diff --git a/.gitattributes b/.gitattributes
index 2d82cb2d5e2b3aa87a53125b0333485533436e68..8333c70327840f50674ac73651a7e64511101aa4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3579,3 +3579,5 @@ dataset/food/fruits/ae283eef0c1f5ca0b2af059fc073a3eb/mesh/orange2_gs.ply filter=
 dataset/food/fruits/ab5078c936f05cdaa895480068e769d5/ab5078c936f05cdaa895480068e769d5.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/ab5078c936f05cdaa895480068e769d5/mesh/banana.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/ab5078c936f05cdaa895480068e769d5/mesh/banana_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mesh/strawberry_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/strawberry_006.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mesh/material.mtl b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8410874ebd7ef5e620d62f26f654207e9baf849e
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl strawberry_006_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_006_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mesh/material_0.png b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..99a27db4adc56b0c8d88b915139a40b46c713d33
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50862a8ba39fa9a3ba470796881cd96e46beed68ce1f8248d6295474035751e3
+size 12400532
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mesh/strawberry_006.glb b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mesh/strawberry_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..15ad87dbaab92b9460b6670b70ba062cd0531ad4
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mesh/strawberry_006.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1485c83e454342c01164477856dca280a2aee3710312f4b0c770b228b1d61a3d
+size 15924868
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mesh/strawberry_006.mtl b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mesh/strawberry_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6925e688ae0f83c64f903f2e7ef80a4c53109b4c
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mesh/strawberry_006.mtl
@@ -0,0 +1,6 @@
+newmtl strawberry_006_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/a9755d7497965f3db223c1af0e15f45a/mesh/strawberry_006.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mesh/strawberry_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af177f44f6e50910915f3e7b0e2b4882384dd4db
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mesh/strawberry_006.obj
@@ -0,0 +1,115566 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl strawberry_006_geometry_Looks_material_0
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diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mesh/strawberry_006_collision.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mesh/strawberry_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..972cdeb5998dc99149608e24d5d2fa3059395d9b
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mesh/strawberry_006_collision.obj
@@ -0,0 +1,11296 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/material_0.png b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/material_0.png
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diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006.obj
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diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1a02f30cb3ae15e194bed762e6ad25179ecdc9b
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision.obj
@@ -0,0 +1,11296 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_0.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16a50ab13a8b4194c7b04eb9415e48fbb6832fc9
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_0.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_1.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c12cf923de38aefe03d4635e8d57f787318e5713
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_1.obj
@@ -0,0 +1,2719 @@
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diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_10.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f95cc83491b64b48b9eef9f3836edaa4539e1ff
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_10.obj
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diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_11.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2adf2dd9a2402ca49f5261d9a7cddf14705fd91b
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_11.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_12.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee494b9e456b629ec1a4cbfd0d22ad525f76f760
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_12.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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+v 0.01840686 0.01723189 -0.00357512
+v 0.01597015 0.01906936 -0.00526785
+v 0.01542254 0.01952061 -0.00468238
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+v 0.01509989 0.01911580 0.00049858
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+v 0.01528297 0.01773116 0.00632048
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+v 0.01113530 0.01716001 -0.01394114
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+
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_13.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a4a56b19be67d46acbc8799fe4abc5ded153b38
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_13.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01518075 0.01914632 -0.00549152
+v -0.01518075 0.01914632 -0.00102432
+v -0.01518075 0.02014632 -0.00549152
+v -0.01518075 0.02014632 -0.00102432
+v -0.01418074 0.01914632 -0.00549152
+v -0.01418074 0.01914632 -0.00102432
+v -0.01418074 0.02014632 -0.00549152
+v -0.01418074 0.02014632 -0.00102432
+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/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_14.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9958b42eb274d471268ba915472e2ae9e0c65307
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_14.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00025542 0.02181425 -0.01107303
+v -0.00025542 0.02181425 -0.00373687
+v -0.00025542 0.02281425 -0.01107303
+v -0.00025542 0.02281425 -0.00373687
+v 0.01216329 0.02181425 -0.01107303
+v 0.01216329 0.02181425 -0.00373687
+v 0.01216329 0.02281425 -0.01107303
+v 0.01216329 0.02281425 -0.00373687
+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/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_15.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5570146088006da6b139896ab702d64f878664dc
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_15.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00025542 0.02181423 -0.00373608
+v -0.00025542 0.02181423 0.00430624
+v -0.00025542 0.02281423 -0.00373608
+v -0.00025542 0.02281423 0.00430624
+v 0.01309803 0.02181423 -0.00373608
+v 0.01309803 0.02181423 0.00430624
+v 0.01309803 0.02281423 -0.00373608
+v 0.01309803 0.02281423 0.00430624
+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/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_16.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2160240a4bf017347ef0cd7897cd17150705670
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_16.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.01253306 0.00832141 0.02021853
+v -0.01243443 0.00832141 0.02031730
+v -0.01189971 0.00867444 0.02055839
+v -0.01208536 0.00885589 0.02021853
+v -0.00265475 0.00832141 0.02021853
+v -0.01204089 0.00832140 0.02061681
+v -0.00794007 0.00975832 0.02157651
+v -0.01008669 0.00975832 0.02078044
+v -0.01081190 0.00975833 0.02021854
+v -0.00265475 0.00975833 0.02021854
+v -0.00265475 0.00832140 0.02274708
+v -0.00758907 0.00832140 0.02201958
+v -0.00690544 0.00975832 0.02186513
+v -0.00265475 0.00975832 0.02170374
+v -0.00306474 0.00832140 0.02272678
+v -0.00265475 0.00860932 0.02261267
+v -0.00688610 0.00832140 0.02219929
+v -0.00402975 0.00832140 0.02263668
+v -0.00265475 0.00861860 0.02260747
+v -0.00586114 0.00975832 0.02186835
+v -0.00265475 0.00974257 0.02172230
+v -0.00265475 0.00914859 0.02225399
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 11
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+f 1 15 18
+f 1 18 17
+f 1 17 12
+f 1 12 6
+f 1 6 2
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+f 13 17 18
+f 13 18 15
+f 13 15 16
+f 13 16 19
+f 13 19 20
+f 14 20 21
+f 19 22 20
+f 20 22 21
+
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_17.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40f4d8aa75fd628f53d940de7699e51032d5dbb4
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_17.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.01542462 0.01952062 -0.00455486
+v 0.01542334 0.01952062 -0.00468550
+v 0.01485688 0.02006989 -0.00410882
+v 0.01485688 0.02006989 -0.00409948
+v 0.01535269 0.01952061 -0.00366464
+v 0.01319991 0.01952063 -0.00877081
+v 0.01242152 0.02065665 -0.00455858
+v 0.01256795 0.02065664 -0.00361237
+v 0.01194370 0.02029744 -0.00870549
+v 0.01155322 0.02065666 -0.00823331
+v 0.01180240 0.02065666 -0.00777420
+v 0.01195012 0.02065666 -0.00736175
+v 0.01205545 0.02065665 -0.00676080
+v 0.01531287 0.01952061 -0.00331378
+v 0.01251272 0.02065664 -0.00183940
+v 0.01245620 0.02065664 -0.00153333
+v 0.01221600 0.02065663 -0.00034263
+v 0.01201306 0.02065663 0.00024712
+v 0.01163671 0.02065663 0.00123998
+v 0.01491468 0.01952061 -0.00145122
+v 0.01307403 0.01952063 -0.00899103
+v 0.01236629 0.01952064 -0.00995030
+v 0.01229050 0.01952064 -0.01003802
+v 0.01220316 0.01960449 -0.00995030
+v 0.01067078 0.02009271 -0.01053632
+v 0.00847818 0.02065667 -0.01100661
+v 0.01104328 0.02065662 0.00266583
+v 0.01446769 0.01952060 -0.00038183
+v 0.01141064 0.01952064 -0.01093944
+v 0.01107154 0.01969168 -0.01093944
+v 0.01026617 0.01991410 -0.01124551
+v 0.00955971 0.02007125 -0.01154971
+v 0.00998102 0.02017267 -0.01093944
+v 0.00825469 0.02065667 -0.01120071
+v 0.01015185 0.02065661 0.00422231
+v 0.01433924 0.01952060 -0.00020454
+v 0.01123081 0.01952064 -0.01109807
+v 0.01072858 0.01952064 -0.01151612
+v 0.01003240 0.01952064 -0.01203495
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+v 0.00828038 0.01998863 -0.01248099
+v 0.00902280 0.02016144 -0.01171955
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+v 0.00795283 0.02065667 -0.01138920
+v 0.01015314 0.02064960 0.00422231
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+v 0.00993221 0.01952058 0.00422230
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+v 0.00372306 0.02065668 -0.01318271
+v 0.00372306 0.02022062 -0.01386391
+v 0.00376545 0.02065668 -0.01317151
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+
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_18.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cc61ed04ba8a85f60254d1f6391cb3588cb7fcb
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_18.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00025542 0.02256241 -0.00644197
+v -0.00025542 0.02256241 0.00280789
+v -0.00025542 0.02356241 -0.00644197
+v -0.00025542 0.02356241 0.00280789
+v 0.00795935 0.02256241 -0.00644197
+v 0.00795935 0.02256241 0.00280789
+v 0.00795935 0.02356241 -0.00644197
+v 0.00795935 0.02356241 0.00280789
+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/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_19.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb708e64803b5f242dceaecfd69c834b1ea25c90
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_19.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00796069 0.02256241 -0.00626890
+v 0.00796069 0.02256241 0.00232223
+v 0.00796069 0.02356241 -0.00626890
+v 0.00796069 0.02356241 0.00232223
+v 0.01343922 0.02256241 -0.00626890
+v 0.01343922 0.02256241 0.00232223
+v 0.01343922 0.02356241 -0.00626890
+v 0.01343922 0.02356241 0.00232223
+f 2 4 1
+f 5 2 1
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+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/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_2.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6874393896d4bd86fbb8a42440a64edfa360aca
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_2.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.00109529 0.01952148 0.00611480
+v -0.00051851 0.01966892 0.00611480
+v 0.00134216 0.01952148 0.00611480
+v -0.00161176 0.01952147 0.00707488
+v -0.00110153 0.02339371 0.00961647
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+v 0.00146209 0.01952148 0.00617350
+v 0.00374703 0.02870446 0.01148248
+v -0.00196185 0.01952147 0.00812619
+v -0.00105647 0.02433772 0.01074997
+v -0.00094417 0.02410037 0.01004187
+v -0.00015248 0.02693960 0.01138312
+v -0.00001314 0.02754017 0.01178052
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+v -0.00055109 0.02589939 0.01131628
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+v 0.00223992 0.01952147 0.00823277
+v 0.00512036 0.02870445 0.01344239
+v -0.00186757 0.01952147 0.00916757
+v -0.00116254 0.02272031 0.01100827
+v -0.00110569 0.02378030 0.01093874
+v -0.00039234 0.02589938 0.01237933
+v 0.00001598 0.02746734 0.01286163
+v -0.00014000 0.02705287 0.01245610
+v 0.00020524 0.02794474 0.01245610
+v 0.00062812 0.02870445 0.01309015
+v 0.00216851 0.01952147 0.00878281
+v 0.00494427 0.02870445 0.01450545
+v -0.00138091 0.01952146 0.01011140
+v -0.00115145 0.02165942 0.01093060
+v -0.00115491 0.02200826 0.01095679
+v -0.00008107 0.02589938 0.01302511
+v -0.00091020 0.02378030 0.01146981
+v -0.00004988 0.02676068 0.01299892
+v 0.00091304 0.02870445 0.01399244
+v 0.00071824 0.02870445 0.01344601
+v 0.00203333 0.01952147 0.00931389
+v 0.00482989 0.02870445 0.01464454
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+v 0.00097335 0.02870445 0.01409179
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+v -0.00062389 0.01952146 0.01068131
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+v 0.00190369 0.02870445 0.01495433
+v 0.00123540 0.02870445 0.01434107
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+v 0.00054146 0.01952146 0.01082311
+v -0.00058576 0.01952146 0.01069847
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+v 0.00266141 0.02834302 0.01514218
+v -0.00027726 0.01974352 0.01090169
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+v 0.00372208 0.02870444 0.01531831
+v -0.00051089 0.01952146 0.01072918
+v 0.00318135 0.02870444 0.01533999
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+
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_20.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c91ce11b4dd0aabf2f9e3e42dee81e7d4a9ad784
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_20.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v -0.00198043 0.02200676 0.00300582
+v -0.01023653 0.02200676 0.00300582
+v -0.00198043 0.01952059 0.00300581
+v -0.00198043 0.02200681 -0.00980030
+v -0.01078248 0.02200676 0.00253398
+v -0.01047607 0.02165896 0.00300582
+v -0.01154243 0.01952059 0.00300581
+v -0.00198043 0.01952065 -0.01484552
+v -0.00198043 0.02180626 -0.01061292
+v -0.00458250 0.02200681 -0.01019350
+v -0.01165429 0.02200676 0.00137885
+v -0.01420408 0.01952060 -0.00047707
+v -0.00369975 0.01952065 -0.01470921
+v -0.00198043 0.01953209 -0.01483503
+v -0.00198043 0.02170209 -0.01101486
+v -0.00198043 0.02134042 -0.01210359
+v -0.00480258 0.02200681 -0.01020049
+v -0.01176737 0.02200677 0.00102759
+v -0.01440106 0.01952060 -0.00102581
+v -0.01430135 0.01952060 -0.00073047
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+v -0.00198043 0.01986211 -0.01451873
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+v -0.00198043 0.02114207 -0.01263659
+v -0.00505793 0.02200681 -0.00997156
+v -0.00476003 0.02167629 -0.01101486
+v -0.00957386 0.02115787 -0.00946127
+v -0.01183547 0.02200677 0.00068856
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+v -0.01290183 0.02016389 -0.00746033
+v -0.01306355 0.02030066 -0.00676130
+v -0.01103053 0.02200678 -0.00362093
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+v -0.00688059 0.02057546 -0.01207737
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+v -0.00877135 0.02017583 -0.01173836
+v -0.00947780 0.02004805 -0.01150244
+v -0.01015871 0.01994047 -0.01109525
+v -0.01100135 0.01952064 -0.01108826
+v -0.01118860 0.01952064 -0.01089953
+v -0.01203245 0.01952064 -0.01003798
+v -0.01194247 0.02200677 -0.00038969
+v -0.01440106 0.01977227 -0.00357725
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+v -0.01181844 0.02200677 -0.00118483
+v -0.00903399 0.01952065 -0.01254922
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+
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_21.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f82175a199d546def6543913284fd08bb7bed06
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_21.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.01154243 0.01952059 0.00300582
+v -0.01440106 0.01952058 0.00411378
+v -0.01440106 0.01955319 0.00411448
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+v -0.01407398 0.02119214 0.00432253
+v -0.01440106 0.02123984 0.00485941
+v -0.00988148 0.02200676 0.00363067
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diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_22.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b717d59e013379bae5a449f8ee5add34714a178
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_22.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_23.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fbf1b703bcc5ed434bef24f1d6da15f6bf19b46
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_23.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_24.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9de82fb7e0711431cba1101ad5c7bd2e52095a68
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_24.obj
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diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_25.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9273e24822bedd75ccab4049431b169a3d884498
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_25.obj
@@ -0,0 +1,184 @@
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+f 1 13 6
+f 1 6 2
+f 2 6 5
+f 3 7 15
+f 3 15 31
+f 3 31 44
+f 3 44 51
+f 3 51 38
+f 3 38 37
+f 3 37 32
+f 3 32 16
+f 3 16 8
+f 4 9 10
+f 4 10 11
+f 5 6 13
+f 5 13 14
+f 5 14 12
+f 7 12 15
+f 8 16 17
+f 9 18 10
+f 10 19 20
+f 10 20 11
+f 10 18 21
+f 10 21 19
+f 12 14 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 15
+f 13 26 14
+f 14 27 28
+f 14 28 29
+f 14 29 22
+f 14 26 30
+f 14 30 27
+f 15 25 24
+f 15 24 23
+f 15 23 22
+f 15 22 29
+f 15 29 28
+f 15 28 27
+f 15 27 30
+f 15 30 41
+f 15 41 54
+f 15 54 58
+f 15 58 57
+f 15 57 55
+f 15 55 42
+f 15 42 31
+f 16 32 21
+f 16 21 17
+f 17 21 33
+f 17 33 34
+f 18 35 21
+f 19 21 36
+f 21 35 33
+f 21 32 37
+f 21 37 38
+f 21 38 39
+f 21 39 40
+f 21 40 36
+f 31 42 43
+f 31 43 44
+f 33 45 46
+f 33 46 34
+f 33 35 47
+f 33 47 48
+f 33 48 45
+f 36 40 49
+f 36 49 50
+f 38 51 39
+f 39 51 44
+f 39 44 40
+f 40 44 43
+f 40 43 52
+f 40 52 49
+f 41 53 54
+f 42 55 43
+f 43 55 52
+f 49 52 56
+f 49 56 50
+f 52 55 57
+f 52 57 58
+f 52 58 59
+f 52 59 60
+f 52 60 61
+f 52 61 56
+f 53 62 54
+f 54 62 58
+f 58 62 59
+
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_26.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ed7668cdfd2fec336e172d7ffbb69dc1251403d
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_26.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.00230243 0.01952058 0.00422230
+v 0.00230243 0.01952058 0.00610483
+v 0.00230243 0.02065661 0.00422231
+v 0.00993173 0.01952058 0.00422230
+v 0.00298631 0.01952058 0.00672406
+v 0.00230243 0.01957162 0.00606936
+v 0.00230243 0.02065661 0.00513495
+v 0.01015233 0.02065661 0.00422231
+v 0.01002855 0.01957429 0.00422230
+v 0.01223461 0.01952058 0.00527885
+v 0.00542156 0.01952057 0.00882043
+v 0.00584316 0.01952057 0.00915234
+v 0.00480386 0.02065661 0.00660043
+v 0.01037539 0.02065661 0.00599944
+v 0.01289520 0.02010300 0.00642407
+v 0.01482305 0.01952057 0.00705648
+v 0.01361585 0.01952058 0.00604554
+v 0.01277141 0.01952058 0.00552664
+v 0.01015846 0.02060779 0.00422231
+v 0.01013395 0.02015304 0.00422230
+v 0.00668882 0.01952057 0.00935301
+v 0.00584316 0.02065660 0.00713503
+v 0.01289520 0.02010300 0.00659231
+v 0.01008370 0.02065661 0.00621632
+v 0.01432424 0.01967749 0.00706205
+v 0.01434875 0.01952057 0.00752268
+v 0.00690329 0.01952057 0.00939912
+v 0.00693271 0.02065660 0.00737979
+v 0.00904808 0.02065660 0.00682441
+v 0.00859951 0.02065660 0.00706156
+v 0.00801000 0.02065660 0.00726172
+v 0.00761536 0.02065660 0.00733874
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 19
+f 1 19 20
+f 1 20 9
+f 1 9 4
+f 1 4 10
+f 1 10 18
+f 1 18 17
+f 1 17 16
+f 1 16 26
+f 1 26 27
+f 1 27 21
+f 1 21 12
+f 1 12 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 13
+f 3 13 22
+f 3 22 28
+f 3 28 32
+f 3 32 31
+f 3 31 30
+f 3 30 29
+f 3 29 24
+f 3 24 14
+f 3 14 8
+f 4 9 10
+f 5 7 6
+f 5 11 7
+f 7 11 12
+f 7 12 13
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 9 20 18
+f 9 18 10
+f 12 21 22
+f 12 22 13
+f 14 23 15
+f 14 24 23
+f 15 23 25
+f 15 25 16
+f 16 25 26
+f 18 20 19
+f 21 27 28
+f 21 28 22
+f 23 26 25
+f 23 24 29
+f 23 29 30
+f 23 30 26
+f 26 30 31
+f 26 31 27
+f 27 31 32
+f 27 32 28
+
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_27.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d308703829496c034308cb84341ed7f50005e25d
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_27.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.01840542 0.01426905 0.00862173
+v -0.01786681 0.01426905 0.00944486
+v -0.01617200 0.01626938 0.00914201
+v -0.01624023 0.01626938 0.00898439
+v -0.01627972 0.01626938 0.00862174
+v 0.01827720 0.01426905 0.00862173
+v -0.01749338 0.01426904 0.00999971
+v -0.01739284 0.01426904 0.01014448
+v -0.01530305 0.01626937 0.01037522
+v 0.01622332 0.01626938 0.00862174
+v 0.01724308 0.01626937 0.01040734
+v 0.01759497 0.01626937 0.01123689
+v 0.01772423 0.01626937 0.01178680
+v 0.01784632 0.01626936 0.01237920
+v 0.01778169 0.01626936 0.01344245
+v 0.01776373 0.01626936 0.01352150
+v 0.01771346 0.01626936 0.01366874
+v 0.01766319 0.01620924 0.01366874
+v 0.01753752 0.01605924 0.01366874
+v 0.01716050 0.01566505 0.01366874
+v 0.01590375 0.01426903 0.01303137
+v -0.01690451 0.01426904 0.01077937
+v -0.01380214 0.01626936 0.01235005
+v -0.01195652 0.01626936 0.01366874
+v 0.01563445 0.01444037 0.01366873
+v 0.01554109 0.01437301 0.01366873
+v 0.01544773 0.01426903 0.01359807
+v -0.01644131 0.01426904 0.01128777
+v -0.01586679 0.01426904 0.01185843
+v -0.01537846 0.01426903 0.01228877
+v -0.01532101 0.01426903 0.01233917
+v -0.01529587 0.01426903 0.01235547
+v -0.01462082 0.01426903 0.01275617
+v -0.01429047 0.01426903 0.01293898
+v -0.01381650 0.01426903 0.01317465
+v -0.01260284 0.01426903 0.01366873
+v 0.01542618 0.01429409 0.01366873
+v 0.01536155 0.01426903 0.01366873
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 6
+f 1 6 21
+f 1 21 27
+f 1 27 38
+f 1 38 36
+f 1 36 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 22
+f 1 22 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 23
+f 3 23 24
+f 3 24 17
+f 3 17 16
+f 3 16 15
+f 3 15 14
+f 3 14 13
+f 3 13 12
+f 3 12 11
+f 3 11 10
+f 3 10 5
+f 3 5 4
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 8 22 23
+f 8 23 9
+f 17 24 36
+f 17 36 38
+f 17 38 37
+f 17 37 26
+f 17 26 25
+f 17 25 20
+f 17 20 19
+f 17 19 18
+f 20 25 21
+f 21 25 26
+f 21 26 27
+f 22 28 23
+f 23 28 29
+f 23 29 30
+f 23 30 31
+f 23 31 24
+f 24 31 32
+f 24 32 33
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 26 37 27
+f 27 37 38
+
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_28.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b6bf6af03f687755217664ff37806e992e1e1b0
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_28.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00280828 0.01773113 0.00951671
+v 0.00280828 0.01857663 0.00821249
+v 0.00203382 0.01952056 0.00931250
+v 0.00145719 0.01952055 0.01028181
+v 0.00079391 0.01952055 0.01075286
+v 0.00160925 0.01773112 0.01020830
+v 0.00280828 0.01773122 -0.01634169
+v 0.00280828 0.01935329 0.00687015
+v 0.00280828 0.01952057 0.00653797
+v 0.00054103 0.01952055 0.01082365
+v 0.00054103 0.01773112 0.01057860
+v 0.00104080 0.01773122 -0.01685086
+v 0.00091436 0.01785856 -0.01681274
+v 0.00020748 0.01803284 -0.01691348
+v 0.00280828 0.01817735 -0.01599045
+v 0.00280828 0.01952064 -0.01478698
+v -0.00051085 0.01952055 0.01072835
+v -0.00051848 0.01773112 0.01058132
+v -0.00041493 0.01773112 0.01058132
+v 0.00039278 0.01773122 -0.01699244
+v -0.00007974 0.01803284 -0.01691348
+v 0.00034700 0.01911253 -0.01593055
+v 0.00063095 0.01851716 -0.01637164
+v 0.00280828 0.01863417 -0.01560109
+v 0.00280828 0.01922586 -0.01507832
+v 0.00061569 0.01952065 -0.01519540
+v -0.00058606 0.01952055 0.01069840
+v -0.00141721 0.01773112 0.01030087
+v 0.00025925 0.01773122 -0.01699244
+v -0.00026287 0.01773122 -0.01697610
+v -0.00275958 0.01773122 -0.01633897
+v -0.00275958 0.01779025 -0.01628996
+v -0.00275958 0.01822464 -0.01592783
+v -0.00275958 0.01869442 -0.01553302
+v -0.00015441 0.01911253 -0.01593055
+v 0.00280828 0.01870721 -0.01553847
+v 0.00037589 0.01952065 -0.01518995
+v -0.00062476 0.01952055 0.01067934
+v -0.00159325 0.01773112 0.01021102
+v -0.00275958 0.01773112 0.00957933
+v -0.00275958 0.01928419 -0.01499935
+v -0.00079317 0.01952065 -0.01509738
+v -0.00051357 0.01952065 -0.01512188
+v -0.00275958 0.01952064 -0.01475158
+v -0.00137197 0.01952055 0.01011845
+v -0.00225380 0.01773112 0.00986523
+v -0.00138069 0.01952055 0.01011028
+v -0.00186793 0.01952056 0.00916547
+v -0.00188592 0.01952056 0.00911101
+v -0.00275958 0.01917883 0.00701173
+v -0.00275958 0.01952057 0.00630925
+v -0.00275958 0.01951672 0.00631742
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 19
+f 1 19 18
+f 1 18 28
+f 1 28 39
+f 1 39 46
+f 1 46 40
+f 1 40 31
+f 1 31 30
+f 1 30 29
+f 1 29 20
+f 1 20 12
+f 1 12 7
+f 1 7 15
+f 1 15 24
+f 1 24 36
+f 1 36 25
+f 1 25 16
+f 1 16 9
+f 1 9 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 16
+f 3 16 26
+f 3 26 37
+f 3 37 43
+f 3 43 42
+f 3 42 44
+f 3 44 51
+f 3 51 49
+f 3 49 48
+f 3 48 47
+f 3 47 45
+f 3 45 38
+f 3 38 27
+f 3 27 17
+f 3 17 10
+f 3 10 5
+f 3 5 4
+f 5 10 11
+f 5 11 6
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 12 20 14
+f 12 14 13
+f 14 20 29
+f 14 29 21
+f 14 21 35
+f 14 35 22
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 16 25 22
+f 16 22 26
+f 17 27 28
+f 17 28 18
+f 21 29 30
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 22 35 26
+f 22 25 36
+f 22 36 23
+f 23 36 24
+f 26 35 37
+f 27 38 28
+f 28 38 39
+f 31 40 50
+f 31 50 52
+f 31 52 51
+f 31 51 44
+f 31 44 41
+f 31 41 34
+f 31 34 33
+f 31 33 32
+f 34 41 35
+f 35 42 43
+f 35 43 37
+f 35 41 44
+f 35 44 42
+f 38 45 40
+f 38 40 46
+f 38 46 39
+f 40 45 47
+f 40 47 48
+f 40 48 49
+f 40 49 50
+f 49 51 52
+f 49 52 50
+
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_29.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b890d1ceaa5b3a4d4d7107b6745a6cb3d232eea
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_29.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.01518668 0.01773112 0.01117335
+v 0.01518668 0.01912173 0.00894407
+v 0.01162832 0.01952056 0.00753549
+v 0.01162832 0.01773112 0.01020175
+v 0.01518668 0.01773114 0.00612623
+v 0.01518668 0.01947555 0.00812951
+v 0.01434968 0.01952056 0.00752320
+v 0.01162832 0.01952057 0.00513142
+v 0.01162832 0.01773114 0.00419805
+v 0.01518250 0.01773114 0.00419805
+v 0.01518668 0.01894745 0.00652839
+v 0.01518668 0.01940601 0.00705276
+v 0.01482304 0.01952056 0.00705686
+v 0.01217866 0.01952057 0.00525705
+v 0.01220443 0.01853232 0.00419805
+v 0.01162832 0.01861219 0.00419805
+v 0.01297350 0.01833054 0.00419805
+v 0.01223613 0.01952057 0.00527890
+v 0.01277218 0.01952057 0.00552675
+v 0.01361684 0.01952057 0.00604566
+v 0.01432461 0.01933350 0.00621294
+v 0.01502541 0.01914380 0.00641368
+v 0.01518668 0.01923471 0.00670181
+v 0.01518668 0.01938499 0.00700907
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 11
+f 1 11 23
+f 1 23 24
+f 1 24 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 13
+f 3 13 20
+f 3 20 19
+f 3 19 18
+f 3 18 14
+f 3 14 8
+f 3 8 16
+f 3 16 9
+f 3 9 4
+f 5 10 11
+f 6 12 13
+f 6 13 7
+f 8 14 15
+f 8 15 16
+f 9 16 15
+f 9 15 17
+f 9 17 10
+f 10 17 14
+f 10 14 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 12 24 21
+f 12 21 20
+f 12 20 13
+f 14 17 15
+f 21 24 23
+f 21 23 22
+
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_3.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae7d8210fa404ebd8b15bc3e3577b564aab5f995
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_3.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v -0.00025542 0.02200720 0.00361275
+v -0.00025542 0.02206750 0.00355861
+v -0.00510165 0.02200719 0.00437697
+v -0.00025542 0.02200725 -0.01107287
+v -0.00025542 0.02224106 0.00340236
+v -0.00687975 0.02200719 0.00461675
+v -0.00055445 0.02200725 -0.01107905
+v -0.00025542 0.02225781 -0.01075264
+v -0.00025542 0.02232478 0.00325385
+v -0.00793994 0.02200719 0.00472504
+v -0.00025542 0.02256536 0.00280832
+v -0.00480262 0.02200725 -0.01020036
+v -0.00900013 0.02408791 -0.00636999
+v -0.00815247 0.02408791 -0.00654016
+v -0.00793994 0.02408791 -0.00658038
+v -0.00025542 0.02229265 -0.01058711
+v -0.00714913 0.02408791 -0.00662525
+v -0.00687975 0.02408791 -0.00663453
+v -0.00602468 0.02408791 -0.00656027
+v -0.00582080 0.02408791 -0.00653707
+v -0.00498797 0.02408791 -0.00635297
+v -0.00494843 0.02408791 -0.00634215
+v -0.00442451 0.02408791 -0.00614877
+v -0.00400439 0.02408791 -0.00594302
+v -0.00306653 0.02408791 -0.00531339
+v -0.00304552 0.02408791 -0.00529483
+v -0.00843544 0.02200719 0.00459974
+v -0.00158004 0.02260631 0.00280832
+v -0.00201499 0.02326083 0.00124431
+v -0.01107232 0.02408789 -0.00025782
+v -0.01220912 0.02408789 -0.00036301
+v -0.00025542 0.02264888 0.00254687
+v -0.00976747 0.02408791 -0.00607297
+v -0.00947586 0.02408791 -0.00620756
+v -0.00505717 0.02200725 -0.00997140
+v -0.01142201 0.02408791 -0.00493438
+v -0.01096482 0.02408791 -0.00533815
+v -0.01088203 0.02408791 -0.00540003
+v -0.01015794 0.02408791 -0.00584711
+v -0.00025542 0.02234582 -0.00995129
+v -0.00283670 0.02408791 -0.00491736
+v -0.00237827 0.02408790 -0.00387005
+v -0.00900013 0.02200719 0.00435995
+v -0.00025542 0.02285259 0.00172542
+v -0.00182470 0.02334965 0.00068121
+v -0.00260069 0.02408790 -0.00222714
+v -0.01189527 0.02355336 0.00046154
+v -0.00913482 0.02200719 0.00429498
+v -0.01275775 0.02408789 -0.00083794
+v -0.01009616 0.02200723 -0.00463737
+v -0.01190392 0.02408791 -0.00440376
+v -0.01187426 0.02400846 -0.00438056
+v -0.00025542 0.02245316 -0.00782418
+v -0.00239804 0.02408790 -0.00360551
+v -0.00251296 0.02408790 -0.00247311
+v -0.01150480 0.02314065 0.00117161
+v -0.00988239 0.02200720 0.00362977
+v -0.01275652 0.02377948 -0.00082866
+v -0.01171733 0.02243398 0.00132011
+v -0.01076217 0.02238223 0.00247571
+v -0.01285908 0.02408790 -0.00142734
+v -0.01103155 0.02200722 -0.00361945
+v -0.01197435 0.02408791 -0.00430785
+v -0.01236234 0.02408790 -0.00370916
+v -0.01078194 0.02200720 0.00253295
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diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_30.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac3947d99a96cd98ef0494a35c6c100fc82bd195
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_30.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_31.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..667481232852dfab96a2a7c956263d6dcb75946a
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_31.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_32.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a39baea3e958079f0440cd4e4fd5854bc17ee5b4
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_32.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.00230243 0.01952058 0.00610346
+v 0.00230243 0.01957169 0.00606800
+v 0.00054132 0.01967829 0.00611389
+v 0.00110964 0.01956633 0.00611389
+v 0.00134183 0.01952058 0.00611389
+v 0.00230243 0.01952065 -0.01484242
+v 0.00230243 0.02132430 0.00461404
+v 0.00037074 0.01967683 0.00611389
+v -0.00109531 0.01952058 0.00611389
+v 0.00160168 0.01952066 -0.01499052
+v 0.00230243 0.01965207 -0.01471517
+v -0.00197922 0.02160589 0.00422813
+v -0.00197922 0.02127586 0.00454312
+v -0.00051861 0.01966831 0.00611389
+v 0.00230243 0.02185440 0.00399449
+v -0.00197922 0.02200676 0.00378589
+v -0.00197922 0.01952058 0.00599707
+v 0.00061593 0.01952066 -0.01519704
+v 0.00230243 0.01986017 -0.01451074
+v 0.00230243 0.02200676 0.00377337
+v -0.00197922 0.02200681 -0.00980046
+v -0.00197922 0.01952065 -0.01484659
+v 0.00037577 0.01952066 -0.01519078
+v -0.00051861 0.02035813 -0.01404764
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+v 0.00160168 0.02033988 -0.01402260
+v 0.00230243 0.02030824 -0.01397880
+v 0.00230243 0.02200681 -0.00995065
+v -0.00060327 0.02200681 -0.01104999
+v -0.00197922 0.02180626 -0.01061193
+v -0.00197922 0.01953209 -0.01483616
+v -0.00079355 0.01952066 -0.01509691
+v -0.00051358 0.01952066 -0.01512403
+v -0.00157897 0.02033428 -0.01401217
+v -0.00051861 0.02088798 -0.01323199
+v 0.00054132 0.02089041 -0.01323407
+v 0.00160168 0.02086972 -0.01319652
+v 0.00230243 0.02048810 -0.01369926
+v 0.00230243 0.02169795 -0.01101453
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+v -0.00055382 0.02200681 -0.01107711
+v -0.00197922 0.02134042 -0.01210344
+v -0.00197922 0.02170209 -0.01101453
+v -0.00197922 0.01986211 -0.01451908
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+v -0.00197922 0.02031505 -0.01398714
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+v -0.00197922 0.02086291 -0.01313186
+v -0.00197922 0.02104204 -0.01281895
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+f 1 23 18
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+f 1 10 6
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+
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_33.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e75cdf7dc79cddfe8bcdf8a2fef67e24526b755f
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_33.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.01284497 0.02200701 -0.00038203
+v 0.01271287 0.02200701 -0.00129884
+v 0.01277995 0.02200701 0.00031271
+v 0.01251267 0.02065675 -0.00184077
+v 0.01256840 0.02065675 -0.00361123
+v 0.01256840 0.02200702 -0.00182651
+v 0.01242083 0.02065676 -0.00455656
+v 0.01205551 0.02065676 -0.00676097
+v 0.01195025 0.02065677 -0.00736199
+v 0.01276550 0.02200701 0.00044106
+v 0.01245592 0.02065675 -0.00153313
+v 0.01197296 0.02200702 -0.00366624
+v 0.01180268 0.02065677 -0.00777353
+v 0.01221547 0.02065674 -0.00034128
+v 0.01218348 0.02200700 0.00149029
+v 0.01037548 0.02065672 0.00599895
+v 0.01155398 0.02065677 -0.00823398
+v 0.01120208 0.02098112 -0.00780817
+v 0.01123820 0.02200703 -0.00464213
+v 0.01171600 0.02200700 0.00232765
+v 0.01008343 0.02065672 0.00621491
+v 0.01153334 0.02200700 0.00254157
+v 0.01067268 0.02200700 0.00340133
+v 0.01041469 0.02200700 0.00360710
+v 0.00847667 0.02065678 -0.01100681
+v 0.00759950 0.02124032 -0.01063601
+v 0.00690396 0.02166948 -0.00995146
+v 0.00690396 0.02193937 -0.00888796
+v 0.00442828 0.02200705 -0.01066046
+v 0.00843229 0.02112752 0.00652459
+v 0.00904734 0.02065671 0.00682408
+v 0.00855406 0.02200699 0.00430591
+v 0.00796275 0.02186438 0.00493545
+v 0.00825376 0.02065678 -0.01120036
+v 0.00795140 0.02065678 -0.01138983
+v 0.00690396 0.02065678 -0.01197862
+v 0.00671614 0.02065678 -0.01206419
+v 0.00532092 0.02065679 -0.01266929
+v 0.00483797 0.02065679 -0.01283838
+v 0.00383903 0.02065679 -0.01315214
+v 0.00372241 0.02068375 -0.01313991
+v 0.00372241 0.02106177 -0.01247574
+v 0.00262647 0.02086998 -0.01304823
+v 0.00230243 0.02113697 -0.01262446
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+
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_34.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a5e526c4c94be1f8ba2796644c7a23addc0406a
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_34.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.00813455 0.01426903 0.01366922
+v -0.00813455 0.01426901 0.01891782
+v -0.00813455 0.01626936 0.01366923
+v 0.00312438 0.01426903 0.01366922
+v -0.00813455 0.01626935 0.01597829
+v -0.00469162 0.01426900 0.02114545
+v 0.00312438 0.01626936 0.01366923
+v 0.00312438 0.01426901 0.01860557
+v -0.00424528 0.01477658 0.02038125
+v -0.00336581 0.01591901 0.01842778
+v -0.00371297 0.01626935 0.01736775
+v -0.00405572 0.01426900 0.02130009
+v -0.00369864 0.01482004 0.02043951
+v 0.00312438 0.01626935 0.01625394
+v -0.00053345 0.01426901 0.02013547
+v 0.00312438 0.01537796 0.01733414
+v -0.00308258 0.01482807 0.02044101
+v -0.00263844 0.01590648 0.01839342
+v -0.00263844 0.01626935 0.01768972
+v -0.00371958 0.01426900 0.02121791
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+v -0.00157933 0.01626935 0.01756198
+v -0.00100624 0.01584773 0.01825970
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+v -0.00083542 0.01490093 0.01948780
+v -0.00157933 0.01620159 0.01769570
+v -0.00263182 0.01626935 0.01768898
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+
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_35.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e0643a7acc36f8a3d0332fe874f148cfa8efdee
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_35.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.01863526 0.01773111 0.01237928
+v 0.01856992 0.01741775 0.01237927
+v 0.01858680 0.01773112 0.01206444
+v 0.01857286 0.01773111 0.01344189
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+
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_36.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bf98f2a580831317e0cb92c86fd5302d36ae9ed
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_36.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.01878994 0.01847819 0.01237931
+v 0.01863508 0.01773111 0.01237931
+v 0.01862803 0.01847820 0.01131536
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+
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_37.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c45f33e9d13dc1080aaa91bdb17a139d376b60f8
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_37.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_38.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01b679c9b5c0dc7e025492671dc4d2753b1feb3e
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_38.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
+v 0.00060083 0.01426915 -0.01889260
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diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_39.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffb1cc9bd14151dd20b822e41180906107d3f6ef
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_39.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_4.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7d0d2c6d1c254718054db20c0015dcba371b885
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_4.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_40.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..220d16e4b8f1fedbd59170880c9681467afbfa74
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_40.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.00312438 0.01426903 0.01366976
+v 0.00312438 0.01426901 0.01860526
+v 0.00312438 0.01626936 0.01366977
+v 0.00901601 0.01426903 0.01366976
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+v 0.00584297 0.01626935 0.01643636
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+v 0.00901601 0.01622019 0.01633755
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+v 0.00901601 0.01626876 0.01627311
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+
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_5.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff335148248a04c17de9fb56eb042d24771888ab
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_5.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.00901601 0.01426903 0.01366952
+v 0.00901601 0.01426902 0.01590837
+v 0.00901601 0.01626936 0.01366953
+v 0.01536428 0.01426903 0.01366952
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+v 0.01478941 0.01426903 0.01415343
+v 0.01060862 0.01426902 0.01592480
+v 0.01114431 0.01454258 0.01636521
+v 0.01114431 0.01529709 0.01675757
+v 0.01008399 0.01529709 0.01664230
+v 0.00901601 0.01528788 0.01645525
+v 0.00901601 0.01626876 0.01627276
+v 0.00902283 0.01626935 0.01627215
+v 0.01745255 0.01626936 0.01447918
+v 0.01708719 0.01572693 0.01423343
+v 0.01754027 0.01605924 0.01366953
+v 0.01563681 0.01444037 0.01366952
+v 0.01652083 0.01542575 0.01455522
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+v 0.01220463 0.01529709 0.01677613
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+v 0.01273265 0.01426902 0.01556955
+v 0.01308354 0.01426902 0.01544607
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+
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_6.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21784f431090ae32811ad51531996033bfe9db2c
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_6.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.00688021 0.02408861 -0.00663456
+v -0.00698577 0.02416368 -0.00666852
+v -0.00698577 0.02484033 -0.00700346
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+
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_7.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a81cc3cffe84aeb02884ffdf275e64ce2b35dc9
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_7.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.01383795 0.02550870 -0.00290070
+v 0.01290112 0.02766053 -0.00392423
+v 0.01331149 0.02587408 -0.00253365
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diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_8.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..385d313bbf8c51f69d28723793d48bcb886d22ed
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_8.obj
@@ -0,0 +1,145 @@
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diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_9.obj b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08586a7d7562a09c1f5df26b64ab3349dc3d298c
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/mesh/strawberry_006_collision_9.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/strawberry_006.xml b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/strawberry_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..07af8ac8ec1cc8b10d5e8a1ffa1f7992bb0a08fe
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/mjcf/strawberry_006.xml
@@ -0,0 +1,96 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="strawberry_006">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/strawberry_006.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/strawberry_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/strawberry_006_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/strawberry_006_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/strawberry_006_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/strawberry_006_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/strawberry_006_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/strawberry_006_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/strawberry_006_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/strawberry_006_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/strawberry_006_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/strawberry_006_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/strawberry_006_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/strawberry_006_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/strawberry_006_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/strawberry_006_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/strawberry_006_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/strawberry_006_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/strawberry_006_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/strawberry_006_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/strawberry_006_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/strawberry_006_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/strawberry_006_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/strawberry_006_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/strawberry_006_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/strawberry_006_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/strawberry_006_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/strawberry_006_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/strawberry_006_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/strawberry_006_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/strawberry_006_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/strawberry_006_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/strawberry_006_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/strawberry_006_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/strawberry_006_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/strawberry_006_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/strawberry_006_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/strawberry_006_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/strawberry_006_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/strawberry_006_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/strawberry_006_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/strawberry_006_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="strawberry_006">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/strawberry_006.urdf b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/strawberry_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cb19dd297a9a802730a884afcf39c9eda255879b
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/strawberry_006.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="strawberry_006">
+   <link name="strawberry_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/strawberry_006.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_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <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>a9755d7497965f3db223c1af0e15f45a</uuid>
+         <domain>food</domain>
+         <super_category>fruits</super_category>
+         <category>strawberry</category>
+         <name>ripe strawberry</name>
+         <color>red,green</color>
+         <shape>cone</shape>
+         <material>organic</material>
+         <description>realistic red strawberry with green leaves and stem</description>
+         <min_height>0.0498</min_height>
+         <max_height>0.0498</max_height>
+         <real_height>0.0498</real_height>
+         <min_mass>0.015</min_mass>
+         <max_mass>0.025</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427235926</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/strawberry_006.usd b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/strawberry_006.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3ef25df8100de5971618a49662dfa445bb24ffe8
--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/strawberry_006.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c9edf64979a2e683837012f55172dd7c6929787ad777279ff722f2c3fdb5beb
+size 5021615
diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/textures/material_0.png b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/textures/material_0.png
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diff --git a/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/video.mp4 b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/food/fruits/a9755d7497965f3db223c1af0e15f45a/video.mp4
@@ -0,0 +1,3 @@
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+oid sha256:4385ae86b9ec5387ed9d9641c88261102245718db4d805e0eb6cd652f320493e
+size 412708