diff --git a/.gitattributes b/.gitattributes
index 3a7f195d9df432c73f8aa4aa5c60159cbb10ef8c..7b7fc95a04fe684402dc98aa1060c4520891302b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3550,3 +3550,6 @@ dataset/food/fruits/50b88ffa707b53adaad3229d94bb24fa/mesh/apple2_gs.ply filter=l
 dataset/food/fruits/6072327ff43954b6b7fb76075d1442ff/6072327ff43954b6b7fb76075d1442ff.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/6072327ff43954b6b7fb76075d1442ff/mesh/apple.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/6072327ff43954b6b7fb76075d1442ff/mesh/apple_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/68bea4eca7a05f40a552c214acc44937.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mesh/strawberry.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mesh/strawberry_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/68bea4eca7a05f40a552c214acc44937.urdf b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/68bea4eca7a05f40a552c214acc44937.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f0e0296c1773be4c357162ad2cf9443345abe9bb
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/68bea4eca7a05f40a552c214acc44937.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="strawberry">
+   <link name="strawberry">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/strawberry.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/strawberry_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0300" />
+         <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>0.097399</scale>
+         <version>v0.1.7</version>
+         <category>strawberry</category>
+         <description>bright red strawberry with green leafy top</description>
+         <min_height>0.05</min_height>
+         <max_height>0.08</max_height>
+         <real_height>0.065</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.04</max_mass>
+         <generate_time>20260120043926</generate_time>
+         <gs_model>mesh/strawberry_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.986149787902832</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/68bea4eca7a05f40a552c214acc44937.usd b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/68bea4eca7a05f40a552c214acc44937.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ec0855c9b48b9e3c4e55410e5aeccebbb8143f19
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/68bea4eca7a05f40a552c214acc44937.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74c2daeeaf1dc13c8bbc48684fe2d5a3d36c71ac278a696b5c0f40fd861295e3
+size 447185
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mesh/material.mtl b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mesh/material_0.png b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c87070abb1f5a08356fee2870a5abb43d286a0fc
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a65c9972f80cedaa403355cbf73d96c8127b2cb395d05196cf581c9488ea8f55
+size 2884835
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mesh/strawberry.glb b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mesh/strawberry.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e319f775b8d01b0a9a3ba8e3121013eeee8fc085
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mesh/strawberry.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76a107935976773c79215236e016ac58c1d4aaecc45678c46fba1e4085dc3b0d
+size 3199788
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mesh/strawberry.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mesh/strawberry.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9f96d8a79493aed3395d1f7769f4f79899c04d7
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mesh/strawberry.obj
@@ -0,0 +1,28909 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mesh/strawberry_collision.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mesh/strawberry_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c9a4089e5b989c848f67ae10b39615ddce4495f
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mesh/strawberry_collision.obj
@@ -0,0 +1,20346 @@
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diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/material_0.png b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c87070abb1f5a08356fee2870a5abb43d286a0fc
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a65c9972f80cedaa403355cbf73d96c8127b2cb395d05196cf581c9488ea8f55
+size 2884835
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry.obj
new file mode 100644
index 0000000000000000000000000000000000000000..863a8eb56b4f75017077516fe483a82709ec4de2
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry.obj
@@ -0,0 +1,28909 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4e8445e39711cb2f5252259d57f917adf971fe4
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision.obj
@@ -0,0 +1,20346 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_0.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b1f6f7bcf3e32883fb91f40392e4b10b38147a0
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_0.obj
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diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_1.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc5439063ea76c4d74285d996879bb52181d5011
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_1.obj
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diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_10.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faa13f2d3560ca41db1664542ccbe95da537c485
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_10.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.02681948 0.00676340 0.01027670
+v 0.02681948 0.00676338 0.01571848
+v 0.02961428 0.00676340 0.01027670
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+v 0.03000109 -0.00345640 0.01537740
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+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_11.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44363db587dbee99b0e09b1e450d0591cb6d525c
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_11.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.03188405 0.00478300 -0.01318574
+v 0.03000169 0.00478300 -0.01318574
+v 0.03201236 0.00478300 -0.01363125
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+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_12.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..390b2ac67a8ce7a7e2e368a0ef39fb4c62012f59
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_12.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.03490445 -0.01960990 0.02002437
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diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_13.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3429a8ef0f54e54e0bad525b12e04dd9dee0d672
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_13.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_14.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..865ef6bdcc53b33fa5ba039034bdf8d63dd73eca
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_14.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_15.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcd6507b2d9b5961706b4a2de154917fcb4b2f58
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_15.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_16.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8af2893035beb7d4354cf7827cf727af7e41efbb
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_16.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_17.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcddcb087c1eb97533fc912dcba6201d3a78ff12
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_17.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_18.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..debc0cbd2b526a1ccd815ebd3744334f4320b436
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_18.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.02184274 0.00676340 0.01027670
+v 0.02184274 0.00676337 0.02026687
+v 0.02681900 0.00676340 0.01027670
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+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_19.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1f7f2dc86649116025224c2e7c6be70d04e536f
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_19.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.03000109 0.00616173 0.01375386
+v 0.03002384 0.00616173 0.01370754
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+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_2.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41cab486b5f3e65ecb983f0769bc1222b971f881
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_2.obj
@@ -0,0 +1,1741 @@
+# https://github.com/mikedh/trimesh
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+v -0.01860472 -0.00172114 -0.02668485
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diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_20.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bc86eeca0f69c3dcafa9ea9ea8f57e674c30724
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_20.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.03000109 0.01419734 -0.00896585
+v 0.03000109 0.01419731 0.00073140
+v 0.03054960 0.01419734 -0.00896585
+v 0.03000109 -0.00270443 -0.00896591
+v 0.03000109 0.01302088 0.00141787
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+v 0.03165764 0.01419732 -0.00237775
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+v 0.03321968 0.00639089 0.00042664
+v 0.03321968 0.00490175 0.00029759
+v 0.03321968 0.00623536 0.00042664
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+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_21.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b71f5d9bf90414fcd60883e380b893d775abbb8c
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_21.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.03099347 -0.00320016 0.01203109
+v 0.03128351 -0.00172359 0.01203109
+v 0.03000109 -0.00320016 0.01203109
+v 0.03349942 -0.00320015 0.00708901
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+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_22.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4058fd0d17478866ea94ef6380e1dd294e7553bc
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_22.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.02184274 0.01232541 0.01843398
+v 0.02184274 0.01128760 0.01879783
+v 0.02213408 0.01128651 0.01843397
+v 0.02184274 0.00676337 0.01843395
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+v 0.02241496 0.00985884 0.01843397
+v 0.02268215 0.00676337 0.01901699
+v 0.02264720 0.00864788 0.01843396
+f 1 2 3
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+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_23.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c65e3615c6b6aef0c13b6c71045d8e4c816f169a
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_23.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
+v 0.03309988 0.00616072 0.00520218
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+f 82 116 110
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+f 86 117 97
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+f 88 110 89
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+f 89 110 116
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+f 92 119 120
+f 92 120 93
+f 93 120 121
+f 93 121 122
+f 93 122 95
+f 93 95 94
+f 95 122 96
+f 96 122 117
+f 97 123 124
+f 97 124 99
+f 97 99 98
+f 97 117 123
+f 99 124 104
+f 99 104 100
+f 100 104 101
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+f 103 105 125
+f 103 125 115
+f 103 115 114
+f 103 114 108
+f 104 124 126
+f 104 126 105
+f 105 126 127
+f 105 127 125
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+f 112 115 113
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+f 115 125 116
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+f 123 129 124
+f 124 129 126
+f 126 129 128
+f 126 128 127
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_24.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f19dab1b3d5f75f74c70d549221b66b884bb262
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_24.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.02836672 0.00676339 0.01438247
+v 0.02184274 0.00676339 0.01438247
+v 0.02836672 0.00676340 0.01027710
+v 0.02836672 0.00760792 0.01438248
+v 0.02184274 0.00676340 0.01027710
+v 0.02184274 0.01940046 0.01438252
+v 0.02836672 0.00881220 0.01027711
+v 0.02817128 0.00953167 0.01027712
+v 0.02746045 0.00998976 0.01438249
+v 0.02184274 0.02111764 0.01027716
+v 0.02622080 0.01242639 0.01438250
+v 0.02317628 0.01939063 0.01027715
+v 0.02264363 0.02009605 0.01027715
+v 0.02195770 0.02097431 0.01027716
+v 0.02616651 0.01437262 0.01027713
+v 0.02690800 0.01124883 0.01438249
+v 0.02589891 0.01493049 0.01027713
+v 0.02608540 0.01454406 0.01027713
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 14
+f 3 14 13
+f 3 13 12
+f 3 12 17
+f 3 17 18
+f 3 18 15
+f 3 15 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 10
+f 8 15 9
+f 9 15 16
+f 11 16 17
+f 11 17 12
+f 15 18 16
+f 16 18 17
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_25.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaa8c310ebe7b8674938c638ab4e3044f1d9f6c8
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_25.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.03100132 -0.00320013 0.00211295
+v 0.03100132 -0.00320014 0.00616281
+v 0.03217506 -0.00320013 0.00211295
+v 0.03100132 -0.00679025 0.00211294
+v 0.03288018 -0.00320015 0.00690031
+v 0.03100132 -0.00739969 0.01137028
+v 0.03124354 -0.00660112 0.00211294
+v 0.03288018 -0.00320014 0.00496665
+v 0.03288018 -0.00331184 0.00483090
+v 0.03288018 -0.00491999 0.00439976
+v 0.03288018 -0.00497861 0.00439700
+v 0.03288018 -0.00655578 0.00442636
+v 0.03288018 -0.00660555 0.00443094
+v 0.03288018 -0.00774364 0.00466760
+v 0.03288018 -0.00808430 0.00474832
+v 0.03288018 -0.00837407 0.00484647
+v 0.03100132 -0.00813848 0.00240646
+v 0.03114827 -0.00760762 0.01148310
+v 0.03162792 -0.00829888 0.01148310
+v 0.03233782 -0.00985836 0.01148309
+v 0.03288018 -0.00323996 0.00692325
+v 0.03100132 -0.00759767 0.01148310
+v 0.03288018 -0.00869371 0.00496755
+v 0.03288018 -0.00947013 0.00527301
+v 0.03100132 -0.00830770 0.00249085
+v 0.03288018 -0.01023108 0.00877891
+v 0.03288018 -0.00985835 0.00885963
+v 0.03288018 -0.00832874 0.00849914
+v 0.03288018 -0.00500737 0.00760479
+v 0.03211676 -0.01148420 0.01148309
+v 0.03288018 -0.01147203 0.00846794
+v 0.03100132 -0.01449920 0.01148308
+v 0.03288018 -0.00996563 0.00554819
+v 0.03288018 -0.01094666 0.00609949
+v 0.03288018 -0.01097099 0.00611967
+v 0.03100132 -0.01130390 0.00563166
+v 0.03163766 -0.01301382 0.01148308
+v 0.03108151 -0.01439966 0.01148308
+v 0.03288018 -0.01149304 0.00803498
+v 0.03288018 -0.01133930 0.00677186
+v 0.03288018 -0.01151184 0.00721950
+f 1 2 5
+f 1 5 8
+f 1 8 3
+f 1 3 7
+f 1 7 4
+f 1 4 17
+f 1 17 25
+f 1 25 36
+f 1 36 32
+f 1 32 22
+f 1 22 6
+f 1 6 2
+f 2 6 5
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 7
+f 4 7 17
+f 5 6 18
+f 5 18 19
+f 5 19 20
+f 5 20 21
+f 5 21 29
+f 5 29 28
+f 5 28 27
+f 5 27 26
+f 5 26 31
+f 5 31 39
+f 5 39 41
+f 5 41 40
+f 5 40 35
+f 5 35 34
+f 5 34 33
+f 5 33 24
+f 5 24 23
+f 5 23 16
+f 5 16 15
+f 5 15 14
+f 5 14 13
+f 5 13 12
+f 5 12 11
+f 5 11 10
+f 5 10 9
+f 5 9 8
+f 6 22 18
+f 7 16 23
+f 7 23 17
+f 17 23 24
+f 17 24 25
+f 18 22 32
+f 18 32 38
+f 18 38 37
+f 18 37 30
+f 18 30 20
+f 18 20 19
+f 20 26 27
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 20 30 31
+f 20 31 26
+f 24 33 25
+f 25 33 34
+f 25 34 35
+f 25 35 36
+f 30 37 31
+f 31 37 38
+f 31 38 39
+f 32 36 40
+f 32 40 41
+f 32 41 38
+f 35 40 36
+f 38 41 39
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_26.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b778ee1e57334ca5288eb0861cef666a99ad6c3
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_26.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.03000109 0.01206733 -0.01318530
+v 0.03000109 0.01293944 -0.01078002
+v 0.03005545 0.01293944 -0.01045123
+v 0.03028771 0.01293943 -0.00896626
+v 0.03233390 0.00319081 -0.01318533
+v 0.03000109 -0.01757284 -0.01318540
+v 0.03000109 0.01293943 -0.00896626
+v 0.03234159 0.00315497 -0.01318533
+v 0.03188255 -0.00823041 -0.00896634
+v 0.03058395 -0.01684707 -0.01318540
+v 0.03000109 -0.01651854 -0.01201313
+v 0.03000109 -0.01357962 -0.00896636
+v 0.03280392 -0.01072430 -0.01318538
+v 0.03176669 -0.00975065 -0.00896635
+v 0.03280584 -0.01148293 -0.01318538
+v 0.03000109 -0.01647673 -0.01196852
+v 0.03060838 -0.01681123 -0.01318540
+v 0.03097517 -0.01576886 -0.01265751
+v 0.03000109 -0.01476534 -0.01018366
+v 0.03000109 -0.01637518 -0.01186153
+v 0.03096090 -0.01414410 -0.01106679
+v 0.03028744 -0.01306292 -0.00896636
+v 0.03174637 -0.00995076 -0.00896635
+v 0.03263151 -0.01225350 -0.01318539
+v 0.03111409 -0.01604962 -0.01318540
+v 0.03124423 -0.01579575 -0.01318540
+v 0.03122309 -0.01470560 -0.01210440
+v 0.03177081 -0.01471754 -0.01318539
+v 0.03091752 -0.01246558 -0.00952400
+v 0.03030830 -0.01302111 -0.00896636
+v 0.03201735 -0.01410228 -0.01318539
+v 0.03228311 -0.01341832 -0.01318539
+v 0.03255189 -0.01258503 -0.01318539
+f 1 2 3
+f 1 3 4
+f 1 4 5
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+f 1 8 13
+f 1 13 15
+f 1 15 24
+f 1 24 33
+f 1 33 32
+f 1 32 31
+f 1 31 28
+f 1 28 26
+f 1 26 25
+f 1 25 17
+f 1 17 10
+f 1 10 6
+f 1 6 11
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+f 1 16 20
+f 1 20 19
+f 1 19 12
+f 1 12 7
+f 1 7 2
+f 2 7 4
+f 2 4 3
+f 4 8 5
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+f 4 12 22
+f 4 22 30
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+f 4 23 14
+f 4 14 9
+f 4 9 8
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+f 8 9 13
+f 9 14 15
+f 9 15 13
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+f 10 19 20
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+f 18 25 21
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+f 21 23 29
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+f 22 29 30
+f 23 30 29
+f 23 28 31
+f 23 31 32
+f 23 32 33
+f 23 33 24
+f 26 28 27
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_27.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2da15d27299afab6f9f79a0f2835d30facc0c3ab
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_27.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.03406965 0.00616054 0.00910890
+v 0.03204045 0.00616054 0.00753722
+v 0.03406965 0.00616055 0.00608166
+v 0.03406965 0.00641100 0.00917317
+v 0.03406310 0.01222171 0.01563469
+v 0.03393756 0.01176774 0.01563469
+v 0.03352620 0.01148910 0.01563469
+v 0.03273307 0.01026811 0.01473497
+v 0.03221107 0.01026811 0.01473497
+v 0.03204045 0.00616055 0.00413566
+v 0.03204045 0.01020862 0.01435163
+v 0.03406965 0.00641101 0.00603205
+v 0.03406965 0.00975049 0.00973805
+v 0.03406310 0.01267463 0.01563470
+v 0.03406965 0.01040796 0.00978428
+v 0.03406965 0.01129084 0.00984403
+v 0.03334962 0.01145362 0.01563469
+v 0.03227861 0.01141605 0.01563469
+v 0.03205097 0.01147449 0.01563469
+v 0.03204045 0.01042986 0.01460870
+v 0.03204045 0.00641101 0.00411649
+v 0.03406965 0.00803693 0.00598809
+v 0.03389406 0.01330392 0.01563470
+v 0.03406965 0.01227704 0.00974031
+v 0.03406965 0.01260161 0.00874251
+v 0.03204045 0.01175626 0.01563469
+v 0.03204045 0.01149015 0.01563018
+v 0.03204045 0.01145780 0.01559974
+v 0.03204045 0.00774159 0.00437807
+v 0.03406965 0.00944892 0.00618202
+v 0.03380150 0.01354499 0.01563470
+v 0.03406965 0.01242106 0.00745833
+v 0.03276644 0.01584194 0.01563471
+v 0.03313629 0.01514899 0.01563471
+v 0.03338140 0.01461676 0.01563470
+v 0.03204045 0.01682187 0.01563471
+v 0.03204045 0.00830409 0.00450886
+v 0.03406965 0.01031093 0.00639286
+v 0.03406965 0.01131278 0.00671983
+v 0.03266415 0.01219879 0.00628012
+v 0.03224087 0.01660689 0.01563471
+v 0.03268242 0.01596613 0.01563471
+v 0.03204045 0.01219774 0.00628012
+v 0.03204045 0.00936752 0.00482342
+v 0.03404641 0.01044346 0.00640977
+v 0.03406965 0.01042363 0.00642218
+v 0.03380945 0.01129086 0.00653267
+v 0.03300301 0.01129086 0.00605575
+v 0.03204045 0.00966390 0.00492603
+v 0.03204045 0.01133678 0.00577952
+f 1 2 10
+f 1 10 3
+f 1 3 12
+f 1 12 22
+f 1 22 30
+f 1 30 38
+f 1 38 46
+f 1 46 39
+f 1 39 32
+f 1 32 25
+f 1 25 24
+f 1 24 16
+f 1 16 15
+f 1 15 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 11
+f 2 11 20
+f 2 20 28
+f 2 28 27
+f 2 27 26
+f 2 26 36
+f 2 36 43
+f 2 43 50
+f 2 50 49
+f 2 49 44
+f 2 44 37
+f 2 37 29
+f 2 29 21
+f 2 21 10
+f 3 10 12
+f 4 13 5
+f 5 14 23
+f 5 23 31
+f 5 31 35
+f 5 35 34
+f 5 34 33
+f 5 33 42
+f 5 42 41
+f 5 41 36
+f 5 36 26
+f 5 26 19
+f 5 19 18
+f 5 18 17
+f 5 17 7
+f 5 7 6
+f 5 13 15
+f 5 15 16
+f 5 16 14
+f 7 17 8
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 11
+f 10 21 12
+f 12 21 22
+f 14 16 24
+f 14 24 25
+f 14 25 23
+f 19 26 27
+f 19 27 28
+f 19 28 20
+f 21 29 30
+f 21 30 22
+f 23 25 31
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 25 35 31
+f 29 37 30
+f 30 37 38
+f 32 39 40
+f 32 40 36
+f 32 36 41
+f 32 41 42
+f 32 42 33
+f 36 40 43
+f 37 44 45
+f 37 45 38
+f 38 45 46
+f 39 46 45
+f 39 45 47
+f 39 47 40
+f 40 47 48
+f 40 48 49
+f 40 49 50
+f 40 50 43
+f 44 49 48
+f 44 48 47
+f 44 47 45
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_28.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8987aa41f725901de5764d10e7a6e5559391fd9
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_28.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.03286013 -0.00235712 -0.00425585
+v 0.03286013 -0.00235712 -0.00046098
+v 0.03286013 0.00108890 -0.00425585
+v 0.03286013 0.00108890 -0.00046098
+v 0.03386013 -0.00235712 -0.00425585
+v 0.03386013 -0.00235712 -0.00046098
+v 0.03386013 0.00108890 -0.00425585
+v 0.03386013 0.00108890 -0.00046098
+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/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_29.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7baeb2ab00d7ff18e307eb9c6bd97f620271545
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_29.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.02728200 0.01558869 0.00197162
+v 0.02795692 0.01558869 0.00272041
+v 0.02728200 0.01558867 0.00714191
+v 0.02728200 0.02267879 0.00349297
+v 0.02851543 0.02266633 0.00431695
+v 0.02927927 0.02211492 0.00473409
+v 0.02932500 0.02105300 0.00467077
+v 0.02926148 0.01846136 0.00471825
+v 0.02828352 0.01558869 0.00341380
+v 0.02931160 0.01942545 0.00465889
+v 0.02841426 0.03243877 0.01005718
+v 0.02728200 0.03247613 0.00989967
+v 0.02818143 0.01558868 0.00563325
+v 0.02934787 0.02151726 0.00650950
+v 0.02944165 0.03117586 0.00977460
+v 0.02728200 0.02432947 0.00392911
+v 0.02810752 0.02430634 0.00444598
+v 0.02912082 0.02319996 0.00489003
+v 0.02935018 0.02717369 0.00626968
+v 0.02949685 0.02593212 0.00608526
+v 0.02959709 0.02430634 0.00585412
+v 0.02926148 0.01846136 0.00487735
+v 0.02838261 0.01558869 0.00399003
+v 0.02951371 0.02267878 0.00669155
+v 0.02946682 0.03243877 0.00983714
+v 0.02841426 0.03361986 0.00992025
+v 0.02728200 0.03365899 0.00990204
+v 0.02956730 0.02755789 0.00831263
+v 0.02964167 0.02918545 0.00858255
+v 0.02728200 0.02640883 0.00452990
+v 0.02759475 0.02672188 0.00480139
+v 0.02783612 0.02563685 0.00463358
+v 0.02891363 0.02430634 0.00505071
+v 0.02917926 0.02825873 0.00644382
+v 0.02945366 0.03081123 0.00775144
+v 0.02964167 0.02918545 0.00742216
+v 0.02959709 0.02430633 0.00690844
+v 0.02945273 0.03233917 0.00885406
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+v 0.02728200 0.02914810 0.00553594
+v 0.02728200 0.03057822 0.00614938
+v 0.02728200 0.03134308 0.00649925
+f 1 2 9
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+f 1 23 13
+f 1 13 3
+f 1 3 12
+f 1 12 27
+f 1 27 42
+f 1 42 51
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+f 1 56 57
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+f 1 60 59
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+f 54 60 57
+f 54 57 55
+f 54 58 59
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_3.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85d8799fefa843c8708123c047862eaea393d112
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_3.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.04884325 -0.01799054 -0.00450912
+v 0.04884325 -0.01799054 -0.00522411
+v 0.04867195 -0.01697063 -0.00472153
+v 0.04730311 -0.01473759 -0.00450441
+v 0.04763653 -0.01811567 -0.00369630
+v 0.04700946 -0.01874123 -0.00322590
+v 0.04882642 -0.01961860 -0.00444546
+v 0.04882642 -0.01961860 -0.00514302
+v 0.04776959 -0.01799054 -0.00562147
+v 0.04615757 -0.01473759 -0.00587340
+v 0.04782006 -0.01640366 -0.00542780
+v 0.04730311 -0.01473759 -0.00530718
+v 0.04867195 -0.01697063 -0.00502575
+v 0.04706146 -0.01378261 -0.00470745
+v 0.04212294 -0.00906789 -0.00324328
+v 0.03322013 -0.00467784 0.00039933
+v 0.04700946 -0.01885526 -0.00322590
+v 0.03325377 -0.01148624 0.00090054
+v 0.04864901 -0.02049915 -0.00463712
+v 0.04864901 -0.02049915 -0.00491788
+v 0.04782006 -0.01964711 -0.00518725
+v 0.04615757 -0.01636407 -0.00579970
+v 0.04454402 -0.01310953 -0.00594175
+v 0.04460061 -0.01144663 -0.00549546
+v 0.04614380 -0.01318713 -0.00542913
+v 0.04706146 -0.01378261 -0.00502909
+v 0.04559780 -0.01196292 -0.00454259
+v 0.04065927 -0.00727988 -0.00313272
+v 0.03737100 -0.00572942 -0.00158480
+v 0.03322013 -0.01148624 0.00090255
+v 0.03322013 -0.00431992 -0.00056024
+v 0.03324613 -0.01316023 0.00050249
+v 0.03322013 -0.01321407 0.00048373
+v 0.04680452 -0.01885526 -0.00322590
+v 0.04839053 -0.02049915 -0.00463712
+v 0.04839053 -0.02049915 -0.00491788
+v 0.04663475 -0.01912448 -0.00501906
+v 0.04612086 -0.01802380 -0.00525694
+v 0.04447061 -0.01643692 -0.00522275
+v 0.04329142 -0.01594121 -0.00499291
+v 0.04282494 -0.01483895 -0.00518924
+v 0.04454402 -0.01473759 -0.00574474
+v 0.04293200 -0.01310953 -0.00562547
+v 0.04293200 -0.01148780 -0.00578628
+v 0.04297483 -0.00981065 -0.00539964
+v 0.04246553 -0.00873055 -0.00512824
+v 0.04410202 -0.01032060 -0.00519258
+v 0.04559780 -0.01196292 -0.00520665
+v 0.04410202 -0.01032060 -0.00444610
+v 0.04071739 -0.00726404 -0.00404404
+v 0.03774418 -0.00563915 -0.00243850
+v 0.04246553 -0.00873055 -0.00431408
+v 0.03322013 -0.01315706 0.00050048
+v 0.03322013 -0.00433259 -0.00089930
+v 0.03776406 -0.00564231 -0.00271457
+v 0.03781300 -0.00565023 -0.00338868
+v 0.03322013 -0.01318715 0.00049311
+v 0.03322013 -0.01330910 0.00038992
+v 0.03322013 -0.01301769 -0.00108562
+v 0.04221623 -0.01545026 -0.00475168
+v 0.04173752 -0.01436542 -0.00497615
+v 0.04124810 -0.01313803 -0.00510883
+v 0.04131845 -0.01148780 -0.00539093
+v 0.04131845 -0.00985974 -0.00550283
+v 0.04123281 -0.00820634 -0.00515773
+v 0.04063939 -0.00735113 -0.00490912
+v 0.03322013 -0.00522580 -0.00192722
+v 0.03776406 -0.00565023 -0.00338868
+v 0.03675311 -0.00565023 -0.00338801
+v 0.04066386 -0.01369867 -0.00477178
+v 0.03322013 -0.01164777 -0.00157410
+v 0.04035950 -0.01261541 -0.00491718
+v 0.04016680 -0.01148780 -0.00499289
+v 0.03995421 -0.00985974 -0.00507196
+v 0.03901513 -0.00823168 -0.00480124
+v 0.03982268 -0.00823168 -0.00502438
+v 0.04003068 -0.00735113 -0.00490912
+v 0.03567792 -0.00581811 -0.00323858
+v 0.03322013 -0.00656245 -0.00225824
+v 0.03322013 -0.01158759 -0.00159018
+v 0.03322013 -0.00988192 -0.00199023
+v 0.03322013 -0.00820002 -0.00228238
+v 0.03562592 -0.00914074 -0.00326205
+v 0.03914667 -0.00985974 -0.00472687
+v 0.03322013 -0.00660521 -0.00226427
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+f 16 54 67
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+f 16 58 33
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+f 17 18 32
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+f 54 68 69
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+f 60 70 61
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+f 64 77 65
+f 65 77 66
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+f 70 71 72
+f 71 80 72
+f 72 80 81
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+f 72 83 73
+f 73 83 84
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+f 75 84 83
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+f 75 82 85
+f 75 85 78
+f 75 78 77
+f 75 77 76
+f 78 85 79
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_30.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8617dbe0c7e45d9d43a2fd94846543ff758a0969
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_30.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.03000108 0.01494270 0.00004979
+v 0.02728227 0.01482723 0.00004979
+v 0.02728227 0.01558691 0.00197186
+v 0.02795718 0.01558691 0.00272066
+v 0.02828373 0.01558691 0.00341340
+v 0.02838273 0.01558691 0.00399001
+v 0.03000108 0.01498824 0.01027674
+v 0.03000108 -0.01209021 0.00004970
+v 0.02728227 -0.01492842 0.00004969
+v 0.02728227 0.01558689 0.00714138
+v 0.02818153 0.01558690 0.00563177
+v 0.02875053 0.01471779 0.01027673
+v 0.03000108 -0.01463977 0.01027663
+v 0.03000108 -0.01545717 0.00227706
+v 0.02954120 -0.01545717 0.00187764
+v 0.02780895 -0.01545716 0.00062430
+v 0.02728227 -0.01545716 0.00027292
+v 0.02728227 0.01438354 0.00869604
+v 0.02728227 0.01038451 0.01027672
+v 0.02998219 -0.01466105 0.01027663
+v 0.03000108 -0.01545718 0.00408700
+v 0.02728227 -0.01545717 0.00396987
+v 0.02728227 -0.00821277 0.01027665
+v 0.02885432 -0.01469751 0.01027663
+v 0.02882877 -0.01461243 0.01027663
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 13
+f 1 13 21
+f 1 21 14
+f 1 14 8
+f 1 8 9
+f 1 9 2
+f 2 9 17
+f 2 17 22
+f 2 22 23
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+f 2 10 3
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+f 3 6 5
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+f 20 24 21
+f 21 24 22
+f 22 24 25
+f 22 25 23
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_31.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bfee3de3371b1bfd8569055c97f6979134e5264
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_31.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.03000108 0.01126955 0.01195776
+v 0.02887286 0.01126955 0.01027672
+v 0.03000108 0.01126955 0.01027672
+v 0.03000108 0.01531274 0.01607176
+v 0.02945918 0.01569967 0.01567603
+v 0.02882501 0.01140819 0.01027672
+v 0.02909296 0.01678371 0.01623480
+v 0.02884987 0.01621350 0.01517900
+v 0.03000108 0.01499162 0.01027674
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+v 0.02875674 0.01179668 0.01027672
+v 0.02854206 0.01617043 0.01363092
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+v 0.02919180 0.01854213 0.01769741
+v 0.02899384 0.01791866 0.01679990
+v 0.03000108 0.01505820 0.01030919
+v 0.02875088 0.01472140 0.01027673
+v 0.02892242 0.01564017 0.01070175
+v 0.02860062 0.01280318 0.01027673
+v 0.02878402 0.01786853 0.01519721
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+v 0.02874660 0.01469712 0.01027673
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+v 0.03000108 0.01834946 0.01533334
+v 0.02965686 0.01882882 0.01570532
+v 0.02927264 0.01701244 0.01277456
+v 0.03000108 0.01895101 0.01645641
+f 1 2 3
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+f 1 28 33
+f 1 33 36
+f 1 36 32
+f 1 32 25
+f 1 25 24
+f 1 24 13
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+f 21 27 29
+f 21 29 22
+f 25 32 26
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+f 27 32 29
+f 28 31 33
+f 29 32 34
+f 29 34 35
+f 29 35 30
+f 31 35 34
+f 31 34 33
+f 32 36 34
+f 33 34 36
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_32.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd67e786dcd0ebb2b1f7b2bca90e0f192ecc1429
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_32.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.02403284 -0.00688614 0.01363123
+v 0.02403284 -0.00688707 0.01626846
+v 0.02471903 -0.00688615 0.01621617
+v 0.02653668 -0.00688614 0.01363123
+v 0.02403284 -0.01320189 0.01363121
+v 0.02542496 -0.00980954 0.01963317
+v 0.02565479 -0.00930836 0.01963318
+v 0.02589818 -0.00881638 0.01963318
+v 0.02591545 -0.00878328 0.01963318
+v 0.02629329 -0.00806140 0.01963318
+v 0.02711392 -0.00713629 0.01963318
+v 0.02550143 -0.00688615 0.01701416
+v 0.02534561 -0.00688615 0.01687313
+v 0.02403284 -0.01284787 0.01963316
+v 0.02668798 -0.00688615 0.01569554
+v 0.02793455 -0.00704157 0.01845030
+v 0.02778572 -0.00716938 0.01717693
+v 0.02683764 -0.00822782 0.01363123
+v 0.02480990 -0.01271635 0.01363121
+v 0.02458788 -0.01585309 0.01872645
+v 0.02403284 -0.01583838 0.01873468
+v 0.02741981 -0.00712709 0.01963318
+v 0.02791194 -0.00712709 0.01963318
+v 0.02631261 -0.00688615 0.01668391
+v 0.02403284 -0.01628070 0.01963315
+v 0.02823263 -0.00823244 0.01963318
+v 0.02812697 -0.00823244 0.01845030
+v 0.02779353 -0.00823243 0.01710582
+v 0.02659588 -0.00985826 0.01363122
+v 0.02561614 -0.01177469 0.01363122
+v 0.02469683 -0.01618966 0.01963315
+v 0.02798636 -0.00985184 0.01963317
+v 0.02767718 -0.00927525 0.01739552
+v 0.02750985 -0.01035946 0.01810418
+v 0.02617447 -0.01096177 0.01363122
+v 0.02585584 -0.01373436 0.01804835
+v 0.02603633 -0.01398816 0.01911899
+v 0.02610293 -0.01410219 0.01963316
+v 0.02785644 -0.01027117 0.01963317
+v 0.02762414 -0.01071626 0.01917541
+v 0.02777133 -0.00983345 0.01856429
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+v 0.02674595 -0.01148595 0.01684374
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+v 0.02663124 -0.01312467 0.01963316
+v 0.02766567 -0.01082017 0.01963317
+v 0.02734046 -0.01162021 0.01963317
+f 1 2 3
+f 1 3 13
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diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_33.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d12a17f19421a3852d6136314403b317efef336
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_33.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.02499688 0.00153052 -0.01876690
+v 0.02499688 0.00315745 -0.01862109
+v 0.02728200 0.01241178 -0.01456111
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+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_34.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe326b6611b385532270eb033f9e61f69e3cf1c4
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_34.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.02184274 -0.02445978 -0.00404564
+v 0.02184274 -0.02434474 -0.00249468
+v 0.02184274 -0.02445799 -0.00415180
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+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_35.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cec889020fd4df438210195c9a688feabb32a392
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_35.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v 0.02518854 -0.01785882 0.02809063
+v 0.02623037 -0.01749636 0.02969718
+v 0.02612826 -0.01732932 0.03061781
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+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_36.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5734586c64b2436c12add32c04babfbdbf70876
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_36.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.02531946 -0.01937056 -0.00081962
+v 0.02554175 -0.01937056 -0.00081962
+v 0.02531946 -0.02031325 -0.00081962
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+v 0.02531946 -0.02876357 0.00146424
+v 0.02680093 -0.03193385 0.00456004
+v 0.02728200 -0.03217579 0.00614668
+v 0.02728200 -0.03210058 0.00559508
+v 0.02728200 -0.02775319 0.00203755
+v 0.02728200 -0.02798134 0.00213904
+v 0.02728200 -0.02724925 0.00183147
+v 0.02531946 -0.02788982 0.00105984
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+v 0.02677902 -0.02934146 0.00240011
+v 0.02641937 -0.03058626 0.00286804
+v 0.02728200 -0.03190628 0.00464913
+v 0.02728200 -0.03198650 0.00492881
+v 0.02728200 -0.02981531 0.00302222
+v 0.02728200 -0.03012870 0.00320195
+v 0.02728200 -0.03147505 0.00420366
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+f 21 31 30
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+f 35 44 45
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+f 35 46 44
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+f 39 40 50
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+f 41 52 43
+f 41 50 51
+f 48 53 49
+f 49 53 54
+f 49 54 50
+f 50 54 55
+f 50 55 51
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_37.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cdc8d0ad5ed14466f2fe47dc72970ec8ec18f27
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_37.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.03000108 -0.00979949 0.00004970
+v 0.03000108 0.00504698 0.00004976
+v 0.02728227 -0.00979949 0.00004970
+v 0.03000108 -0.00979944 -0.01261248
+v 0.02728227 0.00504698 0.00004976
+v 0.03000108 0.00504703 -0.01432969
+v 0.02728227 -0.00979945 -0.00982931
+v 0.02728227 -0.00481768 -0.01192064
+v 0.02728227 -0.00003065 -0.01350213
+v 0.03000108 -0.00334989 -0.01470524
+v 0.02728227 0.00504702 -0.01147720
+v 0.02728227 0.00152870 -0.01382420
+v 0.02728227 0.00268403 -0.01343713
+v 0.02728227 0.00285116 -0.01338080
+v 0.02728227 0.00474474 -0.01204337
+v 0.02728333 0.00504702 -0.01148298
+v 0.02728227 0.00152288 -0.01382420
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 16
+f 2 16 11
+f 2 11 5
+f 3 5 11
+f 3 11 15
+f 3 15 14
+f 3 14 13
+f 3 13 12
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+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 9 17 10
+f 10 17 12
+f 11 16 15
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_38.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e231b50b9098d8eea884febecf064ac894d8d013
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_38.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.02199043 0.02600279 0.00255206
+v 0.02401455 0.02653304 0.00327917
+v 0.02437663 0.02600279 0.00317170
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+v 0.02184274 0.02642230 0.00408043
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+v 0.02266321 0.03018980 0.00559687
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+v 0.02437051 0.03326277 0.00798496
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+v 0.02518791 0.03186343 0.00620395
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+v 0.02505554 0.03066652 0.00537754
+v 0.02531893 0.03069292 0.00548249
+v 0.02531893 0.03005559 0.00513057
+v 0.02531893 0.02898408 0.00462718
+v 0.02531893 0.02600279 0.00347650
+v 0.02531893 0.02755981 0.00406786
+v 0.02184308 0.02600278 0.00431170
+v 0.02184274 0.02600718 0.00430918
+v 0.02275441 0.03009886 0.00641196
+v 0.02430789 0.03243915 0.00807231
+v 0.02531893 0.03253669 0.00897224
+v 0.02531893 0.03348132 0.00874726
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+v 0.02518791 0.03267677 0.00705863
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+v 0.02242024 0.02600278 0.00497973
+v 0.02531893 0.03338671 0.00785990
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+f 34 36 35
+f 36 46 37
+f 37 46 38
+f 38 46 39
+f 41 45 44
+f 41 44 43
+f 41 43 42
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_39.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..009592ed1cf3176f1041892a0d89b8c0e22c2329
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_39.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.02513445 -0.02246869 -0.01364598
+v 0.02643641 -0.02245349 -0.01368531
+v 0.02525615 -0.02241992 -0.01205767
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+v 0.02680082 -0.02229447 -0.01635670
+v 0.02728200 -0.02227103 -0.01635443
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+v 0.02654222 -0.01938619 -0.00887045
+v 0.02583912 -0.02188716 -0.01150781
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+v 0.02728200 -0.01599770 -0.00887044
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+f 22 34 30
+f 22 30 29
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+f 22 37 31
+f 23 30 36
+f 23 36 24
+f 30 34 36
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_4.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aa2eb1c99313156d6fd55ac13c92641931c2aaf
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_4.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v 0.03322131 -0.00822998 -0.00873992
+v 0.03322131 -0.00931209 -0.00843938
+v 0.03322131 0.00108891 -0.00713250
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+v 0.03552551 -0.00215863 -0.00982134
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+v 0.03889273 -0.01067549 -0.01283757
+v 0.03436747 0.00108891 -0.00793888
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diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_40.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63f30c5bb995e71147ad7059ab72059d2c6aaf9b
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_40.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_41.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..208b1d53a402bad3ae8292c54c6ba2b604631adb
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_41.obj
@@ -0,0 +1,163 @@
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+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_42.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b19348ba6039a2b57a74fb367fabcc133361168
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_42.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.03647863 -0.02960275 -0.01149541
+v 0.03748341 -0.02986502 -0.01148172
+v 0.03647863 -0.03042898 -0.01149541
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+v 0.03647863 -0.02884627 -0.00769480
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+v 0.03647863 -0.02732268 -0.00611111
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+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_43.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e19b1e059fc2bd096ee38defed37de31b19e07b
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_43.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.03364463 0.02755742 -0.01316994
+v 0.03390824 0.02852961 -0.01303385
+v 0.03489306 0.02772072 -0.01311278
+v 0.03437298 0.02628762 -0.01311414
+v 0.03284070 0.02430355 -0.01305019
+v 0.03207427 0.02430355 -0.01305019
+v 0.03225814 0.02548941 -0.01303931
+v 0.03390824 0.02852961 -0.01246772
+v 0.03480618 0.02852044 -0.01199005
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+v 0.03422898 0.02830372 -0.01139671
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+v 0.03000109 0.02028200 -0.01124296
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+v 0.03486569 0.02699423 -0.00936082
+v 0.03480618 0.02788096 -0.01053935
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+v 0.03594155 0.02705833 -0.00928053
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+v 0.03130783 0.01419852 0.00034089
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+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_44.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c748228f652b7f15102e098dc7ecf3fee1a5152d
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_44.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.02728227 -0.00980057 -0.00852232
+v 0.02728227 -0.00980060 0.00004886
+v 0.03000108 -0.00980057 -0.00852232
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+v 0.03000108 -0.00980060 0.00004886
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+v 0.03000108 -0.01209283 0.00004886
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+v 0.03000108 -0.02115420 -0.00567621
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+v 0.02893113 -0.02070293 -0.00676113
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+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_45.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70ce3256754e591c7c7b07550cee4538bb33086d
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_45.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.02818898 0.00789057 0.01843396
+v 0.02796805 0.00873108 0.02115339
+v 0.02715721 0.00789057 0.01843396
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+v 0.02805573 0.01147336 0.01843397
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+v 0.02805573 0.01622587 0.02657061
+v 0.02765259 0.01702317 0.02716436
+v 0.02775850 0.01234331 0.01883262
+v 0.02623135 0.01570448 0.02005867
+v 0.02645683 0.01624796 0.02167491
+v 0.02608501 0.01707193 0.02221807
+v 0.02771238 0.01705811 0.02809171
+v 0.02499346 0.01549573 0.01843399
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+v 0.02633726 0.01442714 0.01843398
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+f 47 66 48
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+f 50 69 70
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+f 61 77 62
+f 62 78 79
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+f 63 84 64
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+f 64 72 65
+f 65 72 71
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+f 70 75 86
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+f 89 93 90
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_46.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0a09e8bab7f29b07001cf89a9219a5f2a8a9585
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_46.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.02531946 0.02100115 0.00178187
+v 0.02720054 0.02267929 0.00343848
+v 0.02728200 0.02267803 0.00349333
+v 0.02728200 0.02218905 0.00338919
+v 0.02728200 0.02105269 0.00315946
+v 0.02728200 0.02100115 0.00314992
+v 0.02531946 0.02100115 0.00226598
+v 0.02531946 0.02441148 0.00289874
+v 0.02583089 0.02491304 0.00324771
+v 0.02615635 0.02382822 0.00309270
+v 0.02673676 0.02434486 0.00358793
+v 0.02728200 0.02432978 0.00392974
+v 0.02728200 0.02100114 0.00594564
+v 0.02532042 0.02100114 0.00578745
+v 0.02531946 0.02100491 0.00578586
+v 0.02531946 0.02584450 0.00341066
+v 0.02615174 0.02853957 0.00472308
+v 0.02650582 0.02755908 0.00452991
+v 0.02728200 0.02755908 0.00491783
+v 0.02728200 0.02743212 0.00487411
+v 0.02728200 0.02641015 0.00452991
+v 0.02728200 0.02153790 0.00615709
+v 0.02728200 0.03247658 0.00989959
+v 0.02693042 0.03248789 0.00985030
+v 0.02586240 0.03306361 0.00971517
+v 0.02531946 0.03253567 0.00897192
+v 0.02531946 0.02755909 0.00406807
+v 0.02531946 0.02898330 0.00462690
+v 0.02550544 0.02962439 0.00495600
+v 0.02673387 0.02912409 0.00522865
+v 0.02728200 0.02764079 0.00494884
+v 0.02728200 0.03365944 0.00990277
+v 0.02680093 0.03367579 0.00989482
+v 0.02586240 0.03346209 0.00971517
+v 0.02531946 0.03348095 0.00874696
+v 0.02531946 0.02941698 0.00480735
+v 0.02531946 0.03005555 0.00513088
+v 0.02725261 0.03139806 0.00651245
+v 0.02728200 0.03057848 0.00614917
+v 0.02728200 0.02914797 0.00553549
+v 0.02728200 0.03134275 0.00649894
+v 0.02728200 0.03375750 0.00882407
+v 0.02680093 0.03384172 0.00880976
+v 0.02531946 0.03349478 0.00866429
+v 0.02531946 0.03069287 0.00548223
+v 0.02728200 0.03138298 0.00652279
+v 0.02617749 0.03170604 0.00634314
+v 0.02674944 0.03232448 0.00697827
+v 0.02728200 0.03336028 0.00790355
+v 0.02728200 0.03355889 0.00835904
+v 0.02680093 0.03341810 0.00784155
+v 0.02531946 0.03338668 0.00785983
+v 0.02531946 0.03184179 0.00622231
+v 0.02531946 0.03264754 0.00705141
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 14
+f 1 14 7
+f 1 7 15
+f 1 15 26
+f 1 26 35
+f 1 35 44
+f 1 44 52
+f 1 52 54
+f 1 54 53
+f 1 53 45
+f 1 45 37
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+f 1 36 28
+f 1 28 27
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+f 1 12 2
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+f 34 44 35
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+f 43 50 49
+f 43 49 51
+f 43 51 52
+f 43 52 44
+f 45 53 47
+f 47 53 49
+f 47 49 48
+f 49 53 51
+f 51 53 54
+f 51 54 52
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_47.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0649dcc636cb6ab3fd9daab18daee6f521fddd9
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_47.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.03000109 0.00616028 0.00211298
+v 0.03160247 0.00616028 0.00211298
+v 0.03000109 0.00334728 0.00211297
+v 0.03000109 0.00616026 0.00825320
+v 0.03200206 0.00334728 0.00211297
+v 0.03309835 0.00616027 0.00520056
+v 0.03000109 0.00334725 0.01203111
+v 0.03000109 0.00608562 0.01186412
+v 0.03309835 0.00616026 0.00827261
+v 0.03202510 0.00334728 0.00258290
+v 0.03309835 0.00611758 0.00520348
+v 0.03309835 0.00489203 0.00571031
+v 0.03261024 0.00389671 0.00618217
+v 0.03120713 0.00334725 0.01203111
+v 0.03000109 0.00607488 0.01203112
+v 0.03004171 0.00604513 0.01203112
+v 0.03019906 0.00581076 0.01203112
+v 0.03089577 0.00477028 0.01203112
+v 0.03096337 0.00459732 0.01203112
+v 0.03309835 0.00572347 0.00816096
+v 0.03261024 0.00389671 0.00659774
+v 0.03175922 0.00334727 0.00572195
+v 0.03309835 0.00472099 0.00727837
+v 0.03309835 0.00472071 0.00728323
+v 0.03309835 0.00472374 0.00729100
+v 0.03309835 0.00564608 0.00809396
+f 1 2 5
+f 1 5 3
+f 1 3 7
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+f 1 15 8
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+f 14 26 20
+f 14 22 21
+f 14 21 24
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_48.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b9c41d909eb8f9561557581ed912f6390f6f9fd
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_48.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.03000108 -0.01799235 -0.01769378
+v 0.03000108 -0.01747083 -0.01753846
+v 0.03000108 -0.01928629 -0.01693877
+v 0.02776375 -0.02224686 -0.01635165
+v 0.02728227 -0.02227023 -0.01635434
+v 0.02728227 -0.02126041 -0.01659674
+v 0.02728227 -0.01962207 -0.01647194
+v 0.03000108 -0.01631834 -0.01693337
+v 0.02728227 -0.01953475 -0.01643693
+v 0.03000108 -0.01929244 -0.01589738
+v 0.02776375 -0.02224686 -0.01577260
+v 0.02728227 -0.02236494 -0.01548801
+v 0.03000108 -0.00979943 -0.01261337
+v 0.02728227 -0.00979944 -0.00983034
+v 0.03000108 -0.01928998 -0.01538386
+v 0.02749759 -0.02190370 -0.01470158
+v 0.02728227 -0.02210296 -0.01490178
+v 0.03000108 -0.00979945 -0.00852232
+v 0.02728227 -0.00979945 -0.00852232
+v 0.03000108 -0.01928629 -0.01537848
+v 0.02728227 -0.01820393 -0.00852235
+v 0.02728227 -0.02159252 -0.01384064
+v 0.03000108 -0.01337625 -0.00852233
+v 0.03000108 -0.01802065 -0.01368622
+v 0.03000108 -0.01801450 -0.01367814
+v 0.03000108 -0.01799359 -0.01365300
+v 0.02740816 -0.01799361 -0.00852235
+v 0.02949192 -0.01443403 -0.00852233
+f 1 2 8
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+f 1 18 23
+f 1 23 26
+f 1 26 25
+f 1 25 24
+f 1 24 20
+f 1 20 15
+f 1 15 10
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+f 1 3 4
+f 1 4 5
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+f 1 6 7
+f 1 7 2
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+f 18 28 23
+f 20 24 21
+f 21 24 25
+f 21 25 26
+f 21 26 27
+f 23 28 26
+f 26 28 27
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_49.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bad47035031b6f5a627a6328803a189de319f66d
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_49.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.02836672 0.00676338 0.01578716
+v 0.02785131 0.00708718 0.01796005
+v 0.02809528 0.00676338 0.01656367
+v 0.02836672 0.00676339 0.01438247
+v 0.02836672 0.00853199 0.01843356
+v 0.02822621 0.00796709 0.01843356
+v 0.02821535 0.00793541 0.01843356
+v 0.02818917 0.00788965 0.01843356
+v 0.02298021 0.00676337 0.01843355
+v 0.02184274 0.00676339 0.01438247
+v 0.02836672 0.00760810 0.01438248
+v 0.02836672 0.01052586 0.01843357
+v 0.02184274 0.00676337 0.01843355
+v 0.02184274 0.01940063 0.01438252
+v 0.02746045 0.00999089 0.01438249
+v 0.02518552 0.02105131 0.01843361
+v 0.02184274 0.01232615 0.01843358
+v 0.02184274 0.01943582 0.01450982
+v 0.02186573 0.02267914 0.01843361
+v 0.02188936 0.02288328 0.01843361
+v 0.02208416 0.02445480 0.01830355
+v 0.02204265 0.02283929 0.01668469
+v 0.02231408 0.02240462 0.01568649
+v 0.02304088 0.02240462 0.01568649
+v 0.02334616 0.02105132 0.01540968
+v 0.02622080 0.01242648 0.01438250
+v 0.02690800 0.01124916 0.01438249
+v 0.02434184 0.02011334 0.01607949
+v 0.02458709 0.02105132 0.01724506
+v 0.02440188 0.02191011 0.01760793
+v 0.02456346 0.02245565 0.01843361
+v 0.02184274 0.01263236 0.01834475
+v 0.02184274 0.01934958 0.01528474
+v 0.02184274 0.01792941 0.01624170
+v 0.02184274 0.01779742 0.01630396
+v 0.02184274 0.01282418 0.01828606
+v 0.02207841 0.02444424 0.01843362
+v 0.02217932 0.02474165 0.01843362
+v 0.02231983 0.02401309 0.01711420
+v 0.02308559 0.02401309 0.01711420
+v 0.02360035 0.02269851 0.01682548
+v 0.02415280 0.02105132 0.01644158
+v 0.02446830 0.02267034 0.01843361
+v 0.02416046 0.02299415 0.01810406
+v 0.02359716 0.02437208 0.01843362
+v 0.02361696 0.02433513 0.01842252
+v 0.02362909 0.02432281 0.01843362
+v 0.02362143 0.02433689 0.01843362
+f 1 2 3
+f 1 3 9
+f 1 9 13
+f 1 13 10
+f 1 10 4
+f 1 4 11
+f 1 11 12
+f 1 12 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
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+f 4 15 11
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+f 15 29 16
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+f 16 30 31
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+f 19 36 32
+f 20 37 21
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+f 21 39 22
+f 22 39 23
+f 23 39 40
+f 23 40 24
+f 24 40 41
+f 24 41 42
+f 24 42 28
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+f 29 42 30
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+f 30 44 43
+f 38 45 40
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+f 40 45 46
+f 40 46 44
+f 40 44 41
+f 43 44 47
+f 44 46 47
+f 45 48 46
+f 46 48 47
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_5.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69291e00813093940c79a569d5b36d0bc2eb4283
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_5.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.03486594 -0.01799214 -0.02302716
+v 0.03573240 -0.01799214 -0.02271215
+v 0.03573408 -0.01889630 -0.02273816
+v 0.03486594 -0.01905267 -0.02288266
+v 0.03386143 -0.01904444 -0.02278729
+v 0.03380924 -0.01799214 -0.02283739
+v 0.03392428 -0.01675171 -0.02267746
+v 0.03486594 -0.01682461 -0.02266687
+v 0.03569087 -0.01713266 -0.02255994
+v 0.03573240 -0.01799214 -0.02238559
+v 0.03573408 -0.01889630 -0.02240004
+v 0.03487660 -0.01917260 -0.02180663
+v 0.03329576 -0.01917495 -0.02160626
+v 0.03000109 -0.01928667 -0.01693894
+v 0.03238834 -0.01890100 -0.02099455
+v 0.03238834 -0.01845304 -0.02099455
+v 0.03000109 -0.01799216 -0.01769419
+v 0.03000109 -0.01747130 -0.01753908
+v 0.03345289 -0.01627201 -0.02185093
+v 0.03367568 -0.01473882 -0.02136348
+v 0.03392372 -0.01380527 -0.02102439
+v 0.03418523 -0.01380527 -0.02102439
+v 0.03569087 -0.01713266 -0.02246264
+v 0.03434629 -0.01343844 -0.02011212
+v 0.03412967 -0.01215804 -0.01819220
+v 0.03407580 -0.01224976 -0.01605747
+v 0.03407580 -0.01236028 -0.01605748
+v 0.03124466 -0.01579585 -0.01318678
+v 0.03111446 -0.01605099 -0.01318678
+v 0.03434573 -0.01908677 -0.02053022
+v 0.03255220 -0.01258721 -0.01318677
+v 0.03228340 -0.01341847 -0.01318677
+v 0.03201796 -0.01410276 -0.01318677
+v 0.03177104 -0.01472003 -0.01318677
+v 0.03000109 -0.01929020 -0.01538510
+v 0.03333841 -0.01921259 -0.02004181
+v 0.03054318 -0.01899389 -0.01808626
+v 0.03000109 -0.01929137 -0.01589759
+v 0.03000109 -0.01631906 -0.01693508
+v 0.03082882 -0.00903172 -0.01449880
+v 0.03059537 -0.01663885 -0.01802171
+v 0.03201516 -0.01636490 -0.01989923
+v 0.03228620 -0.01473883 -0.01954472
+v 0.03286927 -0.01473883 -0.02034813
+v 0.03243492 -0.01388288 -0.01932990
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+v 0.03000109 -0.01757242 -0.01318678
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+v 0.03242369 -0.01878461 -0.01771827
+v 0.03000109 -0.01928667 -0.01537932
+v 0.03058415 -0.01684816 -0.01318678
+v 0.03000109 -0.01181003 -0.01318676
+v 0.03027494 -0.00837329 -0.01318675
+v 0.03235074 -0.00873778 -0.01318675
+v 0.03000109 -0.01802039 -0.01368675
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 11
+f 2 11 3
+f 2 9 23
+f 2 23 10
+f 3 11 12
+f 3 12 4
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+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 8
+f 8 22 9
+f 9 22 24
+f 9 24 25
+f 9 25 23
+f 10 23 26
+f 10 26 27
+f 10 27 11
+f 11 28 29
+f 11 29 30
+f 11 30 12
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+f 11 34 28
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+f 18 40 41
+f 18 41 42
+f 18 42 19
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+f 19 43 44
+f 19 44 20
+f 20 44 45
+f 20 45 40
+f 20 40 46
+f 20 46 21
+f 21 46 47
+f 21 47 48
+f 21 48 22
+f 22 48 49
+f 22 49 25
+f 22 25 24
+f 23 25 50
+f 23 50 26
+f 25 49 50
+f 26 50 51
+f 26 51 52
+f 26 52 53
+f 26 53 54
+f 26 54 55
+f 26 55 56
+f 26 56 27
+f 27 56 57
+f 27 57 31
+f 28 34 33
+f 28 33 32
+f 28 32 31
+f 28 31 57
+f 28 57 56
+f 28 56 55
+f 28 55 54
+f 28 54 53
+f 28 53 52
+f 28 52 67
+f 28 67 48
+f 28 48 47
+f 28 47 46
+f 28 46 66
+f 28 66 65
+f 28 65 59
+f 28 59 64
+f 28 64 58
+f 28 58 29
+f 29 58 30
+f 30 59 60
+f 30 60 61
+f 30 61 62
+f 30 62 63
+f 30 63 35
+f 30 58 64
+f 30 64 59
+f 35 38 36
+f 39 65 66
+f 39 66 46
+f 39 46 40
+f 40 45 41
+f 41 45 43
+f 41 43 42
+f 43 45 44
+f 48 67 51
+f 48 51 49
+f 49 51 50
+f 51 67 52
+f 61 68 62
+f 62 68 63
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_50.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfec6d84b090ee1b3e4d0cb487beb542d3155e33
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_50.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.03000109 -0.00557620 0.00894310
+v 0.03000109 -0.00320015 0.00894833
+v 0.03100132 -0.00720988 0.00894309
+v 0.03000109 -0.01365864 0.00894307
+v 0.03000109 -0.00320016 0.01148404
+v 0.03081432 -0.00320016 0.01148404
+v 0.03100132 -0.00721837 0.01041651
+v 0.03100132 -0.01233135 0.00894307
+v 0.03009802 -0.01354723 0.00894307
+v 0.03051276 -0.01521604 0.01148399
+v 0.03000109 -0.01542797 0.01127084
+v 0.03000109 -0.01557208 0.01148399
+v 0.03100132 -0.00759742 0.01148402
+v 0.03100132 -0.00740002 0.01137011
+v 0.03100132 -0.00727044 0.01070876
+v 0.03100132 -0.01449911 0.01148400
+v 0.03031479 -0.01329654 0.00894307
+f 1 2 3
+f 1 3 8
+f 1 8 17
+f 1 17 9
+f 1 9 4
+f 1 4 11
+f 1 11 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 15
+f 3 15 14
+f 3 14 13
+f 3 13 16
+f 3 16 8
+f 4 9 10
+f 4 10 11
+f 5 12 10
+f 5 10 16
+f 5 16 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 8 16 10
+f 8 10 17
+f 9 17 10
+f 10 12 11
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_51.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d761e53203f758eb610337a90b6c93847d061d06
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_51.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.03000109 -0.00270608 -0.00896545
+v 0.03000109 -0.00270609 -0.00429728
+v 0.03041255 -0.00270608 -0.00896545
+v 0.03000109 -0.01357937 -0.00896549
+v 0.03316140 -0.00270609 -0.00429728
+v 0.03000109 -0.01494783 -0.00429732
+v 0.03321968 -0.00270608 -0.00767067
+v 0.03321968 -0.00823260 -0.00873878
+v 0.03188259 -0.00823260 -0.00896547
+v 0.03028747 -0.01306291 -0.00896549
+v 0.03321968 -0.00931226 -0.00843805
+v 0.03150012 -0.01494783 -0.00429732
+v 0.03048407 -0.01494783 -0.00552949
+v 0.03000109 -0.01494783 -0.00609576
+v 0.03321968 -0.00270609 -0.00434801
+v 0.03030826 -0.01302216 -0.00896549
+v 0.03174649 -0.00994975 -0.00896548
+v 0.03176665 -0.00975203 -0.00896548
+v 0.03321968 -0.00929189 -0.00719811
+v 0.03321968 -0.00927271 -0.00717526
+v 0.03321968 -0.00821224 -0.00615195
+v 0.03321968 -0.00818707 -0.00614098
+v 0.03321968 -0.00651186 -0.00545450
+v 0.03321968 -0.00400384 -0.00468896
+f 1 2 5
+f 1 5 15
+f 1 15 7
+f 1 7 3
+f 1 3 9
+f 1 9 18
+f 1 18 17
+f 1 17 16
+f 1 16 10
+f 1 10 4
+f 1 4 14
+f 1 14 6
+f 1 6 2
+f 2 6 12
+f 2 12 5
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 5 12 15
+f 6 14 13
+f 6 13 12
+f 7 15 24
+f 7 24 23
+f 7 23 22
+f 7 22 21
+f 7 21 20
+f 7 20 19
+f 7 19 11
+f 7 11 8
+f 8 11 10
+f 8 10 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 15
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_52.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5b6f7b0a49c1de8f095b1f0584ecab856d8ae9c
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_52.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v 0.02728200 -0.01599706 -0.00887044
+v 0.02728200 -0.01166130 -0.00887042
+v 0.02499688 -0.01599706 -0.00887044
+v 0.02728200 -0.01599704 -0.01232210
+v 0.02728200 -0.01166129 -0.00974978
+v 0.02499688 -0.01166130 -0.00887042
+v 0.02499688 -0.01599705 -0.01213307
+v 0.02499688 -0.01166128 -0.01492401
+v 0.02728200 -0.01522335 -0.01209633
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
+f 2 5 8
+f 2 8 6
+f 3 6 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 5 9 8
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_53.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fd60b4e09706441c19689915ecf8f8fe2d1432f
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_53.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.02184274 -0.00688614 0.01363123
+v 0.02184274 -0.00688616 0.01961907
+v 0.02403284 -0.00688614 0.01363123
+v 0.02184274 -0.01508823 0.01363120
+v 0.02390207 -0.01310437 0.01963316
+v 0.02403284 -0.01284715 0.01963316
+v 0.02251311 -0.00688616 0.01881168
+v 0.02184274 -0.01432967 0.01680906
+v 0.02273928 -0.01594223 0.01963315
+v 0.02274849 -0.01582718 0.01963315
+v 0.02295366 -0.01521265 0.01963315
+v 0.02313631 -0.01474404 0.01963316
+v 0.02322742 -0.01454107 0.01963316
+v 0.02403241 -0.00688615 0.01626964
+v 0.02403284 -0.00688709 0.01626846
+v 0.02403284 -0.01320163 0.01363121
+v 0.02403284 -0.01583840 0.01873468
+v 0.02403284 -0.01627989 0.01963315
+v 0.02357471 -0.01644170 0.01963315
+v 0.02274828 -0.01601425 0.01963315
+v 0.02184274 -0.01446623 0.01650055
+v 0.02389864 -0.00688615 0.01664983
+v 0.02294765 -0.00688616 0.01814885
+f 1 2 7
+f 1 7 23
+f 1 23 22
+f 1 22 14
+f 1 14 3
+f 1 3 16
+f 1 16 4
+f 1 4 21
+f 1 21 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 5
+f 3 14 15
+f 3 15 6
+f 3 6 18
+f 3 18 17
+f 3 17 16
+f 4 17 18
+f 4 18 19
+f 4 19 20
+f 4 20 21
+f 4 16 17
+f 5 13 12
+f 5 12 11
+f 5 11 10
+f 5 10 9
+f 5 9 20
+f 5 20 19
+f 5 19 18
+f 5 18 6
+f 6 15 14
+f 6 14 22
+f 6 22 23
+f 6 23 7
+f 8 21 20
+f 8 20 9
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_54.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2cfa6adde236a1a92489a17fda8e16167d93505
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_54.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.03000109 -0.00270609 -0.00429682
+v 0.03000109 -0.00270612 0.00211295
+v 0.03316140 -0.00270609 -0.00429682
+v 0.03000109 -0.01494783 -0.00429686
+v 0.03236368 -0.00270612 0.00211295
+v 0.03000109 -0.01094796 0.00211292
+v 0.03288951 -0.00270611 0.00077402
+v 0.03321968 -0.00431901 -0.00055989
+v 0.03321968 -0.00433219 -0.00089933
+v 0.03321968 -0.00522491 -0.00192642
+v 0.03321968 -0.00656220 -0.00225770
+v 0.03321968 -0.00660534 -0.00226397
+v 0.03321968 -0.00820026 -0.00228218
+v 0.03321968 -0.00988027 -0.00198918
+v 0.03321968 -0.01158663 -0.00158889
+v 0.03321968 -0.01164655 -0.00157320
+v 0.03294275 -0.01494784 -0.00242839
+v 0.03290242 -0.01494784 -0.00249615
+v 0.03286525 -0.01494784 -0.00255764
+v 0.03278365 -0.01494784 -0.00268312
+v 0.03242953 -0.01494784 -0.00320891
+v 0.03192355 -0.01494784 -0.00382817
+v 0.03177327 -0.01494784 -0.00400699
+v 0.03168442 -0.01494783 -0.00410863
+v 0.03150012 -0.01494783 -0.00429686
+v 0.03000109 -0.01494784 -0.00215671
+v 0.03275970 -0.00270611 0.00131549
+v 0.03098973 -0.00852382 0.00211293
+v 0.03321968 -0.01148479 0.00090324
+v 0.03146262 -0.01494785 -0.00079458
+v 0.03153068 -0.01494785 -0.00073121
+v 0.03216835 -0.01429478 0.00013150
+v 0.03270299 -0.01429478 0.00013150
+v 0.03321968 -0.01321512 0.00048411
+v 0.03321968 -0.01318756 0.00049353
+v 0.03277735 -0.00270611 0.00124208
+v 0.03321968 -0.00467730 0.00039944
+v 0.03321968 -0.01301860 -0.00108507
+v 0.03301301 -0.01494785 -0.00107002
+v 0.03299442 -0.01494785 -0.00076885
+v 0.03321968 -0.01330978 0.00039000
+v 0.03302309 -0.01494785 -0.00087489
+f 1 2 5
+f 1 5 27
+f 1 27 36
+f 1 36 7
+f 1 7 3
+f 1 3 25
+f 1 25 4
+f 1 4 26
+f 1 26 6
+f 1 6 2
+f 2 6 28
+f 2 28 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 18
+f 3 18 19
+f 3 19 20
+f 3 20 21
+f 3 21 22
+f 3 22 23
+f 3 23 24
+f 3 24 25
+f 4 25 24
+f 4 24 23
+f 4 23 22
+f 4 22 21
+f 4 21 20
+f 4 20 19
+f 4 19 18
+f 4 18 17
+f 4 17 39
+f 4 39 42
+f 4 42 40
+f 4 40 31
+f 4 31 30
+f 4 30 26
+f 5 28 29
+f 5 29 27
+f 6 26 30
+f 6 30 31
+f 6 31 32
+f 6 32 33
+f 6 33 34
+f 6 34 35
+f 6 35 29
+f 6 29 28
+f 7 36 37
+f 7 37 8
+f 8 37 29
+f 8 29 35
+f 8 35 34
+f 8 34 41
+f 8 41 38
+f 8 38 16
+f 8 16 15
+f 8 15 14
+f 8 14 13
+f 8 13 12
+f 8 12 11
+f 8 11 10
+f 8 10 9
+f 16 38 17
+f 17 38 39
+f 27 29 37
+f 27 37 36
+f 31 40 33
+f 31 33 32
+f 33 40 34
+f 34 40 41
+f 38 41 42
+f 38 42 39
+f 40 42 41
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_55.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dcec86bfa4d348b633b5337b3c42a26394b33fd
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_55.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.02842862 0.01496748 -0.01387014
+v 0.03000108 0.01956735 -0.01173362
+v 0.02857314 0.01494800 -0.01387014
+v 0.02752687 0.01460338 -0.01387014
+v 0.02980919 0.01291626 -0.01387014
+v 0.02944827 0.01408946 -0.01387014
+v 0.02944135 0.01410744 -0.01387014
+v 0.02938599 0.01424978 -0.01387014
+v 0.02744489 0.01455094 -0.01387014
+v 0.03000108 0.02028205 -0.01124310
+v 0.03000108 0.01220905 -0.01387015
+v 0.02986614 0.01273047 -0.01387014
+v 0.02738048 0.01420333 -0.01387014
+v 0.02728227 0.01432170 -0.01340005
+v 0.02757292 0.01542147 -0.01314252
+v 0.03000108 0.02035247 -0.01041330
+v 0.02910918 0.01886013 -0.01146384
+v 0.03000108 0.00504853 -0.01387017
+v 0.02728227 0.01367142 -0.01387014
+v 0.02728227 0.01463484 -0.01218874
+v 0.02752927 0.01550837 -0.01207836
+v 0.02728227 0.01466031 -0.01207837
+v 0.03000108 0.01656616 -0.00243551
+v 0.02910918 0.01886013 -0.01092699
+v 0.02728227 0.01482808 0.00004979
+v 0.03000108 0.00504848 0.00004976
+v 0.02972987 0.00504853 -0.01387017
+v 0.02728227 0.01087254 -0.01387015
+v 0.03000108 0.01577653 -0.00086993
+v 0.03000108 0.01494345 0.00004979
+v 0.02728227 0.00504848 0.00004976
+v 0.02728333 0.00504852 -0.01148296
+v 0.02728227 0.00963941 -0.01373526
+v 0.02728227 0.00504852 -0.01147751
+f 1 2 3
+f 1 3 8
+f 1 8 7
+f 1 7 6
+f 1 6 5
+f 1 5 12
+f 1 12 11
+f 1 11 18
+f 1 18 27
+f 1 27 28
+f 1 28 19
+f 1 19 13
+f 1 13 9
+f 1 9 4
+f 1 4 2
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+f 2 30 26
+f 2 26 18
+f 2 18 11
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+f 25 30 29
+f 25 31 26
+f 25 26 30
+f 27 32 33
+f 27 33 28
+f 32 34 33
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_56.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cd6e6388e4d7fab88aee1ecfbd315e9d658c03c
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_56.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.02499688 -0.01166130 -0.00887042
+v 0.02499688 -0.01166133 -0.00081959
+v 0.02728200 -0.01166130 -0.00887042
+v 0.02499688 -0.02094658 -0.00887046
+v 0.02728200 -0.01166133 -0.00081959
+v 0.02499688 -0.02168873 -0.00081963
+v 0.02728200 -0.01822353 -0.00887045
+v 0.02576731 -0.02019465 -0.00887045
+v 0.02728200 -0.01936124 -0.00725335
+v 0.02728200 -0.01468869 -0.00081960
+v 0.02728200 -0.01929842 -0.00580962
+v 0.02656481 -0.01935241 -0.00887045
+v 0.02654222 -0.01938578 -0.00887045
+v 0.02654669 -0.01938087 -0.00887045
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 12
+f 1 12 14
+f 1 14 13
+f 1 13 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
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+f 4 8 9
+f 4 9 6
+f 6 9 11
+f 6 11 10
+f 7 9 12
+f 8 13 9
+f 9 13 14
+f 9 14 12
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_57.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71119178d1647aad6ccc394195f6268c9a5587b4
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_57.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.02887286 0.01126911 0.01027672
+v 0.03000109 0.01126911 0.01195698
+v 0.03000109 0.01126911 0.01027672
+v 0.02836735 0.00881181 0.01027671
+v 0.02836735 0.00758074 0.01196274
+v 0.03000109 0.01065026 0.01149058
+v 0.02907068 0.00676340 0.01196273
+v 0.02961424 0.00676340 0.01027670
+v 0.03000109 0.00923349 0.01027671
+v 0.02836735 0.00676340 0.01027670
+v 0.02836735 0.00676340 0.01196273
+f 1 2 3
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+f 1 8 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 6 9
+f 2 9 3
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 4 10 11
+f 4 11 5
+f 5 11 7
+f 6 8 9
+f 7 11 10
+f 7 10 8
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_58.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0260a7b706bf658d5e0ed33532fed80c0367373
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_58.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.02184274 0.02479971 -0.00081946
+v 0.02184274 0.02596433 0.00249720
+v 0.02199043 0.02600279 0.00255179
+v 0.02437663 0.02600279 0.00317154
+v 0.02524951 0.02600279 0.00344495
+v 0.02531893 0.02600279 0.00347614
+v 0.02292729 0.02367354 -0.00081946
+v 0.02184274 -0.02402140 -0.00081964
+v 0.02184274 0.02600279 0.00329081
+v 0.02186520 0.02600279 0.00317842
+v 0.02427012 0.02164093 -0.00081947
+v 0.02426706 0.02164642 -0.00081947
+v 0.02361742 0.02268470 -0.00081947
+v 0.02531893 0.02600279 0.00386699
+v 0.02531893 0.01901501 -0.00081948
+v 0.02518962 0.01942153 -0.00081948
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+v 0.02465908 0.02082788 -0.00081947
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+v 0.02465330 -0.02561453 -0.00012512
+v 0.02425140 -0.02561453 -0.00012512
+v 0.02428543 -0.02875135 0.00145796
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+v 0.02184274 -0.02365882 0.00077584
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+v 0.02483094 -0.02231291 -0.00081963
+v 0.02496808 -0.02449933 -0.00027099
+v 0.02531893 -0.02449933 -0.00012374
+v 0.02531893 -0.02494980 -0.00001089
+v 0.02531893 -0.02632319 0.00041526
+v 0.02531893 -0.02788885 0.00105979
+v 0.02531893 -0.02876234 0.00146438
+v 0.02518791 -0.02877881 0.00145245
+v 0.02531893 -0.02992147 0.00261443
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+v 0.02184274 -0.02257111 0.00386681
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+v 0.02512292 -0.02122518 -0.00081963
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+f 27 43 44
+f 28 44 30
+f 28 30 29
+f 30 44 43
+f 34 36 35
+f 37 42 38
+f 38 42 41
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_59.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97501831b5175c5b0ac41f045a305a4750ad3f27
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_59.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.02821898 0.00676338 0.01196336
+v 0.02821898 0.00676338 0.01843397
+v 0.02821898 0.01052557 0.01196336
+v 0.02821898 0.01052557 0.01843397
+v 0.02921898 0.00676338 0.01196336
+v 0.02921898 0.00676338 0.01843397
+v 0.02921898 0.01052557 0.01196336
+v 0.02921898 0.01052557 0.01843397
+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/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_6.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..657a6464fe9709b275648b96810a68b75bf06bbe
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_6.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.04454351 0.01248873 -0.01487932
+v 0.04454351 0.01248873 -0.01395008
+v 0.04615651 0.01242513 -0.01483071
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+v 0.04350369 0.01226332 -0.01463819
+v 0.04615651 0.01242513 -0.01423600
+v 0.04350369 0.01226332 -0.01406922
+v 0.03566795 0.01047903 -0.00965940
+v 0.03647985 0.01051920 -0.00960889
+v 0.03741987 0.01053147 -0.00959840
+v 0.04699673 0.01217963 -0.01457244
+v 0.04629946 0.01125234 -0.01495081
+v 0.04578697 0.00966333 -0.01477449
+v 0.04454351 0.00966333 -0.01491650
+v 0.04359270 0.00869698 -0.01454767
+v 0.04339444 0.00966333 -0.01462963
+v 0.04332836 0.01129028 -0.01469729
+v 0.04021699 0.01069886 -0.01304754
+v 0.03730388 0.01041542 -0.01120718
+v 0.03566795 0.01047903 -0.00967370
+v 0.04699673 0.01217963 -0.01445045
+v 0.03322013 0.00882081 -0.00641137
+v 0.03385805 0.00861438 -0.00654766
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+v 0.04699673 0.01176899 -0.01457244
+v 0.04542688 0.00876728 -0.01455435
+v 0.04454351 0.00867355 -0.01458198
+v 0.04131885 0.00803527 -0.01352218
+v 0.04195542 0.00556137 -0.01291413
+v 0.03868491 0.00375364 -0.01140449
+v 0.04258794 0.00966333 -0.01427509
+v 0.04131885 0.00966333 -0.01370039
+v 0.04009157 0.00966333 -0.01311044
+v 0.03928642 0.00966333 -0.01262533
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+v 0.03540631 0.00966332 -0.00986622
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+v 0.03523503 0.00803637 -0.00998441
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+v 0.03339141 0.00803636 -0.00859007
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+v 0.03322013 0.00876949 -0.00821171
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+v 0.04387052 0.00707896 -0.01273876
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+v 0.04062699 0.00386857 -0.01106043
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+v 0.03732006 0.00734899 -0.01125198
+v 0.03776378 0.00776968 -0.01158746
+v 0.03795259 0.00794933 -0.01172946
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+v 0.03626811 0.00108891 -0.00730919
+v 0.03436784 0.00108891 -0.00793916
+v 0.03647985 0.00641054 -0.01053147
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+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_60.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4687ba9e958394961f8e743a3651e0d04e3fcf73
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_60.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.02184274 0.02600279 0.00386699
+v 0.02184274 0.02600278 0.00415435
+v 0.02531893 0.02600279 0.00386699
+v 0.02184274 -0.02257430 0.00386681
+v 0.02184308 0.02600278 0.00431183
+v 0.02184274 0.02111462 0.01027676
+v 0.02531893 0.02600278 0.00619097
+v 0.02531893 -0.01773847 0.00386682
+v 0.02501470 -0.01831858 0.00386682
+v 0.02184274 -0.02233656 0.00440075
+v 0.02236034 0.02600278 0.00494616
+v 0.02190059 0.02104329 0.01027676
+v 0.02242024 0.02600278 0.00498004
+v 0.02184274 -0.01797625 0.01027661
+v 0.02199962 0.02091966 0.01027676
+v 0.02264381 0.02009229 0.01027675
+v 0.02313691 0.01944086 0.01027675
+v 0.02317571 0.01938855 0.01027675
+v 0.02320225 0.01934576 0.01027675
+v 0.02531893 0.01582706 0.01027674
+v 0.02531893 -0.01247471 0.01027663
+v 0.02443415 -0.01727249 0.00649700
+v 0.02306273 -0.01930764 0.00690858
+v 0.02184274 -0.02089581 0.00719342
+v 0.02184274 -0.02124291 0.00658231
+v 0.02184274 -0.02179925 0.00559662
+v 0.02253390 -0.01975461 0.00734715
+f 1 2 5
+f 1 5 11
+f 1 11 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 26
+f 1 26 25
+f 1 25 24
+f 1 24 14
+f 1 14 6
+f 1 6 2
+f 2 6 5
+f 3 7 20
+f 3 20 21
+f 3 21 8
+f 4 9 10
+f 5 6 11
+f 6 12 7
+f 6 7 13
+f 6 13 11
+f 6 14 21
+f 6 21 20
+f 6 20 19
+f 6 19 18
+f 6 18 17
+f 6 17 16
+f 6 16 15
+f 6 15 12
+f 7 12 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 8 21 22
+f 8 22 9
+f 9 23 24
+f 9 24 25
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+f 9 26 10
+f 9 22 23
+f 14 24 27
+f 14 27 21
+f 21 27 23
+f 21 23 22
+f 23 27 24
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_61.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41c3dc9e982b9c3c89d02a2cf3770ebebba7ba57
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_61.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.02531946 0.01901622 -0.00081839
+v 0.02531946 0.02099990 0.00178189
+v 0.02728200 0.02099990 0.00315045
+v 0.02728200 0.01472877 -0.00081841
+v 0.02531946 -0.01936931 -0.00081853
+v 0.02531946 0.02099990 0.00226631
+v 0.02728200 0.02099989 0.00594514
+v 0.02728200 -0.01468670 -0.00081851
+v 0.02554175 -0.01936931 -0.00081853
+v 0.02531946 -0.01936932 0.00281468
+v 0.02531946 0.02051385 0.00589735
+v 0.02532042 0.02099989 0.00578656
+v 0.02531946 0.01582727 0.01027674
+v 0.02589910 0.01493026 0.01027673
+v 0.02608604 0.01454300 0.01027673
+v 0.02616711 0.01437309 0.01027673
+v 0.02659862 0.01304141 0.01027673
+v 0.02728200 0.01438495 0.00869636
+v 0.02728200 -0.01936931 0.00067277
+v 0.02728200 -0.01936932 0.00346855
+v 0.02531946 -0.01247386 0.01027663
+v 0.02531946 0.01939554 0.00703455
+v 0.02531946 0.01849063 0.00790240
+v 0.02728200 0.01038200 0.01027672
+v 0.02728200 -0.00821407 0.01027665
+v 0.02668834 -0.00985002 0.01027664
+v 0.02619766 -0.01109872 0.01027664
+v 0.02614617 -0.01119356 0.01027664
+v 0.02574982 -0.01190089 0.01027664
+v 0.02568296 -0.01199177 0.01027664
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 10
+f 1 10 21
+f 1 21 13
+f 1 13 23
+f 1 23 22
+f 1 22 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 7
+f 2 7 3
+f 3 7 18
+f 3 18 24
+f 3 24 25
+f 3 25 20
+f 3 20 19
+f 3 19 8
+f 3 8 4
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+f 5 19 20
+f 5 20 10
+f 6 11 12
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
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+f 7 17 18
+f 8 19 9
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+f 12 22 23
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+f 13 28 27
+f 13 27 26
+f 13 26 25
+f 13 25 24
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+f 13 16 15
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+f 17 24 18
+f 20 25 26
+f 20 26 27
+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 20 30 21
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_62.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf4262778a1828bfdabd135a52bc72c03bacac9f
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_62.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.03000109 -0.00320013 0.00211295
+v 0.03000109 -0.00320015 0.00838886
+v 0.03100132 -0.00320013 0.00211295
+v 0.03000109 -0.01094857 0.00211292
+v 0.03100132 -0.00320014 0.00616250
+v 0.03000109 -0.00557580 0.00894310
+v 0.03100132 -0.00721005 0.00894309
+v 0.03100132 -0.00679087 0.00211294
+v 0.03000109 -0.01557632 0.00226065
+v 0.03098948 -0.00852325 0.00211293
+v 0.03000109 -0.01365861 0.00894307
+v 0.03100132 -0.01233086 0.00894307
+v 0.03100132 -0.00813801 0.00240643
+v 0.03099496 -0.01557632 0.00300344
+v 0.03064435 -0.01557632 0.00272865
+v 0.03000109 -0.01557633 0.00412664
+v 0.03005650 -0.01557633 0.00414269
+v 0.03013336 -0.01557633 0.00416475
+v 0.03098487 -0.01557632 0.00361518
+v 0.03009802 -0.01354716 0.00894307
+v 0.03031479 -0.01329760 0.00894307
+v 0.03099496 -0.01557632 0.00327287
+v 0.03100132 -0.01191412 0.00720278
+v 0.03100132 -0.00830761 0.00249067
+v 0.03100132 -0.01130354 0.00563096
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 10
+f 1 10 4
+f 1 4 9
+f 1 9 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 12
+f 3 12 23
+f 3 23 25
+f 3 25 24
+f 3 24 13
+f 3 13 8
+f 4 10 9
+f 6 11 20
+f 6 20 21
+f 6 21 12
+f 6 12 7
+f 8 13 14
+f 8 14 10
+f 9 15 14
+f 9 14 22
+f 9 22 19
+f 9 19 18
+f 9 18 17
+f 9 17 16
+f 9 10 15
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+f 11 18 19
+f 11 19 20
+f 12 21 19
+f 12 19 22
+f 12 22 14
+f 12 14 23
+f 13 24 14
+f 14 25 23
+f 14 24 25
+f 19 21 20
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_63.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ec70a04e8763b0121d20f014dd531dc2723ad0b
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_63.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.02836672 -0.00755507 0.01027665
+v 0.02836672 -0.00688613 0.01027665
+v 0.02836672 -0.00754638 0.01028091
+v 0.02659570 -0.00985943 0.01363030
+v 0.02617417 -0.01096166 0.01363030
+v 0.02574946 -0.01190424 0.01027664
+v 0.02836672 -0.00688613 0.01058723
+v 0.02184274 -0.00688613 0.01027665
+v 0.02836672 -0.00739000 0.01035347
+v 0.02683903 -0.00823161 0.01363031
+v 0.02561598 -0.01177611 0.01363030
+v 0.02184274 -0.01798006 0.01027661
+v 0.02653630 -0.00688614 0.01363031
+v 0.02184274 -0.00688614 0.01363031
+v 0.02480999 -0.01271653 0.01363029
+v 0.02184274 -0.01664653 0.01193917
+v 0.02184274 -0.01508822 0.01363028
+v 0.02184274 -0.01516424 0.01355444
+v 0.02184274 -0.01647278 0.01213320
+f 1 2 7
+f 1 7 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 8
+f 1 8 2
+f 2 8 14
+f 2 14 13
+f 2 13 7
+f 3 9 4
+f 4 10 13
+f 4 13 14
+f 4 14 17
+f 4 17 15
+f 4 15 11
+f 4 11 5
+f 4 9 7
+f 4 7 10
+f 5 11 12
+f 5 12 6
+f 7 13 10
+f 8 12 16
+f 8 16 19
+f 8 19 18
+f 8 18 17
+f 8 17 14
+f 11 15 12
+f 12 15 16
+f 15 17 18
+f 15 18 19
+f 15 19 16
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_7.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a8491f49fab17f65d35b244a4c34539037bbcae
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_7.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.04867974 0.02105088 -0.00316206
+v 0.04862417 0.02003762 -0.00320484
+v 0.04863058 0.01991096 -0.00404473
+v 0.04867440 0.02108707 -0.00415760
+v 0.04866799 0.02196764 -0.00369682
+v 0.04866799 0.02196764 -0.00317208
+v 0.03776381 0.00803832 -0.00221049
+v 0.04546823 0.01356754 -0.00459877
+v 0.04723483 0.01646860 -0.00437684
+v 0.03776381 0.00755280 -0.00233609
+v 0.03912750 0.00699641 -0.00304615
+v 0.04061944 0.00873343 -0.00317521
+v 0.04860173 0.02000144 -0.00487306
+v 0.04723483 0.01646860 -0.00505993
+v 0.04860173 0.02056838 -0.00487305
+v 0.04837195 0.02196764 -0.00369682
+v 0.04777026 0.02071464 -0.00501791
+v 0.04837195 0.02196764 -0.00317208
+v 0.03776381 0.00923704 -0.00241584
+v 0.04546823 0.01356754 -0.00494359
+v 0.04394103 0.01189083 -0.00453059
+v 0.03776381 0.00656668 -0.00262621
+v 0.03912750 0.00699641 -0.00354315
+v 0.04753835 0.01779699 -0.00523367
+v 0.04790599 0.01944505 -0.00516548
+v 0.04582839 0.01454310 -0.00513815
+v 0.04630825 0.01602379 -0.00538433
+v 0.04675284 0.02054275 -0.00504951
+v 0.03776381 0.01555636 -0.00507187
+v 0.04615756 0.01779699 -0.00570563
+v 0.03776381 0.01555636 -0.00457564
+v 0.03776381 0.01442246 -0.00357664
+v 0.03776381 0.01422192 -0.00346800
+v 0.03776381 0.01361125 -0.00324415
+v 0.03776381 0.01291765 -0.00310045
+v 0.03776381 0.01286337 -0.00309005
+v 0.03776381 0.01132237 -0.00280226
+v 0.04394103 0.01189083 -0.00496941
+v 0.04450531 0.01298250 -0.00515202
+v 0.03776381 0.00659684 -0.00368956
+v 0.03809298 0.00667675 -0.00372115
+v 0.04057989 0.00879828 -0.00487734
+v 0.04232084 0.01029857 -0.00495092
+v 0.04454485 0.01617005 -0.00603120
+v 0.04454485 0.01454310 -0.00567522
+v 0.03970675 0.01454310 -0.00599807
+v 0.03809298 0.01562572 -0.00515124
+v 0.03776381 0.01486276 -0.00533926
+v 0.04288833 0.01132540 -0.00512198
+v 0.03776381 0.00810769 -0.00448937
+v 0.03809298 0.00812428 -0.00455410
+v 0.03970675 0.00871685 -0.00489968
+v 0.03970675 0.00966528 -0.00516667
+v 0.04131945 0.01129072 -0.00545562
+v 0.04119762 0.00971956 -0.00502874
+v 0.04293215 0.01291766 -0.00562397
+v 0.04293215 0.01454310 -0.00605085
+v 0.04131945 0.01454310 -0.00614640
+v 0.03809298 0.01454310 -0.00556850
+v 0.03970675 0.01291766 -0.00588480
+v 0.03809298 0.01291766 -0.00559161
+v 0.03776381 0.01454310 -0.00542132
+v 0.03776381 0.00868670 -0.00469857
+v 0.03862948 0.00872590 -0.00488736
+v 0.03970675 0.01129072 -0.00556812
+v 0.04131945 0.01291766 -0.00585205
+v 0.03776381 0.01291766 -0.00546833
+v 0.03809298 0.01129072 -0.00537048
+v 0.03776381 0.01129072 -0.00527185
+v 0.03776381 0.00926570 -0.00488273
+v 0.03809298 0.00961703 -0.00502836
+v 0.03776381 0.00978289 -0.00499330
+f 1 2 3
+f 1 3 4
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+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 3
+f 2 7 10
+f 2 10 11
+f 2 11 12
+f 2 12 8
+f 3 13 4
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+f 10 22 11
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+f 28 30 44
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+f 28 46 47
+f 28 47 29
+f 29 47 48
+f 38 43 49
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+f 38 45 39
+f 40 50 51
+f 40 51 52
+f 40 52 41
+f 41 52 42
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+f 42 53 54
+f 42 54 55
+f 42 55 43
+f 43 56 49
+f 43 55 56
+f 44 45 57
+f 44 57 58
+f 44 58 46
+f 45 49 56
+f 45 56 57
+f 46 59 47
+f 46 58 60
+f 46 60 61
+f 46 61 59
+f 47 59 48
+f 48 59 62
+f 50 63 64
+f 50 64 51
+f 51 64 52
+f 52 64 53
+f 53 64 65
+f 53 65 54
+f 54 65 66
+f 54 66 57
+f 54 57 56
+f 54 56 55
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+f 58 66 60
+f 59 61 67
+f 59 67 62
+f 60 66 65
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+f 60 68 61
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+f 65 71 68
+f 68 71 72
+f 68 72 69
+f 70 72 71
+
diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_8.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28a27cc92778a55818597cafa342d5dd535ce66c
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_8.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.03761516 -0.00660541 0.00838666
+v 0.03761516 -0.00719004 0.00846214
+v 0.03761516 -0.00573614 0.00842714
+v 0.03894025 -0.00557789 0.00957699
+v 0.03809289 -0.00660541 0.00881881
+v 0.04721174 -0.01311194 0.01741585
+v 0.04717823 -0.01431073 0.01748258
+v 0.03761516 -0.00816442 0.00861312
+v 0.03761516 -0.00499207 0.00846434
+v 0.04057552 -0.00566529 0.01115571
+v 0.04059390 -0.00660542 0.01113930
+v 0.03974113 -0.00660542 0.01033627
+v 0.03893484 -0.00660542 0.00958246
+v 0.03821826 -0.00501215 0.00901137
+v 0.04708096 -0.01207024 0.01750448
+v 0.04865679 -0.01513394 0.01912037
+v 0.04865679 -0.01565716 0.01912037
+v 0.03761516 -0.01113363 0.00958573
+v 0.03761516 -0.01090686 0.00948835
+v 0.03761516 -0.00985807 0.00909012
+v 0.03761516 -0.00948131 0.00897635
+v 0.03761516 -0.00374250 0.00910875
+v 0.03776324 -0.00376966 0.00916783
+v 0.03883865 -0.00449367 0.00977939
+v 0.03910237 -0.00406258 0.01085048
+v 0.04088680 -0.00547750 0.01202439
+v 0.04250370 -0.00696447 0.01363045
+v 0.04218594 -0.00716644 0.01276396
+v 0.04708096 -0.01207025 0.01796070
+v 0.04407953 -0.00860026 0.01523652
+v 0.04865679 -0.01513394 0.01935012
+v 0.04865679 -0.01565716 0.01935012
+v 0.04777052 -0.01580597 0.01883592
+v 0.03761516 -0.01232888 0.01033624
+v 0.03761516 -0.01180094 0.00995114
+v 0.03761516 -0.01152457 0.00979797
+v 0.03761516 -0.00387361 0.01031111
+v 0.03816314 -0.00391613 0.01046100
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+v 0.04094732 -0.00549759 0.01311188
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+v 0.04615794 -0.01276472 0.01899566
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+v 0.04044907 -0.01395049 0.01437985
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+v 0.03761516 -0.00458225 0.01125418
+v 0.04048798 -0.00738139 0.01445208
+v 0.04131912 -0.00712510 0.01468292
+v 0.04204651 -0.00893569 0.01609425
+v 0.04375096 -0.01068367 0.01764342
+v 0.04439081 -0.01132972 0.01807338
+v 0.04531599 -0.01384776 0.01927355
+v 0.04531599 -0.01434263 0.01927355
+v 0.04342239 -0.01425050 0.01787426
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+v 0.04044907 -0.01395049 0.01450457
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+v 0.04251667 -0.01311194 0.01730644
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diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_9.obj b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38bee3fa03bbb43fcc01d52a4c9ec4cdbc843bb8
--- /dev/null
+++ b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/mjcf/mesh/strawberry_collision_9.obj
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diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/textures/material_0.png b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/textures/material_0.png
new file mode 100644
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diff --git a/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/video.mp4 b/dataset/food/fruits/68bea4eca7a05f40a552c214acc44937/video.mp4
new file mode 100644
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