diff --git a/.gitattributes b/.gitattributes
index 7086440e4cfd9a6cb193b1e7fea2126d0c5b5c64..05a13c96af6d3ac8cf59800bcf0bf22eb7421769 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3601,3 +3601,5 @@ dataset/food/fruits/db5c2fb9ae6b576ea474d58ab5feecf7/peach_001.usdc filter=lfs d
 dataset/food/fruits/eb8c0d7c6b185cf9a498029b6fcc3eac/eb8c0d7c6b185cf9a498029b6fcc3eac.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/eb8c0d7c6b185cf9a498029b6fcc3eac/mesh/pear.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/eb8c0d7c6b185cf9a498029b6fcc3eac/mesh/pear_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mesh/strawberry_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/strawberry_010.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mesh/material.mtl b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2e085cb368cdb8c4fec2c3da398fcfc218e6293f
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl strawberry_010_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd strawberry_010_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mesh/material_0.png b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e59464e68fd851affdd1512c5abb30ac5eb45004
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mesh/strawberry_010.glb b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mesh/strawberry_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a3c3cfbb3f2745682066410e70c6563113cc17db
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mesh/strawberry_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abafb686bc866fa282d40fafadcc514b4f733ddf0afd23b60e91afb8e35b0623
+size 15832172
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mesh/strawberry_010.mtl b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mesh/strawberry_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..052e699f383647191cf941b8d0c6f247ced70b6e
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mesh/strawberry_010.mtl
@@ -0,0 +1,6 @@
+newmtl strawberry_010_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mesh/strawberry_010.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mesh/strawberry_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2abb082412124a5e3b23d78dcb5c56a44de0a09
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mesh/strawberry_010.obj
@@ -0,0 +1,117626 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl strawberry_010_geometry_Looks_material_0
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diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mesh/strawberry_010_collision.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mesh/strawberry_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1aeb54055058481add40bc97b2cc43d0df9364be
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mesh/strawberry_010_collision.obj
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diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mesh/strawberry_010_geometry_Looks_material_0.png b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mesh/strawberry_010_geometry_Looks_material_0.png
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diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010.obj
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diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..483f2d55fe497c22458c1bd66a940905c443257e
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision.obj
@@ -0,0 +1,17529 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_0.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a1334a90b0a0eb9dff2342b4c2f3d17942c9649
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_0.obj
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diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_1.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cef57e6da342fc59c53d14b2fe6e8157455a8f88
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_1.obj
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diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_10.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ef7c0340b192f988ae0f8329605c950bd10fe68
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_10.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_11.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..676183a11053498f539a12c15b39906bd2a37905
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_11.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_12.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1b79a08dd54b0ab5c6c001b627e5dcbe324a1ff
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_12.obj
@@ -0,0 +1,2017 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_13.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f80a88ac57b842afb320e2f5fc3bcde5b73a46d
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_13.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.01117201 0.02141476 0.01427276
+v -0.01116658 0.02140205 0.01427276
+v -0.01126546 0.02140205 0.01442011
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+v -0.01047794 0.02309779 0.01631106
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+
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_14.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b3a1aa49551e84386cb638236d8c5ce9eb8496c
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_14.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.00350260 0.01703411 0.01123216
+v 0.00967088 0.01703411 0.01123216
+v 0.00350260 0.01703410 0.01427244
+v 0.00350260 0.01995414 0.01123217
+v 0.00823281 0.01703410 0.01279382
+v 0.00822085 0.01986519 0.01123217
+v 0.00922530 0.02316824 0.01355697
+v 0.00982381 0.02354266 0.01427247
+v 0.00993206 0.02248539 0.01427246
+v 0.00970549 0.02142239 0.01427246
+v 0.00927565 0.02037875 0.01427245
+v 0.00908747 0.02006172 0.01427245
+v 0.00885020 0.01972675 0.01427245
+v 0.00435223 0.01703410 0.01427244
+v 0.00350260 0.01740923 0.01427244
+v 0.00617294 0.02240362 0.01427246
+v 0.00676264 0.02332317 0.01427247
+v 0.00758143 0.02401749 0.01427247
+v 0.00752227 0.02327798 0.01340161
+v 0.00678656 0.02209519 0.01243996
+v 0.00654615 0.02079478 0.01123218
+v 0.00350260 0.01930500 0.01207654
+v 0.00751031 0.01703410 0.01332092
+v 0.00853175 0.01940039 0.01427245
+v 0.00773751 0.02056454 0.01123218
+v 0.00799114 0.02083423 0.01153011
+v 0.00824980 0.02211815 0.01245722
+v 0.00858588 0.02332102 0.01341440
+v 0.00858588 0.02385611 0.01382573
+v 0.00962556 0.02387691 0.01427247
+v 0.00523269 0.01703410 0.01412095
+v 0.00751472 0.01851599 0.01427245
+v 0.00858588 0.02436178 0.01427247
+v 0.00752227 0.02271994 0.01286646
+v 0.00740332 0.02071301 0.01123218
+v 0.00752227 0.02218485 0.01238371
+v 0.00728249 0.02099490 0.01140838
+v 0.00694138 0.01703410 0.01361944
+v 0.00631643 0.01703410 0.01390695
+v 0.00646811 0.01703410 0.01384862
+f 1 2 5
+f 1 5 23
+f 1 23 38
+f 1 38 40
+f 1 40 39
+f 1 39 31
+f 1 31 14
+f 1 14 3
+f 1 3 15
+f 1 15 22
+f 1 22 4
+f 1 4 21
+f 1 21 35
+f 1 35 25
+f 1 25 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+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 32
+f 3 32 24
+f 3 24 13
+f 3 13 12
+f 3 12 11
+f 3 11 10
+f 3 10 9
+f 3 9 8
+f 3 8 30
+f 3 30 33
+f 3 33 18
+f 3 18 17
+f 3 17 16
+f 3 16 15
+f 4 16 17
+f 4 17 18
+f 4 18 19
+f 4 19 20
+f 4 20 21
+f 4 22 16
+f 5 13 24
+f 5 24 23
+f 6 25 26
+f 6 26 7
+f 7 27 28
+f 7 28 29
+f 7 29 30
+f 7 30 8
+f 7 26 25
+f 7 25 27
+f 14 31 32
+f 15 16 22
+f 18 33 19
+f 19 33 34
+f 19 34 21
+f 19 21 20
+f 21 34 36
+f 21 36 37
+f 21 37 35
+f 23 32 38
+f 23 24 32
+f 25 35 27
+f 27 37 28
+f 27 35 37
+f 28 37 29
+f 29 33 30
+f 29 37 36
+f 29 36 33
+f 31 39 32
+f 32 39 40
+f 32 40 38
+f 33 36 34
+
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_15.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0c89a7e0bde05201094ace9221811b5a7b51bbb
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_15.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.01116603 0.02140180 0.01427276
+v -0.01042607 0.01880556 0.01427275
+v -0.01117853 0.02070203 0.01456921
+v -0.01126477 0.02140180 0.01442011
+v -0.00164660 0.02140180 0.01427276
+v -0.01062481 0.01880555 0.01596733
+v -0.01123728 0.01959504 0.01632356
+v -0.01118103 0.01967511 0.01560937
+v -0.01132977 0.02034489 0.01525315
+v 0.00096325 0.01880556 0.01427275
+v -0.01161475 0.02140179 0.01524169
+v -0.00514014 0.02140178 0.01782284
+v -0.01054232 0.01880555 0.01632356
+v -0.01079230 0.01905999 0.01632356
+v -0.01119478 0.01965808 0.01699917
+v -0.01157976 0.02034438 0.01632356
+v -0.01161850 0.02140179 0.01525385
+v -0.00332400 0.01880554 0.01782283
+v -0.00773373 0.02140178 0.01782284
+v -0.01028483 0.01880555 0.01706798
+v -0.01134602 0.02034438 0.01717433
+v -0.01054482 0.01929079 0.01721742
+v -0.01180599 0.02140179 0.01632357
+v -0.00665005 0.01880554 0.01782283
+v -0.01055732 0.02140179 0.01743186
+v -0.01055732 0.02034438 0.01751769
+v -0.00737750 0.01972746 0.01782283
+v -0.00949363 0.01880555 0.01733002
+v -0.01145101 0.02140179 0.01729667
+v -0.00949363 0.01927452 0.01748467
+v -0.00714877 0.01931086 0.01782283
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 17
+f 1 17 23
+f 1 23 29
+f 1 29 25
+f 1 25 19
+f 1 19 12
+f 1 12 5
+f 1 5 10
+f 1 10 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 10 18
+f 2 18 24
+f 2 24 28
+f 2 28 20
+f 2 20 13
+f 2 13 6
+f 3 9 11
+f 3 11 4
+f 5 12 10
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 9
+f 9 16 17
+f 9 17 11
+f 10 12 18
+f 12 19 27
+f 12 27 31
+f 12 31 24
+f 12 24 18
+f 13 15 14
+f 13 20 15
+f 15 21 16
+f 15 20 22
+f 15 22 21
+f 16 23 17
+f 16 21 23
+f 19 25 26
+f 19 26 27
+f 20 28 22
+f 21 22 26
+f 21 26 29
+f 21 29 23
+f 22 28 30
+f 22 30 26
+f 24 31 26
+f 24 26 30
+f 24 30 28
+f 25 29 26
+f 26 31 27
+
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_16.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5ac0cff947f0e2e728da06f45bdc93eb777fbb3
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_16.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00258952 0.02054679 0.01123218
+v 0.00088634 0.02054678 0.01273044
+v 0.00299947 0.02030129 0.01123217
+v -0.00911099 0.02054679 0.01123218
+v -0.00096032 0.02054678 0.01419061
+v 0.00350260 0.01740889 0.01427244
+v 0.00350260 0.01930484 0.01207654
+v 0.00328272 0.02010702 0.01123217
+v -0.00946504 0.02048559 0.01123218
+v -0.01082908 0.02054678 0.01427246
+v -0.00107399 0.02054678 0.01427246
+v 0.00350260 0.01703410 0.01427244
+v 0.00350260 0.01995332 0.01123217
+v -0.01162104 0.01967550 0.01123217
+v -0.01169930 0.01963733 0.01123217
+v -0.01261984 0.01918002 0.01123217
+v -0.01294221 0.01898060 0.01123217
+v -0.01352919 0.01859171 0.01123217
+v -0.01381430 0.01839606 0.01123217
+v -0.01502740 0.01744431 0.01123216
+v -0.01553425 0.01703411 0.01123216
+v -0.01442178 0.01703410 0.01271018
+v -0.01412177 0.01703410 0.01298758
+v -0.01387766 0.01703410 0.01321288
+v -0.01368013 0.01703410 0.01339384
+v -0.01274096 0.01703410 0.01424149
+v -0.01270556 0.01703410 0.01427244
+v 0.00350260 0.01703411 0.01123216
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 28
+f 1 28 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 9
+f 1 9 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 10
+f 5 11 6
+f 6 12 28
+f 6 28 13
+f 6 13 7
+f 6 11 10
+f 6 10 27
+f 6 27 12
+f 7 13 8
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 12 27 26
+f 12 26 25
+f 12 25 24
+f 12 24 23
+f 12 23 22
+f 12 22 21
+f 12 21 28
+
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_17.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2acacc26fe30795dc1d1da2ccd8ef4ea0b03558e
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_17.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00339387 0.00937402 0.02419121
+v 0.00399729 0.00930691 0.02419121
+v 0.00291462 0.00919430 0.02419121
+v 0.00467010 0.00711289 0.02773074
+v 0.00539596 0.00723675 0.02791727
+v 0.00645880 0.00720162 0.02786833
+v 0.00755429 0.00829976 0.02419121
+v 0.00264877 0.00892360 0.02419121
+v 0.00281959 0.00903170 0.02432070
+v 0.00366963 0.00719396 0.02667898
+v 0.00462345 0.00643365 0.02777197
+v 0.00539596 0.00643365 0.02812846
+v 0.00650777 0.00640572 0.02790801
+v 0.00707389 0.00706649 0.02766522
+v 0.00830114 0.00751152 0.02489649
+v 0.00755429 0.00757233 0.02419121
+v 0.00244646 0.00847858 0.02419121
+v 0.00235667 0.00774439 0.02419121
+v 0.00235201 0.00770475 0.02419121
+v 0.00234501 0.00757233 0.02419121
+v 0.00366963 0.00665391 0.02667897
+v 0.00473773 0.00580711 0.02767138
+v 0.00539596 0.00573369 0.02777004
+v 0.00618536 0.00577063 0.02772842
+v 0.00689432 0.00603052 0.02745478
+v 0.00707389 0.00674354 0.02766521
+v 0.00815189 0.00716334 0.02565149
+v 0.00815189 0.00677328 0.02565148
+v 0.00825742 0.00665166 0.02489648
+v 0.00731934 0.00564902 0.02489648
+v 0.00644831 0.00518328 0.02489648
+v 0.00638242 0.00515491 0.02489648
+v 0.00515983 0.00490087 0.02489648
+v 0.00369937 0.00477250 0.02489648
+v 0.00784580 0.00611025 0.02489648
+v 0.00336063 0.00545489 0.02489648
+v 0.00404918 0.00635167 0.02703084
+v 0.00539596 0.00540623 0.02702429
+v 0.00650777 0.00560262 0.02706861
+v 0.00712694 0.00577783 0.02674140
+v 0.00728902 0.00640572 0.02706861
+v 0.00780441 0.00642329 0.02598678
+v 0.00726745 0.00568640 0.02595479
+v 0.00645880 0.00533777 0.02595479
+f 1 2 7
+f 1 7 16
+f 1 16 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 8 17 10
+f 8 10 9
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 22 12
+f 11 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 26 28
+f 14 28 27
+f 14 27 15
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 16 30 31
+f 16 31 32
+f 16 32 33
+f 16 33 34
+f 16 34 20
+f 16 29 35
+f 16 35 30
+f 20 34 36
+f 20 36 21
+f 21 36 34
+f 21 34 37
+f 21 37 22
+f 22 37 34
+f 22 34 23
+f 23 38 24
+f 23 34 38
+f 24 39 40
+f 24 40 25
+f 24 38 39
+f 25 40 41
+f 25 41 26
+f 26 41 28
+f 28 42 43
+f 28 43 29
+f 28 41 40
+f 28 40 42
+f 29 43 35
+f 30 35 43
+f 30 43 31
+f 31 43 44
+f 31 44 32
+f 32 44 33
+f 33 44 38
+f 33 38 34
+f 38 44 39
+f 39 44 40
+f 40 44 43
+f 40 43 42
+
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_18.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b034764883084b555521e2a451c8b4f1c955b9e
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_18.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.01198935 0.01703415 -0.00117437
+v 0.01198935 0.01703414 0.00380892
+v 0.01198935 0.01880535 -0.00117436
+v 0.01955685 0.01703415 -0.00117437
+v 0.01198935 0.01880534 0.00380893
+v 0.01805387 0.01703414 0.00380892
+v 0.01773461 0.01880535 -0.00117436
+v 0.01950130 0.01709188 -0.00117437
+v 0.01824647 0.01880535 0.00123899
+v 0.01841017 0.01880534 0.00245225
+v 0.01955463 0.01703415 -0.00077532
+v 0.01723979 0.01880534 0.00380893
+v 0.01821832 0.01703414 0.00364842
+v 0.01810720 0.01703500 0.00380892
+v 0.01882277 0.01778729 -0.00117436
+v 0.01940278 0.01719400 -0.00117437
+v 0.01832943 0.01703414 0.00344890
+v 0.01883610 0.01703414 0.00241224
+v 0.01924277 0.01703415 0.00125557
+v 0.01926129 0.01703415 0.00117751
+v 0.01824350 0.01880534 0.00276642
+v 0.01825980 0.01703414 0.00358305
+v 0.01770572 0.01880534 0.00344696
+v 0.01790128 0.01880534 0.00321231
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 15
+f 1 15 16
+f 1 16 8
+f 1 8 4
+f 1 4 11
+f 1 11 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 22
+f 1 22 13
+f 1 13 6
+f 1 6 2
+f 2 6 14
+f 2 14 12
+f 2 12 5
+f 3 5 12
+f 3 12 23
+f 3 23 24
+f 3 24 21
+f 3 21 10
+f 3 10 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 6 13 14
+f 7 9 15
+f 8 16 9
+f 9 16 15
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 10 21 22
+f 10 22 17
+f 12 14 23
+f 13 22 21
+f 13 21 14
+f 14 21 24
+f 14 24 23
+
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_19.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f512260b9f1a2db2bb85c45834e374090e238f4
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_19.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.01325782 0.00757236 0.01958855
+v 0.01325782 0.00757237 0.01555200
+v 0.01325782 0.00792132 0.01954405
+v 0.00829164 0.00757234 0.02486130
+v 0.00755523 0.00757237 0.01555200
+v 0.01325782 0.00949459 0.01555200
+v 0.01325782 0.00949458 0.01887565
+v 0.00819338 0.00814662 0.02454403
+v 0.00755467 0.00757234 0.02543297
+v 0.00755523 0.00949459 0.01555200
+v 0.00755467 0.00757235 0.02150574
+v 0.00931447 0.00970964 0.02150575
+v 0.00872936 0.00970964 0.02194587
+v 0.00755467 0.00970964 0.02229893
+v 0.00755467 0.00970964 0.02150575
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 11
+f 1 11 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 3 7 4
+f 4 8 9
+f 4 7 8
+f 5 11 15
+f 5 15 10
+f 6 10 15
+f 6 15 12
+f 6 12 7
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 8 14 9
+f 9 14 15
+f 9 15 11
+f 12 15 14
+f 12 14 13
+
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_2.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dc3879aa8a0af41fba00cf672056e20f8a378a0
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_2.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.01416869 0.02256774 -0.00068305
+v 0.01381009 0.02256774 -0.00060161
+v 0.01416869 0.02470342 -0.00127514
+v 0.01416869 0.02256773 0.00236606
+v 0.01272597 0.02256774 0.00017386
+v 0.01416869 0.02569497 -0.00142317
+v 0.01340797 0.02521668 0.00190919
+v 0.01234561 0.02256773 0.00380892
+v 0.01416869 0.02578828 0.00106816
+v 0.01198935 0.02256774 0.00100618
+v 0.01209964 0.02462491 0.00062050
+v 0.01319230 0.02462491 -0.00043206
+v 0.01371409 0.02569496 -0.00097755
+v 0.01365138 0.02578828 -0.00088177
+v 0.01416869 0.02578829 -0.00137809
+v 0.01398928 0.02578828 0.00120646
+v 0.01284074 0.02535351 0.00210126
+v 0.01198935 0.02437048 0.00319224
+v 0.01198935 0.02386036 0.00352312
+v 0.01198935 0.02318851 0.00380893
+v 0.01198935 0.02256773 0.00380892
+v 0.01198935 0.02463878 0.00076136
+v 0.01215596 0.02533460 0.00066967
+v 0.01320488 0.02569496 -0.00044231
+v 0.01321982 0.02578828 -0.00042848
+v 0.01389862 0.02578828 0.00123309
+v 0.01284436 0.02578827 0.00141594
+v 0.01199938 0.02536139 0.00214326
+v 0.01198935 0.02446569 0.00312412
+v 0.01198935 0.02542697 0.00124692
+v 0.01277973 0.02578828 0.00029321
+v 0.01274111 0.02578827 0.00142260
+v 0.01198935 0.02538283 0.00192968
+v 0.01198935 0.02534815 0.00215402
+v 0.01198935 0.02545472 0.00134116
+v 0.01198935 0.02545125 0.00130377
+v 0.01271509 0.02578828 0.00132477
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diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_20.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..486fb3ecd27b2a4b70df704e37c5f87b2af8cb7b
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_20.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_21.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a882e7a03ab2cadf0da8bd49cb0797d5de458042
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_21.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_22.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc427e8613ccdba11ea9fe27e0312ec80703db0b
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_22.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.01270561 0.01703410 0.01427274
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diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_23.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8df498834c155ba02aabb8bd0d99df5ca900dcf
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_23.obj
@@ -0,0 +1,181 @@
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diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_24.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cae9da515ec9c075969f9bc010b7faebf2401d58
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_24.obj
@@ -0,0 +1,931 @@
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diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_25.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe25d3b50871ffaac888122d2a3ce7751c4a11c0
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_25.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_26.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..930717b927533cf8736d319b254dbe750ed07bc4
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_26.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+v -0.00527895 0.02405472 0.01123219
+v -0.00535777 0.02405472 0.01092925
+v -0.00591958 0.02480439 0.01123219
+v -0.00606407 0.02578824 0.01091397
+v -0.00604791 0.02570509 0.01123219
+v -0.00531129 0.02405472 0.01111048
+v -0.00604589 0.02567642 0.01123219
+f 1 2 11
+f 1 11 24
+f 1 24 26
+f 1 26 25
+f 1 25 12
+f 1 12 3
+f 1 3 15
+f 1 15 29
+f 1 29 28
+f 1 28 37
+f 1 37 45
+f 1 45 50
+f 1 50 46
+f 1 46 38
+f 1 38 30
+f 1 30 16
+f 1 16 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 11
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 4 16 17
+f 4 17 18
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+f 4 19 5
+f 5 19 18
+f 5 18 35
+f 5 35 34
+f 5 34 43
+f 5 43 42
+f 5 42 48
+f 5 48 44
+f 5 44 36
+f 5 36 27
+f 5 27 13
+f 5 13 26
+f 5 26 24
+f 5 24 23
+f 5 23 22
+f 5 22 21
+f 5 21 20
+f 5 20 10
+f 5 10 9
+f 5 9 8
+f 5 8 7
+f 5 7 6
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 12 25 13
+f 13 25 26
+f 13 27 14
+f 14 28 29
+f 14 29 15
+f 14 27 28
+f 16 30 31
+f 16 31 32
+f 16 32 17
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 18
+f 27 36 28
+f 28 36 37
+f 30 38 39
+f 30 39 31
+f 31 39 40
+f 31 40 41
+f 31 41 42
+f 31 42 43
+f 31 43 34
+f 31 34 33
+f 31 33 32
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+f 36 49 51
+f 36 51 47
+f 36 47 45
+f 36 45 37
+f 38 46 39
+f 39 46 40
+f 40 47 48
+f 40 48 41
+f 40 46 47
+f 41 48 42
+f 44 48 49
+f 45 47 50
+f 46 50 47
+f 47 51 48
+f 48 51 49
+
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_27.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e33ee71d5177add6440f1048be89fb5addd50a0
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_27.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.00416870 0.01393944 0.02313253
+v -0.00441377 0.01388767 0.02313253
+v -0.00476196 0.01345650 0.02419112
+v -0.00452352 0.01350665 0.02419112
+v -0.00417627 0.01349897 0.02419112
+v -0.00360761 0.01342940 0.02419112
+v -0.00331808 0.01372467 0.02313253
+v -0.00482536 0.01359564 0.02313253
+v -0.00480549 0.01351919 0.02381422
+v -0.00494742 0.01285870 0.02419112
+v 0.00113375 0.01064831 0.02419111
+v 0.00406411 0.00980743 0.02355347
+v 0.00176959 0.01133104 0.02338362
+v 0.00190868 0.01141235 0.02313252
+v -0.00491052 0.01282271 0.02313253
+v -0.00498243 0.01285385 0.02381422
+v -0.00492376 0.01178647 0.02419111
+v 0.00123405 0.00980743 0.02419111
+v 0.00468386 0.00980744 0.02313252
+v 0.00383134 0.01020259 0.02330693
+v 0.00395056 0.01027944 0.02313252
+v -0.00480644 0.01209144 0.02313252
+v -0.00476575 0.01126673 0.02419111
+v -0.00487267 0.01178728 0.02385897
+v -0.00387728 0.00980743 0.02419111
+v -0.00384037 0.00980744 0.02313252
+v -0.00442134 0.01105359 0.02313252
+v -0.00404381 0.00999227 0.02419111
+v -0.00388295 0.00980743 0.02393380
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 14
+f 1 14 21
+f 1 21 19
+f 1 19 26
+f 1 26 27
+f 1 27 22
+f 1 22 15
+f 1 15 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 17
+f 3 17 23
+f 3 23 28
+f 3 28 25
+f 3 25 18
+f 3 18 11
+f 3 11 6
+f 3 6 5
+f 3 5 4
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 8 15 16
+f 8 16 9
+f 9 16 10
+f 10 16 17
+f 11 18 12
+f 12 19 20
+f 12 20 13
+f 12 18 25
+f 12 25 29
+f 12 29 26
+f 12 26 19
+f 13 20 21
+f 13 21 14
+f 15 17 16
+f 15 22 17
+f 17 22 24
+f 17 24 23
+f 19 21 20
+f 22 27 23
+f 22 23 24
+f 23 27 26
+f 23 26 28
+f 25 28 29
+f 26 29 28
+
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_28.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2836600b6e28b0bd96b50037f183062e20e0e7f6
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_28.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.00452405 0.01350639 0.02419123
+v -0.00476234 0.01345647 0.02419123
+v -0.00473587 0.01341804 0.02442124
+v -0.00417616 0.01349890 0.02419123
+v -0.00494768 0.01285853 0.02419123
+v -0.00488980 0.01286702 0.02482073
+v -0.00474326 0.01236140 0.02657204
+v -0.00417616 0.01240582 0.02674735
+v -0.00357766 0.01239235 0.02675004
+v -0.00417616 0.01341155 0.02440554
+v -0.00483008 0.01250115 0.02595464
+v -0.00364354 0.01339009 0.02435264
+v -0.00360844 0.01342952 0.02419123
+v -0.00492367 0.01178593 0.02419122
+v -0.00502896 0.01178344 0.02488484
+v -0.00499941 0.01178343 0.02595463
+v -0.00481961 0.01173052 0.02696704
+v -0.00474449 0.01133871 0.02763958
+v -0.00382642 0.01142156 0.02876632
+v -0.00330919 0.01142156 0.02876632
+v -0.00316634 0.01162221 0.02809467
+v 0.00113339 0.01064844 0.02419122
+v -0.00476542 0.01126635 0.02419122
+v -0.00482207 0.01102378 0.02488484
+v -0.00487810 0.01083810 0.02595463
+v -0.00482084 0.01090947 0.02702443
+v -0.00474449 0.01111112 0.02763958
+v -0.00383134 0.01071381 0.02877170
+v -0.00301795 0.01063445 0.02874390
+v -0.00257954 0.01022467 0.02863091
+v 0.00091049 0.01039938 0.02469518
+v 0.00126085 0.00961328 0.02419122
+v -0.00474818 0.01118100 0.02424592
+v -0.00404377 0.00999211 0.02419122
+v -0.00463304 0.01030305 0.02595463
+v -0.00463920 0.01037442 0.02702443
+v -0.00438920 0.01073827 0.02803549
+v -0.00371189 0.01011437 0.02868203
+v -0.00311277 0.01012884 0.02866992
+v -0.00257954 0.01017676 0.02863091
+v 0.00053797 0.00964372 0.02530585
+v 0.00091603 0.00964372 0.02477050
+v 0.00092527 0.00882667 0.02419121
+v -0.00309799 0.00889654 0.02419121
+v -0.00410719 0.00969113 0.02702443
+v -0.00410165 0.00972008 0.02595463
+v -0.00390708 0.00990425 0.02809467
+v -0.00281044 0.00902930 0.02766468
+v -0.00237018 0.00902930 0.02766468
+v -0.00118057 0.00890702 0.02677109
+v -0.00017260 0.00891002 0.02575958
+v 0.00008724 0.00845133 0.02419121
+v -0.00354194 0.00915608 0.02702442
+v -0.00353332 0.00918502 0.02595462
+v -0.00292805 0.00878325 0.02419121
+v -0.00204938 0.00857860 0.02595462
+v -0.00202906 0.00883614 0.02708674
+v -0.00300994 0.00891899 0.02702442
+v -0.00088994 0.00874331 0.02605147
+v -0.00098600 0.00840791 0.02419121
+v -0.00270392 0.00870389 0.02419121
+v -0.00204938 0.00853319 0.02419121
+v -0.00183757 0.00850025 0.02419121
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 22
+f 1 22 32
+f 1 32 43
+f 1 43 52
+f 1 52 60
+f 1 60 63
+f 1 63 62
+f 1 62 61
+f 1 61 55
+f 1 55 44
+f 1 44 34
+f 1 34 23
+f 1 23 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 3 6 11
+f 3 11 7
+f 4 12 13
+f 4 10 12
+f 5 14 15
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+f 6 16 11
+f 7 11 17
+f 7 17 18
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+f 23 33 24
+f 23 34 33
+f 24 35 25
+f 24 33 34
+f 24 34 35
+f 25 35 36
+f 25 36 26
+f 26 36 27
+f 27 36 37
+f 27 37 28
+f 28 38 29
+f 28 37 38
+f 29 38 39
+f 29 39 40
+f 29 40 30
+f 30 40 41
+f 30 41 31
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+f 31 42 32
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+f 34 44 35
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+f 40 49 50
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+f 44 53 54
+f 44 54 46
+f 44 55 53
+f 45 46 53
+f 45 53 47
+f 46 54 53
+f 47 53 48
+f 48 56 57
+f 48 57 49
+f 48 53 58
+f 48 58 56
+f 49 57 50
+f 50 59 51
+f 50 57 59
+f 51 59 52
+f 52 59 56
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+f 53 55 58
+f 55 61 58
+f 56 61 62
+f 56 62 63
+f 56 63 60
+f 56 59 57
+f 56 58 61
+
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_29.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02dcf17631718fd6711fe2b4a51f7f37960a39cb
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_29.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.01707673 0.01020039 0.01858067
+v 0.01707336 0.01178389 0.02150480
+v 0.01665961 0.01116859 0.02150480
+v 0.01603132 0.01084605 0.02150480
+v 0.01496796 0.01044518 0.02150480
+v 0.01604888 0.01020039 0.01948000
+v 0.01707673 0.01020040 0.01555105
+v 0.01707673 0.01034930 0.01827876
+v 0.01705654 0.01191969 0.02150480
+v 0.01707673 0.01169367 0.01555105
+v 0.01480052 0.01041481 0.02150480
+v 0.01497619 0.01020039 0.01984544
+v 0.01390461 0.01025934 0.02150480
+v 0.01325875 0.01023224 0.02150480
+v 0.01325875 0.01020040 0.01555105
+v 0.01691190 0.01285157 0.02150481
+v 0.01325875 0.01324293 0.01555106
+v 0.01390424 0.01020039 0.01986060
+v 0.01325875 0.01226576 0.02150481
+v 0.01325875 0.01020039 0.01932380
+v 0.01629893 0.01299661 0.02150481
+v 0.01325875 0.01312499 0.01632857
+v 0.01610719 0.01304069 0.02150481
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 18
+f 1 18 20
+f 1 20 15
+f 1 15 7
+f 1 7 10
+f 1 10 8
+f 1 8 2
+f 2 9 16
+f 2 16 21
+f 2 21 23
+f 2 23 19
+f 2 19 14
+f 2 14 13
+f 2 13 11
+f 2 11 5
+f 2 5 4
+f 2 4 3
+f 2 8 10
+f 2 10 9
+f 5 11 6
+f 6 11 13
+f 6 13 14
+f 6 14 12
+f 7 15 17
+f 7 17 10
+f 9 10 16
+f 10 17 16
+f 12 14 18
+f 14 19 22
+f 14 22 17
+f 14 17 15
+f 14 15 20
+f 14 20 18
+f 16 17 21
+f 17 22 23
+f 17 23 21
+f 19 23 22
+
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_3.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c22949b7fee1ac4a8e4a4f7545f859e854c1ba95
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_3.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
+v 0.00204161 0.02578826 0.00577643
+v 0.00139530 0.02738674 0.00613016
+v 0.00218485 0.02578826 0.00577643
+v 0.00069636 0.02578826 0.00622050
+v -0.00098627 0.02676563 0.00668637
+v 0.00007681 0.02676563 0.00633777
+v 0.00070413 0.02676563 0.00617117
+v 0.00007681 0.02783561 0.00640570
+v 0.00172407 0.02738674 0.00613016
+v 0.00007681 0.02890499 0.00667356
+v 0.00255244 0.02578826 0.00662868
+v 0.00181381 0.02862481 0.00701318
+v -0.00001552 0.02578826 0.00646272
+v -0.00098627 0.02783561 0.00671520
+v -0.00098627 0.02578825 0.00681964
+v -0.00189835 0.02676562 0.00705482
+v -0.00192855 0.02783560 0.00705867
+v -0.00098627 0.02890498 0.00692603
+v 0.00007681 0.02972133 0.00704522
+v 0.00085945 0.02963285 0.00708239
+v -0.00152385 0.02944469 0.00722592
+v -0.00098627 0.02958094 0.00715287
+v 0.00229702 0.02578825 0.00760525
+v 0.00181381 0.02862481 0.00747199
+v 0.00195446 0.02783560 0.00757130
+v 0.00063510 0.03053413 0.00824479
+v -0.00170851 0.02890498 0.00715415
+v -0.00106566 0.02578825 0.00685232
+v -0.00171455 0.02578825 0.00712914
+v -0.00242989 0.02676562 0.00731050
+v -0.00246095 0.02783560 0.00728038
+v -0.00223919 0.02890498 0.00735729
+v 0.00007681 0.03025631 0.00754376
+v -0.00098627 0.03011593 0.00744828
+v -0.00098627 0.03081785 0.00798334
+v 0.00007681 0.03067510 0.00807882
+v -0.00308827 0.02991892 0.00810189
+v -0.00194667 0.02987115 0.00758541
+v 0.00080422 0.02997496 0.00847547
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+v -0.00437398 0.02578824 0.01186525
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+v -0.00370265 0.02609497 0.00826080
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+v -0.00202433 0.03172914 0.00986985
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+v -0.00363276 0.02578825 0.00830628
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+f 1 2 9
+f 1 9 3
+f 1 3 11
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diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_30.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5184c9a136e310c8da0655b844f1f4541c358ea6
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_30.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_31.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb2421fff2af1e8aecd2aa1c75efca0ac7f435ad
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_31.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_32.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..732ca9b45b32578e9ca23d7abf217b42e9d105c1
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_32.obj
@@ -0,0 +1,457 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_33.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7384af834701ce5e6efb3b1f8149f70e9ae1e47f
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_33.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_34.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d8f3832c7b7c35acf2c75e04bcc7560fd193f9f
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_34.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_35.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f342cacda75abc9d1b4aec08a6a7b9c1f0f035c0
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_35.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_36.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a2b7d6b173d36171e4b56b84a2d4dd5a5709c7b
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_36.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.01534519 0.01703467 0.00380941
+v 0.01534519 0.02077442 0.00380943
+v 0.01805437 0.01703467 0.00380941
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+
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_37.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80bb82440c71106ede9e281f6e9453490a54c79d
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_37.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.01808381 0.02578829 -0.00334404
+v 0.01806653 0.02576415 -0.00333403
+v 0.01804527 0.02578829 -0.00334154
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+
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_38.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da84805521481480111625e40d845b29c85c80fb
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_38.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.00468353 0.00980744 0.02313252
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+
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_39.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c7c473c25e3198b62718a136db759126d481ff5
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_39.obj
@@ -0,0 +1,1573 @@
+# https://github.com/mikedh/trimesh
+v 0.00220474 0.01703471 -0.01737889
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diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_4.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e6e588233e7536a60939d57751cd1e6dd0a4a74
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_4.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_40.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..155443636d6a0ddfa8c28cc109263c8cc3e98b22
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_40.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01198935 0.02162225 -0.00748400
+v 0.01198935 0.02162225 0.00380943
+v 0.01198935 0.02262225 -0.00748400
+v 0.01198935 0.02262225 0.00380943
+v 0.01416869 0.02162225 -0.00748400
+v 0.01416869 0.02162225 0.00380943
+v 0.01416869 0.02262225 -0.00748400
+v 0.01416869 0.02262225 0.00380943
+f 2 4 1
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+
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_41.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0f1afc58e2ffcfaa81b067951b06b2a35ca7672
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_41.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_42.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4f48094ba44f755ce6377e2281d7a2bf839b699
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_42.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_5.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f7eb6745f0e7751f170ce4b44bf6f1b2dad042c
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_5.obj
@@ -0,0 +1,697 @@
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diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_6.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12fc1e27c14e690fc42581ee90a64c1579246b28
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_6.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_7.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d955c57f900fb50eb0367643bf9b5138c3bd0ac
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_7.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_8.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba171eac2ffb7a890d958076c9341d93a98fa6d2
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_8.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_9.obj b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..096c832388012d684dfc5c030abff35dd6107b6a
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/mesh/strawberry_010_collision_9.obj
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diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/strawberry_010.xml b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/strawberry_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3f68073febdcec4e2fef879b659951aee4e01503
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mjcf/strawberry_010.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="strawberry_010">
+  <asset>
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
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+    <mesh name="collision_mesh_0_0" file="mesh/strawberry_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/strawberry_010_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/strawberry_010_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/strawberry_010_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/strawberry_010_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/strawberry_010_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/strawberry_010_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/strawberry_010_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/strawberry_010_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/strawberry_010_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/strawberry_010_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_24" file="mesh/strawberry_010_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/strawberry_010_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/strawberry_010_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/strawberry_010_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/strawberry_010_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/strawberry_010_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/strawberry_010_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/strawberry_010_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/strawberry_010_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/strawberry_010_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/strawberry_010_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/strawberry_010_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/strawberry_010_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/strawberry_010_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/strawberry_010_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/strawberry_010_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/strawberry_010_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_42" file="mesh/strawberry_010_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="strawberry_010">
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+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/strawberry_010.urdf b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/strawberry_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59663ff1544d72c219fc4615284afe3f0ce81a7e
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/strawberry_010.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="strawberry_010">
+   <link name="strawberry_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/strawberry_010.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/strawberry_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>e6c8b73bceb3571fae7f8f4fe20f54ec</uuid>
+         <domain>food</domain>
+         <super_category>fruits</super_category>
+         <category>strawberry</category>
+         <name>pale strawberry</name>
+         <color>pink,green</color>
+         <shape>cone</shape>
+         <material>organic</material>
+         <description>pale pink strawberry with green leaves and yellow seeds</description>
+         <min_height>0.0494</min_height>
+         <max_height>0.0494</max_height>
+         <real_height>0.0494</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428000210</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/strawberry_010.usd b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/strawberry_010.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9382da318748532f2c4fb3f8db5478936297795b
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/strawberry_010.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58700f30dfaf79e9cfe9ad47d0d6226d31492e8d35cbeb47f22675ed297a3337
+size 5032979
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/textures/material_0.png b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e59464e68fd851affdd1512c5abb30ac5eb45004
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9e267b42cc019643e414b0708d6ac74681e7d26655749d77cc8aa01432a0e4c
+size 12297153
diff --git a/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/video.mp4 b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..16ab8255c295491a93c7519645f3ce26af4279f3
--- /dev/null
+++ b/dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad2cf3385b4399692843864bc41d6d59c7b3aa2654288c591353bcd130fb551a
+size 428505