diff --git a/.gitattributes b/.gitattributes
index 05a13c96af6d3ac8cf59800bcf0bf22eb7421769..27c887e3a1e23b66579215253585af713c1b89d3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3603,3 +3603,6 @@ dataset/food/fruits/eb8c0d7c6b185cf9a498029b6fcc3eac/mesh/pear.glb filter=lfs di
 dataset/food/fruits/eb8c0d7c6b185cf9a498029b6fcc3eac/mesh/pear_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/mesh/strawberry_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/e6c8b73bceb3571fae7f8f4fe20f54ec/strawberry_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/f57cc6481d925495963da4a4d48cbfe8.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mesh/strawberry.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mesh/strawberry_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/f57cc6481d925495963da4a4d48cbfe8.urdf b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/f57cc6481d925495963da4a4d48cbfe8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..86b214d1d0c35833ef36b008f7e202f46a3f301d
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/f57cc6481d925495963da4a4d48cbfe8.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="strawberry">
+   <link name="strawberry">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/strawberry.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/strawberry_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <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>0.075000</scale>
+         <version>v0.1.7</version>
+         <category>strawberry</category>
+         <description>realistic red strawberry with green leaves and textured surface</description>
+         <min_height>0.06</min_height>
+         <max_height>0.09</max_height>
+         <real_height>0.075</real_height>
+         <min_mass>0.015</min_mass>
+         <max_mass>0.025</max_mass>
+         <generate_time>20260120044644</generate_time>
+         <gs_model>mesh/strawberry_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.346213340759277</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/f57cc6481d925495963da4a4d48cbfe8.usd b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/f57cc6481d925495963da4a4d48cbfe8.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d7bec4e5fa7c88e797cc48ca7ec09da2753b4832
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/f57cc6481d925495963da4a4d48cbfe8.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fb03507e67efec0c6e9181e4a35dccaa38b3674c443091914426df8fdcc075f
+size 601747
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mesh/material.mtl b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mesh/material_0.png b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6b569ef678a5aaff7b4e4ca42ee71bb4bf107f2
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbec86b1dc9d271f375c8e085f4b4967f1bae26860619728ea4abb7cdac58ee3
+size 3092974
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mesh/strawberry.glb b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mesh/strawberry.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cb0ff9786159abc9b083e09d85859cfbf58c51b3
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mesh/strawberry.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e3b5e6c1223652168ff24cc406538126648ec738c0a9b65a957bd65db9a3484
+size 3514492
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mesh/strawberry.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mesh/strawberry.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe571de4d2f4de8b45e043020047b7be9c37c10c
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mesh/strawberry.obj
@@ -0,0 +1,38722 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mesh/strawberry_collision.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mesh/strawberry_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4948ca251e35b996bc4669da25dd965842bfb9ab
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mesh/strawberry_collision.obj
@@ -0,0 +1,22053 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
+v 0.00066800 0.00671388 0.02520522
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diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/material_0.png b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbec86b1dc9d271f375c8e085f4b4967f1bae26860619728ea4abb7cdac58ee3
+size 3092974
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da87e7593421cb717d8bbe9ef858acc5b742eab5
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d60cd4a72685edf6e5147c6c10041bf70f6ce827
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision.obj
@@ -0,0 +1,22053 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_0.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b045550d77846128a5bb481b5b6c5d0ab63c237c
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_0.obj
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diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_1.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47bf7c69032ac1a18375aa2ccc670ade008a17dc
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_1.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_10.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ca4dd746be4b2b678472233e91b894025f2231e
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_10.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_11.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b17d5dc2500201708f70caadc064901103dc0ac7
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_11.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_12.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..095e6602ce27d0a5f79d2ee5aeca8b8448965f31
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_12.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_13.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cc40791812abd3875ad1392b0719f1e0088ebbf
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_13.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_14.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2c22a05fef5013cb3cd24e85dfdf1b6075dca4e
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_14.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_15.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdf42f8795c8e1f77e9d53b7e29775f7f090ad29
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_15.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_16.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f60bef7a25abb67767ce857f0383abfb85dd69e2
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_16.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_17.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..246e16b4a9d34ecd0de04e241da01f44fdfd73f4
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_17.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.01893797 -0.00213909 0.02002602
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+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_18.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54e54705e1e4590e9d9028fc44745cdde6c68288
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_18.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.01707050 0.01221661 0.01791429
+v 0.01700643 0.01200269 0.01791429
+v 0.01706210 0.01221661 0.01782327
+v 0.01509392 0.01221661 0.01791429
+v 0.01499449 0.01004000 0.01486761
+v 0.01510442 0.01004000 0.01475152
+v 0.01587356 0.01163665 0.01791429
+v 0.01349437 0.01003999 0.01618461
+v 0.01375694 0.01003999 0.01599886
+v 0.01392743 0.01003999 0.01585923
+v 0.01591207 0.01221661 0.01769603
+v 0.01507641 0.01010924 0.01475152
+v 0.01495353 0.01030100 0.01475152
+v 0.01409162 0.01154421 0.01475152
+v 0.01400480 0.01166118 0.01475152
+v 0.01349437 0.01221236 0.01475152
+v 0.01509742 0.01221128 0.01791429
+v 0.01585430 0.01221662 0.01769077
+v 0.01349437 0.01193921 0.01499733
+v 0.01349437 0.01116452 0.01553509
+v 0.01349437 0.01103349 0.01561961
+v 0.01349437 0.01077888 0.01577967
+v 0.01349437 0.01032357 0.01604932
+v 0.01349437 0.01004000 0.01475152
+f 1 2 3
+f 1 3 11
+f 1 11 18
+f 1 18 4
+f 1 4 17
+f 1 17 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 5
+f 3 6 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 11
+f 4 18 16
+f 4 16 19
+f 4 19 20
+f 4 20 21
+f 4 21 22
+f 4 22 23
+f 4 23 8
+f 4 8 17
+f 5 10 9
+f 5 9 8
+f 5 8 24
+f 5 24 6
+f 6 24 16
+f 6 16 15
+f 6 15 14
+f 6 14 13
+f 6 13 12
+f 7 17 8
+f 8 23 22
+f 8 22 21
+f 8 21 20
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+f 8 19 16
+f 8 16 24
+f 11 16 18
+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_19.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9695bd2951c7551c5420d3619a9adc9aa270e469
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_19.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01670787 -0.02048445 0.02135458
+v -0.01670787 -0.02048445 0.02235458
+v -0.01670787 -0.00033477 0.02135458
+v -0.01670787 -0.00033477 0.02235458
+v 0.00297842 -0.02048445 0.02135458
+v 0.00297842 -0.02048445 0.02235458
+v 0.00297842 -0.00033477 0.02135458
+v 0.00297842 -0.00033477 0.02235458
+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/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_2.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2b4fa479ea24b74b54a06b55ad7dcbe4bf89ff6
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_2.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.01672632 0.01852058 0.03287257
+v 0.01672093 0.01849820 0.03190251
+v 0.01664288 0.01936362 0.03281827
+v 0.01657021 0.01926216 0.03349106
+v 0.01657021 0.01895628 0.03349106
+v 0.01665365 0.01724035 0.03244827
+v 0.01665365 0.01724035 0.03178469
+v 0.01661058 0.01930543 0.03208198
+v 0.01631049 0.01724036 0.03116344
+v 0.01524064 0.01539165 0.02969914
+v 0.01585294 0.01944420 0.03190987
+v 0.01587447 0.01946061 0.03287718
+v 0.01631183 0.01926216 0.03349106
+v 0.01631183 0.01895628 0.03349106
+v 0.01585294 0.01724035 0.03270506
+v 0.01585294 0.01643909 0.03228721
+v 0.01652176 0.01655548 0.03223475
+v 0.01652176 0.01655548 0.03192551
+v 0.01528505 0.01275360 0.02959513
+v 0.01537117 0.01346832 0.02952702
+v 0.01567800 0.01724036 0.03066000
+v 0.01543442 0.01806251 0.03084777
+v 0.01533753 0.01472467 0.02960526
+v 0.01485307 0.01623021 0.02984088
+v 0.01410350 0.01310127 0.02838117
+v 0.00978912 0.00718807 0.02408949
+v 0.00952670 0.00756557 0.02408949
+v 0.01332298 0.01815353 0.03068026
+v 0.01480866 0.01937108 0.03192828
+v 0.01458796 0.01819979 0.03072904
+v 0.00573446 0.01184642 0.02448249
+v 0.01480866 0.01937108 0.03250351
+v 0.01446685 0.01860861 0.03258174
+v 0.01382494 0.01826394 0.03227249
+v 0.01382494 0.01764621 0.03227248
+v 0.01457316 0.01723140 0.03244735
+v 0.01498495 0.01643909 0.03227985
+v 0.01492439 0.01399951 0.03102078
+v 0.01533080 0.01399951 0.03102078
+v 0.01528505 0.01275360 0.02980774
+v 0.01011478 0.00531697 0.02451561
+v 0.01027627 0.00573327 0.02408948
+v 0.01027896 0.00573923 0.02408948
+v 0.01419367 0.01221049 0.02826519
+v 0.00619604 0.01096459 0.02408950
+v 0.00574254 0.01128241 0.02408950
+v 0.00826846 0.00891443 0.02408949
+v 0.01254516 0.01800134 0.03078334
+v 0.00487589 0.01177182 0.02448986
+v 0.01254516 0.01800134 0.03112480
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+v 0.01253708 0.01027075 0.02850633
+v 0.01280085 0.01027075 0.02850633
+v 0.01269453 0.00906214 0.02723345
+v 0.00963436 0.00465746 0.02408948
+v 0.00544244 0.01125256 0.02408950
+v 0.00623238 0.01295506 0.02580046
+v 0.00761040 0.01411143 0.02718746
+v 0.00377644 0.01099891 0.02408950
+v 0.00761040 0.01411143 0.02725188
+v 0.00297842 0.01045429 0.02408950
+v 0.00297842 0.00969630 0.02430486
+v 0.00537112 0.00556317 0.02408948
+v 0.00600495 0.00493499 0.02408948
+v 0.00297842 0.00843995 0.02414931
+v 0.00820924 0.00422027 0.02432601
+v 0.00927371 0.00512150 0.02484694
+v 0.00963032 0.00465746 0.02409408
+v 0.00320989 0.01061991 0.02408950
+f 1 2 3
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+f 67 70 69
+f 75 77 76
+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_20.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f58a47695e97763b384f1668219c1203198a18b
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_20.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00297842 -0.00045372 0.01916208
+v 0.00297842 -0.01156426 0.01916204
+v 0.00297842 -0.00045373 0.02175208
+v 0.01454504 -0.00045372 0.01916208
+v 0.00297842 -0.01156427 0.02175204
+v 0.01065044 -0.01156426 0.01916204
+v 0.01338588 -0.00045373 0.02175208
+v 0.01585886 -0.00045373 0.02050386
+v 0.01893797 -0.00218654 0.01971049
+v 0.01893797 -0.00243565 0.01962758
+v 0.01893797 -0.00284030 0.01955177
+v 0.01893797 -0.00343096 0.01945162
+v 0.01893797 -0.00413910 0.01943995
+v 0.01458878 -0.00412823 0.01916206
+v 0.01329839 -0.01156427 0.02175204
+v 0.01208455 -0.01156427 0.02044981
+v 0.01418885 -0.00490055 0.01916206
+v 0.01893797 -0.00791151 0.01964810
+v 0.01893797 -0.00861856 0.01971986
+v 0.01616817 -0.00288164 0.02175207
+v 0.01711956 -0.00288164 0.02160400
+v 0.01458878 -0.00045373 0.02153352
+v 0.01574638 -0.00045373 0.02113215
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+v 0.01893797 -0.00213868 0.02002642
+v 0.01893797 -0.00880566 0.02038745
+v 0.01893797 -0.00877304 0.02117573
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+v 0.01838495 -0.00539658 0.02150384
+v 0.01893797 -0.00539658 0.02140597
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+v 0.01893797 -0.00795177 0.02137680
+v 0.01838495 -0.00791152 0.02150357
+v 0.01697740 -0.00791152 0.02175205
+v 0.01705551 -0.00672802 0.02175206
+v 0.01838495 -0.00665405 0.02153934
+v 0.01893797 -0.00610364 0.02142600
+v 0.01893797 -0.00736219 0.02141838
+v 0.01893797 -0.00665405 0.02143867
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 22
+f 1 22 23
+f 1 23 8
+f 1 8 4
+f 1 4 14
+f 1 14 17
+f 1 17 6
+f 1 6 2
+f 2 6 16
+f 2 16 15
+f 2 15 5
+f 3 5 15
+f 3 15 28
+f 3 28 39
+f 3 39 40
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+f 3 29 20
+f 3 20 7
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+f 4 12 13
+f 4 13 14
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+f 6 19 16
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+f 9 12 11
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+f 20 29 21
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+f 23 36 24
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+f 29 40 30
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+f 30 41 42
+f 30 42 31
+f 33 36 35
+f 33 35 34
+f 37 43 38
+f 38 43 44
+f 38 44 41
+f 38 41 39
+f 39 41 40
+f 41 44 42
+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_21.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..091bcfa6b575ec73ee2be42d526a66d39fba8d74
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_21.obj
@@ -0,0 +1,943 @@
+# https://github.com/mikedh/trimesh
+v 0.01892305 -0.00162068 0.01475147
+v 0.01831513 -0.00162069 0.01538937
+v 0.01831513 -0.00413571 0.01538662
+v 0.01891805 -0.00413570 0.01475146
+v 0.01889303 -0.00045926 0.01475148
+v 0.01889553 -0.00045508 0.01475239
+v 0.01835016 -0.00045509 0.01533234
+v 0.01771972 -0.00287820 0.01601085
+v 0.01830513 -0.00036318 0.01537797
+v 0.01771722 -0.00162069 0.01601085
+v 0.01771472 -0.00413571 0.01600810
+v 0.01888052 -0.00529295 0.01475146
+v 0.01828761 0.00340518 0.01475240
+v 0.01846273 0.00266990 0.01475240
+v 0.01858282 0.00214767 0.01475240
+v 0.01874543 0.00113247 0.01475239
+v 0.01878045 0.00089434 0.01475239
+v 0.01888552 -0.00027126 0.01475239
+v 0.01889303 -0.00036317 0.01475239
+v 0.01677658 0.00691870 0.01475151
+v 0.01458507 -0.00412319 0.01916157
+v 0.01770722 -0.00045509 0.01599945
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+v 0.01677658 0.00691870 0.01475242
+v 0.01701424 0.00643825 0.01475241
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+v 0.01065238 -0.01155546 0.01916155
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+v 0.01391712 -0.01604237 0.01476373
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+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_22.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29e012dc41664b4b05c7c7094dc03661e150f91b
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_22.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.01233943 -0.00181304 0.02447209
+v -0.01368176 -0.00181304 0.02447209
+v -0.01233943 -0.00181303 0.02281386
+v -0.01233943 0.00796772 0.02447213
+v -0.01897698 0.00396669 0.02281388
+v -0.01314697 -0.00181303 0.02281386
+v -0.02266785 0.00737795 0.02447213
+v -0.01233943 0.01093533 0.02281391
+v -0.01233943 0.00845427 0.02425055
+v -0.01977164 0.01166180 0.02447214
+v -0.01930343 0.00449480 0.02281389
+v -0.02314035 0.00814867 0.02447213
+v -0.01342510 0.01077582 0.02281391
+v -0.02083798 0.01187895 0.02446029
+v -0.02083798 0.01187895 0.02447214
+v -0.02065543 0.01185616 0.02447214
+v -0.01233943 0.01088842 0.02284670
+v -0.01233943 0.01068602 0.02298598
+v -0.01938612 0.00463822 0.02281389
+v -0.02331002 0.00843417 0.02447213
+v -0.01437010 0.01061364 0.02281391
+v -0.02096363 0.01187626 0.02447214
+v -0.02085194 0.01188029 0.02447214
+v -0.01986614 0.00596386 0.02281389
+v -0.02323055 0.00955875 0.02447214
+v -0.01981244 0.00717958 0.02281390
+v -0.01704295 0.01013646 0.02281391
+v -0.02182486 0.01165778 0.02447214
+v -0.01741988 0.01006676 0.02281391
+v -0.01952572 0.00831220 0.02281390
+v -0.01980170 0.00722918 0.02281390
+v -0.02316505 0.00969547 0.02447214
+v -0.02238972 0.01121278 0.02447214
+v -0.01827897 0.00965929 0.02281391
+v -0.02258301 0.01090583 0.02447214
+v -0.01883845 0.00913788 0.02281390
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 17
+f 1 17 18
+f 1 18 9
+f 1 9 4
+f 1 4 10
+f 1 10 16
+f 1 16 15
+f 1 15 23
+f 1 23 22
+f 1 22 28
+f 1 28 33
+f 1 33 35
+f 1 35 32
+f 1 32 25
+f 1 25 20
+f 1 20 12
+f 1 12 7
+f 1 7 2
+f 2 5 6
+f 2 7 5
+f 3 6 5
+f 3 5 11
+f 3 11 19
+f 3 19 24
+f 3 24 26
+f 3 26 31
+f 3 31 30
+f 3 30 36
+f 3 36 34
+f 3 34 29
+f 3 29 27
+f 3 27 21
+f 3 21 13
+f 3 13 8
+f 4 9 10
+f 5 7 11
+f 7 12 11
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 10
+f 8 10 17
+f 9 18 10
+f 10 18 17
+f 11 12 20
+f 11 20 19
+f 13 21 22
+f 13 22 14
+f 14 22 23
+f 14 23 15
+f 19 20 24
+f 20 25 26
+f 20 26 24
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+f 22 29 28
+f 25 30 31
+f 25 31 26
+f 25 32 30
+f 28 29 34
+f 28 34 33
+f 30 32 35
+f 30 35 33
+f 30 33 36
+f 33 34 36
+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_23.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1abdb726b2b72eef12d9c8bce3925abcb32ccd4
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_23.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01495107 0.00991317 0.02135466
+v -0.01495107 0.00991317 0.02235466
+v -0.01495107 0.01837375 0.02135466
+v -0.01495107 0.01837375 0.02235466
+v -0.00554555 0.00991317 0.02135466
+v -0.00554555 0.00991317 0.02235466
+v -0.00554555 0.01837375 0.02135466
+v -0.00554555 0.01837375 0.02235466
+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/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_24.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc7fe58811bfcd368d929196357773d5bd8a58f3
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_24.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00440220 -0.01178612 0.02415178
+v -0.00440220 -0.01178611 0.02281383
+v -0.00440220 -0.01172054 0.02425567
+v -0.00690395 -0.01157116 0.02447206
+v -0.00561811 -0.01178612 0.02362923
+v -0.00734681 -0.01178611 0.02281383
+v -0.00440220 0.00062001 0.02281387
+v -0.00568571 -0.01142784 0.02447206
+v -0.00440220 -0.01042710 0.02444398
+v -0.00453273 -0.01042710 0.02447206
+v -0.00764127 -0.01139019 0.02447206
+v -0.00734292 -0.01178611 0.02281627
+v -0.00698475 -0.01178611 0.02303525
+v -0.01233943 -0.00837579 0.02281384
+v -0.01233943 0.00062001 0.02281387
+v -0.00440220 0.00062000 0.02382569
+v -0.00978485 0.00062000 0.02447210
+v -0.00791864 -0.01112665 0.02447206
+v -0.00839801 -0.01062627 0.02447206
+v -0.00960460 -0.00930733 0.02447207
+v -0.01082284 -0.00781835 0.02447207
+v -0.01185073 -0.00654919 0.02447208
+v -0.01197660 -0.00631601 0.02447208
+v -0.01233011 -0.00554845 0.02447208
+v -0.01233943 -0.00795436 0.02304809
+v -0.01233943 0.00062000 0.02447210
+v -0.01233943 -0.00420156 0.02447208
+f 1 2 7
+f 1 7 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 12
+f 1 12 6
+f 1 6 2
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+f 2 14 15
+f 2 15 7
+f 3 8 4
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+f 4 11 6
+f 4 6 12
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+f 4 13 5
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+f 7 17 16
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+f 10 16 17
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+f 14 18 19
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+f 14 23 24
+f 14 24 25
+f 14 25 27
+f 14 27 26
+f 14 26 15
+f 24 27 25
+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_25.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8c51f628c860d88d72e8dd35b5b3326e1d74789
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_25.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00085150 0.02238104 0.01774022
+v 0.00085150 0.02238104 0.01874022
+v 0.00085150 0.02831878 0.01774022
+v 0.00085150 0.02831878 0.01874022
+v 0.00297822 0.02238104 0.01774022
+v 0.00297822 0.02238104 0.01874022
+v 0.00297822 0.02831878 0.01774022
+v 0.00297822 0.02831878 0.01874022
+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/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_26.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6bfcd6c7da2101e489f87d8de247c8125af7c7e
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_26.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.01705612 -0.00672853 0.02175206
+v 0.01573337 -0.00713633 0.02278230
+v 0.01702932 -0.00713633 0.02175205
+v 0.01686232 -0.00564918 0.02175206
+v 0.01308864 -0.00713633 0.02234574
+v 0.01616872 -0.00288052 0.02175207
+v 0.01494306 0.00172755 0.02175209
+v 0.01458965 0.00172755 0.02190901
+v 0.01436518 0.00172755 0.02197527
+v 0.01332438 0.00172755 0.02213652
+v 0.01320476 0.00172755 0.02215255
+v 0.01308864 0.00172755 0.02216798
+v 0.01308864 -0.00713633 0.02175205
+v 0.01308864 0.00172755 0.02175209
+f 1 2 3
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+f 1 14 7
+f 1 7 6
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+f 2 12 5
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+f 5 14 13
+f 7 14 12
+f 7 12 11
+f 7 11 10
+f 7 10 9
+f 7 9 8
+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_27.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8635a3e442f007280b0324431d8f2f239c019a3d
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_27.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v -0.01830923 -0.00428540 0.02447238
+v -0.01830923 -0.00428540 0.02506517
+v -0.01830783 -0.00428540 0.02424380
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+v -0.01830783 -0.00428540 0.02447238
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+v -0.01990893 -0.00458333 0.02562873
+v -0.02026799 -0.00475780 0.02599060
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+v -0.02037557 -0.00461708 0.02463548
+v -0.02037837 -0.00464723 0.02536156
+v -0.01641333 -0.00477430 0.02473545
+v -0.01623031 -0.00468097 0.02390765
+v -0.02033226 -0.00469389 0.02562873
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+v -0.02501123 -0.01042651 0.02855641
+v -0.02336821 -0.01042651 0.02792386
+v -0.02795916 -0.01141007 0.02866105
+v -0.02716420 -0.01161971 0.02875517
+v -0.02589840 -0.01150412 0.02866631
+v -0.02506712 -0.01125571 0.02854296
+v -0.02007799 -0.01110279 0.02588710
+v -0.02083802 -0.01115088 0.02584852
+v -0.01577904 -0.00987514 0.02340136
+v -0.02171681 -0.01113510 0.02589879
+v -0.02463261 -0.01138637 0.02699726
+v -0.02716420 -0.01161970 0.02807177
+v -0.02242236 -0.01123704 0.02737901
+v -0.02007799 -0.01110279 0.02605137
+v -0.02336821 -0.01140001 0.02756492
+v -0.02336821 -0.01140001 0.02683065
+f 1 2 6
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+f 29 48 30
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+f 31 50 41
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diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_28.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8d368ef7dc3a0a1b0b32d05b2e779cde6ff7756
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_28.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_29.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e2f0befafab8915c8e64b572babd004cfce2b70
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_29.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_3.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..248eec989e9609a02890396091975c0ab17b869b
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_3.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_30.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8e72af02da721b75c63df6a9f99994a7f43b0ca
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_30.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_31.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0de0e63a3907f6a07589d6d0066c9628186351f4
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_31.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_32.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfc9d2dda1b6325dd2aa25b7d565b0fad78b276d
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_32.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_33.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..193d8044d1f14d5fa0b36b462fe3132d64067bcf
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_33.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.01928215 -0.02299791 0.01534529
+v 0.01919173 -0.02174456 0.01570809
+v 0.01919173 -0.02174456 0.01627384
+v 0.01927702 -0.02300271 0.01627468
+v 0.01922359 -0.02382387 0.01541934
+v 0.01911057 -0.02371461 0.01475776
+v 0.01911057 -0.02341328 0.01475776
+v 0.01908591 -0.02097983 0.01592820
+v 0.01908591 -0.02097983 0.01616672
+v 0.01789815 -0.01923067 0.01742587
+v 0.01919893 -0.02380466 0.01616880
+v 0.01795568 -0.02048762 0.01743004
+v 0.01651928 -0.01868444 0.01854398
+v 0.01786732 -0.02131358 0.01734593
+v 0.01838414 -0.02381546 0.01619391
+v 0.01843140 -0.02382987 0.01544738
+v 0.01888452 -0.02371461 0.01475776
+v 0.01888452 -0.02341328 0.01475776
+v 0.01213094 -0.01156535 0.01778912
+v 0.01793308 -0.01967246 0.01592821
+v 0.01778923 -0.01853677 0.01719571
+v 0.01778923 -0.01853677 0.01734176
+v 0.01656449 -0.01714658 0.01859672
+v 0.01623261 -0.01952121 0.01844899
+v 0.01539008 -0.01997501 0.01857620
+v 0.01458865 -0.02010826 0.01865948
+v 0.01332589 -0.02015388 0.01874526
+v 0.01656962 -0.01797374 0.01859336
+v 0.01585347 -0.01797374 0.01892645
+v 0.01582779 -0.01915265 0.01866952
+v 0.01764950 -0.02370382 0.01611733
+v 0.01229225 -0.02003623 0.01869128
+v 0.01764950 -0.02370382 0.01587965
+v 0.01630454 -0.02253091 0.01592025
+v 0.00878548 -0.01556549 0.01778910
+v 0.00878548 -0.01156535 0.01778912
+v 0.01213094 -0.01156535 0.01788494
+v 0.01555242 -0.01571916 0.01824312
+v 0.01555242 -0.01571916 0.01887415
+v 0.01528220 -0.01556189 0.01903275
+v 0.01592540 -0.01672279 0.01894111
+v 0.01458865 -0.01908422 0.01903274
+v 0.01458865 -0.01923068 0.01899131
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+v 0.01332589 -0.01958604 0.01903274
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+v 0.01213094 -0.01968568 0.01891641
+v 0.01575175 -0.01673120 0.01903275
+v 0.01553496 -0.01797374 0.01903274
+v 0.01383141 -0.02119953 0.01744510
+v 0.01077467 -0.01890174 0.01903232
+v 0.01383141 -0.02119953 0.01717729
+v 0.01267858 -0.01987775 0.01727438
+v 0.01105414 -0.01900378 0.01832262
+v 0.00998454 -0.01795813 0.01903232
+v 0.00878548 -0.01602409 0.01903233
+v 0.00878548 -0.01156535 0.01903235
+v 0.01080549 -0.01156535 0.01903235
+v 0.01429171 -0.01438538 0.01903276
+v 0.01437083 -0.01446341 0.01903276
+v 0.01213196 -0.01950320 0.01903274
+v 0.01213196 -0.01423411 0.01903276
+v 0.01264878 -0.01395679 0.01903276
+v 0.01331356 -0.01395679 0.01903276
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 3
+f 2 7 8
+f 3 9 10
+f 3 10 4
+f 4 11 5
+f 4 10 12
+f 4 12 13
+f 4 13 14
+f 4 14 11
+f 5 11 15
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 18 36
+f 7 36 19
+f 7 19 20
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+f 8 20 19
+f 8 19 21
+f 8 21 22
+f 8 22 9
+f 9 22 10
+f 10 22 23
+f 10 23 12
+f 11 14 24
+f 11 24 25
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+f 23 39 40
+f 23 40 41
+f 23 41 28
+f 24 30 25
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+f 25 43 44
+f 25 44 26
+f 26 44 45
+f 26 45 27
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+f 27 47 32
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+f 28 48 29
+f 29 48 49
+f 29 49 30
+f 30 49 42
+f 31 32 50
+f 31 50 52
+f 31 52 33
+f 32 47 51
+f 32 51 50
+f 33 52 34
+f 34 52 53
+f 34 53 35
+f 35 54 55
+f 35 55 56
+f 35 56 57
+f 35 57 36
+f 35 53 54
+f 37 58 59
+f 37 59 60
+f 37 60 39
+f 39 60 40
+f 40 60 59
+f 40 59 64
+f 40 64 63
+f 40 63 62
+f 40 62 61
+f 40 61 45
+f 40 45 44
+f 40 44 42
+f 40 42 49
+f 40 49 48
+f 40 48 41
+f 42 44 43
+f 45 61 46
+f 46 61 51
+f 46 51 47
+f 50 51 52
+f 51 61 55
+f 51 55 54
+f 51 54 52
+f 52 54 53
+f 55 61 56
+f 56 61 62
+f 56 62 57
+f 57 62 63
+f 57 63 64
+f 57 64 58
+f 58 64 59
+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_34.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c94d7829a9da5d0b8eedc607e47173fdf9de1b0
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_34.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.01213114 -0.01156534 0.01707304
+v 0.01213114 -0.01156535 0.01788505
+v 0.01396105 -0.01156534 0.01707304
+v 0.01213114 -0.01385379 0.01707303
+v 0.01213114 -0.01161283 0.01787143
+v 0.01264808 -0.01395485 0.01903276
+v 0.01289169 -0.01381474 0.01903276
+v 0.01329973 -0.01394689 0.01903276
+v 0.01217896 -0.01156535 0.01786645
+v 0.01376043 -0.01156534 0.01718852
+v 0.01331298 -0.01395485 0.01903276
+v 0.01353492 -0.01212810 0.01707304
+v 0.01223592 -0.01374222 0.01707303
+v 0.01330044 -0.01395485 0.01902835
+v 0.01302513 -0.01395485 0.01897732
+v 0.01213114 -0.01296943 0.01741813
+v 0.01213114 -0.01167762 0.01785052
+v 0.01213114 -0.01278278 0.01748412
+v 0.01213114 -0.01282605 0.01746896
+v 0.01324778 -0.01156534 0.01741066
+v 0.01275394 -0.01311795 0.01707303
+f 1 2 9
+f 1 9 20
+f 1 20 10
+f 1 10 3
+f 1 3 12
+f 1 12 21
+f 1 21 13
+f 1 13 4
+f 1 4 16
+f 1 16 19
+f 1 19 18
+f 1 18 17
+f 1 17 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 3 10 11
+f 3 11 12
+f 4 13 11
+f 4 11 14
+f 4 14 15
+f 4 15 6
+f 4 6 16
+f 5 17 6
+f 6 15 14
+f 6 14 11
+f 6 11 8
+f 6 8 7
+f 6 17 18
+f 6 18 19
+f 6 19 16
+f 8 11 9
+f 9 11 20
+f 10 20 11
+f 11 13 21
+f 11 21 12
+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_35.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..495050e6cc506b9940bc599cb1ece9a40bf6c43d
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_35.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.01595274 0.01730580 0.01791431
+v 0.01710747 0.01722898 0.01791431
+v 0.01587839 0.01729513 0.01791431
+v 0.01332381 0.01687551 0.01892298
+v 0.01458890 0.01697508 0.01881028
+v 0.01775454 0.01661805 0.01791431
+v 0.01550897 0.01682643 0.01863748
+v 0.01450293 0.01700780 0.01791431
+v 0.01332381 0.01687551 0.01827270
+v 0.01255476 0.01669344 0.01878774
+v 0.00664052 0.01491822 0.02175213
+v 0.01205987 0.01584780 0.02000115
+v 0.01301131 0.01565719 0.01987042
+v 0.01812629 0.01598577 0.01791431
+v 0.01458890 0.01598435 0.01926033
+v 0.01590046 0.01599360 0.01876633
+v 0.01585400 0.01472620 0.01909616
+v 0.00664052 0.01345881 0.01791430
+v 0.01255476 0.01669344 0.01845265
+v 0.00664052 0.01003997 0.02175212
+v 0.00666376 0.01490826 0.02175213
+v 0.01205987 0.01472620 0.02038357
+v 0.01338886 0.01476105 0.01998311
+v 0.01385470 0.01520343 0.01972579
+v 0.00686706 0.01475251 0.02175213
+v 0.01824130 0.01578023 0.01791431
+v 0.01455637 0.01476105 0.01957326
+v 0.01411260 0.01436490 0.01982646
+v 0.01434494 0.01346948 0.01991662
+v 0.01497807 0.01346948 0.01967168
+v 0.01585400 0.01346948 0.01933020
+v 0.01687281 0.01472620 0.01868705
+v 0.00664052 0.01003998 0.01791429
+v 0.01023832 0.01003997 0.02175212
+v 0.01143139 0.01284573 0.02101282
+v 0.01332381 0.01346948 0.02027951
+v 0.01009311 0.01026116 0.02175212
+v 0.01206336 0.01003997 0.02137908
+v 0.01849455 0.01488623 0.01791430
+v 0.01750478 0.01472620 0.01841620
+v 0.01768484 0.01377175 0.01847818
+v 0.01516162 0.01266936 0.01973705
+v 0.01529754 0.01183154 0.01980240
+v 0.01720622 0.01339978 0.01875580
+v 0.01033707 0.01003998 0.01791429
+v 0.01274295 0.01003997 0.02110710
+v 0.01850849 0.01472620 0.01791430
+v 0.01776500 0.01293393 0.01853491
+v 0.01535679 0.01095389 0.01983772
+v 0.01587258 0.01163738 0.01791429
+v 0.01589930 0.01085788 0.01821558
+v 0.01550665 0.01022987 0.01846089
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+v 0.01505358 0.01003998 0.01990458
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+v 0.01700641 0.01200294 0.01791429
+v 0.01680195 0.01121278 0.01825014
+v 0.01551362 0.01016373 0.01914761
+v 0.01519299 0.01003998 0.01913597
+v 0.01680195 0.01121278 0.01877795
+v 0.01832842 0.01344245 0.01791430
+v 0.01789859 0.01270065 0.01791430
+f 1 2 6
+f 1 6 14
+f 1 14 26
+f 1 26 39
+f 1 39 47
+f 1 47 56
+f 1 56 63
+f 1 63 64
+f 1 64 58
+f 1 58 50
+f 1 50 45
+f 1 45 33
+f 1 33 18
+f 1 18 8
+f 1 8 3
+f 1 3 4
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+f 1 5 2
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+f 2 7 6
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+f 24 28 27
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+f 28 36 29
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+f 29 36 38
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+f 30 42 31
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+f 31 43 44
+f 31 44 40
+f 31 40 32
+f 34 38 37
+f 35 38 36
+f 38 46 42
+f 39 41 48
+f 39 48 47
+f 40 44 41
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+f 42 46 43
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+f 43 48 44
+f 43 46 49
+f 45 50 51
+f 45 51 52
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+f 46 55 49
+f 47 48 57
+f 47 57 56
+f 48 49 57
+f 49 55 57
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+f 51 59 52
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+f 54 60 55
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+f 56 57 63
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+f 58 64 59
+f 59 64 62
+f 59 62 60
+f 62 64 63
+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_36.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3f928c63ce7db4c9e73398fc927f99839845134
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_36.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01990250 -0.00129754 0.02201038
+v -0.01990250 -0.00129754 0.02301038
+v -0.01990250 0.01802421 0.02201038
+v -0.01990250 0.01802421 0.02301038
+v 0.00297842 -0.00129754 0.02201038
+v 0.00297842 -0.00129754 0.02301038
+v 0.00297842 0.01802421 0.02201038
+v 0.00297842 0.01802421 0.02301038
+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/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_37.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28718f955453b4b98c22286fd667701c4b9fc035
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_37.obj
@@ -0,0 +1,652 @@
+# https://github.com/mikedh/trimesh
+v -0.00663448 -0.02002063 0.01522845
+v -0.00663448 -0.01996939 0.01527794
+v -0.00669283 -0.01999304 0.01522845
+v -0.01624247 -0.01253838 0.01522815
+v -0.01553147 -0.01253838 0.01522815
+v -0.00663448 0.02025265 0.01522859
+v -0.00663448 -0.01948844 0.01571916
+v -0.00692214 -0.01941354 0.01565188
+v -0.00692214 -0.01987477 0.01522845
+v -0.01645143 -0.01225849 0.01522815
+v -0.00793707 -0.01934652 0.01522845
+v -0.00854767 -0.01902326 0.01522845
+v -0.00917725 -0.01868424 0.01522845
+v -0.00981362 -0.01829790 0.01522845
+v -0.01036451 -0.01795493 0.01522845
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+v -0.01134010 -0.01728082 0.01522846
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+v -0.01347988 -0.01568030 0.01522846
+v -0.01413661 -0.01510474 0.01522846
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+v -0.01529809 -0.01380776 0.01522847
+v -0.01552876 -0.01350816 0.01522847
+v -0.01553147 0.01483216 0.01522825
+v -0.00692214 0.02018563 0.01522859
+v -0.00692214 0.01988997 0.01554139
+v -0.00663448 0.01992545 0.01557439
+v -0.00663448 -0.01888134 0.01624448
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+v -0.00803477 -0.01914941 0.01535978
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+v -0.01525738 -0.01245954 0.01611964
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+v -0.00663448 0.01944056 0.01605313
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+v -0.01580827 -0.01046874 0.01670029
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+v -0.01748536 -0.00943195 0.01586865
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+v -0.01017998 -0.01491157 0.01733396
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diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_38.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c84e0d000f7248e75f2a9307d69e39f2bb38c7a2
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_38.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_39.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a421daa460b30e07e58afa2269c5bc2fd97e5738
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_39.obj
@@ -0,0 +1,181 @@
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+f 4 12 13
+f 4 13 5
+f 4 10 11
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+f 5 14 15
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+f 30 48 49
+f 30 49 50
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+f 30 51 47
+f 31 33 55
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+f 32 54 33
+f 33 54 58
+f 33 58 55
+f 34 56 35
+f 35 56 57
+f 35 57 44
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+f 35 37 36
+f 37 43 38
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+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_4.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99f335cdc93bb6bd59c94fc6b6c41b486e1a177a
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_4.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.00185854 -0.01052987 0.02447310
+v -0.00059528 -0.01079016 0.02447310
+v -0.00312397 -0.01061188 0.02447310
+v -0.00185854 -0.02712975 0.03490753
+v -0.00059528 -0.02711727 0.03491271
+v 0.00297842 -0.01189016 0.02447310
+v -0.00413574 -0.01190086 0.02447310
+v -0.00253787 -0.02731160 0.03473965
+v -0.00185276 -0.02799621 0.03505572
+v -0.00059889 -0.02800868 0.03505883
+v 0.00009345 -0.02729556 0.03474691
+v 0.00141452 -0.02224837 0.03103698
+v 0.00135165 -0.02469798 0.03227327
+v 0.00257372 -0.01983977 0.02848044
+v 0.00297842 -0.01324332 0.02498709
+v 0.00297842 -0.01407768 0.02447309
+v -0.00422679 -0.01212549 0.02447310
+v -0.00381775 -0.02099683 0.02979238
+v -0.00253787 -0.02755228 0.03473965
+v -0.00380908 -0.02174383 0.02984730
+v -0.00142637 -0.02874321 0.03500079
+v -0.00102239 -0.02874321 0.03500079
+v 0.00009345 -0.02757189 0.03474691
+v 0.00135165 -0.02499749 0.03227327
+v 0.00257372 -0.01987721 0.02848044
+v 0.00297842 -0.01402063 0.02502440
+v 0.00257372 -0.01987721 0.02845660
+v 0.00259612 -0.01866489 0.02718299
+v 0.00271031 -0.01671804 0.02569902
+v 0.00278185 -0.01508676 0.02447308
+v -0.00440458 -0.01307930 0.02447309
+v -0.00440458 -0.01428271 0.02509798
+v -0.00440458 -0.01538449 0.02556327
+v -0.00440458 -0.01674658 0.02596224
+v -0.00255594 -0.02754872 0.03405984
+v -0.00376716 -0.02238921 0.02981000
+v -0.00440458 -0.01713701 0.02595810
+v -0.00440458 -0.01782339 0.02535185
+v -0.00440458 -0.01785191 0.02532491
+v -0.00142637 -0.02874321 0.03457487
+v -0.00102239 -0.02874321 0.03457487
+v 0.00011079 -0.02756120 0.03405984
+v 0.00135165 -0.02499749 0.03206705
+v 0.00147740 -0.02388500 0.03074473
+v 0.00259612 -0.01738661 0.02595084
+v 0.00276089 -0.01519016 0.02451557
+v 0.00271464 -0.01515272 0.02447308
+v -0.00440458 -0.01753635 0.02447308
+v -0.00253209 -0.02744887 0.03339246
+v -0.00376716 -0.02238921 0.02969911
+v -0.00440458 -0.01785191 0.02530625
+v -0.00185854 -0.02754336 0.03330334
+v -0.00059528 -0.02754158 0.03330438
+v 0.00008044 -0.02744530 0.03339350
+v 0.00013175 -0.02620446 0.03214787
+v 0.00149619 -0.02254432 0.02957890
+v 0.00230271 -0.01602987 0.02480884
+v 0.00139790 -0.02117154 0.02842758
+v 0.00193847 -0.01559130 0.02447308
+v -0.00059528 -0.02624546 0.03211781
+v -0.00185854 -0.02623833 0.03212403
+v -0.00185854 -0.02686767 0.03268260
+v -0.00255015 -0.02619376 0.03215512
+v -0.00440458 -0.01766472 0.02459122
+v -0.00059528 -0.02687302 0.03268260
+f 1 2 6
+f 1 6 16
+f 1 16 30
+f 1 30 47
+f 1 47 59
+f 1 59 48
+f 1 48 31
+f 1 31 17
+f 1 17 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
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+f 5 10 11
+f 5 11 6
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+f 30 46 47
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+f 31 33 32
+f 35 49 40
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+f 35 50 49
+f 36 39 51
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+f 41 52 53
+f 41 53 54
+f 41 54 42
+f 42 54 43
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+f 48 60 61
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+f 48 63 64
+f 49 50 64
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+f 49 63 52
+f 50 51 64
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+f 52 65 53
+f 53 65 55
+f 53 55 54
+f 55 58 56
+f 55 65 60
+f 60 65 62
+f 60 62 61
+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_40.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8656d1db799ff1940ec3696ee584142aa605faad
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_40.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.00297842 -0.01628890 0.02281381
+v 0.00297842 -0.01407447 0.02447205
+v 0.00278119 -0.01508291 0.02447204
+v 0.00271473 -0.01514953 0.02447204
+v 0.00193881 -0.01559058 0.02447204
+v -0.00440220 -0.01753166 0.02447204
+v -0.00440220 -0.01709061 0.02405939
+v -0.00440220 -0.01636931 0.02339643
+v -0.00317908 -0.01531491 0.02281381
+v 0.00297842 0.00593589 0.02281389
+v 0.00297842 -0.01188760 0.02447206
+v -0.00440220 -0.01307062 0.02447205
+v -0.00440220 -0.01504385 0.02281381
+v -0.00440220 0.00593589 0.02281389
+v 0.00297842 0.00593588 0.02371857
+v -0.00059413 -0.01078727 0.02447206
+v 0.00297842 -0.00036746 0.02427406
+v 0.00193592 -0.00036746 0.02438948
+v 0.00067090 -0.00036746 0.02442974
+v -0.00422737 -0.01212420 0.02447206
+v -0.00440220 -0.01042662 0.02444398
+v -0.00440220 0.00593588 0.02375705
+v 0.00067090 0.00089137 0.02435474
+v 0.00193592 0.00089137 0.02430295
+v 0.00297842 0.00089137 0.02419727
+v -0.00185915 -0.01052769 0.02447206
+v 0.00297842 0.00066855 0.02421253
+v -0.00059413 0.00089137 0.02432195
+v -0.00059413 -0.00036746 0.02436837
+v -0.00413634 -0.01189908 0.02447206
+v -0.00312417 -0.01061039 0.02447206
+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 13
+f 1 13 14
+f 1 14 10
+f 1 10 15
+f 1 15 25
+f 1 25 27
+f 1 27 17
+f 1 17 11
+f 1 11 2
+f 2 11 16
+f 2 16 26
+f 2 26 31
+f 2 31 30
+f 2 30 20
+f 2 20 12
+f 2 12 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
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+f 19 31 26
+f 20 30 21
+f 21 29 28
+f 21 28 22
+f 22 28 23
+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_41.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb8c0c8ece4ccc6e63099c39502c498acb292335
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_41.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00663448 -0.01699692 0.01755469
+v -0.00663448 -0.01610282 0.01950324
+v -0.01165896 -0.01679936 0.01950324
+v -0.01209280 -0.01683619 0.01950324
+v -0.01209280 -0.01690317 0.01917915
+v -0.01209280 -0.01690317 0.01917171
+v -0.00684980 -0.01683953 0.01755469
+v -0.00663448 0.01721352 0.01755481
+v -0.00663448 0.01369401 0.01950335
+v -0.01209280 0.00967556 0.01950334
+v -0.01209280 -0.01568423 0.01867957
+v -0.00927495 -0.01502453 0.01755469
+v -0.00956080 0.01617877 0.01755481
+v -0.00768116 0.01541525 0.01857687
+v -0.00663448 0.01561617 0.01852651
+v -0.00664196 0.01369401 0.01950335
+v -0.00948065 0.01232774 0.01950335
+v -0.01065770 0.01339598 0.01869589
+v -0.01104078 0.01376769 0.01840899
+v -0.01190046 0.01339598 0.01818505
+v -0.01209280 0.01290707 0.01828558
+v -0.00982153 -0.01456241 0.01755470
+v -0.01209280 -0.01249960 0.01755470
+v -0.01071006 0.01557935 0.01755481
+v -0.01019714 0.01417958 0.01857285
+v -0.00945073 0.01498327 0.01831286
+v -0.00819621 0.01341942 0.01950335
+v -0.00692086 0.01367727 0.01950335
+v -0.01193252 0.01470533 0.01755480
+v -0.01209280 0.01455129 0.01755480
+v -0.01209280 0.01341942 0.01808948
+v -0.01209280 0.01340268 0.01809597
+v -0.01185932 0.01475891 0.01755480
+v -0.01065770 0.01464840 0.01812382
+f 1 2 3
+f 1 3 4
+f 1 4 5
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+f 1 6 7
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+f 1 12 22
+f 1 22 23
+f 1 23 30
+f 1 30 29
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+f 1 33 24
+f 1 24 13
+f 1 13 8
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+f 20 31 32
+f 20 32 21
+f 24 33 34
+f 24 34 25
+f 25 34 29
+f 29 34 33
+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_42.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4978d7078963cf1ec55e8d57857e24a8877fafa
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_42.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.00664052 -0.00045264 0.02175208
+v 0.00297878 -0.00045264 0.02175208
+v 0.00664052 -0.00045263 0.01941323
+v 0.00664052 0.01491768 0.02175213
+v 0.00297878 -0.00045263 0.01941323
+v 0.00297878 0.01600336 0.02175214
+v 0.00664052 0.00955048 0.01941327
+v 0.00664052 0.01440383 0.02092970
+v 0.00518049 0.01600336 0.02175145
+v 0.00517403 0.01600336 0.02175214
+v 0.00297878 0.01270927 0.01941328
+v 0.00297878 0.01600336 0.02087476
+v 0.00634909 0.01013520 0.01941327
+v 0.00664052 0.01340514 0.02032180
+v 0.00664052 0.01424114 0.02080194
+v 0.00310425 0.01600336 0.02089262
+v 0.00440799 0.01600336 0.02139405
+v 0.00313472 0.01269799 0.01941328
+v 0.00308596 0.01600336 0.02088735
+v 0.00320175 0.01269155 0.01941328
+v 0.00577160 0.01097604 0.01941327
+v 0.00438182 0.01212294 0.01941327
+v 0.00340751 0.01260940 0.01941328
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 14
+f 1 14 15
+f 1 15 8
+f 1 8 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 12
+f 2 12 11
+f 2 11 5
+f 3 5 11
+f 3 11 18
+f 3 18 20
+f 3 20 23
+f 3 23 22
+f 3 22 21
+f 3 21 13
+f 3 13 7
+f 4 8 9
+f 4 9 10
+f 6 10 9
+f 6 9 17
+f 6 17 16
+f 6 16 19
+f 6 19 12
+f 7 13 14
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+f 8 17 9
+f 11 12 18
+f 12 19 20
+f 12 20 18
+f 13 21 14
+f 14 22 23
+f 14 23 20
+f 14 20 19
+f 14 19 15
+f 14 21 22
+f 15 19 16
+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_43.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abe49512318c51a754d03fdb95a48dd135579df4
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_43.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.00297842 -0.02015336 0.02150219
+v 0.00262758 -0.02028389 0.02150219
+v 0.00014678 -0.02372993 0.01983949
+v 0.00138391 -0.02248726 0.01990835
+v 0.00297842 -0.02015336 0.02134034
+v 0.00297842 0.01947614 0.02150233
+v 0.00067567 -0.02048230 0.02150218
+v 0.00067131 -0.02048752 0.02150081
+v 0.00067131 -0.02136992 0.02113925
+v 0.00153751 -0.02127072 0.02110084
+v -0.00059375 -0.02384480 0.01989627
+v -0.00147959 -0.02541118 0.01885740
+v -0.00096336 -0.02519711 0.01878992
+v 0.00138391 -0.02248726 0.01967737
+v 0.00297842 -0.02012203 0.02099606
+v 0.00297842 0.02458779 0.01988877
+v -0.00099390 0.01935606 0.02150233
+v 0.00067131 -0.02048230 0.02150218
+v -0.00059375 -0.02134381 0.02110276
+v -0.00059375 -0.02197037 0.02084846
+v -0.00031927 -0.02021080 0.02150219
+v -0.00059375 -0.02048752 0.02139958
+v -0.00147959 -0.02365161 0.02005044
+v -0.00059375 -0.02299895 0.02035441
+v -0.00147959 -0.02434604 0.01967626
+v -0.00147959 -0.02540074 0.01869994
+v -0.00096336 -0.02519711 0.01869994
+v 0.00297842 -0.02008549 0.02087070
+v -0.00071681 -0.02468542 0.01869994
+v 0.00297842 -0.01637837 0.01869997
+v 0.00297842 0.02588266 0.01947620
+v -0.00147959 0.01926207 0.02150233
+v -0.00147959 -0.02120284 0.02106710
+v -0.00147959 -0.02123939 0.02105421
+v -0.00147959 -0.02269090 0.02049678
+v -0.00059375 -0.02011159 0.02150219
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+v -0.00147959 -0.02013770 0.02138039
+v -0.00147959 -0.02042487 0.02130083
+v -0.00147959 -0.02054496 0.02126736
+v -0.00147959 -0.02390745 0.01991273
+v -0.00147959 0.01568029 0.01870009
+v 0.00297842 0.02792940 0.01870013
+v 0.00297842 0.02730285 0.01895608
+v -0.00147959 -0.01968867 0.02150219
+v -0.00133559 0.02047341 0.02105519
+v -0.00147959 0.02024889 0.02111690
+v -0.00147959 0.02068749 0.01980016
+v -0.00137748 0.02101121 0.01964736
+v 0.00118972 0.02563726 0.01870012
+v 0.00235615 0.02739684 0.01870013
+v -0.00013337 0.02315716 0.01991703
+v -0.00124395 0.02167431 0.01980564
+v -0.00147959 0.02073447 0.02045497
+v -0.00124395 0.02167431 0.01974419
+v 0.00118972 0.02563726 0.01873935
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 5
+f 1 5 15
+f 1 15 28
+f 1 28 30
+f 1 30 43
+f 1 43 44
+f 1 44 31
+f 1 31 16
+f 1 16 6
+f 1 6 17
+f 1 17 32
+f 1 32 45
+f 1 45 37
+f 1 37 36
+f 1 36 21
+f 1 21 18
+f 1 18 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 3 10 11
+f 4 13 27
+f 4 27 14
+f 5 14 15
+f 6 16 17
+f 7 18 8
+f 8 19 20
+f 8 20 9
+f 8 18 21
+f 8 21 22
+f 8 22 19
+f 9 20 23
+f 9 23 24
+f 9 24 11
+f 9 11 10
+f 11 25 12
+f 11 24 25
+f 12 26 27
+f 12 27 13
+f 12 25 41
+f 12 41 23
+f 12 23 35
+f 12 35 34
+f 12 34 33
+f 12 33 40
+f 12 40 39
+f 12 39 38
+f 12 38 45
+f 12 45 32
+f 12 32 47
+f 12 47 54
+f 12 54 48
+f 12 48 42
+f 12 42 26
+f 14 28 15
+f 14 27 29
+f 14 29 30
+f 14 30 28
+f 16 31 17
+f 17 31 32
+f 19 22 33
+f 19 33 34
+f 19 34 35
+f 19 35 20
+f 20 35 23
+f 21 36 22
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 33
+f 23 41 24
+f 24 41 25
+f 26 42 50
+f 26 50 51
+f 26 51 43
+f 26 43 30
+f 26 30 29
+f 26 29 27
+f 31 44 32
+f 32 44 46
+f 32 46 47
+f 37 45 38
+f 42 48 49
+f 42 49 50
+f 43 51 46
+f 43 46 44
+f 46 51 47
+f 47 51 52
+f 47 52 53
+f 47 53 54
+f 48 54 55
+f 48 55 49
+f 49 55 50
+f 50 55 53
+f 50 53 56
+f 50 56 51
+f 51 56 53
+f 51 53 52
+f 53 55 54
+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_44.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a77862d2bae380b26b6d77363f925db2b1547b37
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_44.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00663448 -0.02603886 0.01875999
+v -0.00663448 -0.02603886 0.01975999
+v -0.00663448 0.01570809 0.01875999
+v -0.00663448 0.01570809 0.01975999
+v -0.00147959 -0.02603886 0.01875999
+v -0.00147959 -0.02603886 0.01975999
+v -0.00147959 0.01570809 0.01875999
+v -0.00147959 0.01570809 0.01975999
+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/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_45.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b89a195ea68dc5d061d3fa81714049cba67cb3a6
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_45.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.00882978 -0.02230980 0.02175200
+v 0.00860067 -0.02081137 0.02175200
+v 0.00826274 -0.02299325 0.02175200
+v 0.00298014 -0.01921370 0.02068229
+v 0.00699865 -0.01700070 0.02131653
+v 0.00798151 -0.01700070 0.02170040
+v 0.00795459 -0.01700070 0.02175202
+v 0.00825759 -0.02299912 0.02175200
+v 0.00297900 -0.01991595 0.02080606
+v 0.00297900 -0.01894361 0.02072606
+v 0.00297900 -0.01797362 0.02072606
+v 0.00573284 -0.01700070 0.02110533
+v 0.00297900 -0.01700070 0.02175202
+v 0.00699751 -0.02293513 0.02175200
+v 0.00297900 -0.02008975 0.02087098
+v 0.00297900 -0.01700070 0.02078701
+v 0.00302940 -0.01700070 0.02079067
+v 0.00320180 -0.01700070 0.02080345
+v 0.00297900 -0.01981261 0.02175201
+v 0.00297900 -0.02015610 0.02158542
+v 0.00297900 -0.02015375 0.02134029
+v 0.00297900 -0.02012380 0.02099632
+f 1 2 7
+f 1 7 13
+f 1 13 19
+f 1 19 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 18
+f 5 18 17
+f 5 17 16
+f 5 16 13
+f 5 13 7
+f 5 7 6
+f 8 14 9
+f 9 15 22
+f 9 22 21
+f 9 21 20
+f 9 20 19
+f 9 19 13
+f 9 13 16
+f 9 16 11
+f 9 11 10
+f 9 14 15
+f 11 16 17
+f 11 17 18
+f 11 18 12
+f 14 20 21
+f 14 21 22
+f 14 22 15
+f 14 19 20
+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_46.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a15569fad46e89043d5684cca867732d7ba213df
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_46.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00554463 0.00991234 0.02135467
+v -0.00554463 0.00991234 0.02235467
+v -0.00554463 0.01947832 0.02135467
+v -0.00554463 0.01947832 0.02235467
+v 0.00297842 0.00991234 0.02135467
+v 0.00297842 0.00991234 0.02235467
+v 0.00297842 0.01947832 0.02135467
+v 0.00297842 0.01947832 0.02235467
+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/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_47.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b381744d415a2f43f4e25f3d752d9b2c408bde5e
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_47.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.01314637 -0.00181303 0.02281386
+v -0.01368134 -0.00181304 0.02447209
+v -0.01233956 -0.00181303 0.02281386
+v -0.01368754 -0.00565406 0.02281385
+v -0.01361707 -0.00228723 0.02447209
+v -0.01233956 -0.00181304 0.02447209
+v -0.01368754 -0.00574401 0.02289502
+v -0.01368754 -0.00698167 0.02372372
+v -0.01368754 -0.00708025 0.02374953
+v -0.01368754 -0.00791134 0.02396462
+v -0.01233956 -0.00837617 0.02281384
+v -0.01368754 -0.00910581 0.02281384
+v -0.01352602 -0.00288159 0.02447209
+v -0.01233956 -0.00420055 0.02447208
+v -0.01308751 -0.00389905 0.02447209
+v -0.01368754 -0.00893241 0.02377193
+v -0.01233956 -0.00795451 0.02304809
+v -0.01266168 -0.00898277 0.02281384
+v -0.01315785 -0.00916338 0.02281384
+v -0.01368754 -0.00911445 0.02296221
+v -0.01348023 -0.00885829 0.02373102
+f 1 2 6
+f 1 6 3
+f 1 3 11
+f 1 11 18
+f 1 18 19
+f 1 19 12
+f 1 12 4
+f 1 4 2
+f 2 5 13
+f 2 13 15
+f 2 15 14
+f 2 14 6
+f 2 4 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 5
+f 3 6 14
+f 3 14 17
+f 3 17 11
+f 4 12 20
+f 4 20 16
+f 4 16 10
+f 4 10 9
+f 4 9 8
+f 4 8 7
+f 5 10 13
+f 10 14 15
+f 10 15 13
+f 10 16 14
+f 11 17 18
+f 12 19 20
+f 14 16 21
+f 14 21 17
+f 16 20 19
+f 16 19 18
+f 16 18 21
+f 17 21 18
+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_48.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..765edf04994eba4522cfe57dfdca0cd8ece7ab89
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_48.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v 0.00586583 -0.01584077 0.02068213
+v 0.00297842 -0.01539754 0.02068213
+v 0.00297842 -0.01526276 0.01903291
+v 0.00320201 -0.01526359 0.01903291
+v 0.00586583 -0.01467177 0.01903292
+v 0.00586583 -0.01156536 0.02068215
+v 0.00297842 -0.01156536 0.02068215
+v 0.00297842 -0.01156535 0.01903293
+v 0.00586583 -0.01156535 0.01903293
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 5
+f 3 5 4
+f 6 9 8
+f 6 8 7
+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_49.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c39d48633a21ee2a214004bd9c8d25f25976225
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_49.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.01209361 0.01221739 0.02150193
+v -0.01439809 0.01221739 0.02150193
+v -0.01209361 0.01221739 0.02062034
+v -0.01209361 0.01795500 0.02150196
+v -0.01488882 0.01347067 0.02150194
+v -0.01544850 0.01347067 0.02122202
+v -0.01526087 0.01267217 0.02112501
+v -0.01452398 0.01221739 0.02142344
+v -0.01325387 0.01221739 0.02042484
+v -0.01627680 0.01893992 0.01848952
+v -0.01492811 0.02025402 0.01848989
+v -0.01209361 0.01841375 0.01953588
+v -0.01313279 0.01724374 0.02150195
+v -0.01209361 0.01849967 0.02133016
+v -0.01957236 0.02572325 0.01880760
+v -0.01487118 0.01472924 0.02150194
+v -0.01555996 0.01472792 0.02122758
+v -0.02028359 0.02499745 0.01864320
+v -0.01526087 0.01267217 0.02079956
+v -0.01903753 0.02143459 0.01865652
+v -0.01647485 0.01520915 0.01995722
+v -0.01452398 0.01221739 0.02061516
+v -0.01451195 0.01221739 0.02060257
+v -0.01521757 0.01401933 0.01974691
+v -0.01506843 0.01401933 0.01974691
+v -0.01704256 0.01891348 0.01846509
+v -0.01704256 0.01975561 0.01826403
+v -0.01704256 0.02101418 0.01804115
+v -0.01577806 0.02101418 0.01822220
+v -0.01553189 0.02079340 0.01829959
+v -0.01480623 0.02101418 0.01841289
+v -0.01209361 0.01861338 0.01950626
+v -0.01324825 0.01712608 0.02150195
+v -0.01209361 0.01920167 0.02105950
+v -0.01859411 0.02566640 0.01878501
+v -0.01957236 0.02572325 0.01820444
+v -0.02028359 0.02557386 0.01864320
+v -0.01969905 0.02466166 0.01893348
+v -0.01451275 0.01558592 0.02150195
+v -0.01424654 0.01598649 0.02150195
+v -0.02028359 0.02499745 0.01837328
+v -0.01452157 0.01221739 0.02060516
+v -0.01647485 0.01520915 0.01970360
+v -0.01903753 0.02143459 0.01839586
+v -0.01773053 0.01902982 0.01848138
+v -0.01830706 0.02227143 0.01787638
+v -0.01830706 0.02352868 0.01771977
+v -0.01704256 0.02227143 0.01790378
+v -0.01553189 0.02101418 0.01827034
+v -0.01491047 0.02197926 0.01841178
+v -0.01209361 0.01968819 0.01954069
+v -0.01209361 0.01983097 0.02028862
+v -0.01250335 0.02046422 0.01989134
+v -0.01859411 0.02566640 0.01824961
+v -0.02028359 0.02557386 0.01837328
+v -0.01822607 0.02487054 0.01802413
+v -0.01969905 0.02466166 0.01808818
+v -0.01944968 0.02352868 0.01810040
+v -0.01920672 0.02227143 0.01822776
+v -0.01792298 0.01975561 0.01836475
+v -0.01568184 0.02234811 0.01824072
+v -0.01694473 0.02362122 0.01810003
+v -0.01553189 0.02227672 0.01827367
+v -0.01250335 0.02046422 0.01966437
+v -0.01209361 0.01977280 0.01957216
+v -0.01209361 0.01972785 0.01955476
+v -0.01604026 0.02326295 0.01832218
+v -0.01730075 0.02450698 0.01826665
+f 1 2 8
+f 1 8 22
+f 1 22 42
+f 1 42 23
+f 1 23 9
+f 1 9 3
+f 1 3 12
+f 1 12 32
+f 1 32 51
+f 1 51 66
+f 1 66 65
+f 1 65 52
+f 1 52 34
+f 1 34 14
+f 1 14 4
+f 1 4 13
+f 1 13 33
+f 1 33 40
+f 1 40 39
+f 1 39 16
+f 1 16 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 4 14 15
+f 4 15 13
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 7
+f 7 19 22
+f 7 22 8
+f 7 18 20
+f 7 20 21
+f 7 21 43
+f 7 43 19
+f 9 23 24
+f 9 24 25
+f 9 25 10
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 10 28 29
+f 10 29 30
+f 10 30 11
+f 11 30 31
+f 11 31 32
+f 11 32 12
+f 13 15 33
+f 14 34 15
+f 15 35 54
+f 15 54 36
+f 15 36 55
+f 15 55 37
+f 15 37 38
+f 15 38 39
+f 15 39 40
+f 15 40 33
+f 15 34 35
+f 16 39 38
+f 16 38 37
+f 16 37 17
+f 17 37 18
+f 18 37 55
+f 18 55 41
+f 18 41 44
+f 18 44 20
+f 19 42 22
+f 19 43 42
+f 20 44 43
+f 20 43 21
+f 23 42 24
+f 24 42 43
+f 24 43 45
+f 24 45 26
+f 24 26 25
+f 26 45 27
+f 27 45 46
+f 27 46 28
+f 28 46 47
+f 28 47 48
+f 28 48 29
+f 29 48 49
+f 29 49 30
+f 30 49 31
+f 31 49 48
+f 31 48 50
+f 31 50 51
+f 31 51 32
+f 34 52 53
+f 34 53 35
+f 35 53 64
+f 35 64 54
+f 36 54 56
+f 36 56 47
+f 36 47 57
+f 36 57 55
+f 41 55 57
+f 41 57 58
+f 41 58 59
+f 41 59 44
+f 43 44 45
+f 44 59 45
+f 45 59 60
+f 45 60 46
+f 46 59 58
+f 46 58 47
+f 46 60 59
+f 47 61 48
+f 47 58 57
+f 47 56 62
+f 47 62 61
+f 48 61 63
+f 48 63 50
+f 50 64 65
+f 50 65 66
+f 50 66 51
+f 50 63 62
+f 50 62 67
+f 50 67 64
+f 52 65 64
+f 52 64 53
+f 54 64 68
+f 54 68 56
+f 56 68 67
+f 56 67 62
+f 61 62 63
+f 64 67 68
+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_5.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d1b3e6f5592a75adfaa1084f8694e9f16a368f0
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_5.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.02344526 0.01052673 0.02576050
+v 0.02218065 0.01046903 0.02572574
+v 0.02218065 0.01046902 0.02617149
+v 0.02355707 0.01049399 0.02660658
+v 0.02566889 0.01049486 0.02738818
+v 0.02566889 0.01049486 0.02691608
+v 0.02434465 0.01043801 0.02588497
+v 0.01329237 0.00882909 0.02175211
+v 0.02145642 0.01036222 0.02583900
+v 0.01459052 0.00918911 0.02326654
+v 0.02145642 0.01036221 0.02602346
+v 0.02471111 0.01046213 0.02735566
+v 0.02471111 0.00969556 0.02748014
+v 0.02577944 0.00969556 0.02744762
+v 0.02570367 0.00961373 0.02654322
+v 0.02518814 0.00997893 0.02608794
+v 0.02474465 0.00961374 0.02580872
+v 0.01508494 0.00781791 0.02175211
+v 0.01453213 0.00826493 0.02175211
+v 0.01308989 0.00877655 0.02175211
+v 0.01394704 0.00907370 0.02341400
+v 0.01459052 0.00918911 0.02363772
+v 0.02405272 0.01033723 0.02723624
+v 0.01394704 0.00907370 0.02350427
+v 0.02399433 0.00969556 0.02725810
+v 0.02399185 0.00891693 0.02725865
+v 0.02471111 0.00878773 0.02735005
+v 0.02559932 0.00884458 0.02735902
+v 0.02554963 0.00886697 0.02660433
+v 0.02536329 0.00902201 0.02597019
+v 0.02536329 0.00914087 0.02597019
+v 0.01603774 0.00616763 0.02175210
+v 0.01558680 0.00710991 0.02175211
+v 0.01308989 0.00845184 0.02281630
+v 0.01308989 0.00172842 0.02175209
+v 0.01459052 0.00843805 0.02392871
+v 0.01585513 0.00717967 0.02448660
+v 0.01381660 0.00843805 0.02358669
+v 0.01652843 0.00717967 0.02471704
+v 0.01753713 0.00389720 0.02478599
+v 0.01725266 0.00592301 0.02489309
+v 0.01673340 0.00466549 0.02464807
+v 0.01585513 0.00340797 0.02426791
+v 0.02218065 0.00632265 0.02612325
+v 0.01838559 0.00382829 0.02485103
+v 0.02434962 0.00752763 0.02629875
+v 0.02434962 0.00752764 0.02578404
+v 0.02305520 0.00640017 0.02611259
+v 0.01583898 0.00223745 0.02175209
+v 0.01589364 0.00245192 0.02175209
+v 0.01607625 0.00340798 0.02175209
+v 0.01613960 0.00464138 0.02175210
+v 0.01614085 0.00466636 0.02175210
+v 0.01609861 0.00587651 0.02175210
+v 0.01308989 0.00718570 0.02316001
+v 0.01308989 0.00172842 0.02216813
+v 0.01494332 0.00172842 0.02175209
+v 0.01459052 0.00717967 0.02399768
+v 0.01585513 0.00466549 0.02435090
+v 0.01378679 0.00717967 0.02360688
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+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_50.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d544d68211aded887784f624cf47396dd59b3e3
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_50.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.01553184 -0.00070372 0.01867201
+v -0.01558294 -0.00070372 0.01865927
+v -0.01553184 -0.00070372 0.01840391
+v -0.01553184 -0.00009467 0.02150196
+v -0.01617327 -0.00070372 0.01842878
+v -0.01622486 -0.00070372 0.01840391
+v -0.01553184 0.00761335 0.01840394
+v -0.01887623 0.00228363 0.02150197
+v -0.02028805 0.00272994 0.02106736
+v -0.01619469 -0.00070372 0.01841968
+v -0.01553184 0.00915694 0.02150199
+v -0.01624530 -0.00067875 0.01840391
+v -0.02028805 0.00272994 0.02092906
+v -0.02050364 0.00306741 0.02069796
+v -0.01557224 0.00751451 0.01840394
+v -0.02050364 0.00929174 0.01963588
+v -0.01704295 0.00933666 0.02078442
+v -0.01622729 0.00917991 0.02092453
+v -0.01586132 0.00937760 0.02150199
+v -0.01935705 0.00262610 0.02150197
+v -0.01989628 0.00308638 0.02150197
+v -0.02050364 0.00344283 0.02138490
+v -0.02050364 0.00306042 0.02115046
+v -0.01670958 -0.00006071 0.01840391
+v -0.02050364 0.00327609 0.02047869
+v -0.01570704 0.00718003 0.01840394
+v -0.02050364 0.00949643 0.02037256
+v -0.01830780 0.00945847 0.02061246
+v -0.02050364 0.00843807 0.01956097
+v -0.01704295 0.00947844 0.02150199
+v -0.02027880 0.00343184 0.02150197
+v -0.02050364 0.00387116 0.02150197
+v -0.01727217 0.00081592 0.01840391
+v -0.02050364 0.00348477 0.02038133
+v -0.01731110 0.00089280 0.01840391
+v -0.01710524 0.00340789 0.01840392
+v -0.02050364 0.00927476 0.02116898
+v -0.01957313 0.00941754 0.02130789
+v -0.02050364 0.00466494 0.01989275
+v -0.01740795 0.00254823 0.01840392
+v -0.01751891 0.00214985 0.01840392
+v -0.01751112 0.00208395 0.01840392
+v -0.01739578 0.00131914 0.01840391
+v -0.01882853 0.00940356 0.02150199
+v -0.02050364 0.00816349 0.02150199
+v -0.02050364 0.00465296 0.01989457
+v -0.02050364 0.00841809 0.02146711
+v -0.02041556 0.00841310 0.02150199
+v -0.01954150 0.00905410 0.02150199
+f 1 2 5
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+f 1 6 3
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+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_51.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2adb06c5e7b2503859e7f5e29f84ca1518cdd111
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_51.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.01965005 0.01844153 0.01560312
+v 0.01965005 0.01844153 0.01645302
+v 0.02057122 0.01828614 0.01566981
+v 0.01965005 0.01724164 0.01531421
+v 0.01838485 0.01816670 0.01586199
+v 0.01619708 0.01799424 0.01710489
+v 0.01805416 0.01800826 0.01738972
+v 0.02057122 0.01828614 0.01624507
+v 0.01619708 0.01799424 0.01744801
+v 0.01711965 0.01806676 0.01748670
+v 0.02067163 0.01724164 0.01558020
+v 0.02051225 0.01622579 0.01579783
+v 0.01970552 0.01587783 0.01578180
+v 0.01932077 0.01523614 0.01599459
+v 0.01887984 0.01523614 0.01599459
+v 0.01862708 0.01598386 0.01589939
+v 0.01828164 0.01720630 0.01581234
+v 0.01769678 0.01760179 0.01601521
+v 0.01769678 0.01791929 0.01601522
+v 0.01510880 0.01681507 0.01722808
+v 0.01386537 0.01646101 0.01791431
+v 0.01450359 0.01700763 0.01791431
+v 0.01843962 0.01726053 0.01751214
+v 0.01889739 0.01769259 0.01721408
+v 0.01710771 0.01722945 0.01791431
+v 0.02067163 0.01724164 0.01638123
+v 0.01959529 0.01726053 0.01701732
+v 0.01587902 0.01729526 0.01791431
+v 0.01595415 0.01730562 0.01791431
+v 0.01914524 0.01389000 0.01707636
+v 0.01793761 0.01268828 0.01719065
+v 0.02051225 0.01622579 0.01629036
+v 0.01737873 0.01268828 0.01719065
+v 0.01653549 0.01289670 0.01730469
+v 0.01509406 0.01221661 0.01791429
+v 0.01779087 0.01676388 0.01606612
+v 0.01458995 0.01295762 0.01791430
+v 0.01429576 0.01345732 0.01791430
+v 0.01366175 0.01475106 0.01791430
+v 0.01711965 0.01598386 0.01644487
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+v 0.01775436 0.01661823 0.01791431
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+v 0.01914524 0.01389000 0.01741795
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+v 0.01834343 0.01350547 0.01791430
+v 0.01832868 0.01344209 0.01791430
+v 0.01789899 0.01270107 0.01791430
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+f 47 60 48
+f 53 55 54
+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_52.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d1c20c4adb735584b0b22e86b26d733548be29e
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_52.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01402137 0.00339116 0.02432815
+v -0.01402137 0.00339116 0.02532815
+v -0.01402137 0.01117750 0.02432815
+v -0.01402137 0.01117750 0.02532815
+v -0.00616208 0.00339116 0.02432815
+v -0.00616208 0.00339116 0.02532815
+v -0.00616208 0.01117750 0.02432815
+v -0.00616208 0.01117750 0.02532815
+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/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_53.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae4856fa86a0bec60ea7756b6181684933362280
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_53.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.00379445 -0.02379486 0.01974327
+v -0.00379445 -0.02369333 0.01979441
+v -0.00389343 -0.02375191 0.01974327
+v -0.00379445 0.01374020 0.01974341
+v -0.00382726 -0.02368551 0.01979096
+v -0.00379445 -0.02365427 0.01980956
+v -0.00411307 -0.02356054 0.01974327
+v -0.00440611 0.01380659 0.01974341
+v -0.00663448 0.01585302 0.02079177
+v -0.00379445 0.01485714 0.02150214
+v -0.00379445 -0.02174453 0.02045022
+v -0.00438998 -0.02174452 0.02030163
+v -0.00430546 -0.02293958 0.01990857
+v -0.00453928 -0.02317781 0.01974327
+v -0.00475197 0.01380659 0.01974341
+v -0.00663448 0.01610297 0.02150215
+v -0.00663448 0.01369333 0.01974341
+v -0.00379445 -0.01725719 0.02150203
+v -0.00379445 -0.01994412 0.02103440
+v -0.00382976 -0.01993241 0.02103062
+v -0.00508115 -0.02247483 0.01980630
+v -0.00430685 -0.02040497 0.02074344
+v -0.00663448 -0.01538649 0.02150203
+v -0.00511090 -0.02252560 0.01974328
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+v -0.00379445 -0.01736264 0.02149101
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+v -0.00663448 -0.01630036 0.02111551
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+v -0.00379445 -0.01898339 0.02123516
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+v -0.00379445 -0.01864362 0.02129696
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+v -0.00663448 -0.01639018 0.02039032
+v -0.00663448 -0.01629254 0.01987622
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 24
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+f 1 25 17
+f 1 17 15
+f 1 15 8
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+f 1 4 10
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+f 24 34 35
+f 24 35 25
+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_54.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db8e9a686ab2a93635f0f6f8c5e4acc3a6df5388
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_54.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.00045169 -0.02301885 0.01869963
+v -0.00060440 -0.02422788 0.01869962
+v -0.00073468 -0.02426212 0.01829826
+v -0.00048502 -0.02302135 0.01868011
+v -0.00048987 -0.02296457 0.01869963
+v -0.00148003 -0.02246693 0.01877634
+v -0.00148003 -0.02540853 0.01877633
+v -0.00071711 -0.02468962 0.01869962
+v -0.00096374 -0.02519728 0.01829997
+v -0.00366638 -0.02878764 0.01596644
+v -0.00366638 -0.02830503 0.01596645
+v -0.00229567 -0.02584604 0.01714109
+v -0.00383424 -0.02746672 0.01606303
+v -0.00317191 -0.02546446 0.01704486
+v -0.00438870 -0.02164115 0.01859347
+v -0.00341369 -0.02164115 0.01877634
+v -0.00206116 -0.02584856 0.01877633
+v -0.00096374 -0.02519728 0.01869962
+v -0.00242717 -0.02748592 0.01718047
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+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_55.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e62e61c2b616e07835044a671c79154436d5c68d
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_55.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02113444 -0.00033280 0.02135463
+v -0.02113444 -0.00033280 0.02235463
+v -0.02113444 0.00991234 0.02135463
+v -0.02113444 0.00991234 0.02235463
+v 0.00297842 -0.00033280 0.02135463
+v 0.00297842 -0.00033280 0.02235463
+v 0.00297842 0.00991234 0.02135463
+v 0.00297842 0.00991234 0.02235463
+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/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_56.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65a201846b6fd5ad9e140a5f52b7cfa753a8635a
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_56.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.01896389 -0.00916921 0.01840395
+v -0.01897771 -0.01042629 0.01840394
+v -0.01957395 -0.01042629 0.01816150
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+v -0.01909356 -0.01088989 0.01840394
+v -0.02050393 -0.01042629 0.01785597
+v -0.02050393 -0.00950182 0.01784444
+v -0.02083872 -0.00916852 0.01773033
+v -0.02050393 -0.00824406 0.01788337
+v -0.02083872 -0.00665505 0.01784418
+v -0.02261789 -0.00719065 0.01725002
+v -0.01990768 -0.00461409 0.01840396
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+v -0.02409309 -0.00916852 0.01857873
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+v -0.02289953 -0.01111484 0.01857791
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+v -0.02418290 -0.00827765 0.01718424
+v -0.02421797 -0.01020751 0.01717322
+v -0.02050393 -0.01129658 0.01840394
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+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_57.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34bf7a0ccba6b3107b465da2367aa59885a0fee9
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_57.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.01553184 -0.01782665 0.01840384
+v -0.01553184 -0.01778768 0.01888060
+v -0.01634117 -0.01801131 0.01840384
+v -0.01553184 -0.00070372 0.01840391
+v -0.01577761 -0.01780124 0.01885634
+v -0.01553184 -0.01759116 0.01900193
+v -0.01770676 -0.01776905 0.01840384
+v -0.01622486 -0.00070372 0.01840391
+v -0.01553184 -0.00070372 0.01867201
+v -0.01704295 -0.01761827 0.01866498
+v -0.01553184 -0.01671866 0.01935495
+v -0.01794036 -0.01760810 0.01840385
+v -0.02050364 -0.00455625 0.01842421
+v -0.02050364 -0.00432076 0.01903715
+v -0.01933272 -0.00321277 0.01948602
+v -0.01933272 -0.00321277 0.02005710
+v -0.01553184 -0.00072406 0.02150196
+v -0.01619469 -0.00070372 0.01841968
+v -0.02050364 -0.00479851 0.01840389
+v -0.01558294 -0.00070372 0.01865927
+v -0.01577761 -0.01671528 0.01929611
+v -0.01774083 -0.01740988 0.01854791
+v -0.01553184 -0.00990135 0.02135907
+v -0.02050364 -0.01042653 0.01947568
+v -0.01847862 -0.01679321 0.01840385
+v -0.02050364 -0.00442072 0.01956972
+v -0.02034596 -0.00442749 0.01985692
+v -0.01968215 -0.00405986 0.02016052
+v -0.01782794 -0.00325344 0.02107553
+v -0.01617327 -0.00070372 0.01842878
+v -0.01712325 -0.00285362 0.02129541
+v -0.01656893 -0.00286548 0.02150195
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+v -0.01689549 -0.00791240 0.02118287
+v -0.01770530 -0.00619113 0.02102396
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+f 1 25 41
+f 1 41 40
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+f 1 49 34
+f 1 34 19
+f 1 19 8
+f 1 8 4
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+f 59 62 60
+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_58.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe0ac90e9ba65be46810a6b3afe2feddaea69238
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_58.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.01413482 0.01221741 0.01755478
+v -0.01452329 0.01221739 0.02061550
+v -0.01209280 0.01221741 0.01755478
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+v -0.01452329 0.01221739 0.02142348
+v -0.01209280 0.01221739 0.02150191
+v -0.01209280 -0.01249964 0.01755469
+v -0.01553184 0.00915609 0.02150190
+v -0.01553184 -0.00863181 0.01755471
+v -0.01439773 0.01221739 0.02150191
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+v -0.01209280 -0.01568458 0.01867990
+v -0.01259708 -0.01735358 0.01851799
+v -0.01553184 -0.01670010 0.01755623
+v -0.01253682 -0.01219351 0.01755470
+v -0.01553184 -0.00939421 0.02150184
+v -0.01548640 -0.00871128 0.01755471
+v -0.01437416 -0.01017719 0.02150183
+v -0.01209280 -0.01545499 0.02051185
+v -0.01209280 -0.01690321 0.01917179
+v -0.01259708 -0.01735358 0.01890981
+v -0.01324712 -0.01750370 0.01837850
+v -0.01450882 -0.01035379 0.01755470
+v -0.01449804 -0.01037145 0.01755470
+v -0.01395539 -0.01112206 0.01755470
+v -0.01333565 -0.01162835 0.01755470
+v -0.01316700 -0.01175786 0.01755470
+v -0.01553184 -0.01690909 0.01761419
+v -0.01531977 -0.00899681 0.01755471
+v -0.01521945 -0.00916753 0.01755471
+v -0.01553184 -0.00990050 0.02135925
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+v -0.01209280 -0.01555507 0.02048557
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+v -0.01324712 -0.01750370 0.01906128
+v -0.01209280 -0.01673249 0.02006168
+v -0.01451218 -0.01773035 0.01814046
+v -0.01553184 -0.01785398 0.01789626
+v -0.01553184 -0.01671777 0.01935495
+v -0.01412169 -0.01632922 0.01983254
+v -0.01324712 -0.01658236 0.01994267
+v -0.01209280 -0.01667656 0.02008448
+v -0.01451218 -0.01773035 0.01898167
+v -0.01324712 -0.01720934 0.01968262
+v -0.01553184 -0.01785398 0.01806743
+v -0.01553184 -0.01759200 0.01900216
+v -0.01453070 -0.01673543 0.01959491
+v -0.01553184 -0.01778628 0.01888082
+f 1 2 5
+f 1 5 10
+f 1 10 6
+f 1 6 3
+f 1 3 7
+f 1 7 15
+f 1 15 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
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+f 1 29 17
+f 1 17 9
+f 1 9 4
+f 1 4 2
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+f 18 32 19
+f 19 32 33
+f 21 34 36
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+f 22 43 37
+f 22 37 38
+f 22 38 28
+f 31 39 32
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+f 32 40 33
+f 33 40 41
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+f 35 36 44
+f 35 44 43
+f 36 42 41
+f 36 41 44
+f 37 43 45
+f 37 45 38
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+f 40 47 41
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+f 43 44 48
+f 43 48 45
+f 44 47 46
+f 44 46 48
+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_59.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd7204e7e8f06285eae988666e04f6b0079deacb
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_59.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.01678240 0.00101301 0.02024604
+v 0.01678240 0.00103868 0.01935059
+v 0.01678240 0.00195174 0.02078535
+v 0.01574697 -0.00045264 0.02113237
+v 0.01585816 -0.00045264 0.02050386
+v 0.01678240 0.00218798 0.01890760
+v 0.01478401 -0.00045263 0.01830004
+v 0.01678240 0.00235436 0.02090294
+v 0.01458844 -0.00045264 0.02153346
+v 0.01583731 0.00223727 0.02175176
+v 0.01678240 0.00717957 0.01876537
+v 0.00664052 -0.00045263 0.01830004
+v 0.01478401 -0.00037046 0.01830004
+v 0.01678240 0.00340814 0.02104283
+v 0.01607457 0.00340814 0.02175176
+v 0.01589290 0.00245193 0.02175176
+v 0.01338523 -0.00045264 0.02175175
+v 0.01678240 0.00725352 0.01879105
+v 0.01477309 -0.00017840 0.01830004
+v 0.01454773 0.00096268 0.01830004
+v 0.01330581 0.00474951 0.01830006
+v 0.01201226 0.00714876 0.01830007
+v 0.01480585 0.01003998 0.01874747
+v 0.00664052 -0.00045264 0.02175175
+v 0.00664052 0.01003998 0.01830008
+v 0.01678240 0.00466528 0.02100668
+v 0.01613910 0.00466631 0.02175177
+v 0.01613811 0.00464166 0.02175177
+v 0.01678240 0.00802999 0.01921275
+v 0.00967832 0.01003998 0.01830008
+v 0.01519401 0.01003998 0.01913572
+v 0.00664052 0.01003997 0.02175179
+v 0.01678240 0.00586285 0.02088943
+v 0.01609741 0.00587620 0.02175177
+v 0.01678240 0.00802999 0.01940130
+v 0.01505304 0.01003998 0.01990479
+v 0.01678240 0.00800431 0.02000244
+v 0.01023823 0.01003997 0.02175179
+v 0.01678240 0.00720524 0.02042719
+v 0.01603685 0.00616789 0.02175177
+v 0.01274292 0.01003997 0.02110706
+v 0.01453086 0.00826518 0.02175178
+v 0.01508382 0.00781840 0.02175178
+v 0.01678240 0.00777733 0.02017714
+v 0.01206289 0.01003997 0.02137908
+v 0.01329092 0.00882904 0.02175178
+v 0.01558614 0.00710972 0.02175178
+f 1 2 6
+f 1 6 11
+f 1 11 18
+f 1 18 29
+f 1 29 35
+f 1 35 37
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+f 1 44 39
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+f 10 24 17
+f 11 13 19
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+f 11 21 22
+f 11 22 23
+f 11 23 18
+f 12 24 32
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+f 14 26 27
+f 14 27 28
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+f 18 23 29
+f 22 30 23
+f 23 30 25
+f 23 25 32
+f 23 32 38
+f 23 38 45
+f 23 45 41
+f 23 41 36
+f 23 36 31
+f 23 31 29
+f 26 33 34
+f 26 34 27
+f 29 31 35
+f 31 36 37
+f 31 37 35
+f 33 39 40
+f 33 40 34
+f 36 41 42
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+f 37 43 44
+f 38 46 45
+f 39 44 40
+f 40 44 47
+f 41 45 42
+f 42 45 46
+f 43 47 44
+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_6.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b97679104e6ce6104600a4147c44a5064c805023
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_6.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.00314334 0.01596718 0.02447216
+v 0.00134589 0.01538911 0.02471489
+v 0.00067065 0.01502953 0.02447216
+v -0.00427454 0.01588976 0.02447216
+v -0.00185894 0.02454881 0.02946657
+v -0.00185894 0.02353030 0.02886826
+v -0.00059414 0.02456946 0.02945729
+v -0.00059414 0.02353030 0.02885435
+v 0.00067065 0.02111135 0.02751318
+v 0.00140397 0.02047478 0.02717924
+v 0.00169730 0.01454781 0.02447215
+v 0.00133064 0.01472673 0.02447215
+v -0.00476898 0.01472673 0.02447215
+v -0.00260750 0.02568776 0.03073970
+v -0.00265688 0.02439397 0.02955391
+v -0.00138337 0.02673552 0.03091055
+v -0.00059414 0.02519742 0.02986775
+v 0.00067065 0.02220040 0.02813467
+v 0.00040709 0.02442150 0.02954155
+v 0.00153031 0.02198190 0.02824753
+v 0.00167044 0.01975734 0.02701613
+v 0.00207703 0.01393016 0.02447215
+v -0.00473196 0.01346908 0.02447215
+v -0.00263655 0.02478796 0.03117568
+v -0.00260750 0.02568776 0.03117645
+v -0.00124324 0.02793811 0.03218600
+v -0.00104720 0.02673552 0.03091055
+v -0.00061302 0.02612131 0.03055574
+v 0.00026188 0.02575485 0.03066317
+v 0.00139526 0.02323610 0.02943796
+v 0.00257874 0.01577104 0.02595710
+v 0.00258672 0.01300799 0.02447215
+v -0.00452648 0.01210476 0.02447214
+v -0.00256830 0.02402407 0.03102726
+v -0.00153947 0.02604560 0.03236456
+v -0.00153802 0.02730325 0.03236843
+v -0.00124324 0.02793811 0.03220764
+v -0.00121420 0.02793811 0.03218600
+v 0.00026188 0.02575485 0.03124911
+v 0.00139526 0.02323610 0.02982292
+v 0.00257874 0.01577104 0.02599807
+v 0.00264844 0.01269315 0.02447215
+v -0.00447929 0.01199293 0.02447214
+v -0.00124469 0.02540731 0.03220222
+v -0.00413441 0.01120495 0.02447214
+v -0.00092813 0.02604560 0.03236456
+v -0.00093539 0.02730325 0.03236843
+v -0.00121420 0.02793811 0.03220764
+v 0.00034974 0.02478796 0.03126534
+v 0.00139526 0.02259093 0.02982291
+v 0.00257874 0.01531512 0.02599807
+v 0.00264844 0.01257788 0.02447215
+v -0.00120476 0.02540731 0.03220222
+v -0.00351000 0.01068538 0.02447214
+v -0.00319997 0.01051677 0.02447214
+v -0.00227933 0.01036365 0.02447214
+v 0.00022994 0.02395181 0.03107364
+v 0.00116583 0.02175135 0.02965440
+v 0.00164575 0.01724203 0.02741576
+v 0.00138074 0.01654697 0.02725652
+v 0.00189552 0.01482823 0.02617585
+v 0.00189769 0.01116883 0.02447214
+v 0.00205380 0.01138388 0.02447214
+v 0.00229412 0.01196540 0.02457418
+v 0.00257946 0.01280326 0.02475507
+v 0.00239650 0.01204798 0.02447214
+v -0.00098621 0.01037225 0.02447214
+v -0.00059414 0.01040150 0.02447214
+v 0.00067065 0.01050129 0.02447214
+v 0.00145044 0.01145958 0.02479526
+v 0.00144681 0.01399209 0.02603517
+v 0.00182218 0.01108280 0.02447214
+f 1 2 3
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+f 1 52 66
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+f 53 60 57
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+f 58 60 59
+f 60 71 61
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+f 62 71 72
+f 63 66 64
+f 69 72 70
+f 70 72 71
+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_60.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce83c9908b70274684bc9d701762c486e101c67d
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_60.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01543879 -0.00954843 0.02201033
+v -0.01543879 -0.00954843 0.02301033
+v -0.01543879 -0.00129835 0.02201033
+v -0.01543879 -0.00129835 0.02301033
+v -0.00946448 -0.00954843 0.02201033
+v -0.00946448 -0.00954843 0.02301033
+v -0.00946448 -0.00129835 0.02201033
+v -0.00946448 -0.00129835 0.02301033
+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/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_61.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b69ea826184f87837087309d2890379a44a08b0
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_61.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.00440220 0.00062345 0.02382569
+v -0.00629561 0.00718259 0.02447213
+v -0.00978485 0.00062345 0.02447210
+v -0.00440220 0.00062346 0.02281387
+v -0.00440220 0.01189836 0.02447214
+v -0.01233943 0.00062345 0.02447210
+v -0.01233943 0.00062346 0.02281387
+v -0.00440220 0.01728975 0.02281393
+v -0.00440220 0.01540164 0.02447216
+v -0.01233943 0.00796781 0.02447213
+v -0.01233943 0.01093643 0.02281391
+v -0.00812142 0.01785349 0.02281394
+v -0.00565541 0.01849778 0.02299835
+v -0.00440220 0.01735463 0.02282692
+v -0.00440220 0.01589380 0.02439067
+v -0.00557693 0.02024269 0.02447217
+v -0.01233943 0.00845549 0.02425055
+v -0.01178081 0.02101449 0.02447218
+v -0.01233943 0.01088945 0.02284670
+v -0.01178081 0.02101449 0.02446228
+v -0.01183830 0.01463657 0.02281392
+v -0.00941347 0.01802351 0.02281394
+v -0.00615653 0.02049772 0.02346361
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+v -0.00440220 0.01754030 0.02290175
+v -0.00440220 0.01762530 0.02393192
+v -0.00464383 0.01849777 0.02395108
+v -0.00609282 0.02191379 0.02447218
+v -0.01233943 0.01068811 0.02298598
+v -0.01177226 0.02110844 0.02447218
+v -0.01157259 0.01543968 0.02281393
+v -0.00982214 0.01784455 0.02281394
+v -0.00945076 0.02345291 0.02447219
+v -0.00939482 0.02347528 0.02447219
+v -0.00653257 0.02049772 0.02346361
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+v -0.00794350 0.02333211 0.02447219
+v -0.00713470 0.02291601 0.02447218
+v -0.00486526 0.01938589 0.02379443
+v -0.00611535 0.02193617 0.02447218
+v -0.01143895 0.02196525 0.02447218
+v -0.01137991 0.01593184 0.02281393
+v -0.01069775 0.02284666 0.02447218
+v -0.01024169 0.02309274 0.02447218
+v -0.01068843 0.01724948 0.02281393
+v -0.01099843 0.02258716 0.02447218
+f 1 2 3
+f 1 3 6
+f 1 6 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 25
+f 1 25 26
+f 1 26 15
+f 1 15 9
+f 1 9 5
+f 1 5 2
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+f 17 18 29
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+f 32 43 44
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+f 41 45 42
+f 43 45 46
+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_62.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d09aafe78038593e2a82a2ba56b837ba9d300c40
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_62.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00586708 -0.01156613 0.01903293
+v 0.00586708 -0.01467224 0.01903292
+v 0.00586708 -0.01156614 0.02068215
+v 0.01080560 -0.01156613 0.01903293
+v 0.00601322 -0.01481986 0.01903292
+v 0.00586708 -0.01584058 0.02068213
+v 0.01219435 -0.01156614 0.02068215
+v 0.01208499 -0.01156614 0.02044964
+v 0.01271501 -0.01229398 0.01975323
+v 0.01404182 -0.01347408 0.01964650
+v 0.01429054 -0.01438409 0.01903292
+v 0.00645742 -0.01524463 0.01903291
+v 0.00642065 -0.01636271 0.02068213
+v 0.01280695 -0.01213460 0.02068215
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+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_63.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0840db807570b4d96a90c83125ebbb95a5d9c1d9
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_63.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.01838550 0.00805147 0.01825185
+v 0.01830296 0.00802943 0.01916878
+v 0.02084823 0.00803425 0.01792932
+v 0.02091515 0.00804666 0.01701013
+v 0.02009424 0.00792128 0.01719138
+v 0.01756236 0.00791920 0.01843591
+v 0.01678309 0.00802943 0.01921212
+v 0.01678309 0.00802943 0.01940068
+v 0.01965107 0.00801083 0.01874380
+v 0.01678309 0.00800394 0.02000184
+v 0.02191823 0.00801290 0.01753080
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+v 0.02267891 0.00786065 0.01598119
+v 0.02255102 0.00717999 0.01588156
+v 0.01678309 0.00717929 0.01876519
+v 0.01678309 0.00725300 0.01879052
+v 0.02344554 0.00592269 0.01529334
+v 0.01712068 0.00797431 0.01994386
+v 0.01782633 0.00785375 0.01980202
+v 0.02038349 0.00786684 0.01857381
+v 0.01678309 0.00777728 0.02017633
+v 0.02227589 0.00724680 0.01771429
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+v 0.02296445 0.00786065 0.01630428
+v 0.02428355 0.00681623 0.01565697
+v 0.02340985 0.00721306 0.01568342
+v 0.01678309 0.00218799 0.01890758
+v 0.02437947 0.00592269 0.01551849
+v 0.02427463 0.00511733 0.01572844
+v 0.02344554 0.00496232 0.01569523
+v 0.02260307 0.00502777 0.01589280
+v 0.01678309 0.00720477 0.02042682
+v 0.01678309 0.00586273 0.02088893
+v 0.02061623 0.00717929 0.01868639
+v 0.02124827 0.00717929 0.01836273
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+v 0.02428355 0.00681623 0.01623505
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+v 0.01678309 0.00235539 0.02090243
+v 0.01897887 0.00301953 0.01972882
+v 0.01904951 0.00385796 0.01978455
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+f 59 62 60
+f 60 62 61
+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_64.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58d102ae00dd76d9a726385355cf459fca5c4716
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_64.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.01299436 -0.01520734 0.02748591
+v 0.01284043 -0.01448783 0.02748592
+v 0.01268749 -0.01601792 0.02748591
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+v 0.01084234 -0.00670135 0.02432528
+v 0.01177374 -0.01305780 0.02748592
+v 0.01075117 -0.00670135 0.02525476
+v 0.01249533 -0.01582680 0.02731326
+v 0.01208355 -0.01675429 0.02748591
+v 0.01022370 -0.01118031 0.02468758
+v 0.00976389 -0.01068790 0.02432526
+v 0.00838738 -0.00670135 0.02432528
+v 0.01089529 -0.01289479 0.02748592
+v 0.00706872 -0.00755465 0.02432527
+v 0.00573928 -0.00853498 0.02432527
+v 0.00826189 -0.01482398 0.02748592
+v 0.00957663 -0.01374471 0.02748592
+v 0.00978742 -0.01323543 0.02735782
+v 0.01165217 -0.01632371 0.02712637
+v 0.01206786 -0.01542769 0.02698218
+v 0.01142079 -0.01738724 0.02748591
+v 0.00943153 -0.01100156 0.02432526
+v 0.01014821 -0.01481835 0.02598804
+v 0.00504514 -0.00918254 0.02432527
+v 0.00757854 -0.01477788 0.02724705
+v 0.00766089 -0.01545692 0.02748591
+v 0.01117667 -0.01716239 0.02730119
+v 0.01082470 -0.01781332 0.02748590
+v 0.00908250 -0.01132759 0.02432526
+v 0.01076979 -0.01673181 0.02699116
+v 0.00964722 -0.01551089 0.02612294
+v 0.00699813 -0.01447320 0.02488869
+v 0.00649812 -0.01347938 0.02432525
+v 0.00447552 -0.00976377 0.02432526
+v 0.00297842 -0.01324216 0.02498585
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+v 0.00797953 -0.01766380 0.02748591
+v 0.00826189 -0.01758285 0.02704252
+v 0.00757364 -0.01740410 0.02714988
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+f 1 47 55
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+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_65.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b16ad9e3dbb09c57db06ab1bfe7ba694def13f41
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_65.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00297842 0.00593588 0.02371857
+v 0.00297842 0.00593589 0.02281389
+v 0.00297842 0.00821648 0.02411679
+v -0.00440220 0.00593588 0.02375705
+v -0.00440220 0.00593589 0.02281389
+v 0.00297842 0.01654817 0.02281393
+v 0.00297842 0.00843847 0.02414860
+v 0.00067090 0.01050051 0.02447214
+v -0.00059413 0.01040096 0.02447214
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+v -0.00440220 0.01735491 0.02282692
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+v 0.00189763 0.01116879 0.02447214
+v 0.00239685 0.01204647 0.02447214
+v 0.00205368 0.01138277 0.02447214
+f 1 2 6
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+f 1 5 2
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+f 30 32 31
+
diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_66.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1b1d20971e56fbd288d70e84a555f9ccdeb17ae
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_66.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.00297842 -0.01156536 0.02068232
+v 0.00297842 -0.01539712 0.02068230
+v 0.00297842 -0.01156536 0.02175204
+v 0.01219451 -0.01156536 0.02068232
+v 0.00297842 -0.01700070 0.02078701
+v 0.00642120 -0.01636278 0.02068230
+v 0.00297842 -0.01700070 0.02175202
+v 0.01329866 -0.01156536 0.02175204
+v 0.01280669 -0.01213464 0.02068232
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+v 0.00706268 -0.01653889 0.02068230
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+v 0.00955182 -0.01676500 0.02068230
+v 0.00795569 -0.01700070 0.02175202
+v 0.01328654 -0.01160473 0.02175204
+v 0.01312490 -0.01400318 0.02068231
+v 0.01313097 -0.01392071 0.02068231
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+v 0.00699903 -0.01700070 0.02131653
+v 0.00573325 -0.01700070 0.02110533
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diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_7.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91b562af9e3b007601f88843e6a2de2431de37dd
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_7.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_8.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8d8baacc302b8cd3ffc4c040569bb8b3130488f
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_8.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_9.obj b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bf5a7abbf34683ab0fc4dbe4b179d2ed026862b
--- /dev/null
+++ b/dataset/food/fruits/f57cc6481d925495963da4a4d48cbfe8/mjcf/mesh/strawberry_collision_9.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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