23046079
+v 0.27184951 0.16625943 -0.33841621
+v 0.26313802 0.18341468 -0.31940219
+v 0.15087095 0.22979912 -0.33338107
+v 0.19428233 0.23242119 -0.27654700
+v 0.12149037 0.25759395 -0.26180160
+v 0.02113261 0.25866021 -0.28962886
+v -0.12262416 0.19992693 -0.33212478
+v -0.08102676 0.24228295 -0.27365328
+v 0.27758006 0.17045290 -0.31816639
+v 0.26594123 0.17396600 -0.33419081
+v 0.25053931 0.19933410 -0.29215498
+v 0.17766084 0.22714432 -0.31882955
+v 0.13649536 0.24329629 -0.30531355
+v -0.03777233 0.24361517 -0.30476309
+v -0.00823227 0.24419335 -0.31867723
+v -0.09409217 0.21520573 -0.33372095
+v -0.13781949 0.21214614 -0.28783882
+v -0.09515838 0.24180790 -0.25939116
+v 0.28399863 0.17768406 -0.27898477
+v 0.22163343 0.21242388 -0.30510807
+v 0.19261671 0.22952230 -0.29084395
+v -0.03905221 0.25763337 -0.25908428
+v -0.07961551 0.22742573 -0.31839979
+v -0.13867254 0.18930882 -0.33360029
+v -0.10840541 0.22678148 -0.28764267
+v -0.05267394 0.25890241 -0.24522867
+v 0.25217616 0.20032075 -0.27855669
+v -0.13665816 0.19910404 -0.31671429
+v -0.13829261 0.22904653 -0.24381581
+f 7 4 1
+f 8 1 2
+f 8 3 1
+f 9 2 1
+f 10 9 1
+f 10 5 9
+f 13 7 1
+f 13 1 3
+f 14 4 7
+f 15 10 1
+f 15 1 4
+f 15 5 10
+f 16 2 9
+f 16 9 5
+f 18 5 12
+f 18 16 5
+f 18 11 16
+f 18 12 6
+f 19 13 3
+f 20 14 7
+f 20 6 14
+f 20 7 13
+f 20 13 19
+f 21 4 14
+f 21 14 6
+f 24 8 2
+f 25 16 11
+f 25 11 17
+f 25 17 24
+f 25 24 2
+f 25 2 16
+f 26 17 11
+f 26 19 3
+f 27 11 18
+f 28 18 6
+f 28 6 20
+f 28 27 18
+f 28 20 19
+f 30 21 6
+f 30 6 12
+f 30 29 21
+f 30 12 29
+f 31 12 5
+f 32 5 15
+f 32 31 22
+f 33 15 4
+f 34 3 8
+f 34 17 26
+f 34 24 17
+f 34 8 24
+f 35 26 11
+f 35 19 26
+f 35 11 27
+f 36 28 19
+f 36 27 28
+f 36 35 27
+f 36 19 35
+f 37 4 21
+f 37 21 29
+f 38 29 12
+f 38 23 29
+f 38 12 31
+f 38 33 23
+f 39 31 5
+f 39 22 31
+f 39 5 32
+f 40 31 32
+f 40 38 31
+f 40 33 38
+f 41 33 4
+f 41 23 33
+f 41 4 37
+f 41 37 29
+f 41 29 23
+f 42 34 26
+f 42 26 3
+f 42 3 34
+f 43 39 32
+f 43 32 22
+f 43 22 39
+f 44 40 32
+f 44 32 15
+f 44 15 33
+f 44 33 40
\ No newline at end of file
diff --git a/mango/mango_4/collision/model_normalized_collision_8.obj b/mango/mango_4/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dbdd981236f77edda0db36feb9d5225c3a4a6c7
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_8.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v -0.18960913 -0.22843567 0.14147168
+v -0.18826345 -0.22095684 0.16955495
+v -0.34886164 -0.08272775 0.14189230
+v -0.18729922 0.20396460 0.20161493
+v -0.31046084 -0.09172331 0.25658112
+v -0.19131039 0.21292816 0.14328069
+v -0.19116370 -0.18747783 0.26320815
+v -0.30937223 0.08604912 0.25793312
+v -0.26965570 -0.17567048 0.18199561
+v -0.24336352 -0.20621075 0.13885068
+v -0.18754054 -0.20729518 0.21447516
+v -0.34122859 0.00356255 0.22902132
+v -0.27030678 0.15294652 0.20077262
+v -0.18789931 0.19135492 0.26327918
+v -0.32491878 0.04541547 0.25696352
+v -0.26749600 -0.14487404 0.25615570
+v -0.32597143 -0.12107989 0.16899587
+v -0.20303284 -0.22418961 0.14037668
+v -0.32873374 0.10236200 0.14086477
+v -0.24170508 -0.18953092 0.19798387
+v -0.34056895 -0.02443437 0.22897434
+v -0.24217728 0.18375440 0.15583610
+v -0.28204131 0.12572620 0.26015083
+v -0.18880205 -0.19522715 0.24569191
+v -0.33959036 -0.09369038 0.16870464
+v -0.33047969 -0.12342790 0.14078604
+v -0.29610027 -0.13169238 0.22720257
+v -0.21538555 0.20140288 0.14162291
+v -0.20031414 -0.21756840 0.16833642
+v -0.34507718 0.00305081 0.21538553
+v -0.32445393 0.07266868 0.22905653
+v -0.24193597 -0.20349810 0.15383362
+v -0.25628399 -0.17431671 0.21238667
+v -0.32452318 -0.05124461 0.25612266
+v -0.24326570 0.18560122 0.14153431
+v -0.22760702 0.16944813 0.26057898
+v -0.31074362 0.09959027 0.23004874
+v -0.29759044 0.12684627 0.19975298
+v -0.21533346 -0.20303427 0.19825808
+v -0.32529176 -0.10601794 0.19714368
+v -0.31226894 -0.13359860 0.18364829
+v -0.34435844 -0.09535057 0.14041944
+v -0.28237596 -0.13043565 0.25563256
+v -0.28290682 -0.14556150 0.22756011
+v -0.21310837 0.19830682 0.17219928
+v -0.22707451 -0.17391070 0.25658853
+v -0.25482510 0.16835815 0.18545768
+v -0.26833124 0.13965187 0.25922278
+v -0.32684072 0.10105168 0.15630966
+v -0.31284741 0.11307587 0.18506616
+v -0.20119812 -0.20351095 0.21275522
+v -0.31007110 -0.10514081 0.24048608
+v -0.20052746 0.18576190 0.26176784
+v -0.24126642 0.16790117 0.22991753
+v -0.21381311 -0.18683356 0.24286365
+v -0.21172031 0.18285178 0.24559361
+f 2 1 4
+f 6 4 1
+f 11 2 4
+f 14 11 4
+f 16 7 5
+f 18 6 1
+f 23 7 14
+f 23 15 7
+f 23 8 15
+f 24 14 7
+f 24 11 14
+f 25 21 3
+f 26 10 9
+f 26 17 25
+f 28 18 10
+f 28 6 18
+f 28 10 19
+f 29 18 1
+f 29 1 2
+f 29 2 11
+f 30 19 3
+f 30 12 15
+f 30 21 12
+f 30 3 21
+f 31 15 8
+f 31 30 15
+f 31 19 30
+f 32 20 9
+f 32 9 10
+f 32 10 18
+f 33 9 20
+f 34 15 12
+f 34 12 21
+f 34 5 7
+f 34 7 15
+f 34 25 5
+f 34 21 25
+f 35 28 19
+f 36 23 14
+f 37 8 23
+f 37 31 8
+f 38 35 19
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diff --git a/mango/mango_4/collision/model_normalized_collision_9.obj b/mango/mango_4/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42c007c63cc24ecc7d749eff4b3443d660860118
--- /dev/null
+++ b/mango/mango_4/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
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diff --git a/mango/mango_4/model.xml b/mango/mango_4/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e9aa75c92e852057719ac575b1988f64d05d8db1
--- /dev/null
+++ b/mango/mango_4/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="mango_12">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material0.005" texture="image0" specular="0.5" shininess="0.001788855"/>
+  </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="material0.005"/>
+        <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"/>
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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_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="-0.00041751379999999913 -8.270514999999893e-05 -0.030327076999999994" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00041751379999999913 -8.270514999999893e-05 0.031030625999999995" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03849328449999999 0.05394301109999998 0.0003517744999999974" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/mango/mango_4/visual/material.mtl b/mango/mango_4/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..44a1209f7a0262e4a54c8d272a61b54e5cc2b200
--- /dev/null
+++ b/mango/mango_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 1.78885500
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/mango/mango_4/visual/model_normalized_0.obj b/mango/mango_4/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..004b3c8490c86e6ceddccb9d80f1e14fb455950e
--- /dev/null
+++ b/mango/mango_4/visual/model_normalized_0.obj
@@ -0,0 +1,151344 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_0.obj b/mango/mango_7/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87ee4824d87e122706c54fa24743efafd10ddeed
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_0.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00950823 -0.30842124 0.14512705
+v 0.00757576 -0.29905286 0.01586616
+v 0.00757576 -0.20814377 0.13707829
+v -0.23484849 -0.20814377 0.13707829
+v -0.23589298 -0.30133853 -0.12163302
+v 0.00757576 -0.20814377 0.01586616
+v -0.10727232 -0.33374622 -0.14098998
+v -0.23379906 -0.29608243 0.13537521
+v -0.23484849 -0.20814377 -0.12049748
+v -0.09848485 -0.20814377 -0.12049748
+f 1 3 4
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+f 8 4 5
+f 8 7 1
+f 8 5 7
+f 9 5 4
+f 9 4 6
+f 9 7 5
+f 10 9 6
+f 10 6 7
+f 10 7 9
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_1.obj b/mango/mango_7/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19e36c48aebd81f1f9989d869cb4b2732aa1eba2
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_1.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 0.17064412 0.15222980
+v 0.00686160 0.16754116 -0.25102817
+v -0.01314432 0.35021400 -0.03980344
+v -0.26145473 0.34935005 0.04481010
+v -0.46450136 0.16317464 0.10357960
+v -0.21482192 0.28933652 -0.16606441
+v 0.01163636 0.27053487 0.16009380
+v -0.04258489 0.30473109 -0.15078977
+v -0.14235430 0.36466863 -0.05536889
+v -0.43015050 0.23361748 -0.05542828
+v -0.10187553 0.36403480 0.05510981
+v -0.44807022 0.16428215 0.14437183
+v 0.00137145 0.33293662 -0.08471979
+v -0.09976162 0.23308159 -0.22517910
+v -0.28635262 0.33257064 -0.05594610
+v -0.18729207 0.32037737 -0.13664487
+v -0.37496984 0.28886287 0.05825212
+v -0.39111664 0.16296972 -0.18191715
+v 0.00073692 0.33339049 0.07073635
+v -0.23356518 0.32451329 0.12867007
+v -0.20045874 0.36620909 -0.01106325
+v -0.07026843 0.36407561 -0.03989815
+v 0.00457926 0.23278056 -0.21088448
+v -0.10022027 0.34943198 -0.09485336
+v -0.21332784 0.34742545 -0.08034829
+v -0.18804976 0.24766549 -0.20956484
+v -0.07038824 0.31920011 -0.13964054
+v -0.44442369 0.21929871 0.04495286
+v -0.35898343 0.30345580 -0.01096541
+v -0.08381790 0.16622645 -0.25814880
+v -0.46503811 0.16514942 -0.08649645
+v -0.34480636 0.24686271 -0.14979110
+v -0.07163307 0.34854871 0.08530190
+v -0.01517709 0.34780753 0.04121595
+v 0.00288872 0.32610930 0.08570366
+v -0.21616979 0.34782050 0.08523948
+v -0.33681142 0.26936090 0.14788846
+v -0.26041644 0.34843090 -0.02567953
+v -0.08647603 0.36585433 0.04071293
+v -0.04427389 0.34748768 -0.08455144
+v 0.00226319 0.30230332 -0.13953157
+v -0.05433359 0.24795650 -0.20968432
+v -0.10062751 0.36357360 -0.05491961
+v -0.15673365 0.34854618 -0.09513905
+v -0.17183586 0.36478943 -0.04147392
+v -0.21492196 0.27704929 -0.17943949
+v -0.42919922 0.23484221 0.07032910
+v -0.35981520 0.27424796 -0.09741198
+v -0.35965628 0.30354093 0.02803415
+v -0.26137596 0.16593729 -0.24231099
+v -0.08411474 0.17665442 -0.25419848
+v -0.43492856 0.16281707 -0.14144060
+v -0.45900231 0.18879403 -0.06752877
+v -0.25906159 0.31800741 -0.11108294
+v -0.04152299 0.34800416 0.07014525
+v -0.01479790 0.33520221 0.08250163
+v -0.25733075 0.33443428 0.09983745
+v -0.17256850 0.36534308 0.04487455
+v -0.30230510 0.33425941 -0.01078922
+v -0.07062462 0.36571327 0.01492992
+v -0.02715848 0.27424552 -0.18139790
+v -0.01334563 0.33356678 -0.09360179
+v -0.04368249 0.33345598 -0.10868444
+v -0.01021589 0.22118749 -0.22378228
+f 5 2 1
+f 7 1 2
+f 12 5 1
+f 12 1 7
+f 19 13 3
+f 23 7 2
+f 27 26 16
+f 27 14 26
+f 27 16 24
+f 30 2 5
+f 30 5 18
+f 33 20 7
+f 34 19 3
+f 35 7 13
+f 35 13 19
+f 36 33 11
+f 36 20 33
+f 37 12 7
+f 37 7 20
+f 38 4 21
+f 38 25 15
+f 38 21 25
+f 40 22 3
+f 40 3 13
+f 41 13 7
+f 41 7 23
+f 41 8 27
+f 42 14 27
+f 43 24 9
+f 43 9 22
+f 43 40 24
+f 43 22 40
+f 44 24 16
+f 44 16 25
+f 44 25 9
+f 44 9 24
+f 45 25 21
+f 45 21 9
+f 45 9 25
+f 46 6 16
+f 46 16 26
+f 46 32 6
+f 47 17 10
+f 47 10 28
+f 47 37 17
+f 47 12 37
+f 47 28 5
+f 47 5 12
+f 48 29 15
+f 48 10 29
+f 49 29 10
+f 49 10 17
+f 49 17 4
+f 50 30 18
+f 50 18 32
+f 50 46 26
+f 50 32 46
+f 51 2 30
+f 51 30 50
+f 51 50 26
+f 51 26 14
+f 52 18 5
+f 52 5 31
+f 52 32 18
+f 52 48 32
+f 52 10 48
+f 53 28 10
+f 53 52 31
+f 53 10 52
+f 53 31 5
+f 53 5 28
+f 54 15 25
+f 54 25 16
+f 54 16 6
+f 54 6 32
+f 54 48 15
+f 54 32 48
+f 55 34 39
+f 55 39 11
+f 55 11 33
+f 56 33 7
+f 56 7 35
+f 56 55 33
+f 56 35 19
+f 56 19 34
+f 56 34 55
+f 57 36 4
+f 57 20 36
+f 57 37 20
+f 57 4 17
+f 57 17 37
+f 58 21 4
+f 58 4 36
+f 58 36 11
+f 58 39 21
+f 58 11 39
+f 59 4 38
+f 59 49 4
+f 59 29 49
+f 59 38 15
+f 59 15 29
+f 60 39 34
+f 60 34 3
+f 60 3 22
+f 60 22 9
+f 60 9 21
+f 60 21 39
+f 61 41 23
+f 61 8 41
+f 61 23 42
+f 61 42 27
+f 61 27 8
+f 62 40 13
+f 62 13 41
+f 63 41 27
+f 63 62 41
+f 63 40 62
+f 63 27 24
+f 63 24 40
+f 64 42 23
+f 64 23 2
+f 64 14 42
+f 64 51 14
+f 64 2 51
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_10.obj b/mango/mango_7/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc9502592e300c6c275a3b9585af89b94e786680
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_10.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.20814377 -0.13564899
+v 0.00753153 -0.20540587 -0.26572956
+v 0.00757576 0.06458351 -0.13564899
+v -0.23484849 0.06458351 -0.13564899
+v -0.23484849 -0.20814377 -0.13564899
+v -0.03841720 0.06100194 -0.28475626
+v 0.00782377 -0.18899400 -0.27252418
+v 0.00728171 0.06342903 -0.28187383
+v -0.23265642 0.06267941 -0.27680523
+v 0.00722199 -0.13006130 -0.28716680
+v -0.17214607 0.06122993 -0.28421127
+v -0.23022032 -0.15568104 -0.25300176
+v 0.00658634 0.04674326 -0.28509470
+v -0.21650378 -0.03923354 -0.28379503
+v -0.18774141 0.04647057 -0.28563444
+v -0.09659877 -0.18710515 -0.26804024
+v -0.23130179 -0.20307949 -0.23096249
+v -0.23080069 -0.11152822 -0.26794422
+v -0.21640206 -0.01173764 -0.28543596
+v -0.12717073 -0.11364794 -0.28419268
+v -0.08180629 -0.12899929 -0.28520243
+v -0.15525875 -0.20147971 -0.25364322
+v -0.15689837 -0.09833845 -0.28385477
+v -0.21363324 -0.19948545 -0.23848695
+v -0.18602262 -0.14231259 -0.26811869
+v -0.22931525 -0.18509142 -0.24009445
+v -0.18474437 -0.18595166 -0.25291384
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 1 2
+f 7 3 1
+f 8 4 3
+f 8 3 7
+f 9 5 4
+f 9 4 8
+f 10 8 7
+f 11 9 8
+f 11 8 6
+f 13 6 8
+f 13 8 10
+f 15 11 6
+f 15 9 11
+f 15 13 10
+f 15 6 13
+f 16 7 2
+f 17 5 9
+f 17 2 5
+f 18 9 14
+f 18 17 9
+f 18 12 17
+f 19 15 10
+f 19 14 9
+f 19 9 15
+f 21 10 7
+f 21 7 16
+f 21 16 20
+f 21 19 10
+f 22 16 2
+f 22 2 17
+f 23 14 19
+f 23 21 20
+f 23 19 21
+f 23 18 14
+f 24 22 17
+f 25 16 22
+f 25 18 23
+f 25 23 20
+f 25 20 16
+f 25 12 18
+f 26 24 17
+f 26 17 12
+f 26 12 24
+f 27 24 12
+f 27 22 24
+f 27 25 22
+f 27 12 25
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_11.obj b/mango/mango_7/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7824785eb73bff927c4e04293fcb4a19af3ae68
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_11.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.25826162 -0.28790913 0.03835816
+v 0.42165704 -0.15429047 -0.12944158
+v 0.42742644 -0.15904134 -0.01518732
+v 0.26303309 -0.17602359 0.13368283
+v 0.26375930 -0.17584639 -0.23811861
+v 0.28629678 -0.16998537 0.12240006
+v 0.29889850 -0.28181877 -0.07394762
+v 0.25775971 -0.20053376 0.12338050
+v 0.29045432 -0.17112119 -0.23034197
+v 0.41530296 -0.17966473 -0.08814798
+v 0.35519849 -0.23763785 -0.01986961
+v 0.25925338 -0.28664671 -0.12914812
+v 0.32874773 -0.17969413 0.09190824
+v 0.34162162 -0.23785830 -0.12692643
+v 0.29821894 -0.28309602 -0.01993567
+v 0.40163529 -0.19223121 -0.01879880
+v 0.35708775 -0.23793944 -0.08469121
+v 0.28304447 -0.25013882 -0.17048035
+v 0.25928645 -0.19974210 -0.22658166
+v 0.33166827 -0.17210496 0.09416663
+v 0.26862672 -0.19812804 0.11836329
+v 0.39959647 -0.19392874 -0.09959169
+v 0.28306162 -0.27965529 -0.11453966
+v 0.32723731 -0.25064252 0.01001761
+v 0.41443295 -0.17974949 -0.03348346
+v 0.39136865 -0.16957503 0.03625523
+v 0.27212274 -0.28184641 -0.12663275
+v 0.34807624 -0.16929991 -0.20062554
+v 0.25902293 -0.27101046 -0.15919716
+v 0.25624292 -0.25612044 0.08135283
+v 0.38526647 -0.17892612 -0.15582083
+v 0.41531899 -0.16418379 -0.12643071
+v 0.38629402 -0.20642050 -0.09941540
+v 0.31330645 -0.26485074 -0.09977635
+v 0.27019252 -0.28216384 0.03603084
+v 0.35439655 -0.22346859 0.01855932
+v 0.40025790 -0.18200031 0.00663782
+v 0.26924893 -0.26732384 -0.15648956
+v 0.29932340 -0.26594731 -0.12534400
+v 0.28585506 -0.20942047 -0.20972585
+v 0.32740705 -0.22104190 -0.16963765
+v 0.31109910 -0.25242010 0.03223084
+v 0.41475034 -0.17368266 -0.01217525
+v 0.27209614 -0.19711495 -0.22305187
+v 0.35611595 -0.20625943 -0.15419488
+v 0.32752209 -0.19328528 -0.19551436
+v 0.26790249 -0.25117004 0.07732690
+f 6 3 2
+f 6 5 4
+f 8 4 5
+f 9 6 2
+f 9 5 6
+f 10 2 3
+f 15 12 7
+f 15 1 12
+f 17 16 11
+f 17 7 14
+f 17 15 7
+f 17 11 15
+f 19 8 5
+f 20 6 4
+f 20 4 13
+f 20 3 6
+f 21 13 4
+f 21 4 8
+f 22 10 17
+f 24 15 11
+f 25 10 3
+f 25 3 16
+f 25 17 10
+f 25 16 17
+f 26 20 13
+f 26 3 20
+f 27 23 7
+f 27 7 12
+f 28 9 2
+f 29 27 12
+f 30 21 8
+f 30 8 19
+f 30 19 29
+f 30 29 12
+f 30 12 1
+f 31 28 2
+f 32 2 10
+f 32 10 22
+f 32 31 2
+f 32 22 14
+f 32 14 31
+f 33 22 17
+f 33 17 14
+f 33 14 22
+f 34 14 7
+f 34 7 23
+f 35 1 15
+f 35 15 24
+f 35 30 1
+f 36 24 11
+f 36 11 16
+f 36 26 13
+f 37 3 26
+f 37 36 16
+f 37 26 36
+f 38 18 14
+f 38 29 18
+f 38 27 29
+f 39 23 27
+f 39 34 23
+f 39 14 34
+f 39 38 14
+f 39 27 38
+f 40 9 28
+f 40 29 19
+f 40 18 29
+f 41 14 18
+f 41 28 31
+f 41 18 40
+f 42 35 24
+f 42 24 36
+f 42 36 13
+f 43 37 16
+f 43 16 3
+f 43 3 37
+f 44 40 19
+f 44 9 40
+f 44 19 5
+f 44 5 9
+f 45 41 31
+f 45 31 14
+f 45 14 41
+f 46 41 40
+f 46 40 28
+f 46 28 41
+f 47 30 35
+f 47 35 42
+f 47 42 13
+f 47 13 21
+f 47 21 30
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_12.obj b/mango/mango_7/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed1311c15ebea77e91735de4835906e38b0db73e
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_12.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.25818634 0.14836423 0.12601133
+v 0.26399152 0.15217237 -0.20735553
+v 0.25949450 0.24334016 -0.05949052
+v 0.00207733 0.33712857 0.05670907
+v 0.00742569 0.15499665 -0.25547553
+v 0.25708043 0.22599782 0.03822339
+v 0.24722620 0.14714845 -0.21563917
+v 0.00490096 0.15253615 0.23604640
+v 0.00391401 0.30847331 -0.12788174
+v 0.25807621 0.24165857 -0.01786339
+v 0.01434559 0.28893977 0.13712880
+v 0.00103057 0.25148416 0.18304754
+v 0.03268814 0.14860192 0.22782001
+v 0.26057261 0.21548207 -0.13999940
+v 0.00457926 0.23278056 -0.21088448
+v 0.02996426 0.33537753 -0.03975176
+v 0.01504111 0.33243495 0.05631218
+v 0.10433497 0.24364326 0.13747016
+v 0.00309100 0.16568711 0.23124711
+v 0.00089786 0.29261254 0.14019846
+v 0.07456273 0.19166521 0.19293207
+v 0.11133121 0.14906330 -0.24358591
+v 0.26052684 0.22907276 -0.11313243
+v 0.01762541 0.23143464 -0.20944515
+v 0.00251582 0.33653808 -0.07057806
+v 0.02917454 0.33437143 0.02669951
+v 0.24224816 0.24194170 0.00960120
+v 0.05803166 0.28863554 0.11003058
+v 0.25639420 0.20131950 0.07850977
+v 0.00610131 0.17938928 -0.24481841
+v 0.10818560 0.14859262 0.19919217
+v 0.01574140 0.20328649 0.21064236
+v 0.12021187 0.20136907 0.16485123
+v 0.24494054 0.24281392 -0.08508257
+v 0.03009055 0.31861201 -0.09457091
+v 0.04850567 0.20390814 -0.22309417
+v 0.07789620 0.24521227 -0.17942668
+v 0.00387567 0.27715116 -0.16869770
+v 0.01637044 0.33245661 -0.06943369
+v 0.02954382 0.31739116 0.08109605
+v 0.24031164 0.17355045 0.12015874
+v 0.08979475 0.20117312 0.17976752
+v 0.00202902 0.20592587 0.21421554
+v 0.01437133 0.24869852 0.17899822
+v 0.01639834 0.30599715 -0.12635922
+v 0.24544193 0.15693253 -0.20861551
+v 0.18667957 0.14859951 -0.22942260
+v 0.06497067 0.17501785 -0.23773330
+v 0.24494670 0.20054412 -0.16732777
+v 0.25554757 0.15999209 0.12018241
+v 0.19381499 0.18534065 0.13669088
+v 0.01634750 0.27524651 -0.16705980
+v 0.26196391 0.16152032 -0.20027455
+v 0.18504189 0.15736097 -0.22355331
+v 0.11019833 0.15892369 -0.23877200
+v 0.04584074 0.28790582 -0.13868928
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 10 6 3
+f 13 7 1
+f 13 8 5
+f 18 11 12
+f 19 5 8
+f 19 8 13
+f 20 12 11
+f 20 15 12
+f 22 13 5
+f 22 7 13
+f 23 3 2
+f 23 2 14
+f 25 4 16
+f 25 20 4
+f 25 15 20
+f 26 10 3
+f 26 3 16
+f 26 16 4
+f 26 4 17
+f 27 17 6
+f 27 6 10
+f 27 26 17
+f 27 10 26
+f 28 11 18
+f 28 20 11
+f 29 1 6
+f 29 28 18
+f 29 6 28
+f 30 5 19
+f 30 22 5
+f 30 12 15
+f 31 13 1
+f 31 1 21
+f 32 19 13
+f 32 31 21
+f 32 13 31
+f 33 21 1
+f 34 16 3
+f 34 3 23
+f 35 23 14
+f 35 9 25
+f 36 30 15
+f 36 15 24
+f 38 24 15
+f 38 37 24
+f 38 25 9
+f 38 15 25
+f 39 25 16
+f 39 35 25
+f 39 23 35
+f 39 34 23
+f 39 16 34
+f 40 28 6
+f 40 6 17
+f 40 17 4
+f 40 4 20
+f 40 20 28
+f 41 29 18
+f 41 33 1
+f 42 32 21
+f 42 12 32
+f 42 21 33
+f 43 32 12
+f 43 19 32
+f 43 30 19
+f 43 12 30
+f 44 33 18
+f 44 18 12
+f 44 42 33
+f 44 12 42
+f 45 35 14
+f 45 9 35
+f 46 36 24
+f 46 2 7
+f 46 7 36
+f 47 7 22
+f 48 30 36
+f 50 41 1
+f 50 1 29
+f 50 29 41
+f 51 41 18
+f 51 18 33
+f 51 33 41
+f 52 38 9
+f 52 9 45
+f 52 37 38
+f 52 49 37
+f 53 2 46
+f 53 37 49
+f 53 49 14
+f 53 14 2
+f 53 46 24
+f 53 24 37
+f 54 47 36
+f 54 36 7
+f 54 7 47
+f 55 47 22
+f 55 22 30
+f 55 30 48
+f 55 48 36
+f 55 36 47
+f 56 45 14
+f 56 14 49
+f 56 52 45
+f 56 49 52
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_13.obj b/mango/mango_7/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83a3b6419e559331f3b23954a3afedaf52974ed5
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_13.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.27921454 -0.19007478 0.11611563
+v 0.48990539 -0.04936467 -0.08741194
+v 0.45983243 -0.02386407 0.03376639
+v 0.28739306 0.10998005 0.12984902
+v 0.26515152 -0.02632558 -0.13564899
+v 0.48337016 0.09216293 -0.11657391
+v 0.37782714 -0.08403904 0.09607210
+v 0.41740341 -0.16818454 -0.00739227
+v 0.26515152 0.09488654 -0.12049748
+v 0.48856974 0.04638782 -0.02215824
+v 0.39999936 -0.17659051 -0.13472865
+v 0.41719920 0.01649752 0.07540268
+v 0.47298137 -0.07977028 -0.01794557
+v 0.35578175 -0.16506147 0.07657821
+v 0.26515152 -0.17784074 -0.13564899
+v 0.48296867 -0.02449546 -0.13170605
+v 0.48813443 0.07654819 -0.11553991
+v 0.46282422 0.08695168 0.00441224
+v 0.44451653 -0.13756682 -0.10031785
+v 0.42010578 -0.16811216 -0.01643827
+v 0.41706063 -0.05153178 0.07348405
+v 0.37811729 0.06067223 0.09348731
+v 0.48929538 -0.00992696 -0.01984707
+v 0.38579814 -0.16482407 0.04599569
+v 0.49008902 0.07539854 -0.04735167
+v 0.48914355 -0.02294094 -0.11550489
+v 0.47661776 0.08854380 -0.02120438
+v 0.44759635 0.03182810 0.04540157
+v 0.44443161 -0.13895809 -0.02081284
+v 0.47311290 -0.06453266 -0.12686105
+v 0.43122274 -0.14960599 -0.11523351
+v 0.42921858 -0.09515830 0.04630469
+v 0.39076740 0.08641395 0.07619621
+v 0.45976199 0.00371672 0.03449879
+v 0.47478755 -0.03702385 0.00661906
+v 0.48939847 -0.04993340 -0.04802021
+v 0.47472126 0.05909169 0.00250108
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+v 0.46036167 -0.06550414 0.01903108
+v 0.48916842 -0.03786532 -0.03270473
+v 0.41507829 -0.14913910 0.02277505
+v 0.42165704 -0.15429047 -0.12944158
+v 0.38733955 -0.08212822 0.08900172
+v 0.38543517 -0.12430035 0.07428572
+v 0.38930398 0.05879170 0.08709850
+v 0.43187939 0.03156420 0.05972820
+v 0.44452314 -0.08043005 0.03356160
+v 0.47263696 -0.06666505 -0.00743555
+f 7 4 1
+f 9 1 4
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+f 15 9 5
+f 15 1 9
+f 15 11 1
+f 15 5 11
+f 16 9 6
+f 16 5 9
+f 16 11 5
+f 17 16 6
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+f 20 1 11
+f 21 12 7
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+f 22 4 7
+f 22 7 12
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+f 26 25 2
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+f 30 26 2
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+f 31 20 11
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+f 33 18 4
+f 33 4 22
+f 34 23 10
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+f 39 30 2
+f 39 2 19
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+f 41 32 21
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+f 43 21 32
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+f 44 37 18
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+f 46 38 13
+f 47 13 36
+f 47 36 23
+f 47 23 35
+f 48 24 8
+f 48 8 38
+f 48 42 24
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+f 49 40 31
+f 49 31 11
+f 49 11 40
+f 50 41 21
+f 50 21 7
+f 51 14 42
+f 51 42 32
+f 51 32 41
+f 51 7 1
+f 51 1 14
+f 51 50 7
+f 51 41 50
+f 52 45 33
+f 52 33 22
+f 52 22 12
+f 53 12 28
+f 53 28 45
+f 53 52 12
+f 53 45 52
+f 54 32 38
+f 54 38 46
+f 54 43 32
+f 54 46 3
+f 54 3 43
+f 55 46 13
+f 55 35 46
+f 55 47 35
+f 55 13 47
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_14.obj b/mango/mango_7/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77eddf873c9eade20dc5a82c67a88f987330b313
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_14.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.10910033 -0.35686554 0.01065089
+v 0.27644551 -0.29123322 -0.08798514
+v 0.25489429 -0.21264701 0.11819709
+v 0.00490903 -0.20401610 0.21804915
+v 0.00753153 -0.20540587 -0.26572956
+v 0.07727185 -0.31391586 0.12127311
+v 0.25443459 -0.29458121 0.02452013
+v 0.08088141 -0.32741806 -0.16688766
+v 0.26331333 -0.20551057 -0.22181679
+v 0.10676786 -0.22655862 0.17849932
+v 0.21316121 -0.32718192 -0.00483247
+v 0.27614584 -0.29144085 -0.00180581
+v 0.18039383 -0.28359183 0.10489495
+v 0.00700515 -0.35986274 0.05709202
+v 0.12309682 -0.28203908 -0.21144949
+v 0.20102508 -0.20093754 -0.24487431
+v 0.16801199 -0.20046324 0.16865168
+v 0.00558591 -0.28916562 0.16830610
+v 0.13754133 -0.34123010 -0.11583131
+v 0.15070864 -0.32577553 0.06471891
+v 0.25473546 -0.28225932 0.04938030
+v 0.25775971 -0.20053376 0.12338050
+v 0.26999736 -0.29623211 -0.00576778
+v 0.14995616 -0.26820903 0.13494319
+v 0.00699326 -0.35704601 -0.11304444
+v 0.00702780 -0.25609886 -0.24085030
+v 0.01918395 -0.20265927 0.21478230
+v 0.24239988 -0.23682882 -0.20988795
+v 0.06310877 -0.22658746 0.19411200
+v 0.00543748 -0.31416909 0.13924983
+v 0.21400458 -0.32671702 -0.07041578
+v 0.19573361 -0.29533290 -0.17150459
+v 0.16684129 -0.34003943 0.00958457
+v 0.07854482 -0.35586670 0.04066363
+v 0.15063284 -0.29957413 0.10611323
+v 0.19622490 -0.32406949 0.02379155
+v 0.22352988 -0.28080415 0.07864868
+v 0.19501943 -0.23917143 0.13483079
+v 0.24569615 -0.20197852 -0.23060854
+v 0.07714408 -0.28328737 0.15124298
+v 0.03726861 -0.35620187 -0.11269028
+v 0.10994329 -0.35647173 -0.07120803
+v 0.00798548 -0.32899237 -0.16909879
+v 0.12548332 -0.24211607 -0.23761894
+v 0.00355220 -0.21706745 0.21299258
+v 0.11205239 -0.20276774 -0.25885183
+v 0.25633752 -0.26575203 -0.17179570
+v 0.07937318 -0.20285741 0.19984844
+v 0.04973590 -0.32703179 0.11189706
+v 0.01927940 -0.31264104 0.13786938
+v 0.27079667 -0.29493392 -0.08474990
+v 0.15273613 -0.30908274 -0.17103193
+v 0.16854206 -0.26685973 -0.21142478
+v 0.21086068 -0.31116068 -0.12631761
+v 0.12317003 -0.33953098 0.05488000
+v 0.09284298 -0.32608925 0.09613947
+v 0.16554139 -0.30991168 0.07942348
+v 0.16551610 -0.21253796 0.16309093
+v 0.22337507 -0.25475501 0.10449452
+v 0.24345972 -0.21392638 -0.22484007
+v 0.03278216 -0.28396425 0.16495262
+v 0.11061828 -0.34081151 -0.12690661
+v 0.07980459 -0.35558884 -0.10098565
+v 0.16838392 -0.34134940 -0.07028076
+f 12 2 9
+f 21 12 3
+f 21 7 12
+f 22 12 9
+f 22 3 12
+f 22 16 17
+f 23 2 12
+f 23 12 7
+f 23 7 11
+f 27 5 4
+f 27 17 16
+f 30 25 14
+f 31 23 11
+f 33 1 11
+f 34 14 1
+f 35 13 24
+f 36 11 7
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+f 36 7 21
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+f 38 22 17
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+f 38 10 24
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+f 39 22 9
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+f 40 24 10
+f 40 10 29
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+f 43 8 41
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+f 45 4 5
+f 45 5 26
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+f 46 27 16
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+f 47 9 2
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+f 48 27 4
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+f 48 4 45
+f 48 17 27
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+f 48 10 17
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+f 50 6 18
+f 50 18 30
+f 50 49 6
+f 50 30 49
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+f 54 32 47
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+f 57 20 21
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+f 58 10 38
+f 59 37 3
+f 59 3 38
+f 59 38 13
+f 59 13 37
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+f 60 53 16
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+f 60 39 9
+f 60 9 28
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+f 61 6 40
+f 61 40 29
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+f 62 41 8
+f 62 8 19
+f 63 42 41
+f 63 19 42
+f 63 62 19
+f 63 41 62
+f 64 42 19
+f 64 19 31
+f 64 31 11
+f 64 11 1
+f 64 1 42
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_15.obj b/mango/mango_7/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..676ea44152781e44961a7ce31a83c99e9e1a285c
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_15.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v -0.24523110 -0.21051597 0.21612860
+v -0.09848485 -0.11723467 0.16738132
+v -0.09207647 0.07136591 0.27906179
+v -0.43158824 0.07967736 0.21264735
+v -0.41871385 -0.13883404 0.15927528
+v -0.09848485 0.06458351 0.16738132
+v -0.29293106 0.00581312 0.28558596
+v -0.09747217 -0.12407735 0.26385494
+v -0.39327071 -0.17035250 0.15960519
+v -0.47006793 0.06401597 0.16409124
+v -0.27735161 0.06249629 0.28635691
+v -0.40242391 -0.06360534 0.22654371
+v -0.23191921 -0.11206965 0.27039432
+v -0.14602109 -0.03824793 0.28726124
+v -0.46455911 -0.05337391 0.15926867
+v -0.43800670 0.07748711 0.20548805
+v -0.37691294 0.06288949 0.25592995
+v -0.38644773 -0.13508489 0.19795632
+v -0.23176612 -0.17043882 0.24308706
+v -0.31966071 -0.05149950 0.27113663
+v -0.13061068 -0.01061672 0.28686238
+v -0.13040081 -0.11332185 0.27138870
+v -0.24763045 -0.05109912 0.28550693
+v -0.44347738 -0.06322602 0.18619432
+v -0.33490777 0.06295342 0.27255935
+v -0.40592139 0.00756402 0.24063066
+v -0.41553538 -0.13502065 0.16850817
+v -0.35999781 -0.16601693 0.19545973
+v -0.28950594 -0.12232357 0.25631585
+v -0.34972699 0.00699330 0.26950753
+v -0.11505131 -0.09930008 0.27246142
+v -0.13024108 0.06174809 0.28651655
+v -0.16129894 -0.05320347 0.28626085
+v -0.45905702 0.02024461 0.18827788
+v -0.42592368 0.07676678 0.21966281
+v -0.29238060 0.04725813 0.28563506
+v -0.44716845 -0.02217278 0.19730538
+v -0.38800624 -0.16557091 0.16979127
+v -0.26216442 -0.13761024 0.25437614
+v -0.29016475 -0.08088343 0.27095056
+v -0.33480961 -0.12206833 0.24072994
+v -0.26208859 -0.16766124 0.23874060
+v -0.34921655 0.03242148 0.27030779
+v -0.36047258 -0.05276727 0.25523617
+v -0.11414518 -0.11551180 0.26879619
+v -0.11439875 0.06384650 0.28455034
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+v -0.42132289 0.06349005 0.22690484
+v -0.41639401 -0.02183099 0.22678977
+v -0.45799418 -0.05169329 0.17023106
+v -0.37487830 -0.10929374 0.22372623
+v -0.32954513 -0.15070763 0.22553089
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+v -0.43084740 0.07569155 0.21477042
+v -0.40493884 0.01776211 0.24072746
+v -0.35973092 -0.09414509 0.23888474
+v -0.30400308 -0.16738487 0.22497476
+v -0.28862256 -0.15187072 0.23949630
+f 6 3 2
+f 6 4 3
+f 8 1 2
+f 8 2 3
+f 9 2 1
+f 9 6 2
+f 9 5 6
+f 11 3 4
+f 14 11 7
+f 15 10 6
+f 15 6 5
+f 16 4 6
+f 16 6 10
+f 19 1 8
+f 21 8 3
+f 22 19 8
+f 22 13 19
+f 23 14 7
+f 23 7 20
+f 24 18 12
+f 25 11 4
+f 27 5 9
+f 27 18 24
+f 27 24 15
+f 27 15 5
+f 28 9 1
+f 30 20 7
+f 31 21 14
+f 31 8 21
+f 32 3 11
+f 32 11 14
+f 32 14 21
+f 33 14 23
+f 33 31 14
+f 33 22 31
+f 33 23 13
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+f 34 10 15
+f 35 25 4
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+f 36 7 11
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+f 37 24 12
+f 37 26 34
+f 37 34 15
+f 38 27 9
+f 38 18 27
+f 38 28 18
+f 38 9 28
+f 39 19 13
+f 39 13 29
+f 40 23 20
+f 40 29 13
+f 40 13 23
+f 41 40 20
+f 41 29 40
+f 42 1 19
+f 42 39 29
+f 42 19 39
+f 43 17 26
+f 43 25 17
+f 43 36 25
+f 43 30 7
+f 43 7 36
+f 44 26 12
+f 44 20 30
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+f 45 31 22
+f 45 22 8
+f 45 8 31
+f 46 32 21
+f 46 21 3
+f 46 3 32
+f 47 16 10
+f 47 10 34
+f 47 4 16
+f 48 17 35
+f 48 34 26
+f 48 47 34
+f 49 37 12
+f 49 12 26
+f 49 26 37
+f 50 37 15
+f 50 15 24
+f 50 24 37
+f 51 12 18
+f 51 18 28
+f 52 51 28
+f 52 41 51
+f 53 44 30
+f 53 26 44
+f 53 43 26
+f 53 30 43
+f 54 35 4
+f 54 4 47
+f 54 48 35
+f 54 47 48
+f 55 48 26
+f 55 26 17
+f 55 17 48
+f 56 44 12
+f 56 12 51
+f 56 51 41
+f 56 41 44
+f 57 52 28
+f 57 28 1
+f 57 1 42
+f 57 41 52
+f 58 57 42
+f 58 42 29
+f 58 29 41
+f 58 41 57
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_16.obj b/mango/mango_7/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71e54d64186b511bfdc41723f18ac28d16e69652
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_16.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.23484849 -0.17784074 0.01586616
+v -0.23108556 -0.17246771 -0.24545880
+v -0.23484849 0.17064412 0.01586616
+v -0.35606061 0.17064412 0.01586616
+v -0.35606061 -0.17784074 0.01586616
+v -0.24077765 0.19153666 -0.23421544
+v -0.23156358 0.09203316 -0.27164088
+v -0.34632725 -0.06707167 -0.23801238
+v -0.25922737 -0.08356705 -0.26890120
+v -0.34336281 -0.16602871 -0.19587429
+v -0.35283492 0.16688934 -0.20494410
+v -0.33444312 0.03104746 -0.25357165
+v -0.23181070 -0.09775386 -0.27157201
+v -0.33138700 -0.09665491 -0.23833746
+v -0.34717014 -0.10949611 -0.22475590
+v -0.30254265 0.10320047 -0.25230391
+v -0.28911591 -0.03787710 -0.26762341
+v -0.34857958 0.08861341 -0.23852957
+v -0.23125164 -0.14256252 -0.25732293
+v -0.25828209 -0.16870498 -0.23770379
+v -0.28508548 0.17990311 -0.22728238
+v -0.23391668 0.10860459 -0.26802748
+v -0.27622519 0.06103912 -0.26788889
+v -0.33227238 0.00466764 -0.25453251
+v -0.31681936 -0.06743038 -0.25283088
+v -0.28953016 0.00368573 -0.26892483
+v -0.33372055 0.10394234 -0.23929075
+v -0.24644643 -0.09701880 -0.26892465
+v -0.24451713 -0.14134667 -0.25448660
+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 10 2 5
+f 11 5 4
+f 11 4 6
+f 15 10 5
+f 15 8 14
+f 15 5 11
+f 17 13 9
+f 18 12 8
+f 18 16 12
+f 18 15 11
+f 18 8 15
+f 19 13 7
+f 19 7 2
+f 20 15 14
+f 20 2 10
+f 20 10 15
+f 21 11 6
+f 22 6 7
+f 22 21 6
+f 22 16 21
+f 23 12 16
+f 23 22 7
+f 23 16 22
+f 24 8 12
+f 25 14 8
+f 25 24 17
+f 25 8 24
+f 25 17 9
+f 25 9 14
+f 26 7 13
+f 26 13 17
+f 26 23 7
+f 26 12 23
+f 26 24 12
+f 26 17 24
+f 27 18 11
+f 27 16 18
+f 27 21 16
+f 27 11 21
+f 28 9 13
+f 28 13 19
+f 29 19 2
+f 29 2 20
+f 29 20 14
+f 29 28 19
+f 29 14 9
+f 29 9 28
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_17.obj b/mango/mango_7/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06dd758a7ba81f080044a88f5c0f710787b5e9df
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_17.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.40546134 0.08756357 0.06333285
+v 0.48337016 0.09216293 -0.11657391
+v 0.43209944 0.16894934 -0.04986959
+v 0.26027795 0.23407196 0.01192739
+v 0.26491815 0.09445209 -0.24064120
+v 0.32991003 0.18488960 0.04605398
+v 0.47661776 0.08854380 -0.02120438
+v 0.28739306 0.10998005 0.12984902
+v 0.37907330 0.16759345 -0.15248842
+v 0.41583410 0.15650885 0.00316927
+v 0.37595648 0.19740292 -0.02259556
+v 0.47499674 0.11556232 -0.05006330
+v 0.32164230 0.08902566 -0.22818548
+v 0.37984848 0.08954049 0.08165649
+v 0.26059253 0.19325323 0.08479671
+v 0.43489179 0.16873704 -0.09650322
+v 0.26057261 0.21548207 -0.13999940
+v 0.44499915 0.10059509 0.01742140
+v 0.27137334 0.21225649 0.04970734
+v 0.40562247 0.18110700 -0.02309497
+v 0.45793988 0.11389207 -0.00911127
+v 0.42417239 0.09029207 -0.18362122
+v 0.29023651 0.14099001 -0.20890803
+v 0.44929977 0.08784523 0.02085359
+v 0.32869225 0.15786602 0.07460281
+v 0.46267448 0.14159438 -0.09954388
+v 0.39348983 0.19772451 -0.08852252
+v 0.25826454 0.21666717 0.05265844
+v 0.40287600 0.14275031 0.02944838
+v 0.33325378 0.21155729 -0.00716949
+v 0.28580796 0.19724095 0.06346414
+v 0.44553056 0.14275259 -0.02254588
+v 0.38815923 0.16954985 0.01615648
+v 0.47253769 0.10023918 -0.02405696
+v 0.42996584 0.14098664 0.00251766
+v 0.36539220 0.08919107 -0.21367268
+v 0.29057242 0.11503664 -0.22482892
+v 0.30567601 0.18399595 -0.16505675
+v 0.26178458 0.14536418 -0.21330433
+v 0.37292290 0.11594860 0.07246723
+v 0.28592017 0.18485658 0.07734613
+v 0.47414359 0.11714938 -0.11449801
+v 0.43655476 0.15344141 -0.12559003
+v 0.44539409 0.15718487 -0.05056719
+v 0.41859249 0.18392807 -0.07271152
+v 0.34917076 0.19788178 -0.12548736
+v 0.26152535 0.23338903 -0.10149271
+v 0.26246422 0.11838965 -0.22959382
+v 0.40219659 0.09973592 0.05893752
+v 0.27354814 0.22931237 0.01040693
+v 0.35042955 0.21356561 -0.03338774
+v 0.38794191 0.15521212 0.03042339
+v 0.37958531 0.14218542 -0.17730068
+v 0.32049003 0.10279860 -0.22308692
+v 0.30540468 0.16969967 -0.17993972
+v 0.43962292 0.09114392 -0.17352619
+v 0.40395926 0.18298563 -0.11110512
+v 0.46066910 0.14185918 -0.06249478
+v 0.41747711 0.18400051 -0.06327551
+v 0.27524610 0.21295713 -0.13745864
+v 0.34911858 0.16951827 -0.16460917
+v 0.34872599 0.21215332 -0.09695422
+v 0.30463646 0.22815242 -0.03279990
+v 0.36385883 0.10324671 -0.20870116
+f 12 7 2
+f 14 8 5
+f 14 13 1
+f 14 5 13
+f 15 5 8
+f 22 2 7
+f 24 1 13
+f 24 18 1
+f 24 21 18
+f 24 7 21
+f 25 15 8
+f 30 28 19
+f 30 19 6
+f 30 6 11
+f 31 6 19
+f 31 28 15
+f 31 19 28
+f 32 20 10
+f 32 21 12
+f 33 20 11
+f 33 11 6
+f 33 10 20
+f 33 29 10
+f 33 6 25
+f 34 21 7
+f 34 7 12
+f 34 12 21
+f 35 18 21
+f 35 29 18
+f 35 10 29
+f 35 32 10
+f 35 21 32
+f 36 22 7
+f 36 24 13
+f 36 7 24
+f 39 17 38
+f 39 28 17
+f 39 23 37
+f 40 25 8
+f 40 8 14
+f 40 29 25
+f 40 14 1
+f 41 25 6
+f 41 15 25
+f 41 31 15
+f 41 6 31
+f 42 26 12
+f 42 12 2
+f 43 16 26
+f 43 26 42
+f 44 26 16
+f 44 32 12
+f 44 3 20
+f 44 20 32
+f 45 16 27
+f 45 44 16
+f 47 28 4
+f 47 17 28
+f 48 5 15
+f 48 15 28
+f 48 28 39
+f 48 39 37
+f 48 37 5
+f 49 1 18
+f 49 18 29
+f 49 40 1
+f 49 29 40
+f 50 30 4
+f 50 4 28
+f 50 28 30
+f 51 4 30
+f 51 30 11
+f 52 33 25
+f 52 25 29
+f 52 29 33
+f 53 9 43
+f 54 13 5
+f 54 5 37
+f 54 37 23
+f 55 39 38
+f 55 23 39
+f 55 53 23
+f 56 42 2
+f 56 2 22
+f 56 43 42
+f 56 53 43
+f 56 22 53
+f 57 27 16
+f 57 16 43
+f 57 43 9
+f 57 9 46
+f 58 44 12
+f 58 12 26
+f 58 26 44
+f 59 3 44
+f 59 44 45
+f 59 20 3
+f 59 11 20
+f 59 51 11
+f 59 45 27
+f 59 27 51
+f 60 46 38
+f 60 38 17
+f 60 17 47
+f 61 46 9
+f 61 38 46
+f 61 55 38
+f 61 9 53
+f 61 53 55
+f 62 60 47
+f 62 46 60
+f 62 57 46
+f 62 27 57
+f 62 51 27
+f 63 47 4
+f 63 4 51
+f 63 62 47
+f 63 51 62
+f 64 53 22
+f 64 22 36
+f 64 36 13
+f 64 13 54
+f 64 54 23
+f 64 23 53
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_18.obj b/mango/mango_7/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e0afdc144b4fec19fae0e3526a6d294bd9d85ad
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_18.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.25775971 -0.20053376 0.12338050
+v 0.25928645 -0.19974210 -0.22658166
+v 0.26391412 -0.02624684 -0.26712012
+v 0.00754507 -0.02631437 0.25817534
+v 0.00757576 -0.20814377 -0.15080051
+v 0.25922511 -0.02687321 0.16946395
+v 0.08443626 -0.21457366 -0.25702549
+v 0.00490903 -0.20401610 0.21804915
+v 0.00742611 -0.02641723 -0.29350982
+v 0.06350224 -0.02520459 0.24252233
+v 0.18622091 -0.14356121 -0.26789774
+v 0.16702725 -0.14025627 0.19426268
+v 0.00722199 -0.13006130 -0.28716680
+v 0.00371089 -0.12839381 0.24399300
+v 0.25943204 -0.14042494 -0.25180493
+v 0.15672255 -0.20120238 -0.25392188
+v 0.10743771 -0.19986927 0.19250722
+v 0.25647492 -0.09979241 0.16449703
+v 0.00299901 -0.18590817 0.22608248
+v 0.15620478 -0.15907227 -0.26963976
+v 0.14168094 -0.07080863 -0.28480625
+v 0.10747155 -0.09833776 0.22371235
+v 0.23067210 -0.09857694 -0.26861721
+v 0.22967011 -0.19732798 -0.23866372
+v 0.18113884 -0.19796735 0.16414081
+v 0.12272317 -0.14441176 0.20984449
+v 0.04858962 -0.20065147 0.20872228
+v 0.08161772 -0.12819288 -0.28433909
+v 0.12701812 -0.20213718 -0.25730820
+v 0.21570119 -0.17103926 -0.25297204
+v 0.12692077 -0.02758914 -0.28585815
+v 0.06324462 -0.07083078 0.23969659
+v 0.18193236 -0.11456033 0.19467377
+v 0.22831510 -0.02655616 0.18426739
+v 0.24686986 -0.04089223 -0.26983009
+v 0.25749600 -0.18202577 -0.23711501
+v 0.25454354 -0.15626511 0.14817592
+v 0.04777901 -0.09769053 0.24066720
+v 0.09325841 -0.17043774 0.20861440
+v 0.14201040 -0.04278253 -0.28531272
+v 0.10879220 -0.02577825 0.22886983
+v 0.21094356 -0.12551627 0.17982511
+v 0.22666293 -0.09907954 0.17829157
+v 0.21083084 -0.17081994 0.16282805
+v 0.25548836 -0.18304385 0.13432298
+v 0.24737683 -0.02800735 -0.26997549
+v 0.24025544 -0.19811156 0.13417212
+f 1 2 3
+f 6 1 3
+f 7 2 1
+f 8 7 1
+f 8 5 7
+f 10 9 4
+f 10 3 9
+f 13 7 5
+f 14 4 9
+f 15 3 2
+f 17 8 1
+f 18 1 6
+f 19 13 5
+f 19 5 8
+f 19 14 9
+f 19 9 13
+f 23 15 11
+f 23 3 15
+f 23 11 20
+f 23 20 21
+f 24 2 7
+f 24 7 16
+f 25 17 1
+f 25 12 17
+f 26 17 12
+f 26 14 19
+f 27 19 8
+f 27 8 17
+f 28 20 7
+f 28 7 13
+f 28 21 20
+f 28 13 9
+f 28 9 21
+f 29 20 16
+f 29 16 7
+f 29 7 20
+f 30 20 11
+f 30 11 15
+f 30 24 16
+f 30 16 20
+f 31 9 3
+f 32 10 4
+f 33 26 12
+f 33 22 26
+f 34 6 3
+f 34 3 10
+f 34 22 33
+f 34 18 6
+f 35 23 21
+f 35 3 23
+f 36 15 2
+f 36 2 24
+f 36 30 15
+f 36 24 30
+f 37 1 18
+f 38 26 22
+f 38 14 26
+f 38 22 32
+f 38 32 4
+f 38 4 14
+f 39 26 19
+f 39 19 27
+f 39 27 17
+f 39 17 26
+f 40 21 9
+f 40 9 31
+f 40 35 21
+f 41 32 22
+f 41 10 32
+f 41 34 10
+f 41 22 34
+f 42 33 12
+f 42 37 18
+f 43 34 33
+f 43 18 34
+f 43 42 18
+f 43 33 42
+f 44 12 25
+f 44 42 12
+f 44 37 42
+f 45 1 37
+f 45 44 25
+f 45 37 44
+f 46 40 31
+f 46 31 3
+f 46 3 35
+f 46 35 40
+f 47 45 25
+f 47 25 1
+f 47 1 45
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_19.obj b/mango/mango_7/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6209d1d382e5a6f0be70f603e344b58109209146
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_19.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v -0.35606061 -0.10208316 0.01586616
+v -0.34944393 -0.09763312 -0.22876863
+v -0.35606061 0.17064412 0.01586616
+v -0.47322630 0.16353178 0.01257143
+v -0.48259396 -0.08119270 0.00632216
+v -0.35283492 0.16688934 -0.20494410
+v -0.48445143 -0.01058812 0.01402633
+v -0.46885701 -0.10507597 0.01400850
+v -0.35004633 0.12008960 -0.22700939
+v -0.47472205 0.16286479 -0.05558066
+v -0.46072022 -0.09450844 -0.11364569
+v -0.35083791 0.14941326 -0.21609473
+v -0.34926199 0.04762160 -0.24398793
+v -0.49179023 0.10652775 -0.00312053
+v -0.47330556 -0.09295255 -0.07262462
+v -0.44410326 -0.09540317 -0.13941290
+v -0.44627897 0.10140482 -0.16524362
+v -0.48960262 -0.00924231 -0.00399856
+v -0.47373524 -0.09604584 -0.01382497
+v -0.36062091 -0.09719718 -0.22310581
+v -0.42911750 0.15903973 -0.15207503
+v -0.40269049 0.07513217 -0.21015654
+v -0.45891609 -0.02146890 -0.15488164
+v -0.48929795 -0.03685202 -0.07388575
+v -0.34947167 -0.02539051 -0.24433980
+v -0.45891501 0.16016355 -0.10924720
+v -0.41562134 0.16236564 -0.16455524
+v -0.36072719 0.14775443 -0.21210103
+v -0.37521913 0.08847647 -0.22287443
+v -0.45928194 -0.08026173 -0.12427855
+v -0.46019836 0.07722346 -0.15297996
+v -0.41572914 -0.05029106 -0.19641828
+v -0.48974587 -0.03641677 -0.03211035
+v -0.48794759 0.06030082 -0.10003904
+v -0.47343248 -0.03640980 -0.12422731
+v -0.39025546 0.03236557 -0.22407651
+v -0.44569389 0.13138901 -0.14950637
+v -0.41518595 0.13225001 -0.17984851
+v -0.37429936 0.16174035 -0.19477185
+v -0.36115948 0.04675510 -0.23782645
+v -0.35947549 0.11929941 -0.22251782
+v -0.47504286 0.08915708 -0.12520033
+v -0.43007487 -0.07990456 -0.16681892
+v -0.37283275 -0.06622726 -0.22347515
+v -0.48920935 -0.00769348 -0.09997302
+v -0.48999041 0.10744802 -0.05792452
+v -0.41694856 0.08973290 -0.19382131
+v -0.38853923 0.14549237 -0.19332970
+v -0.45790920 0.12032832 -0.13923521
+v -0.47373454 0.14709886 -0.08454535
+v -0.38722048 -0.08061710 -0.20816028
+v -0.44534364 -0.03709979 -0.16657594
+v -0.38822257 -0.00897683 -0.22372198
+v -0.47334435 0.11809744 -0.11193732
+v -0.36135176 -0.02492625 -0.23812295
+v -0.40287742 -0.03868751 -0.20855860
+f 1 2 3
+f 7 1 3
+f 7 3 4
+f 8 2 1
+f 8 7 5
+f 8 1 7
+f 10 4 3
+f 10 3 6
+f 12 6 3
+f 12 3 9
+f 13 9 3
+f 13 3 2
+f 14 7 4
+f 14 4 10
+f 15 11 8
+f 16 8 11
+f 18 5 7
+f 18 7 14
+f 19 15 8
+f 19 8 5
+f 19 5 15
+f 20 2 8
+f 20 8 16
+f 24 15 5
+f 24 11 15
+f 25 13 2
+f 25 2 20
+f 27 17 21
+f 27 21 26
+f 27 26 10
+f 27 10 6
+f 28 12 9
+f 28 6 12
+f 29 9 13
+f 30 23 16
+f 30 16 11
+f 31 17 22
+f 33 24 5
+f 33 5 18
+f 33 18 14
+f 33 14 24
+f 35 30 11
+f 35 23 30
+f 36 13 25
+f 36 32 23
+f 36 31 22
+f 36 23 31
+f 37 26 21
+f 37 21 17
+f 38 17 27
+f 38 28 22
+f 39 27 6
+f 39 6 28
+f 40 29 13
+f 40 22 29
+f 40 36 22
+f 40 13 36
+f 41 28 9
+f 41 9 29
+f 41 29 22
+f 41 22 28
+f 42 17 31
+f 43 20 16
+f 44 25 20
+f 44 20 32
+f 45 24 14
+f 45 23 35
+f 45 34 42
+f 45 42 31
+f 45 31 23
+f 45 35 11
+f 45 11 24
+f 46 14 10
+f 46 45 14
+f 46 34 45
+f 47 38 22
+f 47 22 17
+f 47 17 38
+f 48 38 27
+f 48 28 38
+f 48 39 28
+f 48 27 39
+f 49 37 17
+f 49 17 42
+f 49 26 37
+f 50 10 26
+f 50 46 10
+f 51 43 32
+f 51 32 20
+f 51 20 43
+f 52 43 16
+f 52 16 23
+f 52 23 32
+f 52 32 43
+f 53 32 36
+f 54 42 34
+f 54 34 46
+f 54 46 50
+f 54 50 26
+f 54 49 42
+f 54 26 49
+f 55 53 36
+f 55 36 25
+f 55 25 44
+f 55 44 53
+f 56 53 44
+f 56 44 32
+f 56 32 53
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_2.obj b/mango/mango_7/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc9292f376f08f5f6b332cd6333eea84c3ae818d
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_2.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.38636364 -0.02632558 -0.12049748
+v 0.39395756 -0.02738530 -0.22336274
+v 0.38636364 0.09488654 -0.12049748
+v 0.15326299 0.12089093 -0.24994885
+v 0.00742611 -0.02641723 -0.29350982
+v 0.38353400 0.09241027 -0.20451586
+v 0.00757576 -0.02632558 -0.13564899
+v 0.23200608 0.00200572 -0.26921784
+v 0.23256696 -0.02778831 -0.27221420
+v 0.26515152 -0.02632558 -0.12049748
+v 0.00757576 0.04943200 -0.13564899
+v 0.00743341 0.04904518 -0.28468662
+v 0.33516896 0.04447576 -0.23897836
+v 0.11242726 -0.02739160 -0.28709016
+v 0.26515152 0.09488654 -0.12049748
+v 0.18667069 0.04583148 -0.26863403
+v 0.00671859 0.03195114 -0.28739662
+v 0.30692162 0.00206723 -0.25443559
+v 0.29130120 0.08715429 -0.23784607
+v 0.11234395 -0.01231354 -0.28604107
+v 0.14810160 0.10446565 -0.25755919
+v 0.29204669 0.03017673 -0.25405060
+v 0.33719332 -0.02651571 -0.24733181
+v 0.33601015 0.08815368 -0.22439008
+v 0.08209520 0.01638245 -0.28500250
+v 0.24625772 0.07283474 -0.25201888
+v 0.21855774 0.09261278 -0.25018352
+v 0.30663655 -0.02607299 -0.25631769
+v 0.05177576 0.03149755 -0.28477294
+v 0.21727294 0.07483563 -0.25641619
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 10 2 1
+f 10 1 3
+f 10 9 2
+f 10 7 9
+f 11 7 10
+f 12 11 4
+f 13 6 2
+f 14 9 7
+f 14 7 5
+f 15 3 4
+f 15 4 11
+f 15 11 10
+f 15 10 3
+f 17 5 7
+f 17 7 11
+f 17 11 12
+f 18 9 8
+f 20 8 9
+f 20 9 14
+f 20 16 8
+f 20 14 5
+f 21 16 12
+f 21 12 4
+f 22 13 18
+f 22 19 13
+f 22 18 8
+f 22 8 16
+f 23 18 13
+f 23 13 2
+f 23 2 9
+f 24 19 4
+f 24 4 6
+f 24 6 13
+f 24 13 19
+f 25 16 20
+f 25 20 5
+f 25 5 17
+f 26 22 16
+f 26 19 22
+f 27 21 4
+f 27 4 19
+f 27 19 26
+f 28 23 9
+f 28 9 18
+f 28 18 23
+f 29 12 16
+f 29 16 25
+f 29 25 17
+f 29 17 12
+f 30 26 16
+f 30 16 21
+f 30 27 26
+f 30 21 27
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_20.obj b/mango/mango_7/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8e57c3551a893899b9495e239e32d80d5ebb745
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_20.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.08333333 -0.20814377 -0.15080051
+v 0.13010539 -0.21261540 -0.25265640
+v 0.08333333 -0.13238619 -0.15080051
+v 0.00757576 -0.13238619 -0.15080051
+v 0.00753153 -0.20540587 -0.26572956
+v 0.00757576 -0.20814377 -0.15080051
+v 0.12796393 -0.13061375 -0.27910378
+v 0.13235234 -0.14005387 -0.27657935
+v 0.00755542 -0.13225253 -0.28661805
+v 0.09617358 -0.18514778 -0.26796047
+v 0.12646931 -0.17104528 -0.26945372
+v 0.00782377 -0.18899400 -0.27252418
+v 0.12701812 -0.20213718 -0.25730820
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 6 2 1
+f 6 1 4
+f 6 4 5
+f 7 4 3
+f 8 7 3
+f 8 3 2
+f 9 5 4
+f 9 4 7
+f 9 7 8
+f 10 2 5
+f 11 8 2
+f 11 10 9
+f 11 9 8
+f 12 10 5
+f 12 5 9
+f 12 9 10
+f 13 11 2
+f 13 2 10
+f 13 10 11
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_21.obj b/mango/mango_7/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03ed2d845733bb9805feb43b65fc7c0d21a4a0de
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_21.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.20170440 -0.08591337 0.19076899
+v 0.27060635 -0.02582152 0.16425878
+v 0.01744651 0.06072187 0.25656012
+v 0.00490096 0.15253615 0.23604640
+v 0.00757576 -0.02632558 0.15222980
+v 0.24074220 0.08731144 0.16200794
+v 0.19689327 0.03149887 0.19317502
+v 0.00380570 -0.02494831 0.25930570
+v 0.10573798 0.13327384 0.20791714
+v 0.24461375 0.13409185 0.14220691
+v 0.25922511 -0.02687321 0.16946395
+v 0.13911147 -0.08448994 0.21473628
+v 0.25675095 0.04675350 0.16455998
+v 0.00414258 0.06153850 0.25975083
+v 0.00353585 0.13537073 0.24352810
+v 0.18122359 0.07403564 0.19319281
+v 0.26191273 0.10738795 0.14504929
+v 0.00757576 0.15549260 0.15222980
+v 0.18870895 0.16975831 0.15070942
+v 0.15253908 -0.08361808 0.21000470
+v 0.01795995 -0.02458399 0.25556634
+v 0.14857463 -0.08927589 0.21040658
+v 0.22611235 0.04652006 0.17875673
+v 0.04651893 0.14684864 0.22392223
+v 0.06218374 0.07485176 0.23903816
+v 0.20981999 0.12888161 0.16415346
+v 0.20105937 0.16684095 0.14592999
+v 0.19647557 -0.08403927 0.19319312
+v 0.01634986 0.13528332 0.23934698
+v 0.09046594 0.14534166 0.20791542
+v 0.10599130 0.07448298 0.22346652
+v 0.23976001 0.12846044 0.14832644
+v 0.19559367 0.14391638 0.16266374
+v 0.07556982 0.11990202 0.22324159
+v 0.13608134 0.08948818 0.20776694
+v 0.19604082 0.16136592 0.15201232
+v 0.18428327 0.16403512 0.15603783
+f 5 2 1
+f 11 1 2
+f 11 2 7
+f 14 8 3
+f 15 5 8
+f 15 8 14
+f 15 14 3
+f 16 13 6
+f 17 2 5
+f 17 5 10
+f 17 13 2
+f 17 6 13
+f 18 10 5
+f 18 15 4
+f 18 5 15
+f 19 18 4
+f 20 11 7
+f 20 7 3
+f 20 3 12
+f 21 12 3
+f 21 3 8
+f 21 8 12
+f 22 12 8
+f 22 8 5
+f 22 5 1
+f 22 20 12
+f 23 7 2
+f 23 2 13
+f 23 16 7
+f 23 13 16
+f 25 15 3
+f 26 16 6
+f 26 9 16
+f 26 6 17
+f 27 10 18
+f 27 18 19
+f 28 1 11
+f 28 11 20
+f 28 22 1
+f 28 20 22
+f 29 9 24
+f 29 15 25
+f 29 24 4
+f 29 4 15
+f 30 19 4
+f 30 4 24
+f 30 24 9
+f 31 7 16
+f 31 25 3
+f 31 3 7
+f 32 26 17
+f 32 17 10
+f 32 10 27
+f 33 9 26
+f 33 30 9
+f 34 29 25
+f 34 9 29
+f 34 25 31
+f 35 31 16
+f 35 16 9
+f 35 34 31
+f 35 9 34
+f 36 32 27
+f 36 26 32
+f 36 33 26
+f 36 27 19
+f 36 19 33
+f 37 33 19
+f 37 19 30
+f 37 30 33
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_22.obj b/mango/mango_7/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae1e8f35b4baf37dddffdd6a7ad36f30ec06a889
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_22.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.01163636 0.27053487 0.16009380
+v 0.02319521 0.30144591 0.11549154
+v -0.10191939 0.34908072 0.10023153
+v -0.23317769 0.34354232 0.08862127
+v -0.35530845 0.28525490 0.10076061
+v 0.00288872 0.32610930 0.08570366
+v -0.21782694 0.31866235 0.13997740
+v -0.02681246 0.30695285 0.13828827
+v -0.10106710 0.35334916 0.08689369
+v -0.34317830 0.29559141 0.09306362
+v -0.18668194 0.33515089 0.12396214
+v -0.34190184 0.26333239 0.15328157
+v 0.00089786 0.29261254 0.14019846
+v -0.08724898 0.31921016 0.13997618
+v -0.02810234 0.33943295 0.08502994
+v -0.12848079 0.34946217 0.10142142
+v -0.23166084 0.33498940 0.11487506
+v -0.31751040 0.29390365 0.12819931
+v 0.00044768 0.30395390 0.12618601
+v -0.15979593 0.33516349 0.12480892
+v -0.04227421 0.31895452 0.12562499
+v -0.12796439 0.35405443 0.08662868
+v 0.00058491 0.32060347 0.09794530
+v -0.27289577 0.30460315 0.13920092
+v -0.02993514 0.33405314 0.09576105
+v -0.31402767 0.28836988 0.13960129
+f 5 2 1
+f 6 2 5
+f 10 6 5
+f 12 5 1
+f 12 1 7
+f 13 8 1
+f 13 1 2
+f 14 7 1
+f 14 1 8
+f 15 9 3
+f 15 10 4
+f 15 6 10
+f 16 3 9
+f 17 7 11
+f 17 4 10
+f 17 16 4
+f 17 11 16
+f 18 10 5
+f 18 5 12
+f 18 17 10
+f 19 13 2
+f 19 8 13
+f 20 11 7
+f 20 7 14
+f 20 16 11
+f 20 14 3
+f 20 3 16
+f 21 14 8
+f 21 3 14
+f 22 15 4
+f 22 9 15
+f 22 16 9
+f 22 4 16
+f 23 2 6
+f 23 6 15
+f 24 12 7
+f 24 7 17
+f 24 17 18
+f 25 8 19
+f 25 21 8
+f 25 15 3
+f 25 3 21
+f 25 19 2
+f 25 23 15
+f 25 2 23
+f 26 24 18
+f 26 18 12
+f 26 12 24
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_23.obj b/mango/mango_7/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0f532bf9da217958933c574c799d1870b6bd511
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_23.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.38911060 -0.12939806 0.20001919
+v -0.35606061 -0.10208316 0.01586616
+v -0.35606061 -0.01117407 0.16738132
+v -0.46991359 -0.01072335 0.16358111
+v -0.49558898 -0.08588744 0.02300051
+v -0.39985752 -0.07059782 0.22513619
+v -0.46926566 -0.10485399 0.00177693
+v -0.45931697 -0.09369859 0.13103003
+v -0.35606061 -0.01117407 0.01586616
+v -0.39296851 -0.09719825 0.21811091
+v -0.49744608 -0.08794941 0.03865889
+v -0.43087643 -0.09377567 0.18389711
+v -0.48849253 -0.01075669 -0.00038606
+v -0.48461922 -0.03501792 -0.00437681
+v -0.47650838 -0.00922720 0.14839813
+v -0.40822364 -0.06718408 0.21914542
+v -0.46176346 -0.06408666 0.15732024
+v -0.49345414 -0.07831928 0.01439733
+v -0.49292299 -0.05482145 0.04667155
+v -0.47477467 -0.02395159 0.14790744
+v -0.49587117 -0.07890067 0.04711468
+v -0.47450557 -0.05316927 0.13139230
+f 1 2 3
+f 6 3 4
+f 7 2 1
+f 9 3 2
+f 10 1 3
+f 10 3 6
+f 11 7 1
+f 11 5 7
+f 11 1 8
+f 12 8 1
+f 12 1 10
+f 13 5 11
+f 14 9 2
+f 14 2 7
+f 14 13 9
+f 15 4 3
+f 15 3 9
+f 15 9 13
+f 16 6 4
+f 16 12 10
+f 16 10 6
+f 17 8 12
+f 17 11 8
+f 17 16 4
+f 17 12 16
+f 18 14 7
+f 18 7 5
+f 18 5 13
+f 18 13 14
+f 19 15 13
+f 19 13 11
+f 20 17 4
+f 20 4 15
+f 20 15 11
+f 21 19 11
+f 21 11 15
+f 21 15 19
+f 22 20 11
+f 22 11 17
+f 22 17 20
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_24.obj b/mango/mango_7/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..583c5ea1b874bb73ebb37ad92a022a731743bbdf
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_24.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.27921454 -0.19007478 0.11611563
+v 0.37971065 -0.11388921 0.08445025
+v 0.25922511 -0.02687321 0.16946395
+v 0.26479085 0.18518696 0.09108364
+v 0.33697178 -0.17457989 0.08778462
+v 0.37984848 0.08954049 0.08165649
+v 0.25739170 -0.17118451 0.13979224
+v 0.37456731 0.03243848 0.10400092
+v 0.25869411 0.08960283 0.15306500
+v 0.28950745 0.17691834 0.08313529
+v 0.28627252 -0.09679626 0.15054266
+v 0.32819768 -0.15479926 0.10458272
+v 0.35852274 0.07500457 0.10297938
+v 0.28496679 0.06147668 0.14838890
+v 0.25869079 -0.05482320 0.16957265
+v 0.25818634 0.14836423 0.12601133
+v 0.36407901 -0.14308675 0.08271858
+v 0.37266758 -0.06713920 0.10475451
+v 0.28367450 -0.15258451 0.13334854
+v 0.33166827 -0.17210496 0.09416663
+v 0.37407344 0.08480176 0.08797305
+v 0.30102166 -0.01220638 0.14907419
+v 0.27076241 0.08766988 0.14833495
+v 0.34450655 0.04512478 0.11982613
+v 0.25849470 -0.12835487 0.15532936
+v 0.26106556 0.17890002 0.10065658
+v 0.32811473 0.11639301 0.10369153
+v 0.29995466 -0.05471614 0.14913002
+v 0.37408846 -0.10957515 0.09145060
+v 0.31614974 -0.16948245 0.10519394
+v 0.27179607 -0.02711167 0.16377333
+v 0.28373537 0.15865035 0.10330618
+v 0.29998982 0.08611170 0.13243276
+v 0.31435471 -0.09686416 0.13451073
+v 0.27087265 -0.05399334 0.16361553
+v 0.28540026 0.17078750 0.09242452
+f 5 1 4
+f 7 4 1
+f 8 2 6
+f 10 5 4
+f 14 9 3
+f 15 9 7
+f 15 3 9
+f 16 7 9
+f 17 10 6
+f 17 6 2
+f 17 5 10
+f 18 2 8
+f 20 1 5
+f 20 5 17
+f 21 13 8
+f 21 8 6
+f 22 14 3
+f 22 18 8
+f 23 9 14
+f 23 16 9
+f 24 8 13
+f 24 13 14
+f 24 22 8
+f 24 14 22
+f 25 15 7
+f 25 11 15
+f 25 19 11
+f 25 7 19
+f 26 4 7
+f 26 7 16
+f 26 10 4
+f 27 6 10
+f 27 21 6
+f 27 13 21
+f 27 16 23
+f 28 15 11
+f 28 18 22
+f 29 2 18
+f 29 12 20
+f 29 20 17
+f 29 17 2
+f 30 7 1
+f 30 1 20
+f 30 19 7
+f 30 20 12
+f 30 12 19
+f 31 22 3
+f 31 3 15
+f 31 28 22
+f 32 26 16
+f 32 16 27
+f 33 27 23
+f 33 13 27
+f 33 23 14
+f 33 14 13
+f 34 28 11
+f 34 18 28
+f 34 29 18
+f 34 11 19
+f 34 19 12
+f 34 12 29
+f 35 31 15
+f 35 15 28
+f 35 28 31
+f 36 10 26
+f 36 26 32
+f 36 32 27
+f 36 27 10
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_25.obj b/mango/mango_7/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c93e28e9b1518fd721c1817af325c05cca009e31
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_25.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.22938279 -0.31396946 0.10183334
+v -0.22823968 -0.28685752 -0.15620680
+v -0.23416951 -0.17621025 0.23978991
+v -0.34822004 -0.16927310 0.20084524
+v -0.42796936 -0.18103311 -0.05697128
+v -0.24199421 -0.28077206 0.15702910
+v -0.23154125 -0.19773551 0.22761110
+v -0.30204779 -0.29557095 -0.04268573
+v -0.23484241 -0.17783206 -0.24169118
+v -0.37155576 -0.23591850 0.09831332
+v -0.23066327 -0.28399856 0.15698824
+v -0.32175712 -0.17107358 0.21647002
+v -0.35816089 -0.23547148 -0.10986366
+v -0.23001425 -0.31677235 -0.08690055
+v -0.22880229 -0.21255578 -0.22641603
+v -0.40694354 -0.17048811 -0.12818284
+v -0.27526975 -0.17128595 -0.23032315
+v -0.34461939 -0.23730791 0.13775883
+v -0.29962018 -0.29488290 0.05827486
+v -0.42209259 -0.17010600 0.11664770
+v -0.33003276 -0.28072760 -0.01332968
+v -0.23104099 -0.24064940 0.19959005
+v -0.27429822 -0.18237797 0.22714249
+v -0.27643624 -0.17171763 0.23250172
+v -0.30037810 -0.28053928 -0.09690896
+v -0.29908070 -0.23861307 -0.16585079
+v -0.39867368 -0.20953230 -0.08481638
+v -0.33354780 -0.16975209 -0.20000030
+v -0.32898080 -0.20852495 0.18044963
+v -0.34261615 -0.25248607 0.11365965
+v -0.27184179 -0.31042659 0.04337526
+v -0.43001840 -0.18074567 0.05839853
+v -0.43457864 -0.17023876 -0.05791426
+v -0.39969229 -0.18069948 0.14181098
+v -0.34258560 -0.26684739 0.07185870
+v -0.34497690 -0.26575689 -0.05636755
+v -0.24623291 -0.19628828 0.22545202
+v -0.24557714 -0.23860794 0.19740735
+v -0.25776767 -0.29646210 -0.11222574
+v -0.25649146 -0.25131541 -0.18289150
+v -0.37221491 -0.19188045 -0.15126060
+v -0.31307509 -0.26596821 -0.11272107
+v -0.29904089 -0.20804305 -0.19415848
+v -0.31926325 -0.18023177 0.21129195
+v -0.30018262 -0.25323076 0.15397595
+v -0.24142483 -0.30988780 0.10048564
+v -0.37169132 -0.22281873 0.12450528
+v -0.27185155 -0.31087310 -0.02738142
+v -0.33029287 -0.28101056 0.03022376
+v -0.41494387 -0.19516310 0.08679661
+v -0.43707298 -0.17069078 0.05961464
+v -0.42067718 -0.17038781 -0.10061334
+v -0.40546371 -0.16972760 0.14535346
+v -0.32912148 -0.22166318 0.16762373
+v -0.31522312 -0.27968083 0.08541898
+v -0.31485432 -0.28120381 -0.07157643
+v -0.37196795 -0.23528101 -0.08542669
+v -0.27070020 -0.29641218 -0.09740184
+v -0.26903208 -0.26718558 -0.15381164
+v -0.40063032 -0.19389007 -0.10902138
+v -0.27274447 -0.18314881 -0.22461038
+v -0.25532230 -0.23886656 -0.19428475
+v -0.32993506 -0.18093390 -0.19440239
+v -0.30363754 -0.20960308 0.19492140
+f 7 1 2
+f 11 6 1
+f 14 2 1
+f 15 7 2
+f 15 9 3
+f 15 3 7
+f 17 3 9
+f 17 9 15
+f 22 6 11
+f 22 11 1
+f 22 1 7
+f 24 4 12
+f 24 17 4
+f 24 3 17
+f 24 23 3
+f 24 12 23
+f 28 4 17
+f 31 14 1
+f 35 30 10
+f 36 8 21
+f 36 5 27
+f 36 32 5
+f 37 7 3
+f 37 3 23
+f 37 22 7
+f 38 37 23
+f 38 22 37
+f 38 6 22
+f 39 2 14
+f 40 15 2
+f 41 26 13
+f 41 16 28
+f 42 13 26
+f 42 39 25
+f 43 40 26
+f 43 26 41
+f 44 12 4
+f 44 4 29
+f 44 38 23
+f 44 23 12
+f 45 6 38
+f 45 18 30
+f 46 1 6
+f 46 45 30
+f 46 6 45
+f 46 31 1
+f 46 19 31
+f 47 30 18
+f 47 10 30
+f 47 18 34
+f 47 34 20
+f 48 8 14
+f 48 14 31
+f 49 21 8
+f 49 48 31
+f 49 8 48
+f 49 31 19
+f 49 19 35
+f 49 36 21
+f 49 32 36
+f 50 47 20
+f 50 10 47
+f 50 35 10
+f 50 49 35
+f 50 32 49
+f 51 20 33
+f 51 50 20
+f 51 32 50
+f 51 33 5
+f 51 5 32
+f 52 27 5
+f 52 5 33
+f 52 33 28
+f 52 28 16
+f 53 33 20
+f 53 4 28
+f 53 28 33
+f 53 34 4
+f 53 20 34
+f 54 29 4
+f 54 4 34
+f 54 34 18
+f 54 18 45
+f 55 35 19
+f 55 30 35
+f 55 46 30
+f 55 19 46
+f 56 8 36
+f 56 42 25
+f 56 13 42
+f 57 36 27
+f 57 27 13
+f 57 56 36
+f 57 13 56
+f 58 39 14
+f 58 14 8
+f 58 8 56
+f 58 56 25
+f 58 25 39
+f 59 40 2
+f 59 26 40
+f 59 42 26
+f 59 2 39
+f 59 39 42
+f 60 16 41
+f 60 52 16
+f 60 27 52
+f 60 41 13
+f 60 13 27
+f 61 43 28
+f 61 28 17
+f 61 17 15
+f 61 15 43
+f 62 43 15
+f 62 15 40
+f 62 40 43
+f 63 43 41
+f 63 41 28
+f 63 28 43
+f 64 44 29
+f 64 38 44
+f 64 45 38
+f 64 54 45
+f 64 29 54
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_26.obj b/mango/mango_7/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab23c2e287d02f662b23771e5549321ff4c997ba
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_26.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00722423 -0.37160895 0.01497521
+v 0.00699326 -0.35704601 -0.11304444
+v 0.00757576 -0.20814377 0.01586616
+v -0.09848485 -0.20814377 0.01586616
+v -0.09741549 -0.36703158 0.01569366
+v -0.09848485 -0.20814377 -0.12049748
+v 0.00757576 -0.20814377 -0.12049748
+v -0.02171822 -0.37423541 -0.04195979
+v -0.09548456 -0.34639919 -0.11548712
+v 0.00657862 -0.37207729 -0.05587321
+v -0.02200293 -0.37408770 -0.02976374
+v -0.09502821 -0.35730871 -0.08654045
+v -0.00639062 -0.37230972 -0.05623857
+v 0.00607302 -0.37398078 -0.03018630
+v -0.07919637 -0.35652718 -0.09843740
+v -0.02085159 -0.35655018 -0.11303309
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 9 5 6
+f 9 7 2
+f 9 6 7
+f 10 2 1
+f 11 1 5
+f 11 5 8
+f 12 8 5
+f 12 5 9
+f 13 10 8
+f 13 2 10
+f 14 10 1
+f 14 8 10
+f 14 11 8
+f 14 1 11
+f 15 12 9
+f 15 13 8
+f 15 8 12
+f 16 15 9
+f 16 9 2
+f 16 2 13
+f 16 13 15
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_27.obj b/mango/mango_7/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7c73155f6e22e22ceb345477cbf43470b09832e
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_27.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.36422515 -0.18554449 0.17521116
+v -0.34755559 -0.15477749 -0.20100300
+v -0.35498309 -0.10115680 -0.22443003
+v -0.45250237 -0.09735030 0.14616040
+v -0.43039611 -0.16671597 -0.08332075
+v -0.38911060 -0.12939806 0.20001919
+v -0.34971834 -0.12678300 -0.21498764
+v -0.34887613 -0.17115743 -0.18746680
+v -0.42963268 -0.16712951 0.10137211
+v -0.43352249 -0.09649005 -0.15458237
+v -0.44085375 -0.09927706 0.16361211
+v -0.45941741 -0.12471584 0.07236225
+v -0.41244847 -0.16569978 -0.12572932
+v -0.38798699 -0.13778901 -0.17927253
+v -0.37503518 -0.09707891 -0.21197791
+v -0.40284071 -0.16528294 0.15434071
+v -0.44316620 -0.15249836 0.08637575
+v -0.46395767 -0.09560931 -0.10128272
+v -0.35870988 -0.12351956 -0.21039066
+v -0.41500339 -0.14997388 -0.13788885
+v -0.35952045 -0.16696465 -0.18195349
+v -0.41321145 -0.14983829 0.15615078
+v -0.44256996 -0.13667635 0.11539111
+v -0.46512586 -0.09614768 0.10477546
+v -0.44281590 -0.15184321 -0.06988692
+v -0.44408126 -0.13623056 -0.09853976
+v -0.35819992 -0.15058472 -0.19548969
+v -0.37247378 -0.10738394 -0.20859624
+v -0.39966848 -0.13777402 -0.16644027
+v -0.43005500 -0.10751894 -0.15136077
+v -0.43107546 -0.12182952 0.15754950
+v -0.43006751 -0.15101555 0.12687657
+v -0.45887107 -0.12247737 -0.06983937
+v -0.45841676 -0.10806680 -0.09959185
+v -0.44738104 -0.10841136 0.14364725
+f 6 1 3
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 11 6 3
+f 13 8 5
+f 15 14 10
+f 15 11 3
+f 15 4 11
+f 16 1 6
+f 16 9 1
+f 17 5 9
+f 18 15 10
+f 19 7 2
+f 19 15 3
+f 19 3 7
+f 21 2 8
+f 21 8 13
+f 21 13 14
+f 22 16 6
+f 23 17 9
+f 24 12 17
+f 24 18 12
+f 24 4 15
+f 24 15 18
+f 24 23 4
+f 24 17 23
+f 25 17 12
+f 25 5 17
+f 26 13 5
+f 26 5 25
+f 26 20 13
+f 27 19 2
+f 27 14 19
+f 27 21 14
+f 27 2 21
+f 28 19 14
+f 28 14 15
+f 28 15 19
+f 29 10 14
+f 29 14 13
+f 29 13 20
+f 30 18 10
+f 30 29 20
+f 30 10 29
+f 30 20 26
+f 31 22 6
+f 31 6 11
+f 31 11 4
+f 32 9 16
+f 32 16 22
+f 32 22 31
+f 32 23 9
+f 33 25 12
+f 33 12 18
+f 33 26 25
+f 34 30 26
+f 34 18 30
+f 34 33 18
+f 34 26 33
+f 35 32 31
+f 35 31 4
+f 35 4 23
+f 35 23 32
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_28.obj b/mango/mango_7/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..873ec8db3bf1477abae208319996576aa7f99910
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01673962 -0.22360499 0.20713709
+v 0.00757576 -0.20814377 -0.13564899
+v 0.02480134 0.18968359 0.21305672
+v -0.23484849 0.17064412 0.16738132
+v -0.24349045 -0.23089995 0.20285963
+v 0.00757576 0.17064412 -0.13564899
+v -0.23484849 -0.20814377 -0.13564899
+v -0.23484849 0.17064412 -0.13564899
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 7 2 5
+f 7 6 2
+f 8 4 3
+f 8 3 6
+f 8 6 7
+f 8 7 5
+f 8 5 4
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_29.obj b/mango/mango_7/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b8287c9a258cf98621c8a5ee370e3a122dc863d
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_29.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.27060635 -0.02582152 0.16425878
+v 0.26515152 -0.02632558 -0.13564899
+v 0.27515505 0.18988816 -0.16820940
+v 0.00757576 0.15549260 0.15222980
+v 0.00757576 -0.02632558 0.15222980
+v 0.25818634 0.14836423 0.12601133
+v 0.00757576 -0.02632558 -0.13564899
+v 0.24158746 0.14573220 0.13657550
+v 0.00757576 0.15549260 -0.13564899
+v 0.25715689 0.13106556 0.13735317
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 7 3 2
+f 7 2 5
+f 7 5 4
+f 8 6 4
+f 8 4 1
+f 9 7 4
+f 9 4 3
+f 9 3 7
+f 10 8 1
+f 10 1 6
+f 10 6 8
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_3.obj b/mango/mango_7/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6dfe55b1ce5cfe334e4fe2b224c737679ce15bb
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_3.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.00470450 -0.11426868 0.24766868
+v 0.00757576 -0.11723467 0.16738132
+v 0.00490096 0.15253615 0.23604640
+v -0.11174680 0.17515043 0.25478633
+v -0.11125801 -0.12528793 0.26485449
+v -0.09848485 0.06458351 0.16738132
+v -0.11439875 0.06384650 0.28455034
+v 0.00757576 0.06458351 0.16738132
+v -0.02417673 0.16851337 0.23781185
+v -0.11592712 0.16518106 0.25932159
+v -0.09848485 -0.11723467 0.16738132
+v 0.00262325 0.09049398 0.25369189
+v -0.04157748 -0.02407405 0.27120620
+v -0.11505131 -0.09930008 0.27246142
+v -0.05810477 0.14827534 0.25518777
+v -0.04215809 0.06078804 0.27152807
+v 0.00322890 -0.07031570 0.25528042
+v -0.10001214 -0.09907909 0.27118046
+v -0.11414518 -0.11551180 0.26879619
+v -0.08657602 0.16365446 0.25493145
+v 0.00230378 0.14774258 0.23891475
+v -0.10121314 0.10740056 0.27412462
+v -0.01304343 -0.11158661 0.25321522
+v -0.08656569 0.10691328 0.27145147
+v -0.05702192 -0.05383342 0.27004518
+f 5 2 1
+f 8 1 2
+f 8 3 1
+f 8 2 6
+f 9 6 4
+f 9 8 6
+f 9 3 8
+f 10 4 6
+f 11 6 2
+f 11 2 5
+f 11 10 6
+f 12 1 3
+f 14 7 10
+f 14 10 11
+f 16 7 13
+f 16 12 15
+f 17 1 12
+f 17 16 13
+f 17 12 16
+f 18 13 7
+f 18 7 14
+f 19 14 11
+f 19 11 5
+f 19 18 14
+f 20 15 9
+f 20 9 4
+f 20 4 10
+f 20 10 15
+f 21 3 9
+f 21 9 15
+f 21 15 12
+f 21 12 3
+f 22 15 10
+f 22 10 7
+f 22 7 16
+f 23 17 13
+f 23 1 17
+f 23 18 19
+f 23 19 5
+f 23 5 1
+f 24 22 16
+f 24 16 15
+f 24 15 22
+f 25 23 13
+f 25 13 18
+f 25 18 23
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_30.obj b/mango/mango_7/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df8ef0b808d8cf4d4e886136e58054f891ae82d0
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.24523110 -0.21051597 0.21612860
+v -0.23484849 -0.17784074 0.01586616
+v -0.23484849 -0.01117407 0.16738132
+v -0.35606061 -0.01117407 0.16738132
+v -0.35606061 -0.17784074 0.01586616
+v -0.25000001 -0.01117407 0.01586616
+v -0.36422515 -0.18554449 0.17521116
+v -0.23484849 -0.01117407 0.01586616
+v -0.35606061 -0.01117407 0.01586616
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 7 5 1
+f 7 1 4
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 6 5
+f 9 4 6
+f 9 7 4
+f 9 5 7
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_31.obj b/mango/mango_7/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..253b8ad2c471d164efdab11a98bee62571c63c2b
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_31.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.23484849 -0.01117407 0.16738132
+v -0.23484849 -0.01117407 0.01586616
+v -0.23484849 0.17064412 0.01586616
+v -0.44248738 0.16175438 0.15640117
+v -0.48445143 -0.01058812 0.01402633
+v -0.23484849 0.17064412 0.16738132
+v -0.46991359 -0.01072335 0.16358111
+v -0.47745829 0.15173033 0.01313277
+v -0.47106138 0.16834297 0.01480018
+v -0.47424971 0.13635248 0.11677638
+v -0.25000001 0.17064412 0.01586616
+v -0.47372888 0.04795932 0.15884407
+v -0.47466487 0.15123606 0.08909733
+v -0.45914503 0.13260843 0.15413099
+v -0.47650838 -0.00922720 0.14839813
+v -0.45882178 0.16228996 0.12675966
+v -0.47260024 0.10681191 0.14393712
+v -0.47439617 0.00540890 0.15745484
+f 1 2 3
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 2 5
+f 9 4 6
+f 9 3 8
+f 11 9 6
+f 11 6 3
+f 11 3 9
+f 12 7 4
+f 13 9 8
+f 13 8 5
+f 13 5 10
+f 14 12 4
+f 15 12 10
+f 15 10 5
+f 15 5 7
+f 16 13 10
+f 16 4 9
+f 16 9 13
+f 16 14 4
+f 16 10 14
+f 17 14 10
+f 17 10 12
+f 17 12 14
+f 18 15 7
+f 18 7 12
+f 18 12 15
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_4.obj b/mango/mango_7/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6ba8571e5db01d6a628c44d8859835eb70c68cc
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_4.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v 0.40778347 -0.17049827 -0.13022227
+v 0.48774825 -0.02548787 -0.11892958
+v 0.26515152 -0.17784074 -0.13564899
+v 0.44362199 0.15213744 -0.11804396
+v 0.26391412 -0.02624684 -0.26712012
+v 0.38636364 -0.02632558 -0.12049748
+v 0.40264682 -0.08172661 -0.20850841
+v 0.26515152 -0.02632558 -0.13564899
+v 0.45173851 0.14512713 -0.11617751
+v 0.44560585 -0.07778825 -0.16839142
+v 0.26049813 -0.17241108 -0.24063735
+v 0.34297239 0.09772223 -0.21870104
+v 0.47926517 0.10425044 -0.11617884
+v 0.38636364 0.09488654 -0.12049748
+v 0.43541242 -0.13821493 -0.12867539
+v 0.37189501 -0.15199709 -0.19627012
+v 0.34782500 -0.08439859 -0.23826615
+v 0.26068573 -0.12683252 -0.25623439
+v 0.33949127 0.09293795 -0.22154556
+v 0.43562072 0.08806677 -0.17750212
+v 0.47733143 -0.05096434 -0.12878076
+v 0.40333122 -0.10813260 -0.19504991
+v 0.35873989 -0.16399757 -0.19660032
+v 0.40058799 -0.15021258 -0.16649161
+v 0.36069490 -0.11182654 -0.22320771
+v 0.27482913 -0.12557883 -0.25267259
+v 0.39129719 0.00261379 -0.22326826
+v 0.44855818 0.11692057 -0.15212422
+v 0.47393524 0.04674111 -0.15465327
+v 0.47218928 -0.04942100 -0.14183856
+v 0.37383300 -0.12361320 -0.20951279
+v 0.43296284 -0.05211626 -0.19331243
+v 0.39877632 -0.16308482 -0.15508959
+v 0.42959853 -0.10761748 -0.16773270
+v 0.27384340 -0.16927258 -0.23785996
+v 0.39283239 -0.05449903 -0.22228387
+v 0.30448974 -0.08366554 -0.25238241
+v 0.30663655 -0.02607299 -0.25631769
+v 0.37735659 0.04370492 -0.22386095
+v 0.37833490 0.08702949 -0.20878232
+v 0.43925290 0.14775862 -0.12999340
+v 0.46360557 0.12664940 -0.12562547
+v 0.43488991 0.03013613 -0.19386062
+v 0.47443132 0.08903371 -0.13711600
+v 0.47424293 -0.00852250 -0.15472392
+v 0.43102951 -0.13436225 -0.14106270
+v 0.33272248 -0.11001363 -0.23627852
+v 0.36231901 0.07298201 -0.22222530
+v 0.34923431 0.03182975 -0.23726688
+v 0.46687843 0.12996404 -0.11617268
+v 0.44815025 0.05931168 -0.17842143
+v 0.40693219 0.04588875 -0.20811450
+v 0.47535746 0.10087419 -0.12796323
+v 0.46059908 -0.03608525 -0.16836644
+v 0.33725858 0.07453606 -0.22971286
+v 0.33570015 0.03241040 -0.24190934
+v 0.45934080 0.09916796 -0.15209675
+v 0.41973811 0.07488906 -0.19284723
+v 0.44475073 -0.05093469 -0.18234469
+v 0.46141568 0.05900260 -0.16525648
+f 6 1 2
+f 6 3 1
+f 8 3 6
+f 11 1 3
+f 11 3 8
+f 13 9 6
+f 13 6 2
+f 14 8 6
+f 14 6 9
+f 14 9 4
+f 14 12 8
+f 14 4 12
+f 15 2 1
+f 18 11 8
+f 18 8 5
+f 19 5 8
+f 19 8 12
+f 21 2 15
+f 23 1 11
+f 26 11 18
+f 29 13 2
+f 30 21 15
+f 30 15 10
+f 30 2 21
+f 31 22 16
+f 31 7 22
+f 31 25 7
+f 31 16 25
+f 32 22 7
+f 33 15 1
+f 33 1 23
+f 33 23 16
+f 33 16 24
+f 34 24 16
+f 34 16 22
+f 34 22 10
+f 35 23 11
+f 35 11 26
+f 35 25 16
+f 35 16 23
+f 36 25 17
+f 36 7 25
+f 36 32 7
+f 37 26 18
+f 37 18 5
+f 37 17 26
+f 38 37 5
+f 38 17 37
+f 38 36 17
+f 38 27 36
+f 40 28 20
+f 40 12 28
+f 41 28 12
+f 41 12 4
+f 42 28 41
+f 42 41 4
+f 43 36 27
+f 43 32 36
+f 44 13 29
+f 45 29 2
+f 45 2 30
+f 45 43 29
+f 46 33 24
+f 46 15 33
+f 46 24 34
+f 46 34 10
+f 46 10 15
+f 47 35 26
+f 47 26 17
+f 47 17 25
+f 47 25 35
+f 48 12 40
+f 49 39 27
+f 49 27 38
+f 49 48 39
+f 50 9 13
+f 50 42 4
+f 50 4 9
+f 51 29 43
+f 52 43 27
+f 52 27 39
+f 52 51 43
+f 53 13 44
+f 53 50 13
+f 53 42 50
+f 54 45 30
+f 54 30 10
+f 54 32 43
+f 54 43 45
+f 55 19 12
+f 55 12 48
+f 55 5 19
+f 56 49 38
+f 56 38 5
+f 56 5 55
+f 56 55 48
+f 56 48 49
+f 57 44 29
+f 57 53 44
+f 57 28 42
+f 57 42 53
+f 57 51 20
+f 57 20 28
+f 58 20 51
+f 58 51 52
+f 58 40 20
+f 58 48 40
+f 58 52 39
+f 58 39 48
+f 59 54 10
+f 59 32 54
+f 59 10 22
+f 59 22 32
+f 60 57 29
+f 60 29 51
+f 60 51 57
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_5.obj b/mango/mango_7/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..041716afb65e0a5c6b56c0cf924ed38cbdac7d1c
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_5.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.26515152 0.04943200 -0.13564899
+v 0.27556830 0.06224881 -0.24967616
+v 0.27515505 0.18988816 -0.16820940
+v -0.35283492 0.16688934 -0.20494410
+v -0.23265642 0.06267941 -0.27680523
+v -0.23484849 0.17064412 -0.13564899
+v 0.15731219 0.04663713 -0.27226848
+v 0.00547076 0.16368716 -0.25257657
+v 0.00757576 0.17064412 -0.13564899
+v -0.23484849 0.06458351 -0.13564899
+v 0.21830700 0.04752619 -0.26336880
+v -0.20191661 0.16450596 -0.25333854
+v 0.00743341 0.04904518 -0.28468662
+v 0.23025994 0.14406188 -0.22218948
+v -0.36274263 0.11339150 -0.22233302
+v 0.14140416 0.11721140 -0.25352013
+v -0.27563818 0.16464056 -0.23902961
+v 0.05127821 0.10488320 -0.26842887
+v -0.11282562 0.13459392 -0.26888227
+v 0.00757576 0.04943200 -0.13564899
+v 0.15570237 0.14604084 -0.23734498
+v 0.26178458 0.14536418 -0.21330433
+v -0.35171638 0.10635425 -0.23109135
+v 0.21727294 0.07483563 -0.25641619
+v -0.23162943 0.10657580 -0.26895381
+v 0.15708498 0.05985799 -0.26981498
+v -0.00903458 0.11935821 -0.26920800
+v 0.26108059 0.10245924 -0.23822340
+v -0.34837627 0.13382495 -0.22292742
+v -0.24482547 0.14904173 -0.25207118
+v -0.27619618 0.11887174 -0.25444853
+v -0.20221375 0.11877287 -0.26870855
+v 0.09672568 0.08971087 -0.26835323
+v 0.20153389 0.08887582 -0.25436033
+v -0.08410637 0.13424596 -0.26849596
+v 0.23079053 0.11492134 -0.23856567
+v 0.26218997 0.08937306 -0.24330244
+v 0.26085707 0.12964300 -0.22344060
+v -0.31775743 0.16133175 -0.22568180
+v -0.32053849 0.10561239 -0.24410452
+v -0.34806863 0.16134127 -0.21054666
+v -0.30255218 0.14917000 -0.23738761
+f 1 2 3
+f 6 3 4
+f 9 6 1
+f 9 1 3
+f 9 3 6
+f 10 1 6
+f 10 6 4
+f 11 2 1
+f 11 1 7
+f 12 3 8
+f 15 10 4
+f 17 4 3
+f 17 3 12
+f 18 8 16
+f 19 12 8
+f 19 13 5
+f 20 10 5
+f 20 5 13
+f 20 1 10
+f 20 13 7
+f 20 7 1
+f 21 8 3
+f 21 3 14
+f 21 16 8
+f 22 14 3
+f 22 3 2
+f 23 5 10
+f 23 10 15
+f 24 2 11
+f 26 7 13
+f 26 24 11
+f 26 11 7
+f 27 18 13
+f 27 8 18
+f 29 23 15
+f 29 15 4
+f 30 17 12
+f 30 12 25
+f 31 30 25
+f 31 17 30
+f 31 25 5
+f 32 19 5
+f 32 5 25
+f 32 25 12
+f 32 12 19
+f 33 26 13
+f 33 13 18
+f 33 18 16
+f 33 16 26
+f 34 26 16
+f 34 24 26
+f 35 27 13
+f 35 13 19
+f 35 19 8
+f 35 8 27
+f 36 21 14
+f 36 16 21
+f 36 34 16
+f 36 28 34
+f 37 28 2
+f 37 2 24
+f 37 34 28
+f 37 24 34
+f 38 22 2
+f 38 2 28
+f 38 14 22
+f 38 36 14
+f 38 28 36
+f 39 4 17
+f 40 31 5
+f 40 5 23
+f 41 39 29
+f 41 29 4
+f 41 4 39
+f 42 40 23
+f 42 23 29
+f 42 29 39
+f 42 39 17
+f 42 17 31
+f 42 31 40
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_6.obj b/mango/mango_7/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f07c874bf97d885a8b1b35fa2a374538f3a0a60c
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_6.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.09486703 -0.34669681 0.05717298
+v 0.09844995 -0.34438237 0.06128070
+v -0.14086737 -0.32691918 0.12485249
+v -0.23379906 -0.29608243 0.13537521
+v -0.23589298 -0.30133853 -0.12163302
+v 0.00950823 -0.30842124 0.14512705
+v -0.10727232 -0.33374622 -0.14098998
+v -0.19807173 -0.34172251 0.02838638
+v 0.00757576 -0.29905286 0.01586616
+v -0.00834818 -0.35718027 0.06849354
+v -0.18288035 -0.32495736 0.11509796
+v -0.22830232 -0.32637029 0.05865996
+v -0.13849335 -0.35780266 -0.04145260
+v 0.09659853 -0.33834941 0.07291621
+v 0.06480233 -0.34173194 0.08133498
+v 0.00526037 -0.32806272 0.12302322
+v -0.19873279 -0.31290303 0.12764516
+v -0.08186263 -0.35676996 0.07014540
+v -0.22787409 -0.32483521 -0.05731746
+v -0.22834793 -0.31008088 0.11431867
+v -0.18450832 -0.34184463 0.05869443
+v -0.18398809 -0.32471377 -0.11501064
+v 0.00722423 -0.37160895 0.01497521
+v 0.00700515 -0.35986274 0.05709202
+v 0.09334676 -0.34288538 0.06678614
+v 0.02008934 -0.34031401 0.09691169
+v -0.12578613 -0.34111964 0.09921232
+v -0.19728210 -0.34165025 -0.02642446
+v -0.21281458 -0.32513285 0.08540089
+v -0.13984401 -0.35558764 0.04215956
+v -0.11021089 -0.35746652 -0.07142188
+v -0.22637992 -0.31082391 -0.11129062
+v -0.16727124 -0.33933611 -0.08336340
+v -0.09548456 -0.34639919 -0.11548712
+v -0.15516807 -0.34129958 0.08529592
+v -0.09560531 -0.36023068 -0.07199898
+v -0.21191598 -0.32424940 -0.08489294
+v -0.15214885 -0.33942101 -0.09854345
+v -0.12496698 -0.34073707 -0.11375386
+f 6 4 3
+f 7 2 1
+f 9 5 4
+f 9 4 6
+f 9 7 5
+f 9 2 7
+f 12 4 5
+f 14 9 6
+f 14 2 9
+f 15 1 2
+f 16 6 3
+f 16 15 14
+f 16 14 6
+f 17 11 3
+f 17 3 4
+f 18 10 16
+f 19 12 5
+f 20 4 12
+f 20 17 4
+f 20 11 17
+f 21 12 8
+f 22 5 7
+f 23 10 18
+f 24 15 10
+f 24 1 15
+f 24 23 1
+f 24 10 23
+f 25 15 2
+f 25 2 14
+f 25 14 15
+f 26 16 10
+f 26 10 15
+f 26 15 16
+f 27 3 11
+f 27 18 16
+f 27 16 3
+f 28 8 12
+f 28 12 19
+f 28 13 8
+f 29 20 12
+f 29 12 21
+f 29 21 11
+f 29 11 20
+f 30 21 8
+f 30 8 13
+f 30 23 18
+f 30 13 23
+f 32 19 5
+f 32 5 22
+f 33 13 28
+f 34 7 1
+f 34 1 23
+f 35 27 11
+f 35 11 21
+f 35 21 30
+f 35 30 18
+f 35 18 27
+f 36 23 13
+f 36 13 31
+f 36 34 23
+f 36 31 34
+f 37 32 22
+f 37 22 33
+f 37 19 32
+f 37 33 28
+f 37 28 19
+f 38 33 22
+f 38 31 13
+f 38 13 33
+f 39 34 31
+f 39 31 38
+f 39 7 34
+f 39 38 22
+f 39 22 7
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_7.obj b/mango/mango_7/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a76e5e1cafcb4c4bf9ed3590def55efad5e243bd
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_7.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.01097389 0.06759744 0.25669026
+v 0.00757576 0.06458351 0.16738132
+v 0.00468559 0.28546348 0.14663254
+v -0.24571312 0.31199884 0.14468947
+v -0.47006793 0.06401597 0.16409124
+v -0.19026939 0.19383068 0.25461176
+v 0.00757576 0.17064412 0.15222980
+v -0.16033564 0.06215485 0.28898806
+v -0.02798004 0.20483194 0.22445225
+v -0.05823787 0.26392946 0.19369516
+v -0.34525397 0.20492759 0.20990799
+v -0.43952055 0.17940783 0.14571444
+v -0.44661541 0.06069466 0.20012431
+v -0.09967270 0.06332633 0.28193481
+v 0.00128104 0.17883807 0.22644781
+v -0.07039084 0.31194778 0.14531690
+v -0.24629883 0.23426927 0.22489015
+v -0.01496664 0.26334591 0.18204105
+v -0.10101992 0.20510350 0.24117291
+v -0.33340634 0.09270220 0.26993199
+v -0.01237009 0.29640316 0.14294483
+v -0.34912260 0.26427047 0.14487923
+v -0.46649128 0.10556351 0.15931317
+v -0.41887662 0.11867269 0.20971055
+v -0.11664022 0.13386624 0.27144632
+v -0.11572136 0.23401346 0.22471677
+v -0.30160725 0.27724183 0.16738485
+v -0.24296885 0.30549459 0.15501400
+v -0.05843729 0.21863445 0.22395969
+v -0.05754245 0.27495908 0.18211939
+v -0.00023312 0.23438861 0.19537312
+v -0.26232262 0.07773446 0.28707877
+v -0.27532603 0.17876496 0.25529189
+v -0.01541301 0.28967253 0.15220326
+v -0.40288683 0.21758263 0.15291641
+v -0.39136160 0.23347346 0.14423226
+v -0.46437209 0.06356730 0.17664175
+v -0.44335117 0.11740328 0.18435515
+v -0.38836344 0.13369771 0.22608762
+v -0.42132289 0.06349005 0.22690484
+v -0.16053717 0.07690841 0.28657691
+v -0.11673578 0.17840404 0.25433690
+v -0.10170043 0.12208101 0.27154043
+v -0.04318797 0.17824454 0.23919193
+v -0.30184424 0.23137669 0.21202651
+v -0.29143419 0.29461393 0.14479041
+v -0.26069668 0.24603527 0.21334096
+v -0.25988208 0.29106130 0.16776027
+v -0.07250296 0.30607459 0.15263458
+v 0.00164267 0.27873285 0.15589098
+v -0.16022763 0.14866185 0.27003541
+v -0.21767980 0.19173227 0.25554354
+v -0.29063180 0.13295297 0.26839307
+v -0.34611337 0.25887736 0.15684257
+v -0.40024025 0.18686116 0.18331708
+v -0.40464218 0.22224780 0.14551800
+v -0.45994580 0.10284698 0.16956647
+v -0.43273017 0.14531559 0.18191911
+v -0.30388801 0.16203720 0.25295365
+v -0.41877245 0.07314518 0.22622501
+v -0.33490777 0.06295342 0.27255935
+v -0.44442516 0.07529686 0.19832875
+v -0.05874028 0.19282601 0.23775014
+v -0.30296005 0.18872023 0.23865065
+f 7 1 2
+f 7 3 1
+f 12 7 2
+f 12 2 5
+f 13 5 2
+f 13 2 8
+f 14 8 2
+f 14 2 1
+f 15 1 3
+f 21 3 7
+f 21 7 12
+f 21 4 16
+f 23 12 5
+f 26 17 6
+f 26 6 19
+f 28 16 4
+f 28 17 26
+f 29 18 10
+f 29 9 18
+f 29 19 9
+f 29 26 19
+f 29 10 26
+f 30 10 18
+f 31 15 3
+f 31 18 9
+f 31 9 15
+f 34 21 16
+f 34 16 18
+f 34 3 21
+f 36 21 12
+f 36 4 21
+f 37 23 5
+f 37 5 13
+f 41 8 14
+f 41 14 25
+f 41 32 8
+f 42 25 19
+f 42 19 6
+f 43 25 14
+f 43 14 1
+f 44 15 9
+f 44 25 43
+f 44 43 1
+f 44 1 15
+f 46 27 4
+f 46 22 27
+f 46 36 22
+f 46 4 36
+f 47 17 28
+f 47 27 45
+f 47 45 33
+f 47 33 17
+f 48 28 4
+f 48 4 27
+f 48 47 28
+f 48 27 47
+f 49 28 26
+f 49 26 10
+f 49 16 28
+f 49 10 30
+f 49 30 18
+f 49 18 16
+f 50 31 3
+f 50 18 31
+f 50 34 18
+f 50 3 34
+f 51 42 6
+f 51 25 42
+f 51 41 25
+f 51 32 41
+f 52 6 17
+f 52 17 33
+f 52 51 6
+f 52 32 51
+f 53 20 32
+f 53 52 33
+f 53 32 52
+f 54 27 22
+f 54 22 36
+f 54 35 11
+f 54 45 27
+f 54 11 45
+f 55 35 12
+f 55 39 11
+f 55 11 35
+f 56 36 12
+f 56 12 35
+f 56 54 36
+f 56 35 54
+f 57 23 37
+f 57 38 23
+f 58 12 23
+f 58 23 38
+f 58 55 12
+f 58 38 24
+f 58 24 39
+f 58 39 55
+f 59 11 39
+f 59 39 20
+f 59 53 33
+f 59 20 53
+f 60 39 24
+f 60 24 38
+f 60 40 20
+f 60 20 39
+f 61 32 20
+f 61 20 40
+f 61 8 32
+f 61 40 13
+f 61 13 8
+f 62 13 40
+f 62 38 57
+f 62 57 37
+f 62 37 13
+f 62 60 38
+f 62 40 60
+f 63 44 9
+f 63 9 19
+f 63 19 25
+f 63 25 44
+f 64 45 11
+f 64 33 45
+f 64 59 33
+f 64 11 59
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_8.obj b/mango/mango_7/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5781d5b56793704251a77801c4aa818f289b6e00
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_8.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.00647919 -0.32156766 0.13042178
+v 0.00543748 -0.31416909 0.13924983
+v -0.24604701 -0.26119232 0.17519414
+v -0.23412332 -0.11595603 0.26893657
+v 0.00757576 -0.11723467 0.16738132
+v -0.05555485 -0.24189963 0.21004720
+v -0.17109271 -0.31132284 0.13969480
+v 0.00470450 -0.11426868 0.24766868
+v -0.23484849 -0.11723467 0.16738132
+v -0.17278802 -0.24259358 0.20937355
+v 0.00327773 -0.27217232 0.18043887
+v -0.07152029 -0.14193738 0.25521525
+v -0.24961494 -0.25287113 0.18182778
+v -0.04060661 -0.11265872 0.25854912
+v -0.23011638 -0.30081005 0.12939875
+v -0.11458417 -0.15628490 0.25405302
+v -0.19977152 -0.28415735 0.16688418
+v 0.00299901 -0.18590817 0.22608248
+v -0.21593176 -0.18395058 0.23971903
+v -0.23484849 -0.20814377 0.13707829
+v -0.17230799 -0.31828068 0.12937977
+v -0.05684142 -0.18328283 0.23894952
+v -0.22800494 -0.29483359 0.14112371
+v -0.19954895 -0.25315989 0.19645767
+v -0.00963535 -0.23046757 0.20986203
+v -0.01246596 -0.15763767 0.24019992
+v -0.24771504 -0.24582736 0.18973522
+v -0.21586860 -0.15349588 0.25455902
+v -0.20025339 -0.21199332 0.22551842
+v 0.00757576 -0.20814377 0.13707829
+v 0.00271729 -0.14251894 0.24031732
+v -0.23243548 -0.13951820 0.25804040
+v -0.23023376 -0.22629520 0.20904229
+f 7 1 2
+f 8 1 5
+f 11 2 1
+f 11 10 2
+f 11 6 10
+f 13 4 9
+f 14 8 5
+f 14 5 9
+f 14 9 4
+f 14 4 12
+f 15 3 13
+f 16 12 4
+f 17 7 2
+f 17 2 10
+f 18 11 1
+f 18 1 8
+f 20 15 13
+f 20 13 9
+f 20 9 5
+f 21 15 1
+f 21 1 7
+f 22 16 6
+f 22 12 16
+f 23 17 3
+f 23 3 15
+f 23 15 21
+f 23 21 7
+f 23 7 17
+f 24 17 10
+f 25 6 11
+f 25 11 18
+f 25 22 6
+f 25 18 22
+f 26 8 14
+f 26 22 18
+f 26 14 12
+f 26 12 22
+f 27 4 13
+f 27 13 3
+f 27 3 17
+f 27 17 24
+f 28 19 16
+f 28 16 4
+f 29 10 6
+f 29 6 16
+f 29 16 19
+f 29 24 10
+f 30 20 5
+f 30 5 1
+f 30 1 15
+f 30 15 20
+f 31 26 18
+f 31 18 8
+f 31 8 26
+f 32 4 27
+f 32 28 4
+f 32 19 28
+f 33 27 24
+f 33 24 29
+f 33 29 19
+f 33 32 27
+f 33 19 32
\ No newline at end of file
diff --git a/mango/mango_7/collision/model_normalized_collision_9.obj b/mango/mango_7/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a9e0e2a1a3d5dd5f70180153c24f35f8117239c
--- /dev/null
+++ b/mango/mango_7/collision/model_normalized_collision_9.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.06591944 -0.34686089 -0.12992612
+v 0.06712209 -0.33851265 -0.14811984
+v 0.00757576 -0.20814377 -0.12049748
+v -0.23484849 -0.20814377 -0.12049748
+v -0.24692385 -0.29166131 -0.13220293
+v 0.00753153 -0.20540587 -0.26572956
+v -0.09548456 -0.34639919 -0.11548712
+v 0.06809488 -0.34401559 -0.13542907
+v -0.19972154 -0.20125576 -0.24224381
+v 0.00747210 -0.35477732 -0.11839557
+v -0.24411437 -0.30132470 -0.11409874
+v -0.23130179 -0.20307949 -0.23096249
+v -0.10838770 -0.29862728 -0.19504347
+v 0.06494666 -0.34135795 -0.14261690
+v -0.21340200 -0.31558044 -0.11365371
+v -0.24903796 -0.29674120 -0.11941974
+v -0.15451345 -0.25702196 -0.22241297
+v -0.05133161 -0.34122890 -0.14344528
+v 0.00702780 -0.25609886 -0.24085030
+v 0.00798548 -0.32899237 -0.16909879
+v -0.16759746 -0.30973692 -0.15548131
+v -0.19815027 -0.21126508 -0.23761258
+v -0.12607799 -0.20343132 -0.25902280
+v -0.22569774 -0.26701531 -0.18276152
+v 0.00745341 -0.23087325 -0.25463248
+v -0.06585795 -0.25843921 -0.23793070
+v -0.09381941 -0.31093648 -0.18537517
+v -0.16784462 -0.32561818 -0.12556775
+v -0.21224143 -0.29498160 -0.15618350
+v -0.19735172 -0.25597203 -0.20836188
+v -0.16961031 -0.22657889 -0.23733408
+v -0.22641231 -0.24024163 -0.20782834
+v -0.06664814 -0.22930016 -0.25310381
+v -0.09691920 -0.26916316 -0.22538633
+v -0.12497136 -0.24294970 -0.23780472
+v -0.03544958 -0.32722959 -0.16947292
+v -0.09439958 -0.34160414 -0.12882677
+v -0.16981809 -0.32830760 -0.11600685
+v -0.15548318 -0.29804009 -0.18096763
+v -0.21103892 -0.31040924 -0.12623613
+v -0.22880229 -0.21255578 -0.22641603
+v -0.12523521 -0.21338285 -0.25427368
+v -0.10827150 -0.28313091 -0.20983273
+v -0.10877554 -0.32531662 -0.15461651
+v -0.19820872 -0.26658063 -0.19688955
+f 6 3 2
+f 8 2 3
+f 8 3 1
+f 9 4 3
+f 9 3 6
+f 10 1 3
+f 10 3 7
+f 11 3 4
+f 12 4 9
+f 14 1 10
+f 14 8 1
+f 14 2 8
+f 15 7 3
+f 15 3 11
+f 16 11 4
+f 16 15 11
+f 16 5 15
+f 16 12 5
+f 16 4 12
+f 18 10 7
+f 20 14 10
+f 20 2 14
+f 20 10 18
+f 20 19 2
+f 22 12 9
+f 23 9 6
+f 25 6 2
+f 25 2 19
+f 26 25 19
+f 26 19 20
+f 27 26 20
+f 29 5 24
+f 29 21 28
+f 31 22 9
+f 31 9 23
+f 32 24 5
+f 32 5 12
+f 32 30 24
+f 33 23 6
+f 33 6 25
+f 33 25 26
+f 34 27 13
+f 34 26 27
+f 35 17 31
+f 35 34 17
+f 35 26 34
+f 36 27 20
+f 36 20 18
+f 36 18 27
+f 37 18 7
+f 37 7 28
+f 38 28 7
+f 38 7 15
+f 38 15 28
+f 39 21 29
+f 39 13 27
+f 39 29 24
+f 39 30 17
+f 39 17 13
+f 40 29 28
+f 40 28 15
+f 40 15 5
+f 40 5 29
+f 41 12 22
+f 41 22 31
+f 41 31 17
+f 41 17 30
+f 41 32 12
+f 41 30 32
+f 42 33 26
+f 42 23 33
+f 42 26 35
+f 42 35 31
+f 42 31 23
+f 43 34 13
+f 43 13 17
+f 43 17 34
+f 44 27 18
+f 44 18 37
+f 44 39 27
+f 44 21 39
+f 44 37 28
+f 44 28 21
+f 45 39 24
+f 45 24 30
+f 45 30 39
\ No newline at end of file
diff --git a/mango/mango_7/model.xml b/mango/mango_7/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e064f03bb113bbbd670cc4ae4d874655babac1c0
--- /dev/null
+++ b/mango/mango_7/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="mango_15">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.10000000000000003 0.10000000000000003 0.10000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.10000000000000003 0.10000000000000003 0.10000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.10000000000000003 0.10000000000000003 0.10000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.10000000000000003 0.10000000000000003 0.10000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.10000000000000003 0.10000000000000003 0.10000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.10000000000000003 0.10000000000000003 0.10000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.10000000000000003 0.10000000000000003 0.10000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.10000000000000003 0.10000000000000003 0.10000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.10000000000000003 0.10000000000000003 0.10000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.10000000000000003 0.10000000000000003 0.10000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.10000000000000003 0.10000000000000003 0.10000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.10000000000000003 0.10000000000000003 0.10000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.10000000000000003 0.10000000000000003 0.10000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.10000000000000003 0.10000000000000003 0.10000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.10000000000000003 0.10000000000000003 0.10000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.10000000000000003 0.10000000000000003 0.10000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.10000000000000003 0.10000000000000003 0.10000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.10000000000000003 0.10000000000000003 0.10000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.10000000000000003 0.10000000000000003 0.10000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.10000000000000003 0.10000000000000003 0.10000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.10000000000000003 0.10000000000000003 0.10000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.10000000000000003 0.10000000000000003 0.10000000000000003" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
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diff --git a/mango/mango_7/visual/material.mtl b/mango/mango_7/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/mango/mango_7/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/mango/mango_7/visual/model_normalized_0.obj b/mango/mango_7/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..724baaf9714beb2559bf4c9ae48f2fc438cafa45
--- /dev/null
+++ b/mango/mango_7/visual/model_normalized_0.obj
@@ -0,0 +1,4919 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_0.obj b/mango/mango_8/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fde715ee7f742326d3d35d0fee0af02d8dc2026
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_0.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.01948894 -0.48894275 -0.01648666
+v 0.25152027 -0.26217367 -0.16044982
+v 0.12719379 -0.25772591 0.22290275
+v -0.32570099 -0.25756105 0.14703999
+v -0.22124885 -0.25943561 -0.31900889
+v -0.11820468 -0.37077067 0.18443053
+v 0.21059034 -0.33896594 -0.00166830
+v -0.02086349 -0.41686506 -0.25393060
+v -0.30437316 -0.40112370 -0.12750569
+v 0.19866812 -0.25650368 -0.22753110
+v 0.02173898 -0.42920834 0.09537474
+v -0.14913134 -0.25841860 0.26244634
+v 0.23551398 -0.25972396 0.12058966
+v 0.09134301 -0.44550157 -0.12837914
+v -0.39830266 -0.25993898 -0.12865704
+v -0.23282077 -0.42749132 0.03889004
+v -0.10416866 -0.48889474 -0.15733516
+v -0.01919462 -0.25968219 -0.34616708
+v -0.35362895 -0.25791323 -0.21451976
+v 0.21780590 -0.25518138 0.14739019
+v -0.09060627 -0.44434416 0.09913861
+v 0.02274649 -0.33962835 0.19955005
+v 0.07848339 -0.44292828 0.00951108
+v -0.21704071 -0.34060642 0.16874939
+v 0.21158382 -0.33975958 -0.12361768
+v 0.04810535 -0.40155910 -0.23856831
+v -0.37728433 -0.31476341 -0.03100220
+v -0.19192848 -0.47466018 -0.09970655
+v 0.02142963 -0.48909081 -0.11555606
+v -0.20390377 -0.41569693 -0.22358284
+v -0.13475805 -0.36076668 -0.29715891
+v 0.11086434 -0.25731282 -0.30058928
+v -0.36797968 -0.25669112 0.08673569
+v -0.34675626 -0.32866444 -0.16772087
+v 0.07754384 -0.35290248 0.15588696
+v 0.24597526 -0.25884306 -0.17228510
+v 0.02636001 -0.25792524 0.26553779
+v -0.02078274 -0.45808763 0.06790383
+v -0.04919040 -0.40151540 0.15493800
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+v 0.17197557 -0.25578859 0.19116854
+v 0.07772493 -0.39747330 0.09719055
+v 0.02072426 -0.38264336 0.15635171
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\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_1.obj b/mango/mango_8/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdcb60c42e0436c7b6c47247d143e79c431b4854
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_1.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.11955223 -0.26515151 -0.19376730
+v 0.20810048 -0.09536085 -0.31128699
+v 0.11955223 -0.00757576 -0.19376730
+v -0.22893262 -0.00757576 -0.19376730
+v -0.24039958 -0.27392984 -0.30294131
+v -0.00228605 -0.00739422 -0.39662851
+v 0.18015829 -0.00757576 -0.26952487
+v 0.12180983 -0.26696928 -0.28823753
+v -0.22893262 -0.26515151 -0.19376730
+v 0.17516667 -0.00612580 -0.34954218
+v -0.22602201 -0.00820125 -0.35403723
+v -0.00358841 -0.11025124 -0.38736895
+v -0.11991550 -0.00656925 -0.39014791
+v 0.05355606 -0.13923197 -0.37086913
+v 0.03978195 -0.00644384 -0.39035369
+v -0.08989707 -0.11162711 -0.38895995
+v -0.20705067 -0.00750138 -0.36224175
+v 0.09712162 -0.13805792 -0.35605642
+v 0.09849411 -0.05087858 -0.37271981
+v 0.04028205 -0.06591105 -0.38721308
+v -0.11930019 -0.07873575 -0.38851585
+v -0.14860475 -0.14044373 -0.37466236
+v 0.17506879 -0.07892449 -0.33553784
+v 0.10009470 -0.00720429 -0.37543624
+v 0.08201214 -0.09421287 -0.37163624
+v -0.17869433 -0.09634147 -0.37206492
+v 0.17088060 -0.06357867 -0.34129998
+v 0.14503085 -0.00647503 -0.36163684
+v -0.17752759 -0.00829390 -0.37405759
+v -0.16348818 -0.12623784 -0.37324992
+v -0.22112146 -0.07999379 -0.35689321
+v 0.14261014 -0.04986309 -0.35713755
+v -0.20630001 -0.14065222 -0.35600565
+v -0.22080394 -0.02347933 -0.35740958
+v -0.22351119 -0.14255657 -0.34892117
+f 1 3 4
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 1 4
+f 9 4 5
+f 10 4 3
+f 10 3 7
+f 10 7 2
+f 11 5 4
+f 13 4 10
+f 14 8 5
+f 15 13 10
+f 15 6 13
+f 16 6 12
+f 16 12 14
+f 17 11 4
+f 17 4 13
+f 18 2 8
+f 18 8 14
+f 20 12 6
+f 20 6 15
+f 20 14 12
+f 21 13 6
+f 21 6 16
+f 22 16 14
+f 22 14 5
+f 22 21 16
+f 23 2 18
+f 24 20 15
+f 24 19 20
+f 25 18 14
+f 25 20 19
+f 25 14 20
+f 26 13 21
+f 27 10 2
+f 27 2 23
+f 27 23 18
+f 28 24 15
+f 28 15 10
+f 28 19 24
+f 29 17 13
+f 29 13 26
+f 30 26 21
+f 30 21 22
+f 31 29 26
+f 32 27 18
+f 32 18 25
+f 32 25 19
+f 32 10 27
+f 32 28 10
+f 32 19 28
+f 33 30 22
+f 33 22 5
+f 33 26 30
+f 34 31 11
+f 34 11 17
+f 34 17 29
+f 34 29 31
+f 35 5 11
+f 35 11 31
+f 35 33 5
+f 35 31 26
+f 35 26 33
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_10.obj b/mango/mango_8/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56b18fdf0f2451b37274c9293e8900367074020d
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_10.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.09084533 -0.00518944 0.37054809
+v -0.09256899 -0.00757576 0.23047513
+v -0.09256899 0.23484849 0.23047513
+v -0.35691708 0.23143967 0.19479739
+v -0.39133817 -0.00693349 0.19682705
+v -0.21378111 -0.00757576 0.20017210
+v -0.09108889 0.23380887 0.37568703
+v -0.08886578 0.05524944 0.38220897
+v -0.26222009 -0.00639181 0.30574322
+v -0.21378111 0.23484849 0.20017210
+v -0.38312911 0.17042162 0.19150812
+v -0.09012907 0.20199523 0.38256759
+v -0.16022199 0.05475820 0.36304848
+v -0.30795101 -0.00664470 0.27484371
+v -0.25824498 0.18486406 0.30438754
+v -0.23602901 -0.00588431 0.32074773
+v -0.11921926 -0.00466389 0.36475157
+v -0.11673848 0.08545863 0.37964022
+v -0.35095031 0.09730371 0.24479915
+v -0.21608169 0.22998417 0.31983406
+v -0.31949166 0.21220517 0.24637637
+v -0.16246573 0.17271337 0.36155389
+v -0.14686371 0.02567745 0.36245552
+v -0.37875595 0.11161525 0.21582923
+v -0.37826103 0.01031412 0.21599432
+v -0.29323769 0.12436788 0.28883121
+v -0.37669089 0.16794710 0.20231397
+v -0.25950114 0.22741206 0.28895723
+v -0.18648379 0.18508090 0.34859245
+v -0.13111729 0.22867675 0.36517196
+v -0.11624744 0.17172127 0.37964125
+v -0.10479058 0.05561327 0.37894784
+v -0.33611722 0.17023434 0.24505112
+v -0.38380376 -0.00590107 0.20663534
+v -0.35228363 0.03964292 0.24293834
+v -0.36384987 0.11341402 0.23146475
+v -0.24886689 0.04013012 0.31867640
+v -0.35128120 0.22842372 0.20433215
+v -0.24541060 0.15472525 0.32027055
+v -0.10567593 0.20334438 0.37886040
+v -0.17317291 0.21517117 0.34840698
+v -0.30576589 0.15849960 0.27290910
+v -0.29307517 0.02389981 0.28828112
+v -0.22109567 0.02435205 0.33158774
+v -0.34691977 0.21498414 0.21539498
+v -0.20184946 0.21341356 0.33265256
+f 6 3 2
+f 8 1 2
+f 8 2 3
+f 9 2 1
+f 10 3 6
+f 10 7 3
+f 10 4 7
+f 11 6 5
+f 11 10 6
+f 11 4 10
+f 12 8 3
+f 12 3 7
+f 14 6 2
+f 14 2 9
+f 14 5 6
+f 16 9 1
+f 17 1 8
+f 17 16 1
+f 18 8 12
+f 20 7 4
+f 23 13 16
+f 23 16 17
+f 24 11 5
+f 25 24 5
+f 27 4 11
+f 27 11 24
+f 28 20 4
+f 28 21 15
+f 28 15 20
+f 30 29 22
+f 30 7 20
+f 31 18 12
+f 31 30 22
+f 31 22 13
+f 31 13 18
+f 32 18 13
+f 32 13 23
+f 32 8 18
+f 32 23 17
+f 32 17 8
+f 33 21 27
+f 33 15 21
+f 34 25 5
+f 34 5 14
+f 34 14 25
+f 35 25 14
+f 35 19 25
+f 36 25 19
+f 36 24 25
+f 36 19 26
+f 36 33 27
+f 36 27 24
+f 37 9 16
+f 38 4 27
+f 38 28 4
+f 38 21 28
+f 39 20 15
+f 39 26 37
+f 39 22 29
+f 39 37 13
+f 39 13 22
+f 40 12 7
+f 40 7 30
+f 40 31 12
+f 40 30 31
+f 41 30 20
+f 41 29 30
+f 42 15 33
+f 42 39 15
+f 42 26 39
+f 42 36 26
+f 42 33 36
+f 43 26 19
+f 43 19 35
+f 43 35 14
+f 43 37 26
+f 43 14 9
+f 43 9 37
+f 44 37 16
+f 44 16 13
+f 44 13 37
+f 45 38 27
+f 45 27 21
+f 45 21 38
+f 46 39 29
+f 46 20 39
+f 46 41 20
+f 46 29 41
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_11.obj b/mango/mango_8/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc17331dcecdae2da0eef73a720cdad549a2d820
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_11.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.14985526 0.09848485 -0.17861578
+v 0.14642287 0.09703660 -0.36235645
+v 0.15704274 0.24109962 -0.33190760
+v -0.36987252 0.22934335 -0.15764993
+v -0.40828526 0.10574030 -0.17537896
+v 0.14985526 0.23484849 -0.17861578
+v -0.32210577 0.09479771 -0.28473035
+v -0.21378111 0.09848485 -0.16346427
+v -0.21378111 0.23484849 -0.16346427
+v -0.13280729 0.09514401 -0.37425815
+v -0.36186221 0.15264710 -0.22492978
+v -0.39799410 0.16958048 -0.15403099
+v -0.36698973 0.09665089 -0.24002591
+v 0.04328806 0.21613034 -0.35789677
+v -0.20648697 0.22783669 -0.31238624
+v -0.37577698 0.16694467 -0.19764731
+v -0.36363844 0.10813084 -0.24098924
+v 0.13046228 0.17066254 -0.35700737
+v 0.04029937 0.14088108 -0.37313318
+v -0.22235947 0.09525045 -0.34407864
+v -0.29185167 0.21229077 -0.26762996
+v -0.11781056 0.22804841 -0.34236990
+v -0.39538984 0.15315540 -0.17187977
+v -0.36569329 0.22446674 -0.17066728
+v 0.12930189 0.22995176 -0.34366874
+v 0.14510613 0.14077892 -0.35820230
+v 0.08629207 0.09675065 -0.37412945
+v -0.10405463 0.13880110 -0.37151496
+v 0.10209659 0.20012386 -0.35632358
+v -0.26259736 0.22527727 -0.28275110
+v -0.30361271 0.15354500 -0.28263575
+v -0.16350324 0.13979441 -0.35556667
+v -0.40090151 0.15565276 -0.15878444
+v -0.39259592 0.16570839 -0.16806343
+v -0.34740607 0.20973670 -0.21162098
+v 0.08528760 0.11154399 -0.37276355
+v -0.03086866 0.21462107 -0.35728884
+v -0.34791452 0.22549988 -0.19778727
+v -0.31893988 0.10986449 -0.28359108
+v -0.29035031 0.18268336 -0.28250492
+v -0.22073791 0.16910480 -0.32658780
+v -0.14603713 0.21269393 -0.33982388
+v -0.13285243 0.10983275 -0.37151794
+v 0.07203032 0.12625449 -0.37269017
+v -0.09027640 0.19877551 -0.35682460
+v -0.28143015 0.09605704 -0.31462972
+v -0.22014129 0.10977897 -0.34210476
+v -0.26415101 0.19654574 -0.29491183
+v -0.11875732 0.18403515 -0.35633516
+v -0.29080754 0.13917874 -0.29739164
+v -0.24973734 0.12361517 -0.32521136
+v -0.23312253 0.19932319 -0.31087023
+v -0.27848272 0.10945067 -0.31287908
+f 1 2 3
+f 6 1 3
+f 8 7 1
+f 9 6 3
+f 9 3 4
+f 10 2 1
+f 10 1 7
+f 12 5 8
+f 12 9 4
+f 12 6 9
+f 12 8 1
+f 12 1 6
+f 13 8 5
+f 13 7 8
+f 15 4 3
+f 16 11 5
+f 17 7 13
+f 17 13 5
+f 17 5 11
+f 20 10 7
+f 22 15 3
+f 22 3 14
+f 23 16 5
+f 24 12 4
+f 25 14 3
+f 25 3 18
+f 26 18 3
+f 26 3 2
+f 27 2 10
+f 27 10 19
+f 27 26 2
+f 28 19 10
+f 29 19 14
+f 29 25 18
+f 29 14 25
+f 30 4 15
+f 31 17 11
+f 31 11 21
+f 33 23 5
+f 33 5 12
+f 34 16 23
+f 34 24 16
+f 34 12 24
+f 34 33 12
+f 34 23 33
+f 35 21 11
+f 35 11 16
+f 35 16 24
+f 36 18 26
+f 36 26 27
+f 37 14 19
+f 37 19 28
+f 37 22 14
+f 38 24 4
+f 38 4 30
+f 38 35 24
+f 38 30 21
+f 38 21 35
+f 39 7 17
+f 39 17 31
+f 40 31 21
+f 40 21 30
+f 42 15 22
+f 42 41 15
+f 42 32 41
+f 43 28 10
+f 43 10 20
+f 44 29 18
+f 44 18 36
+f 44 19 29
+f 44 36 27
+f 44 27 19
+f 45 37 28
+f 45 22 37
+f 46 20 7
+f 46 7 39
+f 47 41 32
+f 47 43 20
+f 47 32 43
+f 48 40 30
+f 49 42 22
+f 49 32 42
+f 49 43 32
+f 49 28 43
+f 49 45 28
+f 49 22 45
+f 50 46 39
+f 50 39 31
+f 50 31 40
+f 50 40 48
+f 51 41 47
+f 51 50 48
+f 51 47 20
+f 51 20 46
+f 52 48 30
+f 52 30 15
+f 52 15 41
+f 52 51 48
+f 52 41 51
+f 53 51 46
+f 53 46 50
+f 53 50 51
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_12.obj b/mango/mango_8/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34f4018ecd0a5e3096215eb28043349116fc3283
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_12.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.36518262 0.33360833 0.16176318
+v 0.41122424 0.33351727 -0.04068851
+v 0.33338645 0.41462700 0.06038362
+v 0.20977456 0.47426570 0.01802506
+v 0.25591586 0.34090909 -0.13316124
+v 0.30431494 0.42789478 -0.07969476
+v 0.23825747 0.42688844 0.18304336
+v 0.39176145 0.34552925 0.08762986
+v 0.38030947 0.33138454 -0.12538299
+v 0.32074425 0.42948106 -0.03970090
+v 0.20919054 0.46591243 -0.09802018
+v 0.31610269 0.39902176 0.14589446
+v 0.27819245 0.44220493 0.08910587
+v 0.24076435 0.34090909 0.18502058
+v 0.39781720 0.33473272 0.09042572
+v 0.40491741 0.34455887 0.01625540
+v 0.37985331 0.33277815 0.13382341
+v 0.38941817 0.35700795 -0.06754453
+v 0.26329024 0.45769342 -0.05417941
+v 0.24938323 0.43749527 -0.12735281
+v 0.34811687 0.34569886 0.17522923
+v 0.33165888 0.39963497 0.11708751
+v 0.23528463 0.44721480 0.13571971
+v 0.29223351 0.44282583 0.04551138
+v 0.29171211 0.42742483 0.11807688
+v 0.24076435 0.34090909 0.01835392
+v 0.37521178 0.37195090 0.07407631
+v 0.32043278 0.42935615 0.01651012
+v 0.41152015 0.33399753 0.01750528
+v 0.39527162 0.33229433 -0.09678881
+v 0.33238100 0.38522866 -0.12113438
+v 0.33349172 0.41313050 -0.06628561
+v 0.40438849 0.34422017 -0.03974747
+v 0.29144732 0.44413975 -0.05416379
+v 0.22496787 0.45139250 -0.12039022
+v 0.27409126 0.41338137 0.17410677
+v 0.35278379 0.33518407 0.17924402
+v 0.34486405 0.37140085 0.14600571
+v 0.22368672 0.46920799 0.02909977
+v 0.23626067 0.43567112 0.16502327
+v 0.30439183 0.42836817 0.09184557
+v 0.24858782 0.44257327 0.13449427
+v 0.34738777 0.40010266 0.07367254
+v 0.38967580 0.35768654 0.06024650
+v 0.38975338 0.34226015 -0.09352952
+v 0.30531201 0.41377297 -0.10753763
+v 0.24762282 0.45786860 -0.08196871
+v 0.26394310 0.45897153 0.01593610
+v 0.35915068 0.34401399 0.15993540
+v 0.35992976 0.37113447 0.11504969
+v 0.26116923 0.42705517 0.16071703
+v 0.37467305 0.34186605 -0.12134888
+v 0.28910549 0.41639369 -0.12176330
+v 0.26228113 0.43156867 -0.12392064
+v 0.23428460 0.45852843 -0.09600257
+v 0.37251908 0.34245382 0.13483296
+f 14 9 1
+f 14 7 4
+f 14 4 11
+f 17 1 9
+f 17 15 8
+f 19 11 4
+f 20 9 5
+f 25 12 22
+f 26 5 9
+f 26 9 14
+f 26 14 11
+f 26 11 5
+f 28 16 10
+f 29 2 16
+f 29 17 2
+f 29 15 17
+f 30 17 9
+f 30 2 17
+f 30 18 2
+f 31 9 20
+f 32 10 18
+f 32 18 31
+f 33 16 2
+f 33 2 18
+f 33 18 10
+f 33 10 16
+f 34 32 6
+f 34 10 32
+f 35 20 5
+f 35 5 11
+f 36 21 12
+f 36 12 25
+f 37 14 1
+f 37 1 21
+f 37 7 14
+f 37 36 7
+f 37 21 36
+f 38 22 12
+f 38 12 21
+f 39 23 13
+f 39 4 23
+f 40 23 4
+f 40 4 7
+f 41 24 13
+f 41 28 24
+f 41 3 28
+f 41 13 25
+f 41 25 22
+f 42 25 13
+f 42 13 23
+f 42 23 40
+f 43 27 16
+f 43 22 27
+f 43 41 22
+f 43 3 41
+f 43 28 3
+f 43 16 28
+f 44 27 8
+f 44 16 27
+f 44 29 16
+f 44 8 15
+f 44 15 29
+f 45 30 9
+f 45 18 30
+f 45 31 18
+f 46 32 31
+f 46 6 32
+f 47 19 34
+f 47 11 19
+f 47 34 6
+f 47 6 20
+f 48 28 10
+f 48 10 34
+f 48 24 28
+f 48 34 19
+f 48 19 4
+f 48 4 39
+f 48 39 13
+f 48 13 24
+f 49 38 21
+f 49 21 1
+f 49 1 17
+f 50 27 22
+f 50 22 38
+f 50 8 27
+f 51 40 7
+f 51 7 36
+f 51 42 40
+f 51 36 25
+f 51 25 42
+f 52 45 9
+f 52 9 31
+f 52 31 45
+f 53 46 31
+f 53 31 20
+f 54 20 6
+f 54 6 46
+f 54 53 20
+f 54 46 53
+f 55 47 20
+f 55 20 35
+f 55 35 11
+f 55 11 47
+f 56 50 38
+f 56 38 49
+f 56 49 17
+f 56 17 8
+f 56 8 50
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_13.obj b/mango/mango_8/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14bb4bde929ad42c02c11a10237ddcd062c30133
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_13.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.24076435 0.35606061 0.12441452
+v 0.25591586 0.35606061 -0.05740366
+v 0.27093777 0.45525571 0.02345201
+v -0.00571787 0.49331052 0.09413986
+v -0.07741747 0.35606061 -0.05740366
+v 0.23584999 0.45016251 0.12257287
+v 0.25591586 0.35606061 0.01835392
+v -0.07741747 0.35606061 0.12441452
+v -0.07669832 0.48646107 -0.05780289
+v 0.20676131 0.47529511 0.01594104
+v 0.27271838 0.45065353 -0.06683148
+v -0.07668266 0.45066258 0.12570697
+v -0.07758011 0.48251225 0.01609623
+v 0.23854151 0.46784855 0.01743662
+v 0.20553114 0.45958786 0.12119978
+v 0.20626694 0.47542721 -0.05515943
+v 0.07761091 0.46216651 0.12447032
+v 0.01729280 0.49240146 0.09589424
+v 0.01857167 0.49461075 0.05932891
+v -0.00957976 0.49392721 0.05619196
+f 5 2 1
+f 6 1 3
+f 7 1 2
+f 7 3 1
+f 8 5 1
+f 11 7 2
+f 11 3 7
+f 11 2 5
+f 11 5 9
+f 12 8 1
+f 13 9 5
+f 13 5 8
+f 13 8 12
+f 13 12 4
+f 13 4 9
+f 14 6 3
+f 14 3 11
+f 15 14 10
+f 15 6 14
+f 16 11 9
+f 16 14 11
+f 16 10 14
+f 17 12 1
+f 17 1 6
+f 17 6 15
+f 17 4 12
+f 18 15 10
+f 18 17 15
+f 18 4 17
+f 19 16 9
+f 19 4 18
+f 19 18 10
+f 19 10 16
+f 20 19 9
+f 20 9 4
+f 20 4 19
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_14.obj b/mango/mango_8/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..687d769fed59eec9872b07cad4076308879f0206
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_14.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.32240815 -0.00241051 0.25119250
+v 0.39626076 0.05578116 0.17785909
+v 0.27482647 0.24332781 0.30158674
+v 0.23825747 0.42688844 0.18304336
+v 0.25591586 -0.00757576 0.18502058
+v 0.37958310 0.28922941 0.17702086
+v 0.39011526 0.11617208 0.20359273
+v 0.37903681 -0.00380645 0.17700703
+v 0.24933285 -0.00279364 0.30890853
+v 0.27302402 0.35571482 0.24546510
+v 0.34510095 0.05576638 0.24697366
+v 0.37462220 0.21456658 0.21651452
+v 0.39564048 0.24647786 0.17767632
+v 0.26337485 0.41794150 0.17651354
+v 0.23423869 0.29036955 0.30956810
+v 0.31544106 0.27098816 0.26087856
+v 0.37626737 0.08578444 0.21654594
+v 0.37414515 0.02839049 0.20113782
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+v 0.38955163 0.05674889 0.18915524
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+v 0.23303652 0.36239366 0.26420852
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+v 0.34509355 0.30202382 0.21441348
+v 0.30061697 0.30051213 0.25930336
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+v 0.25941425 -0.00106185 0.30339988
+v 0.31627252 0.05598005 0.27440890
+v 0.24941248 0.05529112 0.32410783
+v 0.24170657 0.23564377 0.32461199
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+v 0.37447397 0.25930789 0.20111667
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+v 0.24706207 0.35741613 0.26096891
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+v 0.28760623 0.34312220 0.24318222
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+f 64 51 50
+f 64 50 23
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\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_15.obj b/mango/mango_8/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7265ed2347cb3f2b0db7f0ea9d08b95df500cc31
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_15.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.24228271 -0.27864016 0.20381980
+v -0.22124885 -0.25943561 -0.31900889
+v -0.22893262 -0.00757576 0.18502058
+v -0.36900885 -0.01603091 0.22051519
+v -0.36626496 -0.27425714 -0.18357408
+v -0.22602201 -0.00820125 -0.35403723
+v -0.32083869 -0.25364660 0.15604836
+v -0.33499323 -0.00757576 -0.16346427
+v -0.30651809 -0.15420987 -0.29853004
+v -0.31978820 -0.23924583 0.16843087
+v -0.23481302 -0.15498348 -0.34202351
+v -0.30438909 -0.25789915 -0.26801123
+v -0.31444764 -0.00837518 -0.30388992
+v -0.30644474 -0.25448111 0.17000236
+v -0.22321648 -0.15617728 -0.34655954
+v -0.27936115 -0.18574486 -0.31135518
+v -0.26484217 -0.25810491 -0.29635435
+v -0.30530407 -0.21559147 -0.28331463
+v -0.27736870 -0.08144537 -0.32799049
+v -0.24902688 -0.09849773 -0.34297443
+v -0.22264212 -0.21524503 -0.33265853
+v -0.23471742 -0.25919695 -0.31253234
+v -0.29180821 -0.12615354 -0.31361218
+v -0.27919087 -0.00847458 -0.32775068
+v -0.26606459 -0.15613527 -0.32611577
+v -0.23669493 -0.21322299 -0.32701662
+v -0.25081773 -0.00865191 -0.34234360
+v -0.24975609 -0.24477771 -0.31005552
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 7 5 1
+f 7 4 5
+f 8 4 3
+f 8 3 6
+f 8 5 4
+f 10 1 4
+f 10 4 7
+f 13 8 6
+f 13 9 5
+f 13 5 8
+f 14 10 7
+f 14 7 1
+f 14 1 10
+f 15 6 2
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+f 18 12 5
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+f 26 21 2
+f 26 2 22
+f 26 16 25
+f 26 25 11
+f 26 11 21
+f 27 24 6
+f 27 6 20
+f 27 20 24
+f 28 26 22
+f 28 22 17
+f 28 17 16
+f 28 16 26
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_16.obj b/mango/mango_8/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..733b02f14e58e9a95c500491c46259126d8ca973
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_16.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.25591586 0.35606061 -0.05740366
+v 0.27457113 0.37957786 -0.18531718
+v 0.20973430 0.47432660 -0.05701466
+v -0.07669832 0.48646107 -0.05780289
+v -0.20993847 0.39236733 -0.18913314
+v 0.16142354 0.45869999 -0.15191838
+v 0.19406315 0.47751324 -0.05542961
+v 0.27271838 0.45065353 -0.06683148
+v -0.18347808 0.35606061 -0.05740366
+v -0.10427361 0.45962532 -0.15552607
+v 0.11609553 0.47418381 -0.12984777
+v 0.21919702 0.45789817 -0.11082831
+v -0.20246915 0.45197468 -0.06295067
+v -0.07610181 0.47388197 -0.12815700
+v 0.19001267 0.47456202 -0.08360673
+v 0.24976773 0.41970277 -0.15655604
+v -0.18683368 0.42276644 -0.16742354
+v -0.12136571 0.47161825 -0.10242737
+v 0.25049342 0.45086545 -0.09827729
+v 0.20388127 0.44413570 -0.15408284
+v -0.08991261 0.47824341 -0.09939150
+v -0.11867883 0.46072230 -0.14325459
+v 0.24835013 0.44701707 -0.10976993
+v -0.08927927 0.47553233 -0.11368676
+v 0.23201473 0.43150676 -0.15318887
+v 0.24745436 0.43164547 -0.13817651
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+f 7 1 3
+f 8 1 2
+f 8 3 1
+f 9 5 2
+f 9 2 1
+f 9 7 4
+f 9 1 7
+f 10 6 5
+f 11 4 7
+f 11 6 10
+f 13 9 4
+f 13 5 9
+f 14 11 10
+f 14 4 11
+f 15 11 7
+f 15 7 3
+f 15 12 6
+f 15 6 11
+f 16 8 2
+f 17 10 5
+f 17 5 13
+f 18 13 4
+f 19 15 3
+f 19 3 8
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+f 20 16 2
+f 20 2 6
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+f 21 18 4
+f 21 4 14
+f 22 14 10
+f 22 10 17
+f 22 17 13
+f 22 13 18
+f 23 19 8
+f 23 8 16
+f 23 20 12
+f 23 12 19
+f 24 21 14
+f 24 18 21
+f 24 22 18
+f 24 14 22
+f 25 16 20
+f 25 20 23
+f 26 25 23
+f 26 23 16
+f 26 16 25
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_17.obj b/mango/mango_8/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d1be763ebbac0f194aeaaa9c41b233bac92ec28
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_17.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.28964914 0.34103828 0.18512793
+v -0.18347808 0.34090909 -0.14831275
+v -0.20648580 0.38493340 0.21480557
+v -0.17840230 0.44859685 0.10621624
+v -0.33342063 0.34049547 -0.08127811
+v -0.17841700 0.41825187 0.17892548
+v -0.27651318 0.38459494 0.13265663
+v -0.33939631 0.33179755 -0.08310786
+v -0.17750483 0.44809927 -0.12803840
+v -0.24761085 0.38368611 0.17618655
+v -0.34625916 0.33753201 0.01814987
+v -0.31143537 0.33438243 -0.14427548
+v -0.17657786 0.46478042 -0.06002139
+v -0.27781348 0.37028793 0.16082192
+v -0.27876034 0.35896121 0.17590005
+v -0.19203562 0.41415371 0.17594949
+v -0.21776424 0.42749214 0.12035721
+v -0.30595196 0.34321930 -0.14129989
+v -0.18005401 0.43974509 -0.14428542
+v -0.26164213 0.41373666 0.07506835
+v -0.26014952 0.41441794 -0.06732603
+v -0.26098639 0.38318453 0.15980813
+v -0.19123831 0.42875068 0.14746682
+v -0.24567532 0.40138639 -0.13829008
+v -0.27571161 0.39926228 0.09182376
+v -0.20475577 0.44455944 0.07596729
+v -0.20310940 0.44468278 -0.09943840
+v -0.21827263 0.44441436 -0.05489446
+v -0.33851916 0.34691202 0.01853414
+v -0.17902938 0.43273446 0.14848236
+v -0.28907897 0.36956738 -0.12525932
+v -0.23310861 0.42849876 0.09041144
+v -0.17870731 0.46375572 -0.01065379
+v -0.23258296 0.42740464 -0.09767202
+v -0.21785913 0.42697040 -0.12499360
+v -0.19069660 0.45867063 -0.05615390
+v -0.28977932 0.38488836 -0.08290231
+v -0.30287877 0.35549917 -0.12558798
+v -0.19138744 0.44401051 0.10330280
+v -0.21940487 0.44351473 0.00337923
+v -0.18917589 0.44368596 -0.12506525
+v -0.20240258 0.42871882 -0.13982338
+v -0.24557616 0.41344937 -0.11104977
+v -0.18768692 0.46052035 -0.01447461
+f 1 2 3
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+f 8 2 1
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+f 12 2 8
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+f 14 11 1
+f 14 7 11
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+f 15 14 1
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+f 16 10 3
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+f 18 12 8
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+f 23 10 16
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+f 29 5 11
+f 29 20 21
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+f 29 11 7
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+f 30 23 6
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+f 32 25 7
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+f 33 4 13
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+f 39 32 17
+f 39 17 4
+f 39 4 26
+f 39 26 32
+f 40 32 26
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+f 41 9 19
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+f 42 35 19
+f 42 19 24
+f 42 24 35
+f 43 35 24
+f 43 34 35
+f 43 24 31
+f 43 31 37
+f 43 37 21
+f 43 21 34
+f 44 33 13
+f 44 13 36
+f 44 36 28
+f 44 28 40
+f 44 40 26
+f 44 26 33
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_18.obj b/mango/mango_8/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ca869841a724569630eeb9a5fdcac92a98bf6b1
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_18.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.21444660 -0.25043687 0.15765769
+v 0.22458847 -0.26440239 -0.19290290
+v 0.22561283 -0.00757576 -0.19376730
+v -0.22451976 -0.00559037 0.32623964
+v -0.22893262 -0.26515151 -0.19376730
+v 0.21966854 -0.00343166 0.32380747
+v -0.10509031 -0.25506919 0.27294625
+v -0.22893262 -0.00757576 -0.19376730
+v -0.22145998 -0.25655953 0.23265460
+v 0.12542605 -0.25126582 0.22950186
+v -0.06096361 -0.04852146 0.36369518
+v 0.08522793 -0.00336335 0.36719499
+v -0.14750651 -0.15095801 0.31619355
+v 0.00951282 -0.25255826 0.27297122
+v 0.21535667 -0.14692100 0.25839433
+v -0.16309915 -0.00478536 0.35215199
+v -0.17631838 -0.25442520 0.25592658
+v -0.21943474 -0.15140815 0.28789512
+v -0.08981139 -0.13793672 0.33274039
+v 0.16803569 -0.25039877 0.19997487
+v 0.09606285 -0.19059547 0.28878907
+v -0.10350940 -0.00459498 0.36815026
+v -0.11862541 -0.22409920 0.28782371
+v -0.22150601 -0.06610034 0.31585597
+v -0.17568594 -0.16568453 0.30068466
+v -0.22001425 -0.24003033 0.24363622
+v -0.03186937 -0.20992950 0.30334880
+v 0.17023362 -0.21756428 0.22980676
+v 0.06809755 -0.25165522 0.25792297
+v 0.13953209 -0.20603896 0.25841064
+v 0.14127518 -0.10379124 0.31640139
+v -0.11912276 -0.07839354 0.34754183
+v -0.11871299 -0.16686426 0.31632068
+v -0.20609915 -0.01910706 0.33257739
+v -0.20526556 -0.13624116 0.30113350
+v -0.20469675 -0.25422388 0.24326876
+v 0.04032379 -0.19380745 0.30318734
+v 0.04090998 -0.09217099 0.34845894
+v 0.17054361 -0.16296394 0.27202699
+v 0.19996929 -0.16130423 0.25809976
+v 0.12646723 -0.23548408 0.24233183
+v 0.10994969 -0.20704230 0.27263244
+v 0.21468922 -0.02899129 0.31765604
+v -0.14673435 -0.04816398 0.34745940
+v -0.09026130 -0.09251083 0.34816282
+v -0.08965453 -0.03402888 0.36424977
+v -0.17580906 -0.07783185 0.33106905
+v -0.20489937 -0.00573478 0.33491800
+v -0.01897000 -0.20943399 0.30294399
+v 0.09814676 -0.13417037 0.31792178
+v 0.05344042 -0.23735497 0.27328613
+v 0.02631834 -0.13623584 0.33252515
+v 0.04099214 -0.04715703 0.36317196
+v 0.15666998 -0.14986893 0.28606826
+v 0.09561935 -0.23674326 0.25754429
+v 0.14441833 -0.01698788 0.34927231
+v -0.10436878 -0.01888102 0.36503100
+v -0.16220825 -0.01902580 0.34947225
+v -0.14806047 -0.10693179 0.33149308
+v 0.06831892 -0.20766721 0.28789868
+v 0.04096036 -0.16542225 0.31763545
+v 0.18861905 -0.01720424 0.33368388
+v 0.14344865 -0.00592593 0.35259771
+v 0.11238879 -0.09027966 0.33271504
+f 5 3 2
+f 6 1 2
+f 6 2 3
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 9 5 2
+f 9 2 7
+f 9 4 5
+f 10 2 1
+f 12 6 8
+f 14 7 2
+f 15 1 6
+f 16 12 8
+f 16 8 4
+f 17 9 7
+f 20 10 1
+f 20 1 15
+f 22 11 12
+f 22 12 16
+f 23 17 7
+f 24 4 9
+f 24 9 18
+f 25 23 13
+f 25 17 23
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+f 27 7 14
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+f 29 14 2
+f 29 2 10
+f 32 13 19
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+f 33 13 23
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+f 54 21 39
+f 54 50 21
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+f 55 42 29
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+f 56 12 53
+f 57 44 32
+f 57 22 16
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+f 58 16 34
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+f 59 35 13
+f 59 13 32
+f 59 32 44
+f 59 44 47
+f 60 50 37
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+f 60 37 51
+f 60 51 42
+f 60 42 21
+f 61 52 49
+f 61 49 37
+f 61 37 50
+f 61 50 38
+f 61 38 52
+f 62 43 6
+f 62 31 43
+f 63 6 12
+f 63 12 56
+f 63 62 6
+f 63 56 62
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+f 64 31 62
+f 64 38 50
+f 64 56 53
+f 64 53 38
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_19.obj b/mango/mango_8/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4841d3c2a17c28159cfd08e8a61e851eced33e0d
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_19.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.36825506 0.22952603 0.17864536
+v -0.28953868 0.23484849 -0.14831275
+v -0.32370919 0.25822376 0.21692843
+v -0.28170376 0.39075593 0.10566960
+v -0.39876320 0.22928544 -0.08446465
+v -0.28443966 0.35029101 0.18076502
+v -0.38413505 0.22925414 -0.12842031
+v -0.37805086 0.28415415 0.07550382
+v -0.28271054 0.36409452 0.16436127
+v -0.33441016 0.29577807 0.17248799
+v -0.39837848 0.22905937 0.10579852
+v -0.33233829 0.32722095 -0.11080038
+v -0.33298814 0.32720372 0.13294039
+v -0.36533297 0.24226039 0.17484734
+v -0.29305361 0.34568069 0.17603828
+v -0.39225166 0.25648674 -0.05501217
+v -0.36148929 0.28428960 -0.10972683
+v -0.29648068 0.34677842 -0.15223632
+v -0.29559781 0.39305453 0.01757074
+v -0.30333497 0.35437294 0.14541418
+v -0.36144059 0.28469872 0.13282029
+v -0.38336940 0.22954690 0.15039349
+v -0.38978529 0.25682832 0.09132841
+v -0.37834137 0.25413591 -0.11111457
+v -0.34824037 0.32880272 -0.05312587
+v -0.28775733 0.39954388 0.01814872
+v -0.37463588 0.23208315 -0.14572386
+v -0.33101170 0.31340079 -0.13905125
+v -0.31761431 0.35619441 0.10530279
+v -0.29116540 0.35721823 0.16212908
+v -0.36269052 0.29760036 0.10452822
+v -0.34912117 0.29855300 0.14324665
+v -0.37622736 0.25619512 0.13260512
+v -0.39291386 0.24165395 0.10426831
+v -0.39330623 0.24190456 -0.08298882
+v -0.37742370 0.28395247 -0.05476279
+v -0.36133600 0.29896892 -0.08204066
+v -0.36317566 0.31339399 0.03253361
+v -0.37888812 0.24184524 -0.12625050
+v -0.31970265 0.32763619 -0.14018827
+v -0.28836337 0.38496327 0.10481977
+v -0.34784385 0.32726538 0.07562070
+v -0.36311592 0.31371129 -0.00951448
+v -0.36417922 0.25643001 -0.13934823
+f 1 2 3
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+f 15 10 3
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+f 15 13 10
+f 15 6 9
+f 16 5 11
+f 19 18 12
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+f 20 13 15
+f 22 11 1
+f 22 1 14
+f 22 14 21
+f 23 16 11
+f 23 8 16
+f 24 7 5
+f 25 19 12
+f 26 4 2
+f 26 2 18
+f 26 19 4
+f 26 18 19
+f 27 18 2
+f 27 2 7
+f 28 17 12
+f 28 18 27
+f 29 13 20
+f 30 20 15
+f 30 15 9
+f 30 9 20
+f 31 23 21
+f 31 8 23
+f 32 21 14
+f 32 14 10
+f 32 10 13
+f 32 31 21
+f 32 13 31
+f 33 22 21
+f 33 21 23
+f 34 23 11
+f 34 11 22
+f 34 33 23
+f 34 22 33
+f 35 24 5
+f 35 5 16
+f 36 35 16
+f 37 25 12
+f 37 12 17
+f 37 36 25
+f 37 17 24
+f 37 24 35
+f 37 35 36
+f 39 27 7
+f 39 7 24
+f 39 24 17
+f 39 17 28
+f 40 28 12
+f 40 12 18
+f 40 18 28
+f 41 4 19
+f 41 19 29
+f 41 29 20
+f 41 20 4
+f 42 31 13
+f 42 13 29
+f 42 29 19
+f 42 19 38
+f 42 38 8
+f 42 8 31
+f 43 38 19
+f 43 19 25
+f 43 25 36
+f 43 36 16
+f 43 16 8
+f 43 8 38
+f 44 39 28
+f 44 28 27
+f 44 27 39
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_2.obj b/mango/mango_8/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9be668af5b9aadc0f0a1f1fd452fb4db5973afe7
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.37903681 -0.00380645 0.17700703
+v 0.44849432 0.07119904 -0.06865283
+v 0.41820380 0.27297105 0.11638913
+v 0.24076435 0.34090909 0.18502058
+v 0.25591586 -0.00757576 -0.13316124
+v 0.25591586 0.34090909 -0.13316124
+v 0.40433075 0.21592345 0.17449707
+v 0.41148434 -0.00308056 -0.12748216
+v 0.25591586 -0.00757576 0.18502058
+v 0.39164703 0.32918575 -0.10892361
+v 0.24076435 0.34090909 0.01835392
+v 0.35943623 0.32989101 0.17390331
+v 0.44978515 0.11487264 0.07489941
+v 0.43365201 0.01382305 0.04657270
+v 0.37256132 0.33713196 -0.12952235
+v 0.24076435 0.23484849 0.16986907
+v 0.43363297 0.18734626 -0.12531127
+v 0.38948007 0.27450626 0.17195775
+v 0.40521164 0.33007849 0.07450533
+v 0.41903688 0.07243755 0.14554972
+v 0.43488732 0.20203803 0.11676763
+v 0.43404578 0.01277484 -0.06936682
+v 0.41981038 -0.00080167 0.08860819
+v 0.44975440 0.05754838 0.01658740
+v 0.24076435 0.23484849 0.18502058
+v 0.24076435 0.23484849 0.01835392
+v 0.43401909 0.08551269 -0.12542704
+v 0.41802770 0.25776934 -0.12338998
+v 0.45004711 0.24519221 -0.01131967
+v 0.40255914 0.26232237 0.15798575
+v 0.38994485 0.33064058 0.11619134
+v 0.40342777 0.32965042 -0.08066844
+v 0.40329032 0.07254992 0.17295418
+v 0.43492533 0.08779798 0.11612314
+v 0.41940290 -0.00078884 -0.11112190
+v 0.40440906 -0.00031889 0.13139619
+v 0.44984700 0.05718602 -0.04007867
+v 0.45007083 0.18649610 -0.08281977
+v 0.39195242 0.31582709 -0.12322621
+v 0.45014454 0.18637069 0.07426340
+v 0.43413311 0.27433313 0.05987584
+v 0.42008947 0.21630103 0.14545876
+v 0.40401316 0.31612563 0.10267495
+v 0.41876856 0.31553124 -0.05369451
+v 0.39029678 0.02793931 0.17541521
+v 0.43318887 0.02837469 0.07460638
+v 0.41855983 0.01320716 -0.12435996
+v 0.43432680 0.05672066 -0.11227748
+v 0.41916064 0.04322865 0.12998848
+v 0.44986291 0.10097057 -0.08313691
+v 0.43271398 0.22969623 -0.10973582
+v 0.38030947 0.33138454 -0.12538299
+v 0.41813556 0.30121870 -0.08189203
+v 0.44965654 0.24522894 0.01743499
+v 0.43417579 0.23098701 0.10363286
+v 0.41826006 0.28728970 0.10177628
+v 0.43352044 0.28824788 0.03074477
+v 0.40311486 0.01425768 0.14502373
+v 0.44948198 0.07139517 0.04583212
+v 0.43366582 0.05807684 0.10223211
+v 0.44939011 0.23023581 -0.05392123
+v 0.43441220 0.27307742 -0.06833207
+v 0.44883469 0.21655950 0.05955340
+v 0.41849684 0.31596574 0.04559632
+f 7 4 1
+f 9 1 4
+f 9 8 1
+f 9 5 8
+f 11 6 5
+f 11 4 6
+f 12 4 7
+f 15 8 5
+f 15 5 6
+f 15 6 4
+f 16 5 9
+f 16 4 11
+f 17 8 15
+f 18 12 7
+f 23 1 8
+f 23 22 14
+f 24 14 22
+f 25 16 9
+f 25 9 4
+f 25 4 16
+f 26 16 11
+f 26 11 5
+f 26 5 16
+f 27 8 17
+f 28 17 15
+f 30 18 7
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+f 48 47 27
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+f 50 38 37
+f 50 37 2
+f 51 38 17
+f 51 17 28
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+f 52 10 39
+f 53 28 39
+f 53 32 44
+f 53 39 10
+f 53 10 32
+f 54 40 29
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+f 55 42 21
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+f 56 41 19
+f 56 19 43
+f 56 43 3
+f 56 55 41
+f 56 3 55
+f 57 41 54
+f 57 54 29
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+f 58 45 1
+f 58 1 36
+f 58 36 49
+f 58 49 20
+f 58 20 45
+f 59 46 14
+f 59 14 24
+f 59 24 13
+f 60 34 49
+f 60 46 59
+f 60 59 13
+f 60 13 34
+f 60 49 23
+f 60 23 46
+f 61 29 38
+f 61 38 51
+f 62 51 28
+f 62 28 53
+f 62 61 51
+f 62 53 44
+f 62 44 29
+f 62 29 61
+f 63 54 41
+f 63 41 55
+f 63 55 40
+f 63 40 54
+f 64 57 44
+f 64 44 19
+f 64 19 41
+f 64 41 57
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_20.obj b/mango/mango_8/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1be6474957f3a1708a3e7203096bb9c550518505
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_20.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.23675618 0.23269164 0.32817214
+v 0.24076435 0.23484849 0.21532361
+v 0.22086599 0.42069070 0.20741434
+v -0.11907992 0.41976550 0.21031347
+v -0.18347808 0.23484849 0.21532361
+v 0.08588817 0.34466190 0.33453444
+v 0.23739421 0.41028792 0.21079616
+v -0.16127393 0.22661843 0.35157044
+v -0.17864519 0.40349369 0.20695856
+v 0.01254501 0.41442346 0.26388024
+v 0.22895891 0.33152966 0.28960186
+v 0.17231775 0.38663246 0.27407038
+v 0.21778300 0.23121828 0.33818553
+v 0.17935098 0.43418236 0.20759122
+v -0.17704057 0.23145173 0.34120928
+v -0.07430287 0.36989423 0.30708187
+v 0.20347909 0.39926515 0.24552918
+v 0.16024649 0.35640060 0.30457430
+v 0.11691555 0.40089368 0.27572356
+v 0.08714526 0.23121410 0.38189270
+v 0.23103999 0.27272550 0.31892765
+v -0.04605700 0.43288576 0.20952586
+v -0.05860330 0.41340742 0.25135344
+v -0.04371709 0.34317825 0.33524162
+v -0.13088909 0.32909331 0.31755888
+v 0.17594909 0.42822552 0.21837915
+v 0.23077371 0.37082424 0.25830153
+v 0.08648472 0.41350307 0.26497354
+v 0.11253232 0.35789437 0.31786684
+v 0.18814875 0.23125183 0.35254420
+v 0.21550084 0.25865817 0.33162614
+v 0.15731000 0.31514960 0.33215769
+v 0.11834981 0.42864811 0.23518259
+v -0.04534293 0.39950316 0.27818362
+v -0.08751040 0.39884438 0.26427909
+v -0.04457425 0.42773262 0.22397367
+v -0.03054579 0.25903309 0.37895292
+v -0.17421814 0.25845768 0.33363805
+v -0.07255575 0.35699008 0.31883173
+v -0.16065592 0.38419387 0.24677184
+v 0.20106873 0.37130475 0.27394466
+v 0.23515145 0.40358041 0.22036325
+v 0.12727784 0.32964861 0.33390908
+v 0.18670277 0.34456855 0.30168112
+v 0.18868626 0.24489726 0.34839022
+v -0.11825717 0.41463377 0.22027494
+v -0.00007972 0.42803202 0.23591963
+v 0.08617301 0.28840334 0.36315732
+v -0.06108576 0.23145931 0.38281602
+v -0.07203940 0.28626599 0.36211700
+v -0.15814565 0.24402852 0.34756248
+v -0.17296720 0.31296049 0.30409409
+v -0.11454684 0.35645071 0.30323077
+v -0.11411624 0.36897524 0.29090072
+v 0.21670962 0.34334782 0.28819540
+v 0.14470985 0.23150901 0.36822529
+v 0.04241135 0.25876259 0.37864638
+v 0.10089379 0.31445004 0.34856404
+v -0.07118622 0.31473220 0.34832128
+v -0.05993010 0.24674631 0.37903487
+v -0.10178454 0.29953159 0.34720805
+v -0.17436186 0.39664779 0.21995422
+v -0.14297432 0.35452873 0.28970477
+v 0.11616065 0.27281386 0.36376628
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 9 3 2
+f 9 2 5
+f 13 8 2
+f 13 2 1
+f 14 3 9
+f 15 9 5
+f 15 5 8
+f 17 7 3
+f 21 1 11
+f 22 14 9
+f 22 9 4
+f 24 6 10
+f 26 17 3
+f 26 3 14
+f 26 19 12
+f 26 12 17
+f 27 11 1
+f 27 1 7
+f 28 10 6
+f 28 6 19
+f 29 18 12
+f 29 12 19
+f 29 19 6
+f 30 20 8
+f 30 8 13
+f 31 13 1
+f 31 1 21
+f 31 30 13
+f 32 21 11
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+f 33 10 28
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+f 34 10 23
+f 34 24 10
+f 34 16 24
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+f 44 32 11
+f 44 18 32
+f 44 41 18
+f 45 30 31
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+f 46 4 9
+f 46 9 35
+f 46 35 23
+f 46 23 4
+f 47 36 23
+f 47 23 10
+f 47 10 33
+f 47 22 36
+f 47 33 14
+f 47 14 22
+f 49 8 20
+f 51 38 15
+f 51 15 8
+f 52 9 15
+f 52 15 38
+f 52 38 25
+f 53 39 16
+f 53 25 39
+f 54 16 35
+f 54 35 40
+f 54 53 16
+f 55 11 27
+f 55 27 41
+f 55 44 11
+f 55 41 44
+f 56 20 30
+f 56 30 45
+f 57 20 48
+f 57 49 20
+f 57 37 49
+f 57 48 6
+f 57 6 37
+f 58 43 6
+f 58 6 48
+f 59 50 37
+f 59 37 24
+f 59 24 39
+f 59 39 25
+f 60 49 37
+f 60 37 50
+f 60 50 51
+f 60 51 8
+f 60 8 49
+f 61 51 50
+f 61 25 38
+f 61 38 51
+f 61 59 25
+f 61 50 59
+f 62 52 40
+f 62 9 52
+f 62 40 35
+f 62 35 9
+f 63 52 25
+f 63 40 52
+f 63 25 53
+f 63 54 40
+f 63 53 54
+f 64 48 20
+f 64 20 56
+f 64 58 48
+f 64 32 43
+f 64 43 58
+f 64 56 45
+f 64 45 32
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_21.obj b/mango/mango_8/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9832e0b454aa44efb98be2cae8c2aab1c78ae180
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_21.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.21751066 -0.33217407 0.00057585
+v 0.42253896 -0.00242463 -0.09856941
+v 0.37135526 -0.06023789 0.14609410
+v 0.22500021 -0.00716307 0.32009622
+v 0.22322996 -0.00694950 -0.32569881
+v 0.40854883 -0.00239396 0.11903123
+v 0.22738229 -0.20370642 0.20113401
+v 0.25245099 -0.26838664 -0.15276851
+v 0.21828741 -0.04831323 0.30871870
+v 0.36184534 -0.00159426 0.20506672
+v 0.37328195 -0.13314099 -0.01354029
+v 0.28332490 -0.22094164 0.10201479
+v 0.33025648 -0.04502673 -0.22494057
+v 0.21593303 -0.21277200 -0.24466751
+v 0.21685947 -0.20854582 0.20450764
+v 0.37148826 -0.04413723 0.16140746
+v 0.30133523 -0.02988117 0.25920800
+v 0.24933285 -0.00279364 0.30890853
+v 0.42336367 -0.00204971 0.07450084
+v 0.24651507 -0.00473307 -0.31334138
+v 0.37227766 -0.11961154 -0.09616013
+v 0.26815956 -0.28259800 -0.09947825
+v 0.21786240 -0.28473262 0.10438722
+v 0.31421905 -0.11462864 0.18944783
+v 0.35807107 -0.13168744 0.07312418
+v 0.21653445 -0.33275851 -0.12769917
+v 0.29950923 -0.14953350 -0.19383377
+v 0.21954953 -0.05033486 -0.31881110
+v 0.21877535 -0.13811454 0.26248564
+v 0.40435007 -0.01561938 0.11728153
+v 0.27611626 -0.00205382 0.29152870
+v 0.24566483 -0.01558176 0.30658193
+v 0.40426420 -0.07496330 -0.04163028
+v 0.37785997 -0.00244674 -0.18376155
+v 0.31314594 -0.22337872 -0.01403323
+v 0.37386961 -0.13371678 -0.05506869
+v 0.32792920 -0.17833800 -0.12417892
+v 0.24059269 -0.24990344 0.12840187
+v 0.22590936 -0.30958651 0.04247878
+v 0.21701643 -0.31655113 0.04469027
+v 0.21780590 -0.25518138 0.14739019
+v 0.35963290 -0.05851959 0.17094557
+v 0.31405363 -0.06257948 0.22932289
+v 0.34271680 -0.13162030 0.11631938
+v 0.40426463 -0.05931681 0.04543534
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+v 0.28432486 -0.08945752 -0.25348362
+v 0.25231802 -0.22319622 -0.19580402
+v 0.21792770 -0.17853499 0.23286601
+v 0.40353326 -0.02999505 0.10239093
+v 0.27371963 -0.01556564 0.28825965
+v 0.41929135 -0.03057274 -0.06919846
+v 0.38767173 -0.03026116 -0.15177550
+v 0.26965433 -0.28189229 -0.03004716
+v 0.35879470 -0.14684117 0.02959465
+v 0.31346859 -0.22293719 -0.08377730
+v 0.38927059 -0.10503626 -0.05416487
+v 0.25187998 -0.28317266 -0.13728894
+v 0.27065316 -0.17447968 0.18782174
+v 0.22555364 -0.27970568 0.10216949
+v 0.24173070 -0.20389775 0.18801962
+v 0.35857197 -0.01519378 0.20222168
+v 0.25669911 -0.10274758 0.25802722
+v 0.31506783 -0.10133433 0.20040604
+f 9 4 5
+f 15 9 14
+f 16 6 10
+f 18 5 4
+f 19 10 6
+f 20 5 18
+f 26 14 8
+f 26 15 14
+f 28 14 9
+f 28 9 5
+f 28 5 20
+f 30 16 3
+f 30 6 16
+f 30 19 6
+f 31 17 10
+f 31 20 18
+f 32 18 4
+f 32 4 9
+f 34 13 20
+f 34 19 2
+f 34 10 19
+f 34 31 10
+f 34 20 31
+f 36 11 35
+f 40 23 15
+f 40 1 39
+f 40 26 1
+f 40 15 26
+f 41 7 15
+f 41 15 23
+f 41 23 38
+f 42 3 16
+f 44 12 25
+f 44 25 3
+f 44 42 24
+f 44 3 42
+f 45 33 19
+f 45 11 33
+f 46 1 26
+f 46 26 8
+f 47 13 27
+f 47 14 28
+f 47 28 20
+f 47 20 13
+f 48 8 14
+f 48 47 27
+f 48 14 47
+f 48 37 8
+f 48 27 37
+f 49 15 7
+f 49 29 9
+f 49 9 15
+f 50 30 3
+f 50 3 25
+f 50 25 45
+f 50 45 19
+f 50 19 30
+f 51 31 18
+f 51 18 32
+f 51 17 31
+f 52 2 19
+f 52 19 33
+f 52 21 2
+f 53 34 2
+f 53 2 21
+f 53 21 37
+f 53 37 27
+f 53 27 13
+f 53 13 34
+f 54 46 22
+f 54 1 46
+f 54 39 1
+f 54 35 12
+f 54 12 39
+f 55 35 11
+f 55 25 12
+f 55 12 35
+f 55 45 25
+f 55 11 45
+f 56 36 35
+f 56 22 37
+f 56 37 21
+f 56 21 36
+f 56 54 22
+f 56 35 54
+f 57 33 11
+f 57 11 36
+f 57 36 21
+f 57 52 33
+f 57 21 52
+f 58 37 22
+f 58 8 37
+f 58 46 8
+f 58 22 46
+f 59 38 12
+f 59 44 24
+f 59 12 44
+f 60 38 23
+f 60 40 39
+f 60 23 40
+f 60 39 12
+f 60 12 38
+f 61 41 38
+f 61 7 41
+f 61 38 59
+f 61 59 49
+f 61 49 7
+f 62 42 16
+f 62 16 10
+f 62 43 42
+f 62 10 17
+f 62 17 43
+f 63 43 17
+f 63 29 49
+f 63 49 59
+f 63 17 51
+f 63 9 29
+f 63 51 32
+f 63 32 9
+f 64 24 42
+f 64 42 43
+f 64 43 63
+f 64 63 59
+f 64 59 24
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_22.obj b/mango/mango_8/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d40cb1e2573e98a4915070b9227fb4fed74d1b28
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_22.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.12180983 -0.26696928 -0.28823753
+v 0.14460525 -0.16100377 -0.32581842
+v -0.25211248 -0.14907298 -0.33416382
+v 0.11086434 -0.25731282 -0.30058928
+v -0.01882213 -0.18359568 -0.37275884
+v -0.24039958 -0.27392984 -0.30294131
+v 0.03935916 -0.14012641 -0.37450212
+v 0.00861231 -0.25836099 -0.34136791
+v -0.13343290 -0.16942305 -0.37131711
+v 0.11380418 -0.14004502 -0.34832888
+v 0.09370178 -0.25602360 -0.31162223
+v 0.02367215 -0.21487787 -0.35537667
+v -0.22334376 -0.18667725 -0.34002928
+v -0.14867370 -0.25836995 -0.34184926
+v -0.14860475 -0.14044373 -0.37466236
+v 0.09447913 -0.22451073 -0.32596666
+v 0.10853096 -0.24081213 -0.31042104
+v -0.00435589 -0.22811220 -0.35633746
+v 0.03913758 -0.15382900 -0.37092430
+v -0.22214232 -0.23074167 -0.32779003
+v -0.15101025 -0.21418517 -0.35547495
+v -0.10513004 -0.18417079 -0.37247024
+v -0.22351119 -0.14255657 -0.34892117
+v 0.11097386 -0.16807760 -0.34071152
+v 0.03836867 -0.24257950 -0.33961753
+v -0.11945353 -0.22687189 -0.35776687
+v 0.08419195 -0.14007821 -0.36103019
+v -0.20671197 -0.25843493 -0.32510179
+v -0.14795404 -0.15515954 -0.37169626
+v -0.19096935 -0.15349925 -0.35929173
+v 0.08070964 -0.24002169 -0.32485575
+v 0.08206248 -0.15370065 -0.35808798
+v -0.22124885 -0.25943561 -0.31900889
+v -0.17810718 -0.18314874 -0.35613044
+v -0.19195482 -0.14260154 -0.36088559
+f 1 2 3
+f 2 1 4
+f 6 1 3
+f 8 1 6
+f 10 3 2
+f 11 4 1
+f 11 1 8
+f 14 8 6
+f 15 7 5
+f 15 10 7
+f 17 2 4
+f 17 4 11
+f 17 16 2
+f 17 11 16
+f 18 12 8
+f 18 5 12
+f 19 12 5
+f 19 5 7
+f 20 6 3
+f 20 3 13
+f 22 15 5
+f 22 9 15
+f 22 21 9
+f 23 3 10
+f 23 10 15
+f 23 13 3
+f 24 10 2
+f 24 2 16
+f 25 11 8
+f 25 8 12
+f 26 18 8
+f 26 8 14
+f 26 14 21
+f 26 21 22
+f 26 22 5
+f 26 5 18
+f 27 7 10
+f 28 14 6
+f 28 21 14
+f 28 20 13
+f 29 15 9
+f 29 9 21
+f 30 13 23
+f 30 15 29
+f 31 25 16
+f 31 16 11
+f 31 11 25
+f 32 25 12
+f 32 16 25
+f 32 12 19
+f 32 19 7
+f 32 7 27
+f 32 24 16
+f 32 27 10
+f 32 10 24
+f 33 28 6
+f 33 6 20
+f 33 20 28
+f 34 28 13
+f 34 21 28
+f 34 13 30
+f 34 30 29
+f 34 29 21
+f 35 30 23
+f 35 23 15
+f 35 15 30
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_23.obj b/mango/mango_8/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b07655bef36c0ae2cfb5a89d32600b4133dbb8b0
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_23.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.22458847 -0.26440239 -0.19290290
+v 0.21410107 -0.25511930 -0.21303509
+v 0.21680883 -0.00527258 -0.32940112
+v 0.11955223 -0.00757576 -0.19376730
+v 0.11955223 -0.26515151 -0.19376730
+v 0.22561283 -0.00757576 -0.19376730
+v 0.21340005 -0.12023096 -0.29727817
+v 0.11637427 -0.26239373 -0.29456864
+v 0.18796891 -0.00448508 -0.34423509
+v 0.21054166 -0.20912539 -0.25229710
+v 0.21592994 -0.07894247 -0.31270459
+v 0.11381198 -0.24500065 -0.30535428
+v 0.21153849 -0.22416005 -0.24071355
+v 0.15288455 -0.18151727 -0.31171844
+v 0.20005453 -0.06221528 -0.32697093
+v 0.11935824 -0.08325279 -0.35996009
+v 0.13749422 -0.25521634 -0.28295500
+v 0.12299491 -0.24143544 -0.30156675
+v 0.18266313 -0.13748928 -0.31056189
+v 0.18751002 -0.02323553 -0.34168643
+v 0.21584606 -0.01844936 -0.32796538
+v 0.13964907 -0.16694690 -0.32634728
+v 0.11380418 -0.14004502 -0.34832888
+v 0.11955223 -0.00757576 -0.26952487
+v 0.15058132 -0.23903221 -0.28243291
+v 0.12541172 -0.18240793 -0.32778886
+v 0.17516667 -0.00612580 -0.34954218
+v 0.15627916 -0.09315653 -0.34091031
+v 0.14030009 -0.12308372 -0.34094103
+v 0.11318613 -0.18437058 -0.33356606
+v 0.16813902 -0.12165946 -0.32593623
+v 0.12642726 -0.13882350 -0.34287144
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 8 2 1
+f 8 1 5
+f 9 6 3
+f 9 4 6
+f 10 7 1
+f 11 3 1
+f 11 1 7
+f 12 8 5
+f 12 5 4
+f 13 10 1
+f 13 1 2
+f 14 7 10
+f 17 13 2
+f 17 2 8
+f 17 10 13
+f 18 8 12
+f 19 11 7
+f 19 7 14
+f 21 3 11
+f 21 11 15
+f 21 15 20
+f 21 20 9
+f 21 9 3
+f 22 19 14
+f 22 11 19
+f 24 4 9
+f 24 23 4
+f 24 16 23
+f 25 14 10
+f 25 10 17
+f 25 18 14
+f 25 17 8
+f 25 8 18
+f 26 18 12
+f 26 14 18
+f 26 22 14
+f 27 20 16
+f 27 9 20
+f 27 24 9
+f 27 16 24
+f 28 20 15
+f 28 16 20
+f 29 28 15
+f 29 23 16
+f 29 16 28
+f 30 12 4
+f 30 4 23
+f 30 26 12
+f 30 22 26
+f 31 29 15
+f 31 15 11
+f 31 11 22
+f 31 22 29
+f 32 29 22
+f 32 22 30
+f 32 30 23
+f 32 23 29
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_24.obj b/mango/mango_8/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91fd4d9aa1225a557eec770224e01329a1b7ea56
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_24.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.25591586 -0.00757576 -0.17861578
+v 0.24651507 -0.00473307 -0.31334138
+v 0.25591586 0.23484849 -0.17861578
+v 0.14985526 0.23484849 -0.17861578
+v 0.14985526 -0.00757576 -0.17861578
+v 0.13359166 0.23369295 -0.34119277
+v 0.14503085 -0.00647503 -0.36163684
+v 0.24556110 0.22946382 -0.29842445
+v 0.14359935 0.23993216 -0.33628792
+v 0.13195148 0.21548472 -0.34719224
+v 0.14985526 -0.00757576 -0.19376730
+v 0.24620172 0.17177023 -0.31218310
+v 0.13418848 0.15888901 -0.35826875
+v 0.18882462 0.22889383 -0.32484070
+v 0.14421656 0.21505272 -0.34390061
+v 0.20173039 0.08254290 -0.34222189
+v 0.23076332 0.21432825 -0.31049664
+v 0.18670576 0.15725084 -0.34193879
+v 0.22983247 0.05425218 -0.32803189
+v 0.15907636 0.11163884 -0.35779603
+v 0.17402916 0.18332357 -0.34182581
+v 0.23149917 0.11206226 -0.32621342
+v 0.21771099 0.17026710 -0.32681736
+v 0.20174471 0.03866975 -0.34165894
+v 0.14648646 0.11251315 -0.36093397
+v 0.14652478 0.16530051 -0.35351272
+v 0.15630550 -0.00573978 -0.35746833
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 7 2 1
+f 9 6 4
+f 9 4 3
+f 9 3 8
+f 10 5 4
+f 10 4 6
+f 11 7 1
+f 11 1 5
+f 11 5 7
+f 12 8 3
+f 12 3 2
+f 13 7 5
+f 13 5 10
+f 14 9 8
+f 15 10 6
+f 15 6 9
+f 15 9 14
+f 15 13 10
+f 17 14 8
+f 17 8 12
+f 20 16 7
+f 20 18 16
+f 21 15 14
+f 22 16 18
+f 22 19 16
+f 22 12 2
+f 22 2 19
+f 23 17 12
+f 23 22 18
+f 23 12 22
+f 23 18 21
+f 23 21 14
+f 23 14 17
+f 24 19 2
+f 24 7 16
+f 24 16 19
+f 25 20 7
+f 25 7 13
+f 25 13 20
+f 26 20 13
+f 26 18 20
+f 26 21 18
+f 26 13 15
+f 26 15 21
+f 27 24 2
+f 27 2 7
+f 27 7 24
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_25.obj b/mango/mango_8/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bbe291ce3927408af423dc0d586b3921b5c592b
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_25.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.41148434 -0.00308056 -0.12748216
+v 0.42546346 0.04119951 -0.12739666
+v 0.27913449 0.41973520 -0.12656074
+v 0.25510963 0.43063713 -0.13248877
+v 0.25240868 -0.00669305 -0.30958674
+v 0.25591586 -0.00757576 -0.13316124
+v 0.38030947 0.33138454 -0.12538299
+v 0.36058275 0.04150936 -0.22338555
+v 0.24976773 0.41970277 -0.15655604
+v 0.32207251 0.39000220 -0.12577094
+v 0.40391354 0.04373647 -0.16695173
+v 0.35866040 -0.00123250 -0.20966205
+v 0.28689931 0.19959981 -0.28196682
+v 0.24851761 0.33392847 -0.24304058
+v 0.31863473 0.38527927 -0.13728434
+v 0.40390278 0.01620853 -0.15410570
+v 0.41966205 0.18699918 -0.15435468
+v 0.28880615 -0.00091577 -0.28324965
+v 0.39097709 0.07241929 -0.19593430
+v 0.25047445 0.20128527 -0.30382806
+v 0.33252705 0.27091398 -0.22190284
+v 0.27537844 0.41484462 -0.13813016
+v 0.27561818 0.38372285 -0.18035946
+v 0.41973401 0.04208505 -0.13939809
+v 0.38938260 -0.00096152 -0.16709601
+v 0.42397362 0.23270532 -0.12795615
+v 0.26327975 -0.00554258 -0.30278458
+v 0.31879419 0.15770065 -0.26703557
+v 0.27480376 0.22900172 -0.28116046
+v 0.26125859 0.41478692 -0.15249759
+v 0.27180166 0.35747450 -0.20872306
+v 0.41846481 0.07164556 -0.15351913
+v 0.40587163 -0.00122937 -0.13896000
+v 0.41033476 0.27478559 -0.12648628
+v 0.31895857 0.06933401 -0.26760285
+v 0.39087379 0.18653409 -0.19533357
+v 0.31770069 0.22648092 -0.25255877
+v 0.27349202 0.17053910 -0.29733503
+v 0.26158022 0.20088297 -0.29786964
+v 0.31742852 0.31266250 -0.20799303
+v 0.40535734 0.10025745 -0.18168701
+v 0.36017699 0.29934330 -0.17906356
+v 0.34590486 0.04185907 -0.23845061
+v 0.27403682 0.01055296 -0.29781216
+v 0.38922661 0.24301235 -0.17866665
+v 0.36171520 0.20024826 -0.22217305
+v 0.34586620 0.29969396 -0.19334942
+v 0.40507459 0.15788085 -0.18120527
+v 0.39011474 0.28540085 -0.15119594
+v 0.37501689 0.32863471 -0.13553759
+v 0.40440479 0.27342311 -0.13773918
+v 0.41927752 0.22952589 -0.13817235
+v 0.37636007 0.20014284 -0.20843410
+v 0.34671926 0.24355627 -0.22154445
+v 0.37480202 0.31428355 -0.14922860
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 1 2
+f 9 6 4
+f 9 4 3
+f 10 3 1
+f 10 1 7
+f 12 1 5
+f 14 5 6
+f 14 6 9
+f 15 3 10
+f 15 10 7
+f 18 8 12
+f 19 12 8
+f 19 11 12
+f 20 5 14
+f 22 9 3
+f 22 3 15
+f 24 16 11
+f 24 2 1
+f 24 1 16
+f 25 12 11
+f 25 11 16
+f 25 1 12
+f 26 2 17
+f 27 18 12
+f 27 12 5
+f 29 20 14
+f 29 14 21
+f 30 22 15
+f 30 9 22
+f 30 23 9
+f 30 15 23
+f 31 14 9
+f 31 9 23
+f 32 24 11
+f 32 11 19
+f 32 17 2
+f 32 2 24
+f 33 25 16
+f 33 16 1
+f 33 1 25
+f 34 7 2
+f 34 2 26
+f 37 28 13
+f 37 29 21
+f 37 13 29
+f 38 13 28
+f 38 5 20
+f 38 28 35
+f 39 29 13
+f 39 20 29
+f 39 38 20
+f 39 13 38
+f 40 21 14
+f 40 14 31
+f 40 31 23
+f 41 32 19
+f 41 17 32
+f 41 19 35
+f 41 35 28
+f 41 28 36
+f 43 8 18
+f 43 18 35
+f 43 35 19
+f 43 19 8
+f 44 35 18
+f 44 18 27
+f 44 38 35
+f 44 27 5
+f 44 5 38
+f 45 17 36
+f 45 21 42
+f 46 28 37
+f 47 40 23
+f 47 23 15
+f 47 42 21
+f 47 21 40
+f 48 41 36
+f 48 36 17
+f 48 17 41
+f 49 7 34
+f 49 45 42
+f 50 15 7
+f 50 47 15
+f 50 42 47
+f 51 49 34
+f 51 45 49
+f 52 26 17
+f 52 17 45
+f 52 45 51
+f 52 51 34
+f 52 34 26
+f 53 36 28
+f 53 28 46
+f 53 45 36
+f 54 46 37
+f 54 37 21
+f 54 53 46
+f 54 21 45
+f 54 45 53
+f 55 49 42
+f 55 42 50
+f 55 50 7
+f 55 7 49
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_26.obj b/mango/mango_8/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9335aa238ab1a9e589dd1a97b42d0c6405e62110
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_26.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.25763126 0.37627384 0.23665710
+v 0.24076435 0.35606061 0.12441452
+v 0.19336110 0.46311949 0.12049466
+v -0.16445004 0.44976749 0.11928512
+v -0.19605897 0.37736593 0.23259933
+v 0.23584999 0.45016251 0.12257287
+v -0.18347808 0.35606061 0.12441452
+v 0.08909557 0.44397821 0.20669206
+v -0.18195879 0.44230053 0.12251208
+v 0.10489645 0.45925559 0.16569815
+v -0.08946074 0.42796889 0.20763271
+v 0.20464156 0.42886475 0.20427216
+v 0.07761091 0.46216651 0.12447032
+v -0.17577132 0.41368267 0.19043886
+v 0.01846771 0.44493215 0.19606691
+v 0.20468735 0.44248335 0.17744843
+v 0.11884673 0.44380522 0.20705037
+v 0.23283739 0.41642590 0.20522362
+v 0.07925685 0.45998054 0.15177049
+v -0.17709902 0.42766378 0.16038848
+v -0.14771557 0.41383365 0.20625821
+v -0.14741392 0.44254001 0.14637677
+v 0.19201941 0.46011378 0.13541027
+v 0.17625089 0.44311500 0.19106317
+v 0.23449006 0.44397451 0.14693101
+v -0.17864519 0.40349369 0.20695856
+v -0.16327070 0.44477903 0.13144100
+v 0.16199105 0.46002456 0.14923473
+v 0.11840387 0.45924179 0.16450669
+f 3 2 4
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 1 5
+f 7 4 2
+f 9 7 5
+f 9 4 7
+f 11 5 8
+f 13 10 3
+f 13 3 4
+f 15 10 4
+f 15 11 8
+f 15 8 10
+f 17 1 12
+f 17 8 5
+f 17 5 1
+f 17 10 8
+f 18 12 1
+f 18 16 12
+f 19 13 4
+f 19 4 10
+f 19 10 13
+f 20 9 5
+f 20 4 9
+f 21 5 11
+f 22 15 4
+f 22 11 15
+f 22 21 11
+f 22 20 14
+f 22 14 21
+f 23 6 3
+f 24 17 12
+f 24 12 16
+f 24 16 23
+f 25 18 1
+f 25 1 6
+f 25 16 18
+f 25 23 16
+f 25 6 23
+f 26 20 5
+f 26 14 20
+f 26 21 14
+f 26 5 21
+f 27 22 4
+f 27 4 20
+f 27 20 22
+f 28 23 3
+f 28 24 23
+f 28 17 24
+f 29 28 3
+f 29 3 10
+f 29 10 17
+f 29 17 28
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_27.obj b/mango/mango_8/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a0ec2f6d31510f4cad3417aaa1a4015cbeb0365
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_27.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.28925163 -0.02661622 0.27092438
+v 0.24933285 -0.00279364 0.30890853
+v 0.14985526 -0.00757576 0.23047513
+v 0.14470985 0.23150901 0.36822529
+v 0.25210096 0.24789167 0.31468140
+v 0.15720618 -0.01414603 0.34587237
+v 0.24507613 0.13138705 0.33388452
+v 0.25591586 0.23484849 0.23047513
+v 0.14592176 0.07038561 0.36746364
+v 0.19988904 -0.00455935 0.33285067
+v 0.24676984 0.02602410 0.31906475
+v 0.24623792 0.15852283 0.33309796
+v 0.14985526 0.23484849 0.23047513
+v 0.14841665 0.03886269 0.36128755
+v 0.17368621 0.20150748 0.36424132
+v 0.23218548 -0.00173860 0.31842899
+v 0.20278345 0.07103570 0.34810219
+v 0.24045096 0.24982232 0.32080746
+v 0.18886041 -0.00459061 0.33725195
+v 0.21703202 0.14417673 0.34838020
+v 0.23290813 0.05520791 0.33214350
+v 0.15898274 0.07185858 0.36369636
+v 0.20153187 0.23010475 0.34652358
+v 0.18937010 0.04168324 0.34766630
+v 0.21647188 0.17310927 0.34810743
+v 0.17333034 0.10075220 0.36336686
+v 0.23411236 0.24643862 0.32562353
+v 0.15927852 0.22987530 0.36368051
+v 0.24454411 0.24706048 0.31966244
+v 0.23040895 0.22818859 0.33260872
+f 6 3 1
+f 8 5 1
+f 8 1 3
+f 9 4 3
+f 10 6 1
+f 10 1 2
+f 11 2 1
+f 11 1 7
+f 12 7 1
+f 12 1 5
+f 13 8 3
+f 13 3 4
+f 14 9 3
+f 14 3 6
+f 15 4 9
+f 16 11 10
+f 16 10 2
+f 16 2 11
+f 18 13 4
+f 18 5 8
+f 18 8 13
+f 19 14 6
+f 19 6 10
+f 20 7 12
+f 20 17 7
+f 21 11 7
+f 21 7 17
+f 21 10 11
+f 22 9 14
+f 24 14 19
+f 24 22 14
+f 24 17 22
+f 24 19 10
+f 24 21 17
+f 24 10 21
+f 25 20 12
+f 25 15 20
+f 25 23 15
+f 26 22 17
+f 26 17 20
+f 26 20 15
+f 26 15 9
+f 26 9 22
+f 27 18 4
+f 28 4 15
+f 28 15 23
+f 28 27 4
+f 28 23 27
+f 29 5 18
+f 29 18 27
+f 30 27 23
+f 30 23 25
+f 30 29 27
+f 30 25 12
+f 30 12 5
+f 30 5 29
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_28.obj b/mango/mango_8/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b006e38e6d654627dbb1daad722f44843e10183c
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_28.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.14682695 0.09973666 0.37145029
+v 0.14985526 0.09848485 0.23047513
+v 0.14985526 0.23484849 0.23047513
+v -0.09108889 0.23380887 0.37568703
+v -0.09256899 0.09848485 0.23047513
+v 0.14470985 0.23150901 0.36822529
+v -0.09053000 0.09979168 0.38634283
+v -0.09256899 0.23484849 0.23047513
+v 0.10147387 0.23186974 0.37878228
+v 0.01320641 0.18851971 0.39560636
+v 0.13048183 0.18792442 0.37901098
+v -0.07390899 0.23185226 0.37983485
+v 0.02583294 0.11503821 0.39607170
+v 0.11546013 0.21627945 0.37908206
+v -0.08790533 0.21395935 0.38057352
+v -0.03109436 0.13040464 0.39610976
+v 0.11589145 0.10058755 0.37993909
+v 0.04423591 0.15728699 0.39621253
+v -0.03100593 0.17247544 0.39460080
+v -0.01585198 0.11481098 0.39613020
+v 0.12973771 0.11713077 0.37858107
+v 0.04220744 0.12981115 0.39558164
+v -0.01480328 0.18608924 0.39449733
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 7 5 2
+f 7 2 1
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
+f 9 6 3
+f 9 3 4
+f 11 1 6
+f 12 10 9
+f 12 9 4
+f 14 11 6
+f 14 6 9
+f 15 12 4
+f 15 4 7
+f 17 13 7
+f 17 7 1
+f 18 10 16
+f 18 11 14
+f 18 14 9
+f 18 9 10
+f 19 12 15
+f 19 16 10
+f 19 15 7
+f 19 7 16
+f 20 16 7
+f 20 7 13
+f 20 18 16
+f 20 13 18
+f 21 17 1
+f 21 1 11
+f 21 11 18
+f 22 18 13
+f 22 13 17
+f 22 21 18
+f 22 17 21
+f 23 19 10
+f 23 10 12
+f 23 12 19
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_29.obj b/mango/mango_8/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f14937df8c89bc1599c83f33ba9f40490e1f24a8
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_29.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.14985526 -0.00757576 -0.17861578
+v 0.14503085 -0.00647503 -0.36163684
+v 0.14985526 0.09848485 -0.17861578
+v -0.09256899 0.09848485 -0.17861578
+v -0.09256899 -0.00757576 -0.17861578
+v -0.09128734 0.09722662 -0.38323978
+v 0.14642287 0.09703660 -0.36235645
+v -0.09149013 -0.00836934 -0.39423829
+v 0.10009470 -0.00720429 -0.37543624
+v 0.02604601 0.06519332 -0.38771493
+v -0.07542084 0.08027251 -0.38846453
+v 0.08629207 0.09675065 -0.37412945
+v 0.03978195 -0.00644384 -0.39035369
+v -0.00325333 0.08005844 -0.38807414
+v -0.09020628 0.06615481 -0.38843807
+v 0.04025832 0.05129579 -0.38769580
+v 0.10030957 0.08248128 -0.37312508
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 1 5
+f 8 5 4
+f 8 4 6
+f 9 2 1
+f 9 1 8
+f 9 7 2
+f 12 6 7
+f 13 9 8
+f 13 7 9
+f 14 8 11
+f 14 13 8
+f 14 10 13
+f 14 12 10
+f 14 11 6
+f 14 6 12
+f 15 11 8
+f 15 8 6
+f 15 6 11
+f 16 7 13
+f 16 13 10
+f 16 10 12
+f 17 16 12
+f 17 12 7
+f 17 7 16
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_3.obj b/mango/mango_8/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7130486c19acab8b992b57ff2796f4a51528dc5f
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.25591586 0.23484849 -0.16346427
+v 0.32120758 0.23744381 -0.24554233
+v 0.24976773 0.41970277 -0.15655604
+v -0.07570730 0.46433305 -0.15856561
+v -0.32319189 0.22895636 -0.22691614
+v 0.08592875 0.32964701 -0.31153691
+v -0.36983815 0.24432658 -0.14269856
+v 0.29087987 0.22984019 -0.27024095
+v 0.10289754 0.42957651 -0.22681768
+v -0.13253459 0.34267421 -0.28085371
+v -0.18347808 0.23484849 -0.14831275
+v -0.22007360 0.41797214 -0.14132164
+v 0.30801190 0.23083210 -0.25808947
+v -0.36987252 0.22934335 -0.15764993
+v -0.09106139 0.23025511 -0.34655443
+v 0.19975187 0.34123061 -0.26751583
+v 0.13338689 0.46267267 -0.15914633
+v -0.03000217 0.37306125 -0.28271060
+v -0.28903966 0.35468713 -0.15276536
+v -0.14542393 0.39983404 -0.22387485
+v -0.29163873 0.35897405 -0.14098714
+v 0.27346144 0.27157011 -0.26497964
+v -0.29353561 0.22821862 -0.25708647
+v -0.37463588 0.23208315 -0.14572386
+v 0.11730581 0.23148917 -0.34578645
+v 0.15743906 0.41438542 -0.22550450
+v 0.07247228 0.45876805 -0.18663839
+v 0.19302903 0.44874728 -0.15435538
+v 0.08564265 0.37362846 -0.28317234
+v -0.08788904 0.31490390 -0.31030744
+v -0.31679505 0.29875301 -0.18178268
+v -0.11900729 0.44361842 -0.18027252
+v -0.21723312 0.38348180 -0.19458998
+v -0.10345194 0.37234792 -0.26760261
+v -0.24615487 0.38353959 -0.16669439
+v 0.28958490 0.24390131 -0.26630147
+v 0.30731591 0.28955878 -0.23133422
+v -0.35352837 0.22873212 -0.18629716
+v 0.17400218 0.22984331 -0.33073851
+v -0.18974530 0.24259472 -0.31338372
+v 0.08608462 0.25824064 -0.34265798
+v 0.21401961 0.38461756 -0.22398089
+v 0.13090366 0.44350914 -0.19755609
+v -0.01440939 0.44484934 -0.21122455
+v 0.20031776 0.42885078 -0.18219092
+v -0.18005401 0.43974509 -0.14428542
+v 0.04359431 0.35928552 -0.29749872
+v 0.11439377 0.38772589 -0.26654521
+v -0.36471823 0.24158875 -0.15514082
+v -0.33692876 0.30225549 -0.14189657
+v -0.31787686 0.28341461 -0.19529788
+v -0.21745807 0.34188315 -0.23858118
+v -0.14566976 0.37112452 -0.25192251
+v -0.07335733 0.34337266 -0.29639232
+v -0.21681907 0.41345868 -0.15292695
+v 0.30016602 0.25529733 -0.25433118
+v 0.22901725 0.35759992 -0.23873071
+v 0.25986462 0.25718012 -0.28053790
+v 0.14274665 0.27300054 -0.32549309
+v -0.19341947 0.22978247 -0.31698712
+v -0.11738606 0.27142615 -0.32516297
+v 0.18617264 0.37133002 -0.25149821
+v 0.13057127 0.45890957 -0.16908528
+v 0.07224510 0.44416651 -0.21205164
+f 1 2 3
+f 11 1 3
+f 12 11 3
+f 13 2 1
+f 13 1 8
+f 14 8 1
+f 21 7 11
+f 21 11 12
+f 24 14 1
+f 24 1 11
+f 24 11 7
+f 24 7 14
+f 27 4 17
+f 28 12 3
+f 35 21 12
+f 35 19 21
+f 36 13 8
+f 37 3 2
+f 38 5 23
+f 38 23 8
+f 38 8 14
+f 39 23 15
+f 39 8 23
+f 39 15 25
+f 41 25 15
+f 43 26 9
+f 44 18 34
+f 44 34 20
+f 44 20 32
+f 44 32 4
+f 44 4 27
+f 44 9 29
+f 45 28 3
+f 45 43 28
+f 45 26 43
+f 45 42 26
+f 45 3 42
+f 46 28 17
+f 46 17 4
+f 46 12 28
+f 46 4 32
+f 46 32 20
+f 46 20 33
+f 47 29 6
+f 47 44 29
+f 47 18 44
+f 47 6 41
+f 47 41 15
+f 47 15 30
+f 48 29 9
+f 48 9 26
+f 48 16 6
+f 48 6 29
+f 49 14 7
+f 49 38 14
+f 50 21 19
+f 50 19 31
+f 50 7 21
+f 50 49 7
+f 50 31 49
+f 51 23 5
+f 51 5 38
+f 51 49 31
+f 51 38 49
+f 52 33 20
+f 52 23 51
+f 52 51 31
+f 52 35 33
+f 52 31 19
+f 52 19 35
+f 52 40 23
+f 52 10 40
+f 53 34 10
+f 53 20 34
+f 53 52 20
+f 53 10 52
+f 54 30 10
+f 54 10 34
+f 54 34 18
+f 54 47 30
+f 54 18 47
+f 55 35 12
+f 55 33 35
+f 55 46 33
+f 55 12 46
+f 56 2 13
+f 56 13 36
+f 56 37 2
+f 56 22 37
+f 57 37 22
+f 57 22 16
+f 57 42 3
+f 57 3 37
+f 58 36 8
+f 58 8 39
+f 58 56 36
+f 58 22 56
+f 58 16 22
+f 59 39 25
+f 59 6 16
+f 59 58 39
+f 59 16 58
+f 59 41 6
+f 59 25 41
+f 60 15 23
+f 60 23 40
+f 61 30 15
+f 61 60 40
+f 61 15 60
+f 61 40 10
+f 61 10 30
+f 62 26 42
+f 62 48 26
+f 62 16 48
+f 62 57 16
+f 62 42 57
+f 63 43 27
+f 63 27 17
+f 63 17 28
+f 63 28 43
+f 64 43 9
+f 64 27 43
+f 64 44 27
+f 64 9 44
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_30.obj b/mango/mango_8/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9631933f0fa80718b8837384e51ed050b810a91
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_30.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.18341273 0.23480820 0.33643088
+v -0.18347808 0.23484849 0.18502058
+v -0.17604931 0.34526969 0.27777888
+v -0.18254728 0.41447468 0.18377499
+v -0.36343083 0.23410894 0.18371697
+v -0.17864519 0.40349369 0.20695856
+v -0.17688942 0.27416711 0.32552191
+v -0.35128120 0.22842372 0.20433215
+v -0.33789084 0.28739594 0.17595422
+v -0.20644648 0.23024927 0.32507992
+v -0.20865781 0.40550200 0.17866317
+v -0.35438144 0.25879044 0.17796941
+v -0.25890226 0.31364023 0.24439015
+v -0.20169935 0.25422806 0.31943871
+v -0.27876034 0.35896121 0.17590005
+v -0.20551727 0.40024472 0.19113900
+v -0.34800786 0.24137140 0.20162483
+v -0.18855064 0.29925498 0.30395708
+v -0.29315003 0.23248167 0.25979628
+v -0.28824981 0.32692910 0.20150790
+v -0.23631493 0.38959946 0.17911653
+v -0.18903041 0.36951229 0.24695394
+v -0.34903332 0.25517378 0.18949218
+v -0.17695259 0.30323183 0.30845954
+v -0.18917684 0.34116685 0.27388462
+v -0.21738348 0.27081288 0.30211833
+v -0.23416831 0.22972477 0.30754250
+v -0.30493134 0.26828580 0.22988090
+v -0.29305361 0.34568069 0.17603828
+v -0.23137662 0.35444709 0.23128873
+v -0.17730506 0.37417754 0.24922843
+v -0.20442226 0.38360739 0.21835949
+v -0.33262859 0.26895930 0.20058824
+v -0.24536579 0.28553784 0.27477298
+v -0.23151345 0.24330796 0.30424587
+v -0.28887371 0.24157307 0.25934902
+v -0.33233788 0.28311570 0.18838328
+v -0.27349324 0.31275854 0.23111284
+v -0.27432527 0.35446394 0.18737792
+v -0.24670172 0.32704819 0.24319156
+v -0.18947009 0.39968528 0.20515724
+v -0.23335342 0.38492884 0.18969355
+v -0.28821191 0.26904533 0.24540009
+v -0.24501377 0.25661752 0.28890199
+v -0.28950401 0.34026479 0.18620807
+f 6 3 2
+f 6 2 4
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 10 2 1
+f 11 4 2
+f 12 9 2
+f 12 2 5
+f 14 10 1
+f 14 1 7
+f 15 11 2
+f 15 2 9
+f 16 4 11
+f 17 5 8
+f 19 17 8
+f 21 16 11
+f 21 11 15
+f 23 12 5
+f 23 5 17
+f 23 9 12
+f 24 18 7
+f 24 7 3
+f 25 3 22
+f 25 24 3
+f 25 18 24
+f 26 14 7
+f 26 7 18
+f 27 19 8
+f 27 10 14
+f 27 8 2
+f 27 2 10
+f 29 15 9
+f 30 25 22
+f 31 22 3
+f 31 3 6
+f 32 30 22
+f 32 31 6
+f 32 22 31
+f 33 23 17
+f 33 17 28
+f 34 25 13
+f 34 18 25
+f 34 26 18
+f 35 27 14
+f 35 14 26
+f 36 28 17
+f 36 17 19
+f 37 29 9
+f 37 20 29
+f 37 33 20
+f 37 9 23
+f 37 23 33
+f 38 30 20
+f 38 20 33
+f 38 33 28
+f 39 20 30
+f 39 15 29
+f 40 13 25
+f 40 25 30
+f 40 38 13
+f 40 30 38
+f 41 32 6
+f 41 16 32
+f 41 6 4
+f 41 4 16
+f 42 32 16
+f 42 16 21
+f 42 30 32
+f 42 39 30
+f 42 21 15
+f 42 15 39
+f 43 34 13
+f 43 36 34
+f 43 28 36
+f 43 38 28
+f 43 13 38
+f 44 35 26
+f 44 26 34
+f 44 34 36
+f 44 36 19
+f 44 19 27
+f 44 27 35
+f 45 39 29
+f 45 29 20
+f 45 20 39
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_31.obj b/mango/mango_8/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcd5fd254d066313ccb770df5d4e48a84508747f
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_31.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.24228271 -0.27864016 0.20381980
+v -0.22145998 -0.25655953 0.23265460
+v -0.32043592 -0.13620205 0.22786100
+v -0.39767261 -0.00493462 0.18877920
+v -0.22893262 -0.00757576 0.18502058
+v -0.34005094 -0.19871912 0.17619759
+v -0.26024008 -0.22440719 0.22793510
+v -0.22451976 -0.00559037 0.32623964
+v -0.36419991 -0.10734204 0.20005434
+v -0.29631613 -0.25866503 0.17634750
+v -0.39848199 -0.05052805 0.17757606
+v -0.23320733 -0.25328976 0.22759151
+v -0.32007970 -0.19412326 0.19853291
+v -0.22237064 -0.03590769 0.32252480
+v -0.32340891 -0.00572552 0.26296908
+v -0.27529491 -0.25320891 0.19815984
+v -0.40355606 -0.00657116 0.18042022
+v -0.31061895 -0.24265426 0.17468171
+v -0.37785567 -0.06303428 0.20021875
+v -0.37110068 -0.13973566 0.17706259
+v -0.26420013 -0.16486069 0.25608052
+v -0.26222009 -0.00639181 0.30574322
+v -0.34899978 -0.06336210 0.22981495
+v -0.29065444 -0.25433181 0.18492540
+v -0.39163098 -0.04867761 0.18780966
+v -0.33591270 -0.19465176 0.18346265
+v -0.22189749 -0.13801822 0.29262062
+v -0.23602901 -0.00588431 0.32074773
+v -0.33496090 -0.10733389 0.22772993
+v -0.27947310 -0.04853393 0.28748793
+v -0.30455455 -0.23821562 0.18356602
+v -0.36456144 -0.13671901 0.18623097
+v -0.22204504 -0.09447291 0.30757690
+v -0.24638058 -0.06448951 0.30363417
+v -0.30632611 -0.01950317 0.27417248
+v -0.23420399 -0.03378311 0.31653754
+v -0.23399565 -0.09360966 0.30217282
+v -0.30795101 -0.00664470 0.27484371
+v -0.23486658 -0.13694898 0.28610657
+f 5 2 1
+f 8 5 4
+f 10 5 1
+f 12 1 2
+f 12 2 7
+f 14 2 5
+f 14 5 8
+f 15 8 4
+f 16 7 13
+f 16 12 7
+f 16 1 12
+f 17 4 5
+f 17 5 11
+f 18 11 5
+f 18 5 10
+f 20 18 6
+f 20 11 18
+f 21 13 7
+f 21 3 13
+f 21 7 2
+f 23 19 9
+f 23 15 4
+f 23 4 19
+f 24 10 1
+f 24 1 16
+f 24 18 10
+f 24 16 13
+f 25 17 11
+f 25 4 17
+f 25 19 4
+f 25 9 19
+f 25 20 9
+f 25 11 20
+f 26 6 18
+f 26 20 6
+f 26 13 3
+f 27 21 2
+f 28 14 8
+f 28 8 15
+f 28 15 22
+f 29 23 9
+f 30 23 29
+f 30 29 3
+f 30 3 21
+f 31 24 13
+f 31 18 24
+f 31 26 18
+f 31 13 26
+f 32 26 3
+f 32 9 20
+f 32 20 26
+f 32 29 9
+f 32 3 29
+f 33 27 2
+f 33 2 14
+f 34 22 30
+f 35 30 22
+f 35 15 23
+f 35 23 30
+f 36 28 22
+f 36 22 34
+f 36 34 14
+f 36 14 28
+f 37 33 14
+f 37 14 34
+f 37 27 33
+f 37 34 30
+f 38 35 22
+f 38 22 15
+f 38 15 35
+f 39 21 27
+f 39 27 37
+f 39 37 30
+f 39 30 21
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_4.obj b/mango/mango_8/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8102ffa89d535eff50950757e7556d505c4e0c96
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_4.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.07741747 0.35606061 0.12441452
+v -0.02897788 0.47488295 0.02231523
+v -0.03201484 0.44761466 0.12447155
+v -0.13678155 0.46001821 0.10460836
+v -0.16474872 0.40894478 -0.20258723
+v -0.02205860 0.47609018 0.08691984
+v -0.17801896 0.44553583 0.11771803
+v -0.07741747 0.35606061 -0.05740366
+v -0.14768020 0.47423956 -0.05556803
+v -0.18347808 0.35606061 0.12441452
+v -0.03081234 0.44782827 0.12315062
+v -0.12141420 0.41287981 -0.22095968
+v -0.07690243 0.47961587 -0.10157218
+v -0.13487366 0.47360791 0.03051890
+v -0.17691453 0.45748268 -0.09766838
+v -0.18347808 0.35606061 -0.05740366
+v -0.07741747 0.41666667 -0.10285821
+v -0.03442335 0.47768785 0.01452506
+v -0.11821453 0.41971978 -0.21413232
+v -0.10503313 0.47491283 0.04133972
+v -0.17666938 0.45957029 0.04655805
+v -0.13270454 0.47326188 -0.08345830
+v -0.13533395 0.40968014 -0.21833137
+v -0.18024924 0.41080486 -0.18958605
+v -0.11867883 0.46072230 -0.14325459
+v -0.14897097 0.47238572 0.00068755
+v -0.16354008 0.45942608 0.07634244
+v -0.13174475 0.42875623 -0.19538730
+v -0.11767093 0.43188241 -0.19770986
+v -0.11982932 0.47273176 -0.09801357
+v -0.13401316 0.45751917 -0.14179935
+v -0.16157148 0.41522753 -0.19664200
+v -0.17441744 0.44445245 -0.14055337
+v -0.14664816 0.44195448 -0.16767401
+v -0.16055698 0.42845863 -0.17895152
+v -0.17564390 0.41759558 -0.18362227
+v -0.17402554 0.42978699 -0.16746275
+f 6 4 3
+f 7 3 4
+f 8 2 6
+f 10 1 3
+f 10 3 7
+f 10 8 1
+f 11 3 1
+f 11 1 8
+f 11 8 6
+f 11 6 3
+f 14 4 6
+f 14 13 9
+f 16 8 10
+f 17 2 8
+f 17 8 12
+f 18 13 6
+f 18 6 2
+f 18 2 13
+f 19 13 2
+f 19 17 12
+f 19 2 17
+f 20 14 6
+f 20 6 13
+f 20 13 14
+f 21 15 7
+f 21 9 15
+f 22 15 9
+f 22 9 13
+f 23 12 8
+f 23 8 16
+f 23 16 5
+f 23 19 12
+f 24 5 16
+f 24 7 15
+f 24 16 10
+f 24 10 7
+f 26 21 14
+f 26 14 9
+f 26 9 21
+f 27 21 7
+f 27 7 4
+f 27 4 14
+f 27 14 21
+f 28 19 23
+f 29 25 13
+f 29 13 19
+f 29 19 28
+f 30 22 13
+f 30 13 25
+f 31 15 22
+f 31 30 25
+f 31 22 30
+f 32 28 23
+f 32 23 5
+f 32 5 24
+f 33 24 15
+f 33 15 31
+f 34 29 28
+f 34 33 31
+f 34 31 25
+f 34 25 29
+f 35 34 28
+f 35 28 32
+f 36 35 32
+f 36 32 24
+f 37 33 34
+f 37 34 35
+f 37 35 36
+f 37 36 24
+f 37 24 33
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_5.obj b/mango/mango_8/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7ef114f56adf167f0a9f647296a54ce5f2e2e4a
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_5.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.28925163 -0.02661622 0.27092438
+v 0.25591586 -0.00757576 -0.17861578
+v 0.25591586 0.23484849 0.23047513
+v -0.34313669 0.23938754 0.20782855
+v -0.36162365 -0.01054240 0.22867976
+v 0.25591586 0.23484849 -0.17861578
+v -0.21378111 0.23484849 0.23047513
+v -0.33499323 -0.00757576 -0.16346427
+v -0.35301789 0.24448915 -0.17168726
+v -0.21378111 -0.00757576 -0.17861578
+v -0.21378111 0.23484849 -0.17861578
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 1 5
+f 9 4 3
+f 9 3 6
+f 9 8 5
+f 9 5 4
+f 10 2 1
+f 10 1 8
+f 10 8 9
+f 10 6 2
+f 11 10 9
+f 11 9 6
+f 11 6 10
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_6.obj b/mango/mango_8/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5716856048e26ef8ef12929c452f02206190dfd5
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_6.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.19884564 -0.01051924 0.33134495
+v 0.20348119 0.03396197 0.34083456
+v 0.02747883 0.01166822 0.37928890
+v -0.09053000 0.09979168 0.38634283
+v -0.09256899 0.09848485 0.23047513
+v 0.11589145 0.10058755 0.37993909
+v 0.14985526 0.09848485 0.23047513
+v -0.09256899 -0.00757576 0.23047513
+v 0.10003714 -0.00345260 0.36427876
+v 0.14682695 0.09973666 0.37145029
+v -0.21588705 -0.00856971 0.32975050
+v 0.14985526 -0.00757576 0.23047513
+v 0.15944141 -0.00260142 0.34829886
+v 0.05585116 0.02638401 0.37870462
+v 0.14486315 0.04182418 0.36281707
+v -0.09084533 -0.00518944 0.37054809
+v -0.22008428 0.03570815 0.33338583
+v 0.18886041 -0.00459061 0.33725195
+v 0.11505110 0.08619052 0.37805402
+v 0.19350449 0.03903511 0.34585998
+v -0.04560825 0.01078039 0.37961518
+v -0.17628540 0.04003370 0.35496881
+v 0.17256201 0.01267492 0.34736630
+v -0.08889536 0.04058639 0.38009982
+v -0.17729734 -0.00422802 0.34697331
+v -0.20837639 0.03941571 0.33997810
+v -0.07406342 0.02688015 0.37988274
+f 6 4 3
+f 6 5 4
+f 7 5 6
+f 8 5 7
+f 10 7 6
+f 10 2 7
+f 11 5 8
+f 11 8 1
+f 12 8 7
+f 12 1 8
+f 12 7 2
+f 12 2 1
+f 13 9 1
+f 14 6 3
+f 14 3 9
+f 15 9 13
+f 16 9 3
+f 16 11 1
+f 16 1 9
+f 17 4 5
+f 17 5 11
+f 18 13 1
+f 18 1 2
+f 19 14 9
+f 19 6 14
+f 19 9 15
+f 19 15 10
+f 19 10 6
+f 20 2 10
+f 20 10 15
+f 20 18 2
+f 21 16 3
+f 21 3 4
+f 23 20 15
+f 23 15 13
+f 23 13 18
+f 23 18 20
+f 24 4 22
+f 25 22 11
+f 25 11 16
+f 25 24 22
+f 25 16 24
+f 26 17 11
+f 26 11 22
+f 26 22 4
+f 26 4 17
+f 27 21 4
+f 27 4 24
+f 27 24 16
+f 27 16 21
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_7.obj b/mango/mango_8/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5fcd04ee618892f43bdcd5a4482b167e0e143ed
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_7.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.09256899 -0.00757576 -0.17861578
+v -0.09149013 -0.00836934 -0.39423829
+v -0.13802353 0.15909091 -0.26952487
+v -0.24014798 0.17372825 -0.31592439
+v -0.31984171 -0.00757576 -0.16346427
+v -0.09128734 0.09722662 -0.38323978
+v -0.25081773 -0.00865191 -0.34234360
+v -0.21378111 0.09848485 -0.16346427
+v -0.15162329 0.16891939 -0.35147845
+v -0.09023915 0.05136848 -0.39009736
+v -0.09256899 0.09848485 -0.17861578
+v -0.21378111 -0.00757576 -0.16346427
+v -0.30655617 0.09095987 -0.29827014
+v -0.31984171 0.09848485 -0.16346427
+v -0.19186997 0.09424874 -0.35600329
+v -0.31444764 -0.00837518 -0.30388992
+v -0.19037151 0.15648571 -0.34260537
+v -0.23741195 0.08117813 -0.34004205
+v -0.13280729 0.09514401 -0.37425815
+v -0.17752759 -0.00829390 -0.37405759
+v -0.27946151 0.00723885 -0.32727773
+v -0.26264620 0.07980629 -0.32734700
+v -0.20646369 0.13981187 -0.34007520
+v -0.10399927 0.05094379 -0.38789667
+v -0.16532343 0.15679112 -0.35089464
+v -0.17764659 0.02061518 -0.37191615
+v -0.29205772 0.06634751 -0.31269629
+v -0.27919087 -0.00847458 -0.32775068
+v -0.25142822 0.00539687 -0.34165378
+v -0.20899687 0.15645700 -0.33507769
+v -0.11991550 -0.00656925 -0.39014791
+v -0.14685936 0.08004922 -0.37309403
+v -0.11909194 0.02226479 -0.38810421
+f 7 2 1
+f 9 4 3
+f 9 3 6
+f 10 1 2
+f 11 6 3
+f 11 10 6
+f 11 1 10
+f 11 8 1
+f 11 3 8
+f 12 7 1
+f 12 5 7
+f 12 8 5
+f 12 1 8
+f 14 8 3
+f 14 3 4
+f 14 5 8
+f 14 4 13
+f 16 7 5
+f 16 14 13
+f 16 5 14
+f 17 4 9
+f 19 9 6
+f 20 2 7
+f 22 13 4
+f 22 4 18
+f 22 18 21
+f 23 17 15
+f 23 15 18
+f 24 19 6
+f 24 6 10
+f 25 17 9
+f 25 9 19
+f 25 19 15
+f 25 15 17
+f 26 18 15
+f 27 21 16
+f 27 16 13
+f 27 22 21
+f 27 13 22
+f 28 21 7
+f 28 7 16
+f 28 16 21
+f 29 21 18
+f 29 7 21
+f 29 18 26
+f 29 26 20
+f 29 20 7
+f 30 23 18
+f 30 18 4
+f 30 4 17
+f 30 17 23
+f 31 10 2
+f 31 2 20
+f 31 20 26
+f 32 26 15
+f 32 15 19
+f 32 19 24
+f 33 24 10
+f 33 10 31
+f 33 31 26
+f 33 32 24
+f 33 26 32
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_8.obj b/mango/mango_8/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd981856d446e20179e7daec84ca09860f6932d0
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_8.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.32570099 -0.25756105 0.14703999
+v -0.31311271 -0.26072808 -0.25843454
+v -0.31326996 0.09695875 -0.29170459
+v -0.34313669 0.23938754 0.20782855
+v -0.45336988 -0.09543974 -0.08370687
+v -0.32491934 -0.24262124 0.16046562
+v -0.40637077 -0.25727701 -0.09954898
+v -0.37794621 -0.09663330 -0.24022141
+v -0.40723271 0.21135495 -0.08265717
+v -0.42068537 -0.15316508 0.08611628
+v -0.31175267 -0.17198680 -0.28983966
+v -0.35723017 -0.28449234 -0.19073317
+v -0.43821190 0.09544432 0.10452765
+v -0.35301789 0.24448915 -0.17168726
+v -0.42214707 0.06367635 -0.16880616
+v -0.36244015 -0.20910094 0.14133598
+v -0.43772889 -0.16843182 0.01603758
+v -0.31444764 -0.00837518 -0.30388992
+v -0.36406900 -0.16811037 -0.24008132
+v -0.39182414 -0.25682272 0.04081094
+v -0.45312405 0.07959003 -0.04030804
+v -0.40784002 0.22722786 0.06149733
+v -0.43756051 -0.09590990 -0.14163429
+v -0.39246083 0.18258624 -0.15477001
+v -0.33367840 -0.23875987 0.15411204
+v -0.36162365 -0.01054240 0.22867976
+v -0.43854367 -0.17002465 -0.08443564
+v -0.45421121 -0.06753750 0.04307632
+v -0.33335570 -0.09619060 -0.28612310
+v -0.31259187 -0.06813643 -0.30447461
+v -0.37808342 0.03535080 -0.24246678
+v -0.33328749 -0.22745481 -0.25365931
+v -0.40780226 -0.25607789 -0.01452586
+v -0.36323608 -0.25287628 0.09878531
+v -0.42171923 -0.19596194 0.04174509
+v -0.45434572 -0.00872402 -0.09952054
+v -0.43662620 0.09415319 -0.11152469
+v -0.39271079 0.19685558 0.15915256
+v -0.43692927 0.14012178 0.06160125
+v -0.42299572 0.18300271 -0.05464298
+v -0.40780703 0.22692396 -0.04020801
+v -0.40717568 -0.15461654 -0.18249094
+v -0.38041864 0.22618299 -0.14021873
+v -0.37665253 0.13855549 -0.21204181
+v -0.37801831 -0.13614264 0.17086412
+v -0.32791203 -0.21457239 0.17761428
+v -0.45276409 -0.10996136 0.01564059
+v -0.43771441 -0.12558407 -0.12710503
+v -0.45373103 0.05142251 0.06043290
+v -0.42347394 -0.02042595 0.14442997
+v -0.36272542 -0.11314310 -0.25528299
+v -0.32060527 -0.06578390 -0.29825470
+v -0.33516862 0.03568134 -0.28458428
+v -0.40808354 -0.09568868 -0.19845537
+v -0.32076172 -0.16966474 -0.28301404
+v -0.33209885 -0.25470766 -0.24238810
+v -0.42305764 -0.22781182 -0.05757046
+v -0.39273032 -0.15052748 0.14183724
+v -0.33340317 -0.25238302 0.14253202
+v -0.43610951 -0.15400897 0.04265234
+v -0.40621831 -0.24030039 0.02679964
+v -0.42234743 -0.21227777 0.01420988
+v -0.45344730 -0.06615546 -0.09997773
+v -0.43770880 0.03468442 -0.14188913
+f 6 3 4
+f 6 1 2
+f 11 6 2
+f 11 3 6
+f 12 2 1
+f 14 4 3
+f 20 12 1
+f 22 4 14
+f 25 1 6
+f 30 18 3
+f 30 3 11
+f 30 11 29
+f 31 29 8
+f 32 11 2
+f 33 7 12
+f 33 12 20
+f 34 20 1
+f 35 20 10
+f 36 5 28
+f 37 36 21
+f 37 24 15
+f 37 9 24
+f 38 4 22
+f 38 26 4
+f 39 38 22
+f 39 13 38
+f 40 39 22
+f 40 21 39
+f 40 37 21
+f 40 9 37
+f 41 22 14
+f 41 40 22
+f 41 9 40
+f 42 19 12
+f 42 12 7
+f 43 24 9
+f 43 14 24
+f 43 41 14
+f 43 9 41
+f 44 24 14
+f 44 14 3
+f 44 3 31
+f 44 31 15
+f 44 15 24
+f 46 6 4
+f 46 4 26
+f 46 26 45
+f 46 25 6
+f 46 45 16
+f 46 16 25
+f 47 27 17
+f 47 5 27
+f 47 28 5
+f 48 27 5
+f 48 23 42
+f 48 42 7
+f 48 7 27
+f 49 36 28
+f 49 21 36
+f 49 39 21
+f 49 13 39
+f 50 49 28
+f 50 13 49
+f 50 38 13
+f 50 26 38
+f 50 45 26
+f 50 28 10
+f 51 19 8
+f 51 8 29
+f 52 30 29
+f 52 18 30
+f 53 31 3
+f 53 3 18
+f 53 18 52
+f 53 52 29
+f 53 29 31
+f 54 15 31
+f 54 31 8
+f 54 42 23
+f 54 8 19
+f 54 19 42
+f 55 32 19
+f 55 11 32
+f 55 19 51
+f 55 51 29
+f 55 29 11
+f 56 32 2
+f 56 2 12
+f 56 12 19
+f 56 19 32
+f 57 27 7
+f 57 7 33
+f 57 17 27
+f 58 34 16
+f 58 10 20
+f 58 20 34
+f 58 16 45
+f 58 50 10
+f 58 45 50
+f 59 25 16
+f 59 16 34
+f 59 34 1
+f 59 1 25
+f 60 35 10
+f 60 17 35
+f 60 47 17
+f 60 10 28
+f 60 28 47
+f 61 33 20
+f 61 20 35
+f 62 35 17
+f 62 61 35
+f 62 33 61
+f 62 57 33
+f 62 17 57
+f 63 36 23
+f 63 5 36
+f 63 48 5
+f 63 23 48
+f 64 23 36
+f 64 54 23
+f 64 15 54
+f 64 37 15
+f 64 36 37
\ No newline at end of file
diff --git a/mango/mango_8/collision/model_normalized_collision_9.obj b/mango/mango_8/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7835019379294816d36d8eeac5045c15465351d9
--- /dev/null
+++ b/mango/mango_8/collision/model_normalized_collision_9.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.24076435 0.23484849 0.21532361
+v 0.25591586 0.23484849 -0.16346427
+v 0.27457113 0.37957786 -0.18531718
+v -0.19605897 0.37736593 0.23259933
+v -0.28953868 0.23484849 -0.14831275
+v 0.25763126 0.37627384 0.23665710
+v -0.32370919 0.25822376 0.21692843
+v -0.20993847 0.39236733 -0.18913314
+v 0.25591586 0.23484849 0.01835392
+v -0.18347808 0.23484849 0.21532361
+v -0.18347808 0.23484849 -0.16346427
+v -0.28964914 0.34103828 0.18512793
+v -0.29648068 0.34677842 -0.15223632
+f 5 2 1
+f 7 6 4
+f 8 3 2
+f 8 6 3
+f 8 4 6
+f 9 6 1
+f 9 1 2
+f 9 2 3
+f 9 3 6
+f 10 7 5
+f 10 5 1
+f 10 1 6
+f 10 6 7
+f 11 8 2
+f 11 2 5
+f 11 5 8
+f 12 7 4
+f 12 4 8
+f 13 12 8
+f 13 8 5
+f 13 5 7
+f 13 7 12
\ No newline at end of file
diff --git a/mango/mango_8/model.xml b/mango/mango_8/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ffd50360db4d7fe9568f82b3f956541f9562905b
--- /dev/null
+++ b/mango/mango_8/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="mango_20">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.08 0.08 0.08" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.08 0.08 0.08" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.08 0.08 0.08" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.08 0.08 0.08" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.08 0.08 0.08" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.08 0.08 0.08" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.08 0.08 0.08" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.08 0.08 0.08" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.08 0.08 0.08" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.08 0.08 0.08" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.08 0.08 0.08" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.08 0.08 0.08" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.08 0.08 0.08" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.08 0.08 0.08" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.08 0.08 0.08" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.08 0.08 0.08" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.08 0.08 0.08" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.08 0.08 0.08" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material_0.034" texture="image0" specular="0.5" shininess="0.359999993"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
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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_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="-0.00016804720000000107 0.00022079760000000005 -0.031730280799999996" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00016804720000000107 0.00022079760000000005 0.0316970024" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0360115632 0.03956886 -1.66391999999993e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/mango/mango_8/visual/material.mtl b/mango/mango_8/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b5d0f127cc1df2efd6b4835e0300358bb6dde72
--- /dev/null
+++ b/mango/mango_8/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
\ No newline at end of file