diff --git a/.gitattributes b/.gitattributes
index f8ff1f21526df13e8caa75577ddcc8bba7774757..6d4b1841935f0de40b32cc4db69fa44ad2c287a2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3571,3 +3571,5 @@ dataset/food/fruits/8d9fed7dc3325c31a7d1b561f4a21245/mesh/orange_gs.ply filter=l
 dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mesh/strawberry_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/strawberry_001.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/strawberry_001.usdc filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mesh/strawberry_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/strawberry_009.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mesh/material.mtl b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd6dc1992d48db591f51b3c432eaeade4ac86fa7
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl strawberry_009_geometry_Looks_material_0
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+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd strawberry_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mesh/material_0.png b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..55f228efde8c6a3cc73d96692682f5fc3ad31888
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/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/92925b91411b5b29bd6e2cef8e94fa15/mesh/strawberry_009.glb b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mesh/strawberry_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b0bc9bfe1787ee82ee813208989951bc3ad8f641
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mesh/strawberry_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb0c0d922f8be3c7339c32278367a88e218a071cffd7306a4388016666521999
+size 15668404
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mesh/strawberry_009.mtl b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mesh/strawberry_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8f475faeffdeafe00faccaa4531d918c1448521f
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mesh/strawberry_009.mtl
@@ -0,0 +1,6 @@
+newmtl strawberry_009_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/92925b91411b5b29bd6e2cef8e94fa15/mesh/strawberry_009.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mesh/strawberry_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df642b4bd46e6daf2ec8d2a0882c4da1d59009e2
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mesh/strawberry_009.obj
@@ -0,0 +1,119764 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl strawberry_009_geometry_Looks_material_0
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diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mesh/strawberry_009_collision.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mesh/strawberry_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8e11671be88f1fdc0aba3490bf60d27d560dfb8
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mesh/strawberry_009_collision.obj
@@ -0,0 +1,27594 @@
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diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3832ff79a5c4c74e9c1be83c00b713a922584a6
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision.obj
@@ -0,0 +1,27594 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_0.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cac186984df7b79141c25d754147f6f1f23f112d
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_0.obj
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diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_1.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f74dfce6b16275ce2058ff79e9dcb83d1be1fff
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_1.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00771958 0.01465906 0.02208089
+v 0.00771958 0.01561447 0.02208090
+v 0.00977791 0.01465906 0.02208089
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+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_10.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..759bc34233e5c70925dae2b60cb5f617067aa0ef
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_10.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.01023781 0.00626286 0.03366490
+v 0.01023781 0.00554588 0.03366490
+v 0.00940977 0.00671540 0.03366490
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+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_11.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf7242d4cb13f54c45908a32da159a4a0a58fc23
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_11.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.01248879 0.02078990 0.03558312
+v -0.01169941 0.02078990 0.03545764
+v -0.01178051 0.02162584 0.03539133
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+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_12.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16afb341515d88307e76ed675cf1525911e658f8
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_12.obj
@@ -0,0 +1,1684 @@
+# https://github.com/mikedh/trimesh
+v -0.02948138 0.00441486 0.01060490
+v -0.02947179 0.00402005 0.01060489
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diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_13.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..568e2036c9a511d071d9b324ab5af6b0b7d7af06
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_13.obj
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diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_14.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fea151b4bfc773c05f49f432cbf1dd495d87df6f
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diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_15.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b664e84129c9976078eb138f1226cb0d307e1d57
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_15.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_16.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f649431f3ee2c8625bac5525ea9bd1c6b8c84d7
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_16.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_17.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a01d0897a4c16a0d3dd401b37f922950d20f39e
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_17.obj
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+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_18.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..597fa64b736cc68016a75a1449ca064e711f4e28
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_18.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.01023765 0.03838049 0.00720177
+v -0.00923929 0.03821542 0.00577218
+v -0.00985093 0.03832414 0.00625953
+v -0.01076057 0.03834544 0.00634638
+v -0.01081180 0.03838049 0.00720177
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+v -0.00926303 0.03384681 0.00544417
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+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_19.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1d936d57c02966afa4d79e6b92f330ee822d2ee
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_19.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.01325114 0.01328575 0.02208089
+v 0.01417600 0.01295125 0.02208089
+v 0.01325114 0.00311522 0.02208085
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+v 0.01993899 0.00311520 0.02587918
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+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_2.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c688d5d99c3807a8b539a95eb77a1dc7322f017
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_2.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.01453333 0.03110884 0.03254951
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+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_20.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..569fc4f86170cab1c6324f9c261617ace18c7255
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_20.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.00014519 0.04100802 0.00605464
+v 0.00014519 0.04100802 0.00538938
+v -0.00060460 0.04100802 0.00605464
+v -0.00219753 0.03384680 0.00789165
+v 0.00439197 0.03384680 0.00749587
+v 0.00542489 0.03384680 0.00729376
+v 0.00510288 0.03457519 0.00712198
+v 0.00878342 0.03566884 0.00359021
+v 0.00038009 0.03990737 0.00415570
+v -0.00060460 0.04100802 0.00538938
+v 0.00144256 0.03976436 0.00423359
+v -0.00548918 0.03611680 0.00607146
+v -0.00548918 0.03532252 0.00672241
+v -0.00548918 0.03467754 0.00716493
+v -0.00548918 0.03401014 0.00761966
+v -0.00548918 0.03384680 0.00772618
+v -0.00348090 0.03384680 0.00787060
+v 0.01039968 0.03384682 0.00359020
+v 0.00798695 0.03592753 0.00359021
+v 0.00038009 0.03884880 0.00372201
+v -0.00069172 0.03977417 0.00425043
+v -0.00155041 0.03949306 0.00441507
+v -0.00548918 0.03611680 0.00528788
+v -0.00548918 0.03384681 0.00466809
+v -0.00095928 0.03384682 0.00359020
+v 0.00159345 0.03763178 0.00359022
+v 0.00038009 0.03795076 0.00359022
+v -0.00090639 0.03755887 0.00374474
+v -0.00103550 0.03897779 0.00405506
+v -0.00177597 0.03863357 0.00425632
+v -0.00548918 0.03451771 0.00470220
+v -0.00548918 0.03573403 0.00513210
+v -0.00548918 0.03424501 0.00468831
+v 0.00003163 0.03755887 0.00359022
+f 1 2 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 8 11
+f 2 11 9
+f 3 10 23
+f 3 23 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 4
+f 4 17 16
+f 4 16 24
+f 4 24 25
+f 4 25 18
+f 4 18 6
+f 4 6 5
+f 6 18 7
+f 7 18 8
+f 8 18 25
+f 8 25 34
+f 8 34 27
+f 8 27 26
+f 8 26 19
+f 8 19 20
+f 8 20 11
+f 9 20 21
+f 9 21 10
+f 9 11 20
+f 10 21 22
+f 10 22 23
+f 12 23 32
+f 12 32 31
+f 12 31 33
+f 12 33 24
+f 12 24 16
+f 12 16 15
+f 12 15 14
+f 12 14 13
+f 19 26 20
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 20 26 27
+f 21 29 22
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 24 33 28
+f 24 28 25
+f 25 28 34
+f 27 34 28
+f 28 33 31
+f 28 31 29
+f 29 31 30
+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_21.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c51e603f055abe0aa5d37db9c6450990cbdac442
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_21.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.02963452 0.00440848 0.02084463
+v 0.02963452 0.00418127 0.02057986
+v 0.02985875 0.00420804 0.02059654
+v 0.03126347 0.00416391 0.02035867
+v 0.03254959 0.00432817 0.02023812
+v 0.03388056 0.00523916 0.02035813
+v 0.03254959 0.00531224 0.02050397
+v 0.03383621 0.00649893 0.02033284
+v 0.02963452 0.00499531 0.02082365
+v 0.02963452 0.00383758 0.01922258
+v 0.02997635 0.00381442 0.01922258
+v 0.03126347 0.00389112 0.01922258
+v 0.03348142 0.00451124 0.02006375
+v 0.03472518 0.00562049 0.02019668
+v 0.03472518 0.00633395 0.02019668
+v 0.02963452 0.01119356 0.01747841
+v 0.02963452 0.00387810 0.01888838
+v 0.03126347 0.00439402 0.01825981
+v 0.03254959 0.00455031 0.01843741
+v 0.03254959 0.00421095 0.01922259
+v 0.03341116 0.00454886 0.01922259
+v 0.03405496 0.00502136 0.01922259
+v 0.03468881 0.00566680 0.01922259
+v 0.03468881 0.00645406 0.01922259
+v 0.03191675 0.00983467 0.01730727
+v 0.02963452 0.01120587 0.01698921
+v 0.02963452 0.00430574 0.01816563
+v 0.02963452 0.00514004 0.01727119
+v 0.03126347 0.00505249 0.01761616
+v 0.03219131 0.00580574 0.01719101
+v 0.03259195 0.00535060 0.01772917
+v 0.03319589 0.00466536 0.01857679
+v 0.03451340 0.00590631 0.01853858
+v 0.03451340 0.00624278 0.01853858
+v 0.03359404 0.00779415 0.01793584
+v 0.03191675 0.00983467 0.01727713
+v 0.03126347 0.01006405 0.01697737
+v 0.03007950 0.01052425 0.01653231
+v 0.02963452 0.01069067 0.01638108
+v 0.02963452 0.00555321 0.01690578
+v 0.03304889 0.00610386 0.01735138
+v 0.02963452 0.00780139 0.01538815
+v 0.03370914 0.00541065 0.01833139
+v 0.03332346 0.00696420 0.01719263
+v 0.03332346 0.00758721 0.01719263
+v 0.03221174 0.00918055 0.01703871
+v 0.02971126 0.01005464 0.01587682
+v 0.02963452 0.01008648 0.01584614
+v 0.03259195 0.00656117 0.01700964
+v 0.02963452 0.00812049 0.01534725
+v 0.03265922 0.00796709 0.01687619
+v 0.03126347 0.00918055 0.01641928
+v 0.02963452 0.00918055 0.01549309
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 16
+f 1 16 26
+f 1 26 39
+f 1 39 48
+f 1 48 53
+f 1 53 50
+f 1 50 42
+f 1 42 40
+f 1 40 28
+f 1 28 27
+f 1 27 17
+f 1 17 10
+f 1 10 2
+f 2 10 11
+f 2 11 4
+f 2 4 3
+f 4 11 12
+f 4 12 5
+f 5 13 6
+f 5 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 8
+f 6 8 7
+f 8 15 16
+f 8 16 9
+f 10 17 11
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 14 23 24
+f 14 24 15
+f 14 22 23
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 17 27 18
+f 18 27 28
+f 18 28 29
+f 18 29 19
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 20
+f 20 32 21
+f 21 32 22
+f 22 32 33
+f 22 33 23
+f 23 33 34
+f 23 34 24
+f 24 34 35
+f 24 35 25
+f 25 35 36
+f 25 36 26
+f 26 37 38
+f 26 38 39
+f 26 36 37
+f 28 40 29
+f 29 40 30
+f 30 41 31
+f 30 40 42
+f 30 42 41
+f 31 41 32
+f 32 41 43
+f 32 43 33
+f 33 43 41
+f 33 41 44
+f 33 44 45
+f 33 45 34
+f 34 45 35
+f 35 45 46
+f 35 46 36
+f 36 46 47
+f 36 47 37
+f 37 47 48
+f 37 48 38
+f 38 48 39
+f 41 42 49
+f 41 49 44
+f 42 50 44
+f 42 44 49
+f 44 50 45
+f 45 50 51
+f 45 51 46
+f 46 52 47
+f 46 51 52
+f 47 52 53
+f 47 53 48
+f 50 53 51
+f 51 53 52
+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_22.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f443f0c35b3ffa61a3828c3670fa929d55a79da9
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_22.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.02358856 0.01608774 0.00606819
+v 0.02358856 0.01608772 0.01060424
+v 0.02358856 0.01791630 0.00606820
+v 0.02768569 0.01608774 0.00606819
+v 0.02358856 0.01791628 0.01060425
+v 0.02647110 0.01608772 0.01060424
+v 0.02672561 0.01791630 0.00606820
+v 0.02824761 0.01608953 0.00606819
+v 0.02824806 0.01608774 0.00607219
+v 0.02730303 0.01791628 0.01060425
+v 0.02697190 0.01608772 0.01010739
+v 0.02734772 0.01791628 0.01024460
+v 0.02689482 0.01772315 0.00606820
+v 0.02824487 0.01609383 0.00606819
+v 0.02805833 0.01608774 0.00667427
+v 0.02807794 0.01631669 0.00606819
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 13
+f 1 13 16
+f 1 16 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 12
+f 3 12 7
+f 4 8 9
+f 6 11 10
+f 7 12 13
+f 8 14 12
+f 8 12 9
+f 9 10 15
+f 9 12 10
+f 10 11 15
+f 12 14 16
+f 12 16 13
+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_23.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80e9e305e0040b7ba28b3a859cbc6b2797de7666
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_23.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.01195972 0.02579699 0.02385551
+v -0.01248493 0.02572692 0.02385551
+v -0.01355617 0.02555331 0.02694936
+v -0.01357697 0.02547634 0.02823702
+v -0.01290708 0.02547634 0.02823702
+v -0.01118280 0.02577523 0.02385551
+v -0.01424885 0.02037414 0.02385549
+v -0.01322023 0.02539088 0.02486040
+v -0.01337581 0.02549705 0.02566214
+v -0.01425083 0.02470286 0.02814436
+v -0.01428651 0.02466782 0.02829922
+v -0.01356409 0.02546891 0.02829922
+v -0.01291699 0.02546891 0.02829922
+v -0.01044552 0.02539035 0.02385551
+v -0.01281690 0.02037413 0.02829920
+v -0.01289915 0.02049092 0.02829921
+v -0.01326977 0.02108390 0.02829921
+v -0.01329752 0.02113593 0.02829921
+v -0.01377814 0.02208300 0.02829921
+v -0.01380192 0.02213715 0.02829921
+v -0.01428849 0.02325517 0.02829922
+v -0.01436876 0.02349778 0.02829922
+v -0.01436876 0.02373773 0.02829922
+v -0.01435587 0.02453404 0.02829922
+v -0.01405858 0.02465986 0.02694936
+v -0.00424504 0.02037414 0.02385549
+v -0.01233628 0.02456802 0.02829922
+v -0.00964581 0.02037413 0.02829920
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 26
+f 1 26 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 12 13
+f 4 13 5
+f 4 11 12
+f 5 13 6
+f 6 13 14
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 24
+f 7 24 25
+f 7 25 8
+f 7 26 28
+f 7 28 15
+f 8 25 9
+f 9 25 10
+f 10 25 24
+f 10 24 11
+f 11 24 23
+f 11 23 22
+f 11 22 21
+f 11 21 20
+f 11 20 19
+f 11 19 18
+f 11 18 17
+f 11 17 16
+f 11 16 15
+f 11 15 28
+f 11 28 27
+f 11 27 13
+f 11 13 12
+f 13 27 26
+f 13 26 14
+f 26 27 28
+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_24.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1a17122b9a1fa038263f3fa5e41d6f88d7e198a
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_24.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.00523229 0.01465903 0.03080953
+v -0.00637557 0.01465902 0.03172077
+v -0.00508116 0.01454215 0.03080953
+v -0.00900216 0.01465903 0.03080953
+v -0.00492562 0.01442159 0.03080953
+v -0.00761600 0.01465902 0.03265453
+v -0.00887508 0.01456763 0.03080953
+v -0.00910177 0.01465903 0.03091944
+v -0.00468470 0.01305104 0.03088430
+v -0.00468470 0.01336938 0.03080953
+v -0.00857724 0.01465902 0.03309619
+v -0.00468470 0.01197572 0.03083947
+v -0.00468470 0.01256854 0.03086426
+v -0.00473229 0.01197572 0.03080952
+v -0.00969696 0.01465902 0.03210027
+v -0.00468470 0.01197572 0.03080952
+v -0.00862876 0.01465902 0.03311015
+v -0.00862827 0.01465088 0.03310790
+v -0.00872100 0.01465902 0.03310407
+f 1 2 3
+f 1 3 5
+f 1 5 10
+f 1 10 16
+f 1 16 14
+f 1 14 7
+f 1 7 4
+f 1 4 8
+f 1 8 15
+f 1 15 19
+f 1 19 17
+f 1 17 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 4 7 8
+f 5 6 9
+f 5 9 10
+f 6 11 12
+f 6 12 13
+f 6 13 9
+f 7 14 8
+f 8 14 15
+f 9 13 12
+f 9 12 16
+f 9 16 10
+f 11 17 18
+f 11 18 12
+f 12 14 16
+f 12 18 19
+f 12 19 14
+f 14 19 15
+f 17 19 18
+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_25.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0faab8b7007745e938bdb00801f3b7b0e4f764a1
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_25.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
+v 0.02070401 0.03391981 0.00119542
+v 0.02069150 0.03391981 0.00099159
+v 0.02045781 0.03391980 0.00193074
+v 0.02166379 0.03070564 0.00193236
+v 0.02077913 0.03368887 0.00119542
+v 0.02057465 0.03391981 0.00031758
+v 0.02166379 0.03070564 0.00164651
+v 0.02107541 0.02858905 0.00358978
+v 0.02153026 0.02907951 0.00305016
+v 0.01325113 0.03391980 0.00341520
+v 0.02165545 0.02822001 0.00328647
+v 0.02169718 0.02981996 0.00217395
+v 0.02061638 0.03368887 0.00027941
+v 0.01967747 0.03368887 -0.00021229
+v 0.01967747 0.03391981 -0.00012012
+v 0.02169718 0.02981996 0.00160794
+v 0.02076661 0.03239923 0.00019739
+v 0.02114635 0.02845016 0.00358977
+v 0.01299658 0.03347537 0.00358979
+v 0.01240820 0.03391980 0.00352280
+v 0.02165545 0.02774146 0.00328647
+v 0.02141341 0.02758909 0.00358977
+v 0.01967747 0.03239923 -0.00033410
+v 0.01839220 0.03368887 -0.00045510
+v 0.02072488 0.02581218 -0.00055786
+v 0.01839220 0.03391981 -0.00034303
+v 0.02165545 0.02774146 0.00293606
+v 0.02166796 0.02895411 0.00172366
+v 0.01221624 0.03391980 0.00354716
+v 0.01206602 0.03378489 0.00358979
+v 0.02141341 0.02743274 0.00358977
+v 0.02082920 0.02581217 0.00358976
+v 0.01839220 0.03239923 -0.00054402
+v 0.00166287 0.03383251 -0.00055783
+v 0.00084080 0.03388966 -0.00055783
+v 0.00038177 0.03391823 -0.00055783
+v 0.01817521 0.02832796 -0.00055785
+v -0.02059562 0.02581218 -0.00055786
+v 0.01710694 0.03391981 -0.00018996
+v 0.01210775 0.03391980 0.00355041
+v 0.01195752 0.03391980 0.00355487
+v 0.01195752 0.03379521 0.00358979
+v -0.02093363 0.02581217 0.00358976
+v 0.01578411 0.02968346 -0.00055784
+v 0.01021323 0.03182227 -0.00055783
+v 0.00938281 0.03205560 -0.00055783
+v 0.00524325 0.03311905 -0.00055783
+v 0.00465904 0.03326746 -0.00055783
+v 0.00423757 0.03336825 -0.00055783
+v 0.00295231 0.03364363 -0.00055783
+v -0.00219294 0.03389759 -0.00055783
+v 0.00571897 0.03391980 0.00358979
+v 0.00597769 0.03391980 0.00290197
+v 0.00708352 0.03391980 0.00207529
+v 0.00750082 0.03391980 0.00185522
+v 0.00785552 0.03391980 0.00170418
+v 0.00811424 0.03391980 0.00161363
+v 0.00938281 0.03391981 0.00124211
+v -0.02067074 0.02581218 -0.00009254
+v -0.01965254 0.02666611 -0.00055785
+v 0.01028000 0.03391980 0.00358979
+v -0.01972765 0.02673594 0.00358977
+v -0.01973182 0.02675499 0.00248252
+v -0.02092946 0.02581217 0.00333437
+v -0.00301501 0.03388648 -0.00055783
+v -0.00092019 0.03385552 0.00358979
+v -0.02078341 0.02581218 0.00062329
+v -0.02083766 0.02581218 0.00119539
+v -0.01966923 0.02668040 -0.00009253
+v -0.01892227 0.02728434 -0.00009253
+v -0.01822539 0.02784464 -0.00009253
+v -0.01820453 0.02782956 -0.00055785
+v -0.01665636 0.02894776 0.00358978
+v -0.01669809 0.02896602 0.00248253
+v -0.01671478 0.02898031 0.00119541
+v -0.02088773 0.02581217 0.00200948
+v -0.02091277 0.02581217 0.00248251
+v -0.00347820 0.03386823 -0.00055783
+v -0.00347820 0.03384521 -0.00009251
+v -0.00605291 0.03363094 -0.00009251
+v -0.00605291 0.03351745 0.00119542
+v -0.00476764 0.03344125 0.00358979
+v -0.01758276 0.02832161 -0.00009253
+v -0.01779140 0.02813352 -0.00055785
+v -0.01600956 0.02937077 0.00358978
+v -0.01605546 0.02940727 0.00248253
+v -0.01666054 0.02896603 -0.00009252
+v -0.01606798 0.02941522 0.00119541
+v -0.00605291 0.03365157 -0.00055783
+v -0.00687498 0.03347300 -0.00055783
+v -0.00733818 0.03335158 -0.00009251
+v -0.00744250 0.03321111 0.00125673
+v -0.00606960 0.03322697 0.00358979
+v -0.01756189 0.02829939 -0.00055785
+v -0.01587185 0.02945489 0.00358978
+v -0.01506230 0.03000725 0.00248253
+v -0.01506230 0.03003504 0.00119541
+v -0.01601790 0.02936919 -0.00009252
+v -0.01618899 0.02920173 -0.00055784
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diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_26.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e0360774de0ed649a475732227a58d491e91b8d
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_26.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_27.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc3d577aa8da2a5c2e18fa5ae9767892dfa8c8fa
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_27.obj
@@ -0,0 +1,463 @@
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diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_28.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74535652c711a80193f7d95fac77b40260c49fef
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_28.obj
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diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_29.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c77a6c71d1a8a8a67b126486d985852164a9a4e6
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_29.obj
@@ -0,0 +1,136 @@
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diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_3.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..077eaaa9f5ee2e04e7e3715779f035dd932cbdc1
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_3.obj
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diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_30.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f83322a20a12093efe8360f03fd09da3142e5664
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_30.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_31.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..298f12c151c16c7276dc2e7f4a4d868088270b2f
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_31.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_32.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34935eb946cb774eb7683adb5a2464bcd4d97333
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_32.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_33.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..136c18fdb225ebe12d0e2f0e2bcb8e7fd2f4481a
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_33.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_34.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21b1594e074a6de14a42d10de91fec897f2fe166
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_34.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.00514575 0.02273653 0.02208092
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+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_35.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03b09c140eaede9360f75bffc5e50202ddbf60f6
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_35.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.01933049 0.00400252 0.02698216
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+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_36.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b959a088f5ccc976991dce54e24e7ec0e04a67a
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_36.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.01332730 0.00909770 0.02698268
+v 0.01443640 0.00881483 0.02698268
+v 0.01325114 0.00898232 0.02698268
+v 0.01378784 0.00858115 0.02764326
+v 0.01868654 0.00602063 0.03156312
+v 0.01932915 0.00602649 0.03162723
+v 0.01932915 0.00705317 0.02698268
+v 0.01325114 0.00811379 0.02745195
+v 0.01325114 0.00311578 0.02698266
+v 0.01325114 0.00789124 0.02754810
+v 0.01363909 0.00789124 0.02783207
+v 0.01622440 0.00615358 0.03034965
+v 0.01781009 0.00531198 0.03142540
+v 0.01845389 0.00531198 0.03172388
+v 0.01932915 0.00528621 0.03209849
+v 0.01932915 0.00400247 0.02698266
+v 0.01325114 0.00311577 0.02918875
+v 0.01802132 0.00311578 0.02698266
+v 0.01861038 0.00444638 0.03170636
+v 0.01932915 0.00495942 0.03206594
+v 0.01932915 0.00388006 0.02952530
+v 0.01491776 0.00311578 0.02857175
+v 0.01932915 0.00392457 0.03084394
+v 0.01932915 0.00437434 0.03196378
+v 0.01932915 0.00387713 0.03046032
+v 0.01752568 0.00311578 0.02724008
+v 0.01595069 0.00311578 0.02805190
+f 1 2 7
+f 1 7 16
+f 1 16 18
+f 1 18 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 3 9 17
+f 3 17 10
+f 3 10 8
+f 4 8 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 20
+f 6 20 24
+f 6 24 23
+f 6 23 25
+f 6 25 21
+f 6 21 16
+f 6 16 7
+f 9 18 26
+f 9 26 27
+f 9 27 22
+f 9 22 17
+f 10 17 12
+f 10 12 11
+f 12 17 13
+f 13 17 14
+f 14 19 15
+f 14 17 19
+f 15 19 20
+f 16 21 18
+f 17 22 23
+f 17 23 24
+f 17 24 19
+f 18 21 25
+f 18 25 23
+f 18 23 26
+f 19 24 20
+f 22 27 23
+f 23 27 26
+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_37.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdcf5445c338f7fa00d2195d356aa32cf8738da6
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_37.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.02732476 0.01552325 0.01384506
+v 0.02732476 0.01554493 0.01380877
+v 0.02867204 0.01552325 0.01413920
+v 0.02732476 0.01552324 0.01715092
+v 0.02732476 0.01794451 0.01060500
+v 0.02880227 0.01552325 0.01417247
+v 0.02963452 0.01552323 0.01832899
+v 0.02732476 0.01937451 0.01392825
+v 0.02732476 0.02003535 0.01060500
+v 0.02846562 0.01861860 0.01060500
+v 0.02963452 0.01552325 0.01449005
+v 0.02963452 0.01910911 0.01510556
+v 0.02963452 0.01943113 0.01409763
+v 0.02756035 0.02004154 0.01060500
+v 0.02859653 0.01943026 0.01060500
+v 0.02963452 0.01731862 0.01326435
+v 0.02963452 0.01728102 0.01328023
+v 0.02963452 0.01670911 0.01362276
+v 0.02963452 0.01603900 0.01406964
+v 0.02963452 0.01577493 0.01428060
+v 0.02963452 0.01915026 0.01315547
+v 0.02859653 0.01949439 0.01060500
+v 0.02855176 0.01952580 0.01060500
+v 0.02963452 0.01823555 0.01301710
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 7
+f 1 7 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 8
+f 5 9 14
+f 5 14 23
+f 5 23 22
+f 5 22 15
+f 5 15 10
+f 5 10 11
+f 5 11 6
+f 7 11 20
+f 7 20 19
+f 7 19 18
+f 7 18 17
+f 7 17 16
+f 7 16 24
+f 7 24 21
+f 7 21 13
+f 7 13 12
+f 7 12 8
+f 8 13 9
+f 8 12 13
+f 9 13 14
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 15 22 24
+f 15 24 16
+f 21 24 22
+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_38.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f5493e8f72d765d4475f3aadd3580781ba96078
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_38.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.01392276 0.02969236 0.02208095
+v -0.01361993 0.02947857 0.02208095
+v -0.01398162 0.02969236 0.02208095
+v -0.01427305 0.02939346 0.02247360
+v -0.01044641 0.02539072 0.02385507
+v -0.00514551 0.02273745 0.02208092
+v -0.01484358 0.02965083 0.02208095
+v -0.01447335 0.02939346 0.02247360
+v -0.01195960 0.02579719 0.02385507
+v -0.01118307 0.02577608 0.02385507
+v -0.00778837 0.02273744 0.02385506
+v -0.01347184 0.02273745 0.02208092
+v -0.01447335 0.02900401 0.02247360
+v -0.01261462 0.02464519 0.02385507
+v -0.01248457 0.02572774 0.02385507
+v -0.01184094 0.02273744 0.02385506
+v -0.01232034 0.02337676 0.02385507
+v -0.01256811 0.02424144 0.02385507
+f 1 2 6
+f 1 6 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 5 10 9
+f 5 9 15
+f 5 15 14
+f 5 14 18
+f 5 18 17
+f 5 17 16
+f 5 16 11
+f 5 11 6
+f 6 11 16
+f 6 16 12
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 12 16 17
+f 12 17 18
+f 12 18 13
+f 13 18 14
+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_39.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eaadf863fb072a9057d627c9c587d6c7178d728
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_39.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00003020 0.03680308 0.00306148
+v 0.00003020 0.03680308 0.00406149
+v 0.00003020 0.03795132 0.00306148
+v 0.00003020 0.03795132 0.00406149
+v 0.00169880 0.03680308 0.00306148
+v 0.00169880 0.03680308 0.00406149
+v 0.00169880 0.03795132 0.00306148
+v 0.00169880 0.03795132 0.00406149
+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/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_4.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..873d423bdfdf549781814eb0c3051d2b68759f3f
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_4.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.00868308 0.01465950 0.02829918
+v -0.00868308 0.01465948 0.03310626
+v -0.00868308 0.01940481 0.02829920
+v 0.00033042 0.01465950 0.02829918
+v -0.00862838 0.01465948 0.03311026
+v -0.00868308 0.01565407 0.03340152
+v -0.00868308 0.01686606 0.03200784
+v -0.00126741 0.01518629 0.02920196
+v -0.00087656 0.01546967 0.02829919
+v -0.00018043 0.01503904 0.02829919
+v -0.00094008 0.01465949 0.02951572
+v -0.00857721 0.01465948 0.03309625
+v -0.00775403 0.01478584 0.03290909
+v -0.00868308 0.01570563 0.03341153
+v -0.00206324 0.01465949 0.03045051
+v -0.00193266 0.01489363 0.03006068
+f 1 2 6
+f 1 6 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 11
+f 1 11 15
+f 1 15 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 10 8
+f 4 8 11
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 15
+f 8 15 11
+f 8 10 9
+f 12 15 13
+f 13 15 14
+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_40.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ab7cbe4a37f20bd39224f6735a81241b59bccfb
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_40.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00165013 0.01197572 0.03080952
+v 0.00165376 0.01197443 0.03080952
+v -0.00473102 0.01197572 0.03080952
+v -0.00106575 0.01197571 0.03366492
+v 0.00293108 0.01148081 0.03080952
+v -0.00733458 0.01103010 0.03080952
+v -0.00409689 0.01197571 0.03366492
+v 0.00289846 0.01007996 0.03366492
+v 0.00365398 0.01117174 0.03080952
+v -0.00857385 0.01047099 0.03080952
+v -0.00862821 0.01043808 0.03080952
+v -0.01099441 0.00868009 0.03080951
+v -0.00384868 0.01156404 0.03366492
+v 0.00348911 0.00977153 0.03366492
+v 0.00424282 0.01079329 0.03080952
+v -0.00826222 0.00868008 0.03157562
+v -0.00254599 0.01007125 0.03366492
+v -0.00307685 0.01057712 0.03366492
+v -0.00320368 0.01071585 0.03366492
+v 0.00751493 0.00868009 0.03080951
+v 0.00421926 0.00916660 0.03366491
+v 0.00430442 0.01075361 0.03080952
+v -0.00030299 0.00868008 0.03366491
+v -0.00063273 0.00884430 0.03366491
+v -0.00090269 0.00899367 0.03366491
+v -0.00162198 0.00939857 0.03366491
+v -0.00190281 0.00956795 0.03366492
+v -0.00204050 0.00966958 0.03366492
+v 0.00433703 0.00905497 0.03366491
+v 0.00471751 0.00868008 0.03366491
+f 1 2 5
+f 1 5 9
+f 1 9 15
+f 1 15 22
+f 1 22 20
+f 1 20 12
+f 1 12 11
+f 1 11 10
+f 1 10 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 7 13
+f 4 13 19
+f 4 19 18
+f 4 18 17
+f 4 17 28
+f 4 28 27
+f 4 27 26
+f 4 26 25
+f 4 25 24
+f 4 24 23
+f 4 23 30
+f 4 30 29
+f 4 29 21
+f 4 21 14
+f 4 14 8
+f 4 8 9
+f 4 9 5
+f 6 10 7
+f 7 10 11
+f 7 11 12
+f 7 12 13
+f 8 14 9
+f 9 14 15
+f 12 16 17
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 12 20 30
+f 12 30 23
+f 12 23 16
+f 14 21 20
+f 14 20 22
+f 14 22 15
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 20 21 29
+f 20 29 30
+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_41.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b57a37affc74f4700d1588c9dc1765e0ffbd4027
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_41.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00468421 0.01197572 0.03080952
+v -0.00468421 0.01197572 0.03083942
+v -0.00468421 0.01336932 0.03080953
+v 0.00165161 0.01197572 0.03080952
+v -0.00468421 0.01256845 0.03086431
+v -0.00409689 0.01197571 0.03366492
+v -0.00415457 0.01207069 0.03366492
+v -0.00420790 0.01220921 0.03366492
+v -0.00468421 0.01305094 0.03088443
+v -0.00420790 0.01259107 0.03366493
+v -0.00362183 0.01448834 0.03080953
+v -0.00221339 0.01304232 0.03366493
+v -0.00106542 0.01197571 0.03366492
+v -0.00131040 0.01393178 0.03080953
+v -0.00269775 0.01380555 0.03303912
+v -0.00362493 0.01315870 0.03366493
+v -0.00307048 0.01380555 0.03303912
+v -0.00361439 0.01448908 0.03080953
+v -0.00348973 0.01324285 0.03366493
+v -0.00218176 0.01444282 0.03080953
+v -0.00267108 0.01445881 0.03080953
+v -0.00361004 0.01448908 0.03080953
+f 1 2 5
+f 1 5 9
+f 1 9 3
+f 1 3 11
+f 1 11 18
+f 1 18 22
+f 1 22 21
+f 1 21 20
+f 1 20 14
+f 1 14 4
+f 1 4 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 10
+f 3 10 11
+f 4 12 13
+f 4 14 15
+f 4 15 12
+f 5 8 9
+f 6 13 12
+f 6 12 19
+f 6 19 16
+f 6 16 10
+f 6 10 8
+f 6 8 7
+f 8 10 9
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 12 15 19
+f 14 20 15
+f 15 21 22
+f 15 22 18
+f 15 18 17
+f 15 17 19
+f 15 20 21
+f 16 19 17
+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_42.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d6009e0e9c8092f086c46eddd60a72a33c0a087
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_42.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.02732476 0.01180516 0.01060422
+v 0.02952939 0.01180516 0.01060422
+v 0.02732476 0.01180515 0.01383736
+v 0.02732476 0.01496077 0.01060423
+v 0.02934877 0.01220645 0.01060422
+v 0.02927259 0.01230036 0.01069411
+v 0.02920224 0.01180516 0.01144953
+v 0.02784873 0.01180515 0.01383736
+v 0.02732476 0.01252987 0.01383737
+v 0.02732476 0.01459593 0.01118244
+v 0.02812021 0.01379213 0.01099983
+v 0.02765925 0.01456381 0.01060423
+v 0.02928877 0.01232816 0.01060423
+v 0.02840916 0.01305968 0.01145619
+v 0.02912800 0.01182679 0.01160714
+v 0.02913361 0.01180516 0.01162201
+v 0.02914893 0.01180516 0.01158720
+v 0.02921454 0.01244308 0.01060423
+v 0.02776176 0.01195467 0.01383736
+v 0.02849959 0.01180515 0.01282020
+v 0.02732476 0.01319837 0.01311549
+v 0.02794433 0.01226266 0.01327183
+v 0.02732476 0.01444271 0.01142296
+v 0.02739489 0.01432687 0.01147708
+v 0.02788735 0.01349495 0.01185812
+v 0.02820696 0.01390921 0.01060423
+v 0.02820804 0.01263522 0.01241322
+v 0.02852613 0.01180515 0.01277020
+v 0.02748704 0.01316038 0.01291421
+v 0.02732476 0.01327561 0.01302402
+v 0.02732476 0.01433212 0.01158784
+v 0.02732476 0.01426446 0.01168437
+v 0.02732476 0.01345818 0.01278730
+f 1 2 7
+f 1 7 17
+f 1 17 16
+f 1 16 28
+f 1 28 20
+f 1 20 8
+f 1 8 3
+f 1 3 9
+f 1 9 21
+f 1 21 30
+f 1 30 33
+f 1 33 32
+f 1 32 31
+f 1 31 23
+f 1 23 10
+f 1 10 4
+f 1 4 12
+f 1 12 26
+f 1 26 18
+f 1 18 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 19
+f 3 19 9
+f 4 10 11
+f 4 11 12
+f 5 13 6
+f 6 11 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 6 13 18
+f 6 18 11
+f 8 20 19
+f 9 19 22
+f 9 22 21
+f 10 23 11
+f 11 23 24
+f 11 24 25
+f 11 25 14
+f 11 18 26
+f 11 26 12
+f 14 25 27
+f 14 27 15
+f 15 27 16
+f 16 27 28
+f 19 20 22
+f 20 28 27
+f 20 27 22
+f 21 22 29
+f 21 29 30
+f 22 27 29
+f 23 31 24
+f 24 31 25
+f 25 32 33
+f 25 33 30
+f 25 30 29
+f 25 29 27
+f 25 31 32
+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_43.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c466bb20d3cc814108415125035846c7d370bcb1
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_43.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.01196047 0.03957373 0.00324411
+v 0.01196047 0.03884873 0.00353343
+v 0.01266528 0.03955215 0.00321274
+v 0.01196047 0.03957373 0.00292368
+v 0.01123311 0.03954163 0.00319706
+v 0.01195880 0.03392036 0.00355477
+v 0.01221684 0.03392036 0.00354747
+v 0.01325318 0.03392036 0.00341552
+v 0.01281225 0.03884873 0.00334902
+v 0.01075210 0.03882161 0.00334442
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+v 0.00708441 0.03392036 0.00207566
+v 0.00731823 0.03497964 0.00175010
+v 0.01172999 0.03392037 0.00113898
+v 0.01067360 0.03497965 0.00086210
+v 0.01196047 0.03497965 0.00095349
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+v 0.01067360 0.03626971 0.00082775
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+v 0.00810071 0.03497964 0.00140561
+v 0.00739757 0.03421977 0.00180500
+v 0.00750279 0.03392036 0.00185555
+v 0.01067360 0.03392037 0.00109004
+v 0.00938757 0.03392037 0.00124200
+v 0.00938757 0.03497965 0.00101758
+v 0.00811490 0.03392036 0.00161408
+v 0.00785603 0.03392036 0.00170467
+f 1 2 3
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+f 1 4 20
+f 1 20 5
+f 1 5 2
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+f 2 9 3
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+f 34 46 35
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+f 37 48 39
+f 39 49 41
+f 39 48 49
+f 40 41 49
+f 40 49 42
+f 42 49 51
+f 42 51 50
+f 43 52 53
+f 43 53 54
+f 43 54 55
+f 43 55 45
+f 43 45 44
+f 45 55 56
+f 45 56 46
+f 46 56 57
+f 46 57 47
+f 47 57 48
+f 48 57 58
+f 48 58 49
+f 49 58 59
+f 49 59 51
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+f 51 59 60
+f 52 62 53
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+f 53 63 64
+f 53 64 56
+f 53 56 54
+f 54 56 55
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+f 57 59 58
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+f 59 66 60
+f 60 66 61
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+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_44.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3f295f0c8b3488c38037cbeead57b0b0550e4e8
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_44.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.02732476 0.01180484 0.01383797
+v 0.02732476 0.01252989 0.01383798
+v 0.02784884 0.01180484 0.01383797
+v 0.02732476 0.01180482 0.01877183
+v 0.02732476 0.01552325 0.01384469
+v 0.02776179 0.01195480 0.01383797
+v 0.02867204 0.01552325 0.01413893
+v 0.02880227 0.01552325 0.01417244
+v 0.02963452 0.01552325 0.01449044
+v 0.02963452 0.01509339 0.01481514
+v 0.02963452 0.01479055 0.01513922
+v 0.02963452 0.01451029 0.01548463
+v 0.02963452 0.01387260 0.01627719
+v 0.02963452 0.01362691 0.01667439
+v 0.02963452 0.01349333 0.01690893
+v 0.02963452 0.01297865 0.01793055
+v 0.02856171 0.01180482 0.01791409
+v 0.02791034 0.01180482 0.01860309
+v 0.02963452 0.01347512 0.02001277
+v 0.02868922 0.01341980 0.02002861
+v 0.02732476 0.01192530 0.01886321
+v 0.02732476 0.01552324 0.01715079
+v 0.02963452 0.01552323 0.01832897
+v 0.02963452 0.01294626 0.01885591
+v 0.02963452 0.01296919 0.01922082
+v 0.02854724 0.01180482 0.01795856
+v 0.02963452 0.01327894 0.01978493
+v 0.02963452 0.01417833 0.02006090
+v 0.02868922 0.01403165 0.02002861
+v 0.02769736 0.01352171 0.01995551
+v 0.02732476 0.01303871 0.01956440
+v 0.02732476 0.01413975 0.01932804
+v 0.02963452 0.01493868 0.01974899
+v 0.02963452 0.01516326 0.01923301
+v 0.02963452 0.01431664 0.02006090
+v 0.02769736 0.01382964 0.01995551
+v 0.02732476 0.01308093 0.01959060
+v 0.02732476 0.01307474 0.01958694
+v 0.02732476 0.01413502 0.01933535
+f 1 2 6
+f 1 6 3
+f 1 3 17
+f 1 17 26
+f 1 26 18
+f 1 18 4
+f 1 4 21
+f 1 21 31
+f 1 31 38
+f 1 38 37
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+f 1 39 32
+f 1 32 22
+f 1 22 5
+f 1 5 2
+f 2 5 6
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+f 3 9 10
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+f 3 15 16
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+f 4 20 21
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+f 9 34 33
+f 9 33 35
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+f 9 28 19
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+f 9 25 24
+f 9 24 16
+f 9 16 15
+f 9 15 14
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+f 9 13 12
+f 9 12 11
+f 9 11 10
+f 16 24 17
+f 17 24 25
+f 17 25 26
+f 18 25 27
+f 18 27 19
+f 18 26 25
+f 19 28 20
+f 20 28 35
+f 20 35 29
+f 20 29 36
+f 20 36 30
+f 20 30 21
+f 21 30 31
+f 22 32 33
+f 22 33 34
+f 22 34 23
+f 29 35 36
+f 30 36 37
+f 30 37 38
+f 30 38 31
+f 32 39 33
+f 33 39 36
+f 33 36 35
+f 36 39 37
+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_45.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03d05e711770f6a98a19772084447e74dd652d2e
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_45.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.01399974 0.02846256 0.01926002
+v -0.01251113 0.02585942 0.01926001
+v -0.01445444 0.02846256 0.01983989
+v -0.00981690 0.02846256 0.01926002
+v -0.01270074 0.02585942 0.02034409
+v -0.01330732 0.02641413 0.02084444
+v -0.01450916 0.02775902 0.02094909
+v -0.01479028 0.02846255 0.02053297
+v -0.01477141 0.02846255 0.02049044
+v -0.00515389 0.02585942 0.01926001
+v -0.01257716 0.02846255 0.02195061
+v -0.01286772 0.02585941 0.02163968
+v -0.01287243 0.02585941 0.02179845
+v -0.01450916 0.02775902 0.02141796
+v -0.01469406 0.02846255 0.02177941
+v -0.00990274 0.02594095 0.02208067
+v -0.00981407 0.02585941 0.02208066
+v -0.01264603 0.02840166 0.02208067
+v -0.01279791 0.02846255 0.02208067
+v -0.01275357 0.02585941 0.02208066
+v -0.01327336 0.02643987 0.02208067
+v -0.01331958 0.02639375 0.02179846
+v -0.01398371 0.02729323 0.02182773
+v -0.01416295 0.02777329 0.02208067
+v -0.01434879 0.02805664 0.02208067
+v -0.01448369 0.02832419 0.02208067
+v -0.01462330 0.02846255 0.02193045
+v -0.01443841 0.02846255 0.02208067
+f 1 2 3
+f 1 3 9
+f 1 9 8
+f 1 8 15
+f 1 15 27
+f 1 27 28
+f 1 28 19
+f 1 19 11
+f 1 11 4
+f 1 4 10
+f 1 10 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 10 17
+f 2 17 20
+f 2 20 13
+f 2 13 12
+f 2 12 5
+f 4 11 10
+f 5 12 6
+f 6 12 7
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+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 10 16 17
+f 10 11 18
+f 10 18 16
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+f 13 20 21
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+f 13 22 14
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+f 14 24 25
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+f 16 19 28
+f 16 28 26
+f 16 26 25
+f 16 25 24
+f 16 24 21
+f 16 21 20
+f 16 20 17
+f 21 24 23
+f 26 28 27
+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_46.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45cc6bc684fcca2756f055cd687c088b7e367e76
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_46.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.02358928 0.01791648 0.00606820
+v 0.02358928 0.01791646 0.01060425
+v 0.02358928 0.02099345 0.00606821
+v 0.02672630 0.01791648 0.00606820
+v 0.02358928 0.02073501 0.01060426
+v 0.02730273 0.01791646 0.01060425
+v 0.02358928 0.02099343 0.01029656
+v 0.02455921 0.02099345 0.00606821
+v 0.02863275 0.02099345 0.00664188
+v 0.02868648 0.02099345 0.00665076
+v 0.02888104 0.02099345 0.00670360
+v 0.02985315 0.02099344 0.00703927
+v 0.03020671 0.02099344 0.00722176
+v 0.03083324 0.02099344 0.00768398
+v 0.03094141 0.02079014 0.00793263
+v 0.03068223 0.02008234 0.00820835
+v 0.02940739 0.01879475 0.00942273
+v 0.02734775 0.01791646 0.01024460
+v 0.02583332 0.01943328 0.00606820
+v 0.02755974 0.02004197 0.01060425
+v 0.03014500 0.02099343 0.00970735
+v 0.02940739 0.01879474 0.00966250
+v 0.02846505 0.01861884 0.01060425
+v 0.02480314 0.02099345 0.00608686
+v 0.02480532 0.02076545 0.00606821
+v 0.03100530 0.02099344 0.00787224
+v 0.03092907 0.02076363 0.00894187
+v 0.03068223 0.02008234 0.00852671
+v 0.02855144 0.01952573 0.01060425
+v 0.03034247 0.02099343 0.00967494
+v 0.03056317 0.02031606 0.00938543
+v 0.03067497 0.02099343 0.00956704
+v 0.02859645 0.01943085 0.01060425
+v 0.03100094 0.02099344 0.00868523
+v 0.03098642 0.02099344 0.00895874
+v 0.03080420 0.02099344 0.00931751
+v 0.02859645 0.01949440 0.01060425
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 25
+f 1 25 19
+f 1 19 4
+f 1 4 18
+f 1 18 6
+f 1 6 2
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+f 2 29 20
+f 2 20 5
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+f 16 22 17
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+f 27 31 28
+f 29 37 30
+f 30 37 32
+f 32 37 33
+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_47.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3768396903b2c0eb44fb2980fbc86405cf6fb988
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_47.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.02472121 0.02099298 0.00359016
+v 0.02455897 0.02099297 0.00606821
+v 0.02480509 0.02076536 0.00606821
+v 0.02516623 0.02053103 0.00359016
+v 0.02358856 0.02099298 0.00359016
+v 0.02358856 0.02099297 0.00606821
+v 0.02583327 0.01943281 0.00606820
+v 0.02706939 0.01838551 0.00359015
+v 0.02672131 0.01881432 0.00359015
+v 0.02592569 0.01970845 0.00359015
+v 0.02550327 0.02018001 0.00359015
+v 0.02358856 0.01608775 0.00359014
+v 0.02358856 0.01608774 0.00606819
+v 0.02824474 0.01609399 0.00606819
+v 0.02810611 0.01635233 0.00589427
+v 0.02821661 0.01650312 0.00505815
+v 0.02786200 0.01731658 0.00377061
+v 0.02779117 0.01744191 0.00359014
+v 0.02871990 0.01608775 0.00359014
+v 0.02768569 0.01608774 0.00606819
+v 0.02824775 0.01608967 0.00606819
+v 0.02851899 0.01608774 0.00504796
+v 0.02862597 0.01608774 0.00441923
+v 0.02831405 0.01667168 0.00377061
+v 0.02831857 0.01667840 0.00359014
+v 0.02871739 0.01608775 0.00364035
+v 0.02834017 0.01608774 0.00571720
+v 0.02871086 0.01608775 0.00377061
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 10
+f 1 10 9
+f 1 9 8
+f 1 8 18
+f 1 18 25
+f 1 25 19
+f 1 19 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 6 13
+f 2 13 20
+f 2 20 21
+f 2 21 14
+f 2 14 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 5 12 13
+f 5 13 6
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 12 19 26
+f 12 26 28
+f 12 28 23
+f 12 23 22
+f 12 22 27
+f 12 27 20
+f 12 20 13
+f 14 21 22
+f 14 22 15
+f 15 22 16
+f 16 22 17
+f 17 22 23
+f 17 23 24
+f 17 24 18
+f 18 24 25
+f 19 25 26
+f 20 27 21
+f 21 27 22
+f 23 28 24
+f 24 28 25
+f 25 28 26
+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_48.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb24cbf6a368d3f43051e91f43c2f66c6574124a
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_48.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.01658271 0.02585943 0.01506382
+v -0.01641599 0.02585943 0.01527453
+v -0.01399848 0.02846256 0.01926002
+v -0.01642180 0.02596365 0.01506383
+v 0.00322261 0.02585943 0.01506382
+v -0.01574715 0.02585943 0.01604222
+v -0.01388023 0.02846256 0.01910804
+v -0.01123202 0.02833619 0.01506383
+v -0.01281590 0.02775420 0.01506383
+v -0.01346923 0.02749939 0.01506383
+v -0.01383176 0.02733274 0.01506383
+v -0.01478364 0.02685702 0.01506383
+v -0.01482241 0.02683739 0.01506383
+v -0.01542727 0.02652041 0.01506383
+v -0.01607285 0.02616062 0.01506383
+v -0.01615233 0.02611577 0.01506383
+v -0.01251153 0.02585942 0.01926001
+v -0.00981486 0.02846256 0.01926002
+v 0.00308302 0.02592874 0.01506383
+v -0.00486741 0.02846257 0.01748148
+v -0.00486547 0.02845824 0.01748518
+v -0.00348321 0.02585942 0.01861801
+v -0.01071440 0.02846257 0.01506383
+v -0.00515433 0.02585942 0.01926001
+v 0.00205554 0.02640600 0.01506383
+v 0.00141772 0.02668145 0.01506383
+v 0.00051430 0.02703182 0.01506383
+v -0.00485965 0.02846257 0.01746957
+v -0.00493138 0.02585942 0.01917909
+v -0.00425479 0.02585942 0.01892894
+v -0.00370809 0.02846257 0.01506383
+v -0.00047053 0.02737963 0.01506383
+v -0.00438468 0.02846257 0.01664808
+v -0.00411133 0.02846257 0.01606153
+f 1 2 3
+f 1 3 4
+f 1 4 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 8
+f 1 8 23
+f 1 23 31
+f 1 31 32
+f 1 32 27
+f 1 27 26
+f 1 26 25
+f 1 25 19
+f 1 19 5
+f 1 5 22
+f 1 22 30
+f 1 30 29
+f 1 29 24
+f 1 24 17
+f 1 17 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 4
+f 3 6 17
+f 3 17 24
+f 3 24 18
+f 3 18 20
+f 3 20 28
+f 3 28 33
+f 3 33 34
+f 3 34 31
+f 3 31 23
+f 3 23 7
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+f 5 21 22
+f 7 23 8
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+f 18 21 20
+f 19 25 20
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+f 20 26 27
+f 20 27 28
+f 21 24 29
+f 21 29 30
+f 21 30 22
+f 27 32 33
+f 27 33 28
+f 31 34 32
+f 32 34 33
+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_5.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c79c02ef856a1a48c6c4fcfb26aced9692c964a
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_5.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.01460770 0.03016941 0.00359019
+v -0.01457548 0.03016941 0.00377076
+v -0.01135659 0.03384680 0.00763553
+v -0.01096705 0.03384681 0.00657682
+v -0.01422694 0.03037243 0.00359019
+v 0.01531418 0.03016941 0.00359019
+v -0.01447297 0.03016940 0.00416760
+v -0.01420058 0.03016940 0.00505878
+v -0.01093190 0.03384680 0.00883567
+v -0.01015281 0.03384681 0.00589161
+v -0.01358258 0.03068056 0.00359019
+v 0.01350996 0.03294151 0.00359020
+v 0.01331080 0.03016940 0.00509998
+v -0.01371145 0.03016940 0.00620262
+v -0.01063608 0.03315566 0.00964446
+v -0.00987163 0.03384680 0.00893728
+v -0.01367337 0.03016940 0.00628913
+v -0.01366166 0.03016940 0.00631522
+v -0.01232607 0.03016939 0.00884321
+v -0.00955824 0.03384681 0.00556549
+v -0.01248716 0.03114852 0.00359019
+v -0.01341563 0.03075688 0.00359019
+v 0.01322879 0.03331119 0.00359020
+v 0.00650105 0.03016938 0.00990192
+v -0.01080303 0.03016938 0.01060429
+v -0.00961388 0.03212472 0.01060430
+v -0.01022603 0.03315566 0.00964446
+v -0.01186916 0.03016939 0.00947967
+v -0.01120722 0.03016938 0.01021088
+v -0.00874985 0.03205344 0.01060430
+v 0.00439222 0.03384680 0.00749546
+v -0.00926241 0.03384681 0.00544396
+v -0.01235829 0.03120036 0.00359019
+v 0.01299447 0.03347534 0.00359020
+v 0.00631067 0.03063014 0.00968633
+v 0.00578346 0.03016938 0.01017586
+v 0.00267295 0.03016938 0.01060429
+v -0.00085641 0.03099191 0.01060429
+v 0.00552572 0.03016938 0.01023010
+v 0.00552572 0.03220572 0.00860498
+v 0.00542321 0.03384680 0.00729361
+v -0.00867370 0.03384681 0.00523936
+v -0.00606989 0.03322696 0.00359020
+v -0.00616947 0.03319636 0.00359020
+v 0.00632238 0.03202250 0.00848139
+v 0.01206600 0.03378490 0.00359020
+v 0.00021265 0.03074965 0.01060429
+v 0.01195763 0.03379570 0.00359020
+v 0.01039945 0.03384682 0.00359020
+v -0.00749627 0.03384681 0.00488165
+v -0.00476652 0.03344150 0.00359020
+v -0.00095892 0.03384682 0.00359020
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 22
+f 1 22 21
+f 1 21 33
+f 1 33 44
+f 1 44 43
+f 1 43 51
+f 1 51 52
+f 1 52 49
+f 1 49 48
+f 1 48 46
+f 1 46 34
+f 1 34 23
+f 1 23 12
+f 1 12 6
+f 1 6 13
+f 1 13 24
+f 1 24 36
+f 1 36 39
+f 1 39 37
+f 1 37 25
+f 1 25 29
+f 1 29 28
+f 1 28 19
+f 1 19 18
+f 1 18 17
+f 1 17 14
+f 1 14 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 16
+f 3 16 31
+f 3 31 41
+f 3 41 49
+f 3 49 52
+f 3 52 50
+f 3 50 42
+f 3 42 32
+f 3 32 20
+f 3 20 10
+f 3 10 4
+f 4 10 5
+f 5 10 11
+f 6 12 13
+f 8 14 9
+f 9 15 16
+f 9 14 17
+f 9 17 18
+f 9 18 19
+f 9 19 15
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 12 23 24
+f 12 24 13
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 15 19 28
+f 15 28 29
+f 15 29 25
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+f 16 30 31
+f 20 32 33
+f 20 33 21
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+f 23 35 24
+f 24 35 36
+f 25 37 47
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+f 25 38 30
+f 25 30 26
+f 26 30 27
+f 30 38 31
+f 31 39 40
+f 31 40 41
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+f 32 44 33
+f 34 45 35
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+f 34 41 45
+f 35 45 41
+f 35 41 40
+f 35 40 36
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+f 37 39 47
+f 38 47 39
+f 41 46 48
+f 41 48 49
+f 42 50 43
+f 43 50 51
+f 50 52 51
+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_6.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5f0a1413fb467a381d856684c89dbf07a04cfdc
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_6.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.00961535 0.03212479 0.01060430
+v -0.01123104 0.02833650 0.01506339
+v -0.00995630 0.02878972 0.01506340
+v -0.00721945 0.02970352 0.01506340
+v -0.00608908 0.02966059 0.01506340
+v -0.00874914 0.03205304 0.01060430
+v -0.01833888 0.02663465 0.01060428
+v -0.01828666 0.02659969 0.01086838
+v -0.01806857 0.02645925 0.01172702
+v -0.01721158 0.02672847 0.01248702
+v -0.01693513 0.02656166 0.01334479
+v -0.01607813 0.02681065 0.01382541
+v -0.01607199 0.02616056 0.01506339
+v -0.01542694 0.02652055 0.01506339
+v -0.01482182 0.02683762 0.01506339
+v -0.01382967 0.02733316 0.01506339
+v -0.01347029 0.02749998 0.01506339
+v -0.01281602 0.02775449 0.01506339
+v 0.00141500 0.02668185 0.01506339
+v 0.00623137 0.02921659 0.01088759
+v 0.00552489 0.02972255 0.01060429
+v 0.00516858 0.02979553 0.01060429
+v -0.00086110 0.03099144 0.01060429
+v -0.01859690 0.02645127 0.01060428
+v -0.01937710 0.02585945 0.01060427
+v -0.01890099 0.02594163 0.01145027
+v -0.01763854 0.02630592 0.01286330
+v -0.01884570 0.02585945 0.01178420
+v -0.01850167 0.02585944 0.01247697
+v -0.01804093 0.02585944 0.01327232
+v -0.01753717 0.02585944 0.01395723
+v -0.01641909 0.02596369 0.01506339
+v -0.01615185 0.02611579 0.01506339
+v 0.00205698 0.02640587 0.01506339
+v 0.00308292 0.02592873 0.01506339
+v 0.00321500 0.02586311 0.01506339
+v 0.00681192 0.02701120 0.01249837
+v 0.00770270 0.02676281 0.01228360
+v 0.01200303 0.02586129 0.01060427
+v 0.00640646 0.02939199 0.01060429
+v -0.01902693 0.02585945 0.01140660
+v 0.01134263 0.02585945 0.01060427
+v -0.01897471 0.02585945 0.01152010
+v -0.01830816 0.02585944 0.01281266
+v -0.01658188 0.02585943 0.01506338
+v 0.00322114 0.02585943 0.01506338
+v 0.00681192 0.02585944 0.01346875
+v 0.00681192 0.02625133 0.01314181
+v 0.00800987 0.02585944 0.01287159
+v 0.00810816 0.02585944 0.01282051
+v 0.00832932 0.02585944 0.01269829
+v 0.01199996 0.02585945 0.01060602
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 23
+f 1 23 22
+f 1 22 21
+f 1 21 40
+f 1 40 39
+f 1 39 42
+f 1 42 25
+f 1 25 24
+f 1 24 7
+f 1 7 8
+f 1 8 9
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+f 1 10 11
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+f 1 17 18
+f 1 18 2
+f 2 18 17
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+f 27 29 44
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+f 31 45 32
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+f 38 48 47
+f 38 47 49
+f 38 49 50
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+f 38 51 39
+f 39 51 52
+f 39 52 42
+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_7.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0906c36f8ae97dc2bfddab18467e32057569c4d7
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_7.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.00295165 0.00798264 0.03832456
+v 0.00024462 0.01176050 0.04081245
+v 0.00015834 0.01077397 0.04068586
+v 0.00037860 0.00940060 0.03968307
+v 0.00295165 0.00703435 0.03725176
+v 0.00295165 0.00912275 0.03821919
+v -0.00000932 0.01260045 0.04071063
+v -0.00090722 0.01176050 0.04088883
+v -0.00090722 0.01081221 0.04066253
+v -0.00090722 0.01016727 0.04014840
+v -0.00090722 0.00958287 0.03950486
+v -0.00029482 0.00852370 0.03792924
+v 0.00295165 0.00673228 0.03596396
+v 0.00295165 0.00956758 0.03725177
+v -0.00000932 0.01260045 0.04014912
+v -0.00221338 0.01304212 0.03366493
+v -0.00349008 0.01324287 0.03366493
+v -0.00090722 0.01259216 0.04069648
+v 0.00295165 0.01005195 0.03366492
+v -0.00161782 0.01245961 0.04053171
+v -0.00163886 0.01176050 0.04054726
+v -0.00160098 0.01105247 0.04051119
+v -0.00162624 0.00976897 0.03926371
+v -0.00079708 0.00897044 0.03843064
+v -0.00108048 0.00875886 0.03725176
+v -0.00043792 0.00846316 0.03725176
+v -0.00184300 0.00960200 0.03853885
+v -0.00118851 0.00871553 0.03596397
+v 0.00295165 0.00683871 0.03467618
+v -0.00362547 0.01315811 0.03366493
+v -0.00416000 0.01246281 0.03548876
+v -0.00322702 0.01266992 0.03725178
+v -0.00187877 0.01255775 0.03982664
+v 0.00295165 0.00712996 0.03366491
+v -0.00301518 0.01254310 0.03825740
+v -0.00279281 0.01176051 0.03913147
+v -0.00223723 0.01176050 0.03982663
+v -0.00304464 0.01081094 0.03832245
+v -0.00188298 0.01056175 0.03974601
+v -0.00255570 0.01041709 0.03866685
+v -0.00210255 0.00940380 0.03725176
+v -0.00274581 0.00992574 0.03725177
+v -0.00217901 0.00936047 0.03596397
+v -0.00208992 0.00944268 0.03467618
+v -0.00088337 0.00874676 0.03455172
+v -0.00043933 0.00845679 0.03489753
+v -0.00026045 0.00853773 0.03403972
+v -0.00420770 0.01259092 0.03366493
+v -0.00421471 0.01256860 0.03467620
+v -0.00362406 0.01176051 0.03725177
+v -0.00312601 0.01176051 0.03848793
+v -0.00416000 0.01225697 0.03548876
+v -0.00014751 0.00860211 0.03366491
+v -0.00323474 0.01057005 0.03725177
+v -0.00282227 0.00984036 0.03596398
+v -0.00334277 0.01048466 0.03596398
+v -0.00273318 0.00991492 0.03467619
+v -0.00204152 0.00966957 0.03366492
+v -0.00190332 0.00956824 0.03366492
+v -0.00162133 0.00939872 0.03366491
+v -0.00090160 0.00899404 0.03366491
+v -0.00063223 0.00884428 0.03366491
+v -0.00420770 0.01220854 0.03366492
+v -0.00421471 0.01214735 0.03467619
+v -0.00396078 0.01180067 0.03593640
+v -0.00396639 0.01150241 0.03467619
+v -0.00332243 0.01055922 0.03467619
+v -0.00320528 0.01071537 0.03366492
+v -0.00307831 0.01057708 0.03366492
+v -0.00254658 0.01007043 0.03366492
+v -0.00415439 0.01207025 0.03366492
+v -0.00384854 0.01156360 0.03366492
+f 1 2 3
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+f 1 13 29
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+f 1 19 14
+f 1 14 6
+f 1 6 2
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+f 63 71 66
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+f 66 72 67
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+
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_8.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbf7f82e8986906aed7d53e82e39fd0ecaec159b
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_8.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v 0.02963500 0.01294592 0.01885604
+v 0.02963500 0.01297909 0.01793004
+v 0.02997661 0.01311047 0.01793492
+v 0.02997661 0.01306455 0.01922253
+v 0.02963500 0.01296952 0.01922114
+v 0.02997661 0.01354099 0.01702356
+v 0.03065695 0.01367620 0.01725628
+v 0.02963500 0.01349380 0.01690860
+v 0.03088884 0.01354290 0.01793492
+v 0.03098371 0.01350208 0.01922253
+v 0.03078296 0.01362198 0.01992695
+v 0.02963500 0.01327885 0.01978481
+v 0.02963500 0.01362709 0.01667379
+v 0.02997661 0.01393897 0.01638045
+v 0.03153230 0.01392812 0.01793492
+v 0.03088884 0.01481020 0.01580423
+v 0.03120171 0.01437331 0.01670584
+v 0.03213503 0.01479616 0.01701381
+v 0.03162716 0.01386753 0.01922253
+v 0.03223564 0.01471516 0.02002171
+v 0.03123237 0.01430761 0.02008721
+v 0.02997661 0.01349506 0.02000708
+v 0.02963500 0.01347529 0.02001266
+v 0.02963500 0.01387264 0.01627733
+v 0.02997661 0.01458442 0.01554295
+v 0.03239135 0.01457293 0.01793492
+v 0.03174694 0.01511570 0.01615611
+v 0.02997661 0.01518586 0.01489846
+v 0.03083471 0.01609854 0.01457725
+v 0.03129082 0.01560680 0.01533950
+v 0.03258061 0.01559468 0.01661806
+v 0.03333138 0.01607302 0.01708001
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diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_9.obj b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ce45c4bd4f5689f848caf0fd0956b72ff93c864
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/mesh/strawberry_009_collision_9.obj
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diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/strawberry_009.xml b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/strawberry_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b4e2e6aa912b61a2e52df2af66942ffbb2d70fc0
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/mjcf/strawberry_009.xml
@@ -0,0 +1,112 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="strawberry_009">
+  <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_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/strawberry_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/strawberry_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/strawberry_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/strawberry_009_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/strawberry_009_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/strawberry_009_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/strawberry_009_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/strawberry_009_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/strawberry_009_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/strawberry_009_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/strawberry_009_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/strawberry_009_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/strawberry_009_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/strawberry_009_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/strawberry_009_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/strawberry_009_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/strawberry_009_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/strawberry_009_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/strawberry_009_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/strawberry_009_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/strawberry_009_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/strawberry_009_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/strawberry_009_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/strawberry_009_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/strawberry_009_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/strawberry_009_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/strawberry_009_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/strawberry_009_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/strawberry_009_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/strawberry_009_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/strawberry_009_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/strawberry_009_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/strawberry_009_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/strawberry_009_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/strawberry_009_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/strawberry_009_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/strawberry_009_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/strawberry_009_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/strawberry_009_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/strawberry_009_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/strawberry_009_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/strawberry_009_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/strawberry_009_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/strawberry_009_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/strawberry_009_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/strawberry_009_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/strawberry_009_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/strawberry_009_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/strawberry_009_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="strawberry_009">
+      <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" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/strawberry_009.urdf b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/strawberry_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..079c36cb4ff09e79cd3406370cbe4141bbfea0c5
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/strawberry_009.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="strawberry_009">
+   <link name="strawberry_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/strawberry_009.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_009_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>92925b91411b5b29bd6e2cef8e94fa15</uuid>
+         <domain>food</domain>
+         <super_category>fruits</super_category>
+         <category>strawberry</category>
+         <name>pink strawberry</name>
+         <color>pink,green</color>
+         <shape>irregular</shape>
+         <material>organic</material>
+         <description>pale pink strawberry with green leaves and small red seeds</description>
+         <min_height>0.0706</min_height>
+         <max_height>0.0706</max_height>
+         <real_height>0.0706</real_height>
+         <min_mass>0.015</min_mass>
+         <max_mass>0.025</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428000127</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>3</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/92925b91411b5b29bd6e2cef8e94fa15/strawberry_009.usd b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/strawberry_009.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0fda307bb6cb11b8dcde47c62983b8b7241f90c7
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/strawberry_009.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c770060e76ee4cf46819b4db83e249a68d38de4dd4918c8e1ce4fb56170f8b40
+size 5038398
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/textures/material_0.png b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..55f228efde8c6a3cc73d96692682f5fc3ad31888
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f730327d8cf2d6d7ecc8faa5ee192209275054756823deefdd7a29897a19a960
+size 12133980
diff --git a/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/video.mp4 b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b2442d66dd3e6c762494155289bfdaf53197d5c
--- /dev/null
+++ b/dataset/food/fruits/92925b91411b5b29bd6e2cef8e94fa15/video.mp4
@@ -0,0 +1,3 @@
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+oid sha256:76063035acabec385106839b87d8e585a89a03743580e93cde62c22061865051
+size 410046