diff --git a/.gitattributes b/.gitattributes
index 07a37b610fd7fc698b3749166fa55bdaa3de457e..45ff35a85627265321fdef6121ca31ae76f9bd0e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3570,6 +3570,5 @@ dataset/food/fruits/8d9fed7dc3325c31a7d1b561f4a21245/mesh/orange.glb filter=lfs
 dataset/food/fruits/8d9fed7dc3325c31a7d1b561f4a21245/mesh/orange_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/92e21b8341d45e93878923825c4ba18f/mesh/pear_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/92e21b8341d45e93878923825c4ba18f/pear_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/a200b06af9435e4c8164d2a9f5b99fef/banana_001.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/a200b06af9435e4c8164d2a9f5b99fef/banana_001.usdc filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/a200b06af9435e4c8164d2a9f5b99fef/mesh/banana_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mesh/strawberry_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/strawberry_007.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mesh/material.mtl b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..381fcfcc4511e11bf105ee462dbf546e792bd42d
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl strawberry_007_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd strawberry_007_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mesh/material_0.png b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3067cedc28050b19df1497299151078c339fb501
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53d7bb0525ca2cd5dd602956bf67b8a0ddd30a0bf50cd96fa14f55f86c350922
+size 12723991
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mesh/strawberry_007.glb b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mesh/strawberry_007.glb
new file mode 100644
index 0000000000000000000000000000000000000000..45a83072345451c94cd03306f09eddac2c599840
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mesh/strawberry_007.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cad8b82bea271a6ceb5f3acee3f30645099f3653153460cad00dcfed65dacce
+size 16275448
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mesh/strawberry_007.mtl b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mesh/strawberry_007.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b52567c6764df7a2524309ad64514c3e1618c51a
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mesh/strawberry_007.mtl
@@ -0,0 +1,6 @@
+newmtl strawberry_007_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mesh/strawberry_007.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mesh/strawberry_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a41148a9e1a9b5b60cf20f0839c1d84999f8e5b
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mesh/strawberry_007.obj
@@ -0,0 +1,111072 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl strawberry_007_geometry_Looks_material_0
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mesh/strawberry_007_collision.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mesh/strawberry_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..136c7f7748d9b07811ba09aad2c1a05e6554a87c
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mesh/strawberry_007_collision.obj
@@ -0,0 +1,22291 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/material_0.png b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/material_0.png
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7397755262d89359e1493eb190c96e33605de103
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision.obj
@@ -0,0 +1,22291 @@
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_0.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89dc0fcde11f58ac2556f9b0a699cb02bd704744
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_0.obj
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_1.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f811e89e0a839576ae0d8c754f3d4320cc14c20
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_1.obj
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+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_10.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff677557599e46d6ba490d8f2dac4ac9a8c66022
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_10.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.02179104 -0.00109348 -0.01522687
+v -0.02049792 0.00104806 -0.01770076
+v -0.02049926 0.00104904 -0.01769906
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+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_11.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ccd519d7b6483a95cb058ca86fc5699fc66a642
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_11.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.01391797 0.00560332 -0.02039699
+v -0.01391797 0.00401195 -0.02039700
+v -0.01391797 0.00560771 -0.02169551
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+v -0.01417223 0.00560772 -0.02424563
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+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_12.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..887d7afa7c34b795870e7dc7c9a4078f402513e0
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_12.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00873383 0.00400969 -0.02446830
+v -0.00873383 0.00401197 -0.02443726
+v -0.00873383 0.00399698 -0.02446285
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+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_13.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27e9c7c9ef0a5368f9ad041b246db7951119fe0d
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_13.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v 0.01325114 0.00401196 -0.02297242
+v 0.01344549 0.00401196 -0.02265099
+v 0.01325114 0.00401196 -0.02058164
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+v 0.01365277 0.00903806 -0.02505917
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_14.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..205fc5278e2188332cdc447f95e2b988f3ced37c
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_14.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_15.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6183af6533e14b239d349cb8349d77f824887ebe
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_15.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.01052897 -0.00656242 -0.02538736
+v -0.01052897 -0.00599278 -0.02533851
+v -0.00953054 -0.00599278 -0.02528268
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+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_16.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9cab7fa19a399be420470f18e2e7726f8e1c6be
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_16.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
+v 0.00338551 -0.02191498 -0.01522695
+v 0.00338551 -0.02183652 -0.01565766
+v 0.00344753 -0.02192324 -0.01522695
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_17.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84171555511f55099af03fecb35c7748fa62c524
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_17.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_18.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..765c5eabf76c5e271c86d5152d101dc4bdd404c4
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_18.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_19.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cec6cd1add6b5a3867d35911b1cfb2478f4bc71d
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_19.obj
@@ -0,0 +1,22 @@
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+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_2.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bdea27ca82dd9f7d54255355a1af90e90357797
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_2.obj
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_20.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48fd59cbe822ed404cd07b02ad7852f85262a8c8
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_20.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_21.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4fc04041b69f4614c22fcc5ef64008b4b3c5bfe
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_21.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_22.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f56b0ad74210064e52fcc1bc5359dc13620c8457
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_22.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.00160400 0.01590314 -0.02133520
+v 0.00280192 0.01549444 -0.02133520
+v 0.00280192 0.01685887 -0.02328589
+v 0.00160400 0.01685887 -0.02326455
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+v 0.00280192 0.01685887 -0.02515456
+v 0.00160400 0.01685887 -0.02532528
+v 0.00160400 0.00401323 -0.02376880
+v 0.00280192 0.00401323 -0.02374536
+v 0.00280192 0.01671928 -0.02519640
+v 0.00272546 0.01685887 -0.02517214
+v 0.00178577 0.01685887 -0.02530980
+v 0.00244847 0.01605154 -0.02541566
+v 0.00160400 0.01605154 -0.02548721
+v 0.00196672 0.01053602 -0.02514914
+v 0.00160400 0.01096987 -0.02520521
+v 0.00194092 0.01053602 -0.02514914
+v 0.00235899 0.01099754 -0.02522195
+v 0.00263211 0.01063537 -0.02512780
+v 0.00280192 0.01116982 -0.02520730
+v 0.00280192 0.01605154 -0.02533365
+v 0.00244847 0.01685887 -0.02523532
+v 0.00245621 0.01685887 -0.02523365
+v 0.00160400 0.01589686 -0.02550855
+v 0.00244847 0.01504929 -0.02555374
+v 0.00244847 0.01204380 -0.02541275
+v 0.00160400 0.01186649 -0.02537049
+v 0.00160400 0.01204380 -0.02540271
+v 0.00280192 0.01167031 -0.02530312
+v 0.00280192 0.01505558 -0.02546880
+v 0.00160400 0.01504929 -0.02559558
+v 0.00280192 0.01469467 -0.02549266
+v 0.00244847 0.01404704 -0.02559099
+v 0.00160400 0.01489461 -0.02560145
+v 0.00160400 0.01289137 -0.02552069
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+v 0.00280192 0.01404704 -0.02551651
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+v 0.00160400 0.01389362 -0.02560145
+v 0.00160400 0.01404704 -0.02560898
+v 0.00160400 0.01304479 -0.02553994
+v 0.00280192 0.01271029 -0.02543785
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+f 37 45 38
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+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_23.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6642c6d3ef8f74c1fde7703016edd50e82e5b5d
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_23.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.00721852 -0.01389210 -0.02021227
+v 0.01042232 -0.01185805 -0.02236499
+v 0.01143351 -0.01223502 -0.02236499
+v 0.01150232 -0.01224795 -0.02236499
+v 0.00973070 -0.01389210 -0.01890600
+v 0.00721852 -0.01389210 -0.01890600
+v 0.00721852 -0.01019666 -0.02236499
+v 0.00769456 -0.01045717 -0.02236499
+v 0.01242483 -0.01206163 -0.02236499
+v 0.01242483 -0.01233594 -0.02153411
+v 0.01007473 -0.01366955 -0.01890600
+v 0.00721852 -0.00507965 -0.01890597
+v 0.00721852 -0.00507964 -0.02236497
+v 0.01242483 -0.00507964 -0.02236497
+v 0.01242483 -0.01198314 -0.01890599
+v 0.01242483 -0.00507965 -0.01890597
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 13
+f 1 13 7
+f 1 7 8
+f 1 8 2
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+f 5 12 6
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+f 9 16 15
+f 9 15 10
+f 10 15 11
+f 12 16 14
+f 12 14 13
+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_24.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..557516d8d7ef9a0dce6d381fe7279fce46fea6d2
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_24.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.00354073 -0.01171012 -0.02535554
+v -0.00454525 -0.01171012 -0.02528735
+v -0.00354073 -0.01100317 -0.02532397
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+v -0.00254343 -0.00899943 -0.02496660
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+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_25.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16033a77ffdafe7a71fdb7a5dca88ef2d7aebc30
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_25.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.01483134 -0.01283900 -0.02021812
+v 0.01483134 -0.01282656 -0.02068547
+v 0.01642590 -0.01301374 -0.01965416
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+v 0.01483134 -0.01268056 -0.02106250
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+v 0.01642590 -0.01275046 -0.01890600
+v 0.01639245 -0.01274503 -0.01890600
+v 0.01540619 -0.01282347 -0.01959682
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+v 0.01748288 -0.01281337 -0.01972131
+v 0.01828852 -0.01273959 -0.01890600
+v 0.01633463 -0.01272639 -0.01890600
+v 0.01572490 -0.01261766 -0.01906153
+v 0.01483134 -0.01244059 -0.01967694
+v 0.01516631 -0.01256406 -0.02120898
+v 0.01483134 -0.01258503 -0.02123569
+v 0.01583194 -0.01247319 -0.02112612
+v 0.01718996 -0.01265105 -0.02031984
+v 0.01820155 -0.01266969 -0.01943305
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+v 0.01483134 -0.00848907 -0.01890598
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+v 0.01547069 -0.01208565 -0.02146857
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+v 0.01785512 -0.01244757 -0.02009912
+v 0.01886719 -0.01244602 -0.01906781
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+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_26.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73008d8bbb879dfaa642050245bfc0f7835e8d00
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_26.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.00516898 0.01984547 -0.01890588
+v -0.00516898 0.01872303 -0.02337075
+v -0.00527753 0.01979285 -0.01890588
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+v -0.00704445 0.01757467 -0.01917323
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+v -0.00581571 0.01938696 -0.01890588
+v -0.00576405 0.01942872 -0.01890588
+v -0.00516898 0.01779350 -0.02403640
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+v -0.00850893 0.01481279 -0.01890590
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+v -0.00516898 0.01404864 -0.02498786
+v -0.00553845 0.01304645 -0.02476161
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+f 1 12 4
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+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_27.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bd68ee42c796aeaa10eb62aae76ac646e039d23
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_27.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.00246885 -0.00507939 -0.02142325
+v 0.00246885 -0.00507940 -0.01890597
+v 0.00246885 -0.00255534 -0.02142324
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+v 0.01671947 -0.00255535 -0.01894440
+v 0.01631662 -0.00405272 -0.02142324
+f 1 2 5
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+f 1 13 8
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+f 1 4 6
+f 1 6 2
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+f 3 12 7
+f 4 8 9
+f 4 9 10
+f 4 10 6
+f 7 12 11
+f 8 13 9
+f 9 13 12
+f 11 12 13
+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_28.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d90037fe4dfbc51098d442962596acf286d88649
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_28.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.00873383 0.00290234 -0.01890594
+v -0.00873383 -0.00054951 -0.01890595
+v -0.00873383 0.00290234 -0.02004875
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+f 1 2 5
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+f 10 18 14
+f 14 18 19
+f 14 19 20
+f 14 20 15
+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_29.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f242b3eca47cd42f6b4c4ff908943cbc7fcb49c
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_29.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01567731 0.01250739 -0.02074004
+v 0.01567731 0.01250739 -0.01974004
+v 0.01567731 0.01478453 -0.02074004
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+v 0.01797044 0.01250739 -0.01974004
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+v 0.01797044 0.01478453 -0.01974004
+f 2 4 1
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+f 2 8 4
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+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_3.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7264986857e5895bb766d4bd4ea3cb874e732079
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_3.obj
@@ -0,0 +1,676 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_30.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a498b56cdb8e4b7a0889a873e2a63f6e6524ea52
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_30.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_31.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b15fb30d50b9b9237eb1f77ab9635f616113a8fd
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_31.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.01646492 0.00401195 -0.01890594
+v 0.01660645 0.00332732 -0.01890594
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+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_32.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8c95abee0d98423f19d9cbc8ffb215c03931fd0
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_32.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.00531785 0.00401344 -0.02102150
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_33.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e70f6e122591be8f05a0abe1cc3a6f51fbb2eb7
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_33.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_34.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96975a748d95a03ef596349f619d6bda4293cd35
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_34.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_35.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c6fcea0b68ba64e8afdf111421e7f29a30861db
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_35.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v -0.00254309 0.02086881 -0.01890652
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_36.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc4e7f46b3d1336e07e43eab44151da1bb00a3e2
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_36.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_37.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bf13e362d592663329299eef3ccc2b83711d6af
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_37.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_38.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc48e3c47f28b61dea482031bdde1545d9666751
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_38.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_39.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccef73418ae87009bffdbcab493b713355c5689e
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_39.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_4.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..400f1ec9086a42dcd73cd2802f198422164e8462
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_4.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_40.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45c47f8acfd04fc38d027b8293402cc5b1e09baf
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_40.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_41.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47c911624d290cd82e41d6c97c30298bb893d165
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_41.obj
@@ -0,0 +1,448 @@
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_42.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..019b8de80502769303cf734f574d431c19cd94e4
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_42.obj
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_43.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e7929861c028844f6d57c416bfa2ad3d63a2f85
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_43.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_44.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef2acf6bc2feeef61a8798d97ce3df78bbffb3f2
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_44.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_45.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a432aa58bc30690aa38408bb4313e6fcb00c0602
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_45.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_46.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..292f66c0bd7a60743353df2e8f84e531b6dbe77c
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_46.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.01152831 -0.00699507 -0.02542933
+v -0.01152831 -0.00799702 -0.02534316
+v -0.01259367 -0.00806938 -0.02524311
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+v -0.00953132 -0.00656266 -0.02530518
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+v -0.01039151 -0.00813850 -0.02125751
+v 0.00246885 -0.00813850 -0.02125751
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+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_47.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39bf7e7e71ac1572e11325da4fb698a179022233
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_47.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.00244934 -0.01707349 -0.01890601
+v -0.00244934 -0.01692261 -0.01905025
+v -0.00140851 -0.01602376 -0.02118003
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+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_48.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79149acef39c48e0c796b8aca0c033591c2c65cc
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_48.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.01325114 0.00401196 -0.02058164
+v 0.01406037 0.00401196 -0.02058164
+v 0.01325114 0.00401195 -0.01890611
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+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_49.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9859226b65eca8276d461859f61220261d7ef9e
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_49.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.00531785 0.01557819 -0.02198592
+v 0.00531785 0.01501223 -0.02280098
+v 0.00500262 0.01574669 -0.02422683
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+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_5.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66bbe82f0c2c0ab6ce3fa7e9d079606b531d78bf
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_5.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_50.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83b61aade69f1d1a31622738be4ec38ae7c17208
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_50.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_51.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5bc122c35fdad79198c89008d7e7a91a350166c
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_51.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_52.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..638934e21a3fcf5c9e5684702899a91785e33d60
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_52.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_53.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34daf21f622cb6a9516b2d59655e78a1fa22c64c
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_53.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_54.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6eecdb4a06f7f358ca41063018750a60679a2ec
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_54.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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+f 2 12 25
+f 2 25 17
+f 2 17 16
+f 2 16 15
+f 2 15 14
+f 2 14 23
+f 2 23 22
+f 2 22 13
+f 2 13 9
+f 2 9 8
+f 2 8 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 9 13 10
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 13 22
+f 10 22 23
+f 10 23 14
+f 11 24 27
+f 11 27 20
+f 11 20 26
+f 11 26 25
+f 11 25 12
+f 17 25 18
+f 18 25 26
+f 18 26 19
+f 19 26 20
+f 20 27 21
+f 21 27 24
+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_55.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edf8a2f09ad902283c848fb03d419dede3c04b60
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_55.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00807878 -0.00813901 -0.01890598
+v -0.00807878 -0.01171014 -0.01890599
+v -0.00807878 -0.00813900 -0.02168876
+v -0.01488003 -0.00813901 -0.01890598
+v -0.00807878 -0.01171013 -0.02168877
+v -0.01227513 -0.01171014 -0.01890599
+v -0.00964292 -0.00813900 -0.02168876
+v -0.01476550 -0.00813901 -0.01898961
+v -0.01045462 -0.01096654 -0.02168877
+v -0.01460569 -0.00862425 -0.01890598
+v -0.00979008 -0.01171013 -0.02168877
+v -0.01025020 -0.01171013 -0.02139976
+v -0.01230509 -0.01167623 -0.01890599
+v -0.01047260 -0.01024602 -0.02168877
+v -0.01247556 -0.00813901 -0.02034014
+v -0.01466496 -0.00813901 -0.01905743
+v -0.00979274 -0.01171013 -0.02168741
+v -0.01433335 -0.00908432 -0.01890598
+v -0.01442258 -0.00893994 -0.01890598
+v -0.01427209 -0.00813901 -0.01931457
+v -0.01282448 -0.01108367 -0.01890599
+v -0.01355760 -0.01019988 -0.01890599
+v -0.01366082 -0.01006284 -0.01890599
+v -0.01348436 -0.00813901 -0.01978745
+v -0.01315941 -0.00813901 -0.01997676
+v -0.01293501 -0.00813901 -0.02010533
+v -0.01272792 -0.00813901 -0.02021211
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 15
+f 1 15 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 20
+f 1 20 16
+f 1 16 8
+f 1 8 4
+f 1 4 10
+f 1 10 19
+f 1 19 18
+f 1 18 23
+f 1 23 22
+f 1 22 21
+f 1 21 13
+f 1 13 6
+f 1 6 2
+f 2 6 12
+f 2 12 17
+f 2 17 11
+f 2 11 5
+f 3 5 11
+f 3 11 9
+f 3 9 14
+f 3 14 7
+f 4 8 9
+f 4 9 10
+f 6 13 12
+f 7 14 15
+f 8 16 9
+f 9 11 17
+f 9 17 12
+f 9 12 18
+f 9 18 19
+f 9 19 10
+f 9 16 20
+f 9 20 14
+f 12 13 21
+f 12 21 22
+f 12 22 23
+f 12 23 18
+f 14 20 24
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 15
+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_56.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdce2846d78d8f4a42c09b865ec067b00448722e
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_56.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.01305818 -0.00699522 -0.02520976
+v -0.01305818 -0.00656266 -0.02518005
+v -0.01305818 -0.00783813 -0.02519430
+v -0.01316653 -0.00778367 -0.02518291
+v -0.01317532 -0.00699522 -0.02518698
+v -0.01305818 -0.00656266 -0.02334593
+v -0.01310699 -0.00656266 -0.02517028
+v -0.01305818 -0.00813833 -0.02516134
+v -0.01351014 -0.00806938 -0.02506489
+v -0.01452436 -0.00799702 -0.02476741
+v -0.01367413 -0.00699522 -0.02504821
+v -0.01306404 -0.00813833 -0.02516012
+v -0.01567964 -0.00656267 -0.02183128
+v -0.01305818 -0.00813833 -0.02341838
+v -0.01357652 -0.00656266 -0.02500506
+v -0.01693546 -0.00813850 -0.02125790
+v -0.01800972 -0.00813850 -0.02125790
+v -0.01341301 -0.00813833 -0.02507832
+v -0.01351111 -0.00813833 -0.02504861
+v -0.01452436 -0.00813833 -0.02474055
+v -0.01452436 -0.00699522 -0.02474707
+v -0.01543462 -0.00813833 -0.02435395
+v -0.01545659 -0.00799702 -0.02436616
+v -0.01597102 -0.00656267 -0.02173686
+v -0.01720829 -0.00813850 -0.02113581
+v -0.01676122 -0.00813834 -0.02133562
+v -0.01452436 -0.00656266 -0.02465834
+v -0.01799702 -0.00813850 -0.02111913
+v -0.01717608 -0.00656267 -0.02183372
+v -0.01804388 -0.00813834 -0.02163717
+v -0.01795066 -0.00813834 -0.02205307
+v -0.01780814 -0.00813834 -0.02244781
+v -0.01712044 -0.00813833 -0.02324299
+v -0.01651962 -0.00813833 -0.02369755
+v -0.01593295 -0.00813833 -0.02410409
+v -0.01539948 -0.00699522 -0.02434744
+v -0.01595443 -0.00799702 -0.02411385
+v -0.01651962 -0.00656267 -0.02167419
+v -0.01752798 -0.00813850 -0.02105239
+v -0.01530528 -0.00656266 -0.02429941
+v -0.01683540 -0.00656267 -0.02173361
+v -0.01717559 -0.00656267 -0.02216986
+v -0.01694864 -0.00666217 -0.02282097
+v -0.01708188 -0.00733029 -0.02321328
+v -0.01712630 -0.00799702 -0.02324909
+v -0.01651962 -0.00799702 -0.02371342
+v -0.01589732 -0.00699522 -0.02407031
+v -0.01580361 -0.00656266 -0.02397548
+v -0.01687543 -0.00656267 -0.02278760
+v -0.01642688 -0.00656266 -0.02344930
+v -0.01657770 -0.00699584 -0.02352459
+f 1 2 6
+f 1 6 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 15
+f 2 15 27
+f 2 27 40
+f 2 40 48
+f 2 48 50
+f 2 50 49
+f 2 49 42
+f 2 42 29
+f 2 29 41
+f 2 41 38
+f 2 38 24
+f 2 24 13
+f 2 13 6
+f 3 8 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 4 8 12
+f 4 12 9
+f 5 11 7
+f 6 13 14
+f 7 11 15
+f 8 14 16
+f 8 16 17
+f 8 17 12
+f 9 12 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 10 21 11
+f 10 20 22
+f 10 22 23
+f 10 23 21
+f 11 21 15
+f 12 17 18
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 26 16
+f 15 21 27
+f 16 26 25
+f 16 25 39
+f 16 39 28
+f 16 28 17
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 22
+f 17 22 20
+f 17 20 19
+f 17 19 18
+f 21 23 36
+f 21 36 27
+f 22 35 23
+f 23 35 37
+f 23 37 36
+f 24 38 39
+f 24 39 25
+f 27 36 40
+f 28 39 38
+f 28 38 41
+f 28 41 29
+f 29 42 30
+f 30 42 31
+f 31 42 32
+f 32 42 43
+f 32 43 44
+f 32 44 45
+f 32 45 33
+f 33 45 46
+f 33 46 34
+f 34 46 37
+f 34 37 35
+f 36 37 47
+f 36 47 40
+f 37 46 47
+f 40 47 48
+f 42 49 43
+f 43 49 50
+f 43 50 44
+f 44 50 51
+f 44 51 47
+f 44 47 46
+f 44 46 45
+f 47 51 48
+f 48 51 50
+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_57.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85ca7a22727046f1191b37b9e6c7bda5b83f6bf0
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_57.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00531785 0.00401196 -0.02197670
+v 0.00531785 0.00401196 -0.02097670
+v 0.00531785 0.00994860 -0.02197670
+v 0.00531785 0.00994860 -0.02097670
+v 0.01325037 0.00401196 -0.02197670
+v 0.01325037 0.00401196 -0.02097670
+v 0.01325037 0.00994860 -0.02197670
+v 0.01325037 0.00994860 -0.02097670
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_58.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7741fe7024394448f8720eb2f1cd31aee32235e4
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_58.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00160400 0.02182551 -0.02099434
+v 0.00160400 0.02200581 -0.02167182
+v 0.00160400 0.02146036 -0.02105497
+v 0.00194948 0.02156238 -0.02115248
+v 0.00194948 0.02156339 -0.02115248
+v 0.00160400 0.02201844 -0.02185412
+v 0.00201480 0.02162349 -0.02165232
+v 0.00160400 0.01685887 -0.02326422
+v 0.00280192 0.01685887 -0.02328542
+v 0.00280192 0.01939875 -0.02207968
+v 0.00280192 0.02005986 -0.02198938
+v 0.00280192 0.02072147 -0.02200505
+v 0.00203661 0.02164268 -0.02226663
+v 0.00160400 0.02177955 -0.02241205
+v 0.00160400 0.01685887 -0.02532507
+v 0.00280192 0.01685887 -0.02515464
+v 0.00280192 0.02072198 -0.02235990
+v 0.00280192 0.02054370 -0.02288052
+v 0.00280192 0.02050228 -0.02294369
+v 0.00218262 0.02072300 -0.02329091
+v 0.00160400 0.02126339 -0.02303187
+v 0.00178577 0.01685887 -0.02530980
+v 0.00160400 0.01708059 -0.02528055
+v 0.00245609 0.01685887 -0.02523349
+v 0.00244847 0.01686241 -0.02523434
+v 0.00193951 0.01755331 -0.02514701
+v 0.00280192 0.01690988 -0.02513937
+v 0.00280192 0.01993866 -0.02352579
+v 0.00160400 0.02086744 -0.02339774
+v 0.00271807 0.01940684 -0.02404344
+v 0.00205268 0.01962048 -0.02418716
+v 0.00244847 0.01685887 -0.02523519
+v 0.00160400 0.01721392 -0.02525215
+v 0.00244847 0.01736341 -0.02508468
+v 0.00160400 0.01758614 -0.02515760
+v 0.00160400 0.01792705 -0.02503719
+v 0.00160400 0.01890432 -0.02462341
+v 0.00244847 0.01805685 -0.02481631
+v 0.00280192 0.01766089 -0.02484430
+v 0.00280192 0.01936896 -0.02400486
+v 0.00160400 0.02007704 -0.02399257
+v 0.00280192 0.01927199 -0.02408584
+v 0.00280192 0.01888917 -0.02430120
+v 0.00241047 0.01906694 -0.02435674
+v 0.00160400 0.01905987 -0.02455091
+v 0.00160400 0.01970381 -0.02423422
+v 0.00280192 0.01805887 -0.02467683
+f 1 2 6
+f 1 6 14
+f 1 14 21
+f 1 21 29
+f 1 29 41
+f 1 41 46
+f 1 46 45
+f 1 45 37
+f 1 37 36
+f 1 36 35
+f 1 35 33
+f 1 33 23
+f 1 23 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 7
+f 6 7 13
+f 6 13 14
+f 7 12 13
+f 8 15 22
+f 8 22 32
+f 8 32 24
+f 8 24 16
+f 8 16 9
+f 9 16 27
+f 9 27 39
+f 9 39 47
+f 9 47 43
+f 9 43 42
+f 9 42 40
+f 9 40 28
+f 9 28 19
+f 9 19 18
+f 9 18 17
+f 9 17 12
+f 9 12 11
+f 9 11 10
+f 12 17 13
+f 13 17 18
+f 13 18 19
+f 13 19 20
+f 13 20 14
+f 14 20 21
+f 15 23 22
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 19 28 20
+f 20 29 21
+f 20 28 30
+f 20 30 31
+f 20 31 29
+f 22 23 26
+f 22 26 32
+f 23 33 26
+f 24 32 25
+f 25 32 26
+f 26 34 27
+f 26 33 35
+f 26 35 36
+f 26 36 37
+f 26 37 38
+f 26 38 34
+f 27 34 38
+f 27 38 39
+f 28 40 30
+f 29 31 41
+f 30 40 42
+f 30 42 43
+f 30 43 44
+f 30 44 31
+f 31 44 38
+f 31 38 37
+f 31 37 45
+f 31 45 46
+f 31 46 41
+f 38 44 43
+f 38 43 47
+f 38 47 39
+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_59.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..760ebe402c18baab7d1303e95996e9f2cacbf340
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_59.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.00160400 0.01938017 -0.01890612
+v 0.00163250 0.01935611 -0.01890612
+v 0.00160400 0.01936814 -0.01891991
+v 0.00160400 0.00401346 -0.01890618
+v 0.00170978 0.01928691 -0.01890612
+v 0.00202770 0.01866562 -0.01924753
+v 0.00160400 0.01890330 -0.01937235
+v 0.00160400 0.00401347 -0.02133483
+v 0.00280192 0.00401346 -0.01890618
+v 0.00207602 0.01885065 -0.01890612
+v 0.00280192 0.01699130 -0.01964554
+v 0.00280192 0.01597438 -0.02088400
+v 0.00280192 0.01565246 -0.02121638
+v 0.00160400 0.01808645 -0.02002713
+v 0.00280192 0.00401347 -0.02133483
+v 0.00160400 0.01590218 -0.02133478
+v 0.00280192 0.01750428 -0.01890613
+v 0.00280192 0.01549450 -0.02133478
+v 0.00160400 0.01773594 -0.02026987
+v 0.00160400 0.01593377 -0.02131837
+v 0.00160400 0.01638206 -0.02107016
+v 0.00160400 0.01687548 -0.02078153
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 19
+f 1 19 22
+f 1 22 21
+f 1 21 20
+f 1 20 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 4 8 15
+f 4 15 9
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 8 16 18
+f 8 18 15
+f 9 15 18
+f 9 18 13
+f 9 13 12
+f 9 12 11
+f 9 11 17
+f 10 17 11
+f 13 18 14
+f 14 18 19
+f 16 20 18
+f 18 20 21
+f 18 21 22
+f 18 22 19
+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_6.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32dcf7193d739544cc21a555415350b6d2e947d3
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_6.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.01651662 0.00401301 -0.01892735
+v -0.01651662 0.00401301 -0.01890609
+v -0.01650878 0.00404684 -0.01890609
+v -0.01649389 0.00409759 -0.01890608
+v -0.01649389 0.00401301 -0.01910150
+v -0.00851004 0.00401301 -0.01890609
+v -0.01578533 0.00603229 -0.01890608
+v -0.01575946 0.00609783 -0.01890608
+v -0.01562387 0.00642663 -0.01890608
+v -0.01539735 0.00697321 -0.01890607
+v -0.01556822 0.00401301 -0.02039649
+v -0.00850926 0.00401301 -0.02039649
+v -0.00851004 0.01481244 -0.01890605
+v -0.01533307 0.00711593 -0.01890607
+v -0.01391752 0.00441582 -0.02134653
+v -0.01391752 0.00401302 -0.02134654
+v -0.01512929 0.00756313 -0.01890607
+v -0.01489571 0.00803253 -0.01890607
+v -0.01482909 0.00816151 -0.01890607
+v -0.01460884 0.00856960 -0.01890607
+v -0.01439799 0.00895548 -0.01890607
+v -0.01430394 0.00911618 -0.01890607
+v -0.01406409 0.00950840 -0.01890607
+v -0.00850926 0.00401302 -0.02134654
+v -0.00850926 0.00996195 -0.02039646
+v -0.00850926 0.00996196 -0.02134651
+v -0.00851004 0.01411574 -0.01936543
+v -0.01022736 0.01172961 -0.02039646
+v -0.00862997 0.01474795 -0.01890605
+v -0.01055343 0.00909610 -0.02134652
+v -0.01361262 0.01017867 -0.01890606
+v -0.00980176 0.00996196 -0.02134651
+v -0.00851004 0.01226984 -0.02039645
+v -0.00851004 0.01304372 -0.02000516
+v -0.00851004 0.01407556 -0.01939170
+v -0.01321210 0.01071891 -0.01890606
+v -0.01294012 0.01104982 -0.01890606
+v -0.01284763 0.01115977 -0.01890606
+v -0.01228564 0.01180150 -0.01890606
+v -0.01191803 0.01218421 -0.01890606
+v -0.01179733 0.01230790 -0.01890605
+v -0.01128942 0.01280268 -0.01890605
+v -0.01063964 0.01335454 -0.01890605
+v -0.01053461 0.01343912 -0.01890605
+v -0.01018425 0.01371400 -0.01890605
+v -0.00964186 0.01409988 -0.01890605
+v -0.00959326 0.01413265 -0.01890605
+v -0.00895524 0.01455131 -0.01890605
+v -0.00959170 0.01199708 -0.02039646
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 16
+f 1 16 24
+f 1 24 12
+f 1 12 6
+f 1 6 2
+f 2 6 13
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_60.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a5a5aac0bc2ae59349c14edfa193dffb6e65182
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_60.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_61.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7476a16a59a943d042cbb6e32c3812c911708673
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_61.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
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+v 0.00543429 -0.01389209 -0.02236500
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+
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_7.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ec54c35cac92843aa6e9efc7500c7662e6cefcf
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_7.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_8.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff2562604b02062d8941a409298c00df7f293dcb
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_8.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_9.obj b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ed5d0f319162e19dd5565d1c37aa6627f70fdf9
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/mesh/strawberry_007_collision_9.obj
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diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/strawberry_007.xml b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/strawberry_007.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1c01972162fc6dd1582dff4eda6d0233c0eef40a
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/mjcf/strawberry_007.xml
@@ -0,0 +1,138 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="strawberry_007">
+  <asset>
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+    <mesh name="collision_mesh_0_0" file="mesh/strawberry_007_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/strawberry_007_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_5" file="mesh/strawberry_007_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/strawberry_007_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/strawberry_007_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/strawberry_007_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_10" file="mesh/strawberry_007_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_28" file="mesh/strawberry_007_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_37" file="mesh/strawberry_007_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/strawberry_007_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_42" file="mesh/strawberry_007_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/strawberry_007_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/strawberry_007_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/strawberry_007_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/strawberry_007_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/strawberry_007_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/strawberry_007_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/strawberry_007_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/strawberry_007_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/strawberry_007_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/strawberry_007_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/strawberry_007_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/strawberry_007_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/strawberry_007_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/strawberry_007_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/strawberry_007_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/strawberry_007_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/strawberry_007_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/strawberry_007_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/strawberry_007_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="strawberry_007">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/strawberry_007.urdf b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/strawberry_007.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d610af6e62c4a6f6564b6787ce57f7784cd5cd03
--- /dev/null
+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/strawberry_007.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="strawberry_007">
+   <link name="strawberry_007">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/strawberry_007.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/strawberry_007_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>a6fdbf58632e59a481b02deb8402bd48</uuid>
+         <domain>food</domain>
+         <super_category>fruits</super_category>
+         <category>strawberry</category>
+         <name>ripe strawberry</name>
+         <color>red,green</color>
+         <shape>cone</shape>
+         <material>organic</material>
+         <description>red strawberry with green leaves and yellow seeds</description>
+         <min_height>0.0607</min_height>
+         <max_height>0.0607</max_height>
+         <real_height>0.0607</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427235959</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>17</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/strawberry_007.usd b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/strawberry_007.usd
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+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/strawberry_007.usd
@@ -0,0 +1,3 @@
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+oid sha256:f7b9e507df02f1e60697373be8990eb8489cc84cca942dae4cb0211583112dcd
+size 5037526
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/textures/material_0.png b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/textures/material_0.png
new file mode 100644
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+++ b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12723991
diff --git a/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/video.mp4 b/dataset/food/fruits/a6fdbf58632e59a481b02deb8402bd48/video.mp4
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+size 592147