diff --git a/.gitattributes b/.gitattributes
index 6888a73f4562bc4b60c2c5aafe6798cecdb453c9..ad85b924135d4e74b706eff5fdf228e437f2f29c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3526,3 +3526,6 @@ dataset/food/fruits/1d85d7846685503083bb4c515ebeee21/peach_009.usd filter=lfs di
 dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/348fb32637095f4ead9a68b23bcd6110.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mesh/strawberry.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mesh/strawberry_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/3452299858935fcea7e3efb69ad2550c.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mesh/strawberry1.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mesh/strawberry1_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/3452299858935fcea7e3efb69ad2550c.urdf b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/3452299858935fcea7e3efb69ad2550c.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c1922c3ff4a97ea4b7d7915908b06778d4790bd3
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/3452299858935fcea7e3efb69ad2550c.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="strawberry1">
+   <link name="strawberry1">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/strawberry1.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/strawberry1_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>0.070000</scale>
+         <version>v0.1.5</version>
+         <category>strawberry</category>
+         <description>realistic red strawberry with green leaves and textured surface</description>
+         <min_height>0.06</min_height>
+         <max_height>0.08</max_height>
+         <real_height>0.07</real_height>
+         <min_mass>0.015</min_mass>
+         <max_mass>0.025</max_mass>
+         <generate_time>20251006054812</generate_time>
+         <gs_model>mesh/strawberry1_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.148151516914368</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</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/3452299858935fcea7e3efb69ad2550c/3452299858935fcea7e3efb69ad2550c.usd b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/3452299858935fcea7e3efb69ad2550c.usd
new file mode 100644
index 0000000000000000000000000000000000000000..fa66454faedb4b06dfc3c2b4cdcfa2455f6fda92
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/3452299858935fcea7e3efb69ad2550c.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6371dcc21bcf218889a171bba50c158bde08c459210e3e9373144c665bfd928f
+size 284639
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mesh/material.mtl b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/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/3452299858935fcea7e3efb69ad2550c/mesh/material_0.png b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f838f0519e9f5a7cae87e77490ecbf729e29bec
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c67b2490f160ea655536a7956901d33a5dfa21bd0718ba2445c08a12e8185415
+size 3048179
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mesh/strawberry1.glb b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mesh/strawberry1.glb
new file mode 100644
index 0000000000000000000000000000000000000000..46d9ad506e45d3e1ad27c1c497497c785a33d984
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mesh/strawberry1.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:493943e04bf7bc619771607a3cc1204e69aaba91bde141b6609d668098089fd5
+size 3249936
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mesh/strawberry1.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mesh/strawberry1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d46bce64e143ccc66bb0afb81cd94c65dec85872
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mesh/strawberry1.obj
@@ -0,0 +1,18509 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mesh/strawberry1_collision.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mesh/strawberry1_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..136cae6c7de586417547680ac6a2fb7f9082c7e2
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mesh/strawberry1_collision.obj
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new file mode 100644
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--- /dev/null
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diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/3452299858935fcea7e3efb69ad2550c.xml b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/3452299858935fcea7e3efb69ad2550c.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d209b648c0de8262dce375b4aa773b62f30c9a45
--- /dev/null
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diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/material_0.png b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/material_0.png
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--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 3048179
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1.obj
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index 0000000000000000000000000000000000000000..8ceb7e6f62481afeca866b8293760c8ddf4baad9
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+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1.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/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5925306ca601a6ec7374fc740c0cce2b6755b8c5
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision.obj
@@ -0,0 +1,18900 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_0.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7875925e3ed1e0e2187d53e595123c7e362629b
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_0.obj
@@ -0,0 +1,154 @@
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diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_1.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ebca14db6f2b8ea6690a69b500b1546ced34af3
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_1.obj
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diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_10.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bc57a5d22332d9ddb8b5e36dfbd224700752992
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_10.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.00307181 0.01865989 0.01549348
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+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_11.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74a545eacfcb809e9a96b299dff635fa9f1cd733
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_11.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_12.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1252be5c1395234bde45ffb96b1984c908d0dfb8
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_12.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.00343813 -0.00566823 0.01927247
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diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_13.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f0c2cd8c7605021d36b2caccd9851ed0191bb72
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_13.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_14.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cda23dd9a23d097f87fc0df9555a630a01414486
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_14.obj
@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_15.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..424a767c0ad76307eef708b08d76b184300c8189
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_15.obj
@@ -0,0 +1,499 @@
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diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_16.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9efd4bdac25c974e2024c1a831f12f0632a9640c
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_16.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_17.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7d5e22f689585d8bff0a4102e2f5fc8f2207e84
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_17.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.00540807 0.00331062 0.02116063
+v 0.00546453 0.00258009 0.02116063
+v 0.00609741 0.00331062 0.02159096
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+v 0.01467723 -0.00118793 0.02171663
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+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_18.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89022c6cf5ced77338b2b5e437adba1e0bd75cfc
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_18.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.01119187 0.01541183 0.01510739
+v 0.01119187 0.01541183 0.01758849
+v 0.01133418 0.01541184 0.01493643
+v 0.01119187 0.01088020 0.01649360
+v 0.01119187 0.00956525 0.01758847
+v 0.01154300 0.01541183 0.01758849
+v 0.01180902 0.01541184 0.01437336
+v 0.01190199 0.01541184 0.01426423
+v 0.01226241 0.01541184 0.01387248
+v 0.01119187 0.01020355 0.01671439
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+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_19.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39a793303ac4875da9e9187b33c734e04f9699eb
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_19.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.01707924 0.01952005 0.02411320
+v -0.01748258 0.01974684 0.02411320
+v -0.01475115 0.02144007 0.02411321
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+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_2.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8797a724323a5aeeb573b916bca76df37279eb6
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_2.obj
@@ -0,0 +1,589 @@
+# https://github.com/mikedh/trimesh
+v 0.00237638 0.00027559 -0.03454153
+v 0.00237638 0.00144376 -0.03452193
+v 0.00328089 0.00027559 -0.03436522
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diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_20.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b97871204864ccf2f43ac1c1cacf6c8f9a883d1a
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_20.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_21.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1954ad829c464773361241f37bbc3151573cf91d
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_21.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_22.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ab82bce7764aa0fc79f3f09a87b3027b424e405
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_22.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_23.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db4ddd6d82a41e0b5bb86953924c86c97cea6a5c
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_23.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+v -0.01479215 0.00870654 0.02292119
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+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_24.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59079838654849f94abb8830953c9ddaf8106777
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_24.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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+v -0.01029380 -0.00815489 0.02309854
+v -0.00481280 -0.00815489 0.02292191
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+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_25.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bae1563656faf4f8aa3bcafc7ed5b93327e713f4
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_25.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.01309503 -0.00493403 0.02454271
+v -0.01309503 -0.00493403 0.02484577
+v -0.01288491 -0.00493403 0.02399733
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diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_26.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4269119643350a2b00db10ef2d7b913909db74f
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_26.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_27.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91220256082fad40438075e997b8dd6a37b40cec
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_27.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_28.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ac4e34e743ee05d1c14c928731d344e7121c787
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_28.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_29.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08c894964c32614018bba37360a04971e8bfb13b
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_29.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_3.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..289f88672fcd896a8512f1da89dcdfb59371a185
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_3.obj
@@ -0,0 +1,2707 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_30.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..025f90b2183c75a5564596668f79b9f7bcd8cbaf
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_30.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.00343941 0.00350719 0.01927250
+v 0.00343941 -0.00566823 0.01927247
+v 0.00343941 0.00350718 0.02047217
+v 0.00722702 0.00350719 0.01927250
+v 0.00343941 -0.00566823 0.02032817
+v 0.01161978 -0.00566823 0.01927247
+v 0.00343941 0.00262880 0.02052318
+v 0.00539245 0.00350718 0.02116063
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+v 0.01182871 0.00001611 0.01927249
+v 0.00344068 -0.00566823 0.02033297
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+v 0.01631066 -0.00349833 0.02116061
+v 0.01580105 -0.00393932 0.02116061
+v 0.01565454 -0.00403542 0.02116061
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+v 0.01150130 -0.00566823 0.01934104
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+v 0.00799142 0.00350718 0.02097766
+v 0.01150384 0.00150342 0.02116063
+v 0.01229372 0.00103190 0.02116062
+v 0.01568385 -0.00134010 0.02116062
+v 0.01453724 -0.00138769 0.02019455
+v 0.01239310 -0.00057038 0.01927249
+v 0.00464589 -0.00566824 0.02045976
+v 0.01364799 -0.00235229 0.01927248
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+v 0.01408497 -0.00440995 0.02116060
+v 0.01036234 -0.00566823 0.01977888
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+v 0.00807550 -0.00566823 0.02024481
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+f 1 16 24
+f 1 24 7
+f 1 7 3
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+f 1 26 27
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+f 1 9 4
+f 1 4 14
+f 1 14 32
+f 1 32 34
+f 1 34 17
+f 1 17 6
+f 1 6 2
+f 2 6 23
+f 2 23 37
+f 2 37 55
+f 2 55 54
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+f 2 33 15
+f 2 15 5
+f 3 7 8
+f 4 9 10
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+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 5 15 16
+f 6 17 18
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+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 23
+f 7 24 8
+f 8 25 38
+f 8 38 47
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+f 8 46 45
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+f 8 36 22
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+f 8 18 35
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+f 14 31 32
+f 15 33 25
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+f 16 25 24
+f 17 34 35
+f 17 35 18
+f 22 36 23
+f 23 36 37
+f 25 33 38
+f 26 28 27
+f 30 39 31
+f 31 39 40
+f 31 40 41
+f 31 41 42
+f 31 42 43
+f 31 43 34
+f 31 34 32
+f 33 44 45
+f 33 45 46
+f 33 46 47
+f 33 47 38
+f 34 43 42
+f 34 42 48
+f 34 48 49
+f 34 49 35
+f 36 50 44
+f 36 44 51
+f 36 51 52
+f 36 52 53
+f 36 53 54
+f 36 54 55
+f 36 55 37
+f 40 48 41
+f 41 48 42
+f 44 50 45
+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_31.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb0a6339b7a04b058836b81fad1ee62e8448dda7
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_31.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.01898919 -0.01832374 0.01927221
+v 0.01898868 -0.01818678 0.01903463
+v 0.01898868 -0.01766386 0.01903464
+v 0.01898868 -0.01766386 0.01927222
+v 0.01876474 -0.01894004 0.01927221
+v 0.01839678 -0.01858209 0.01880679
+v 0.01803645 -0.01708647 0.01782238
+v 0.01817335 -0.01622893 0.01762821
+v 0.01813162 -0.01505080 0.01754139
+v 0.01798097 -0.01412013 0.01770678
+v 0.01858967 -0.01622894 0.01853915
+v 0.01799064 -0.01531383 0.01927222
+v 0.01798097 -0.01412013 0.01827511
+v 0.01570143 -0.00679454 0.01710925
+v 0.01543983 -0.00610510 0.01710925
+v 0.01869298 -0.01902564 0.01927221
+v 0.01803696 -0.01935247 0.01900498
+v 0.01744201 -0.01708647 0.01782238
+v 0.01722163 -0.01505080 0.01713717
+v 0.01596913 -0.00798046 0.01710924
+v 0.01586429 -0.00748866 0.01710924
+v 0.01573807 -0.00691282 0.01710924
+v 0.01757535 -0.01469441 0.01927223
+v 0.01513956 -0.00543121 0.01710925
+v 0.01461331 -0.00444451 0.01710925
+v 0.01379035 -0.00428266 0.01774683
+v 0.01821509 -0.01955167 0.01927221
+v 0.01762726 -0.01935247 0.01900498
+v 0.01667961 -0.01679388 0.01797315
+v 0.01712493 -0.01633165 0.01757866
+v 0.01653253 -0.01433956 0.01710922
+v 0.01659360 -0.01332330 0.01927223
+v 0.01429420 -0.00396983 0.01710926
+v 0.01405856 -0.00370526 0.01710926
+v 0.01379035 -0.00367257 0.01725346
+v 0.01379035 -0.00944963 0.01927225
+v 0.01800897 -0.01955167 0.01927221
+v 0.01748323 -0.01948320 0.01927221
+v 0.01676410 -0.01865057 0.01927221
+v 0.01656306 -0.01812764 0.01901727
+v 0.01635440 -0.01600794 0.01776584
+v 0.01451152 -0.01426798 0.01807967
+v 0.01527392 -0.01474888 0.01779656
+v 0.01601544 -0.01510527 0.01753800
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+v 0.01388909 -0.00366324 0.01710926
+v 0.01379035 -0.00366168 0.01720497
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+v 0.01395525 -0.01487650 0.01927223
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+v 0.01379035 -0.01394271 0.01851735
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+v 0.01379035 -0.00365234 0.01710926
+v 0.01379035 -0.01387735 0.01847013
+v 0.01379035 -0.01259183 0.01777962
+f 1 2 3
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+f 1 4 12
+f 1 12 23
+f 1 23 32
+f 1 32 36
+f 1 36 48
+f 1 48 49
+f 1 49 39
+f 1 39 38
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+f 1 37 27
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+f 14 45 55
+f 14 55 56
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+f 14 46 34
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+f 14 25 24
+f 14 24 15
+f 16 27 17
+f 17 27 37
+f 17 37 28
+f 18 29 30
+f 18 30 19
+f 18 28 29
+f 19 30 31
+f 19 31 20
+f 23 26 32
+f 25 33 26
+f 26 33 34
+f 26 34 35
+f 26 35 47
+f 26 47 56
+f 26 56 55
+f 26 55 58
+f 26 58 57
+f 26 57 52
+f 26 52 51
+f 26 51 48
+f 26 48 36
+f 26 36 32
+f 28 37 38
+f 28 38 39
+f 28 39 40
+f 28 40 29
+f 29 41 30
+f 29 40 42
+f 29 42 43
+f 29 43 41
+f 30 41 44
+f 30 44 45
+f 30 45 31
+f 34 46 35
+f 35 46 47
+f 39 49 50
+f 39 50 40
+f 40 50 51
+f 40 51 52
+f 40 52 42
+f 41 43 44
+f 42 52 53
+f 42 53 43
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+f 43 54 44
+f 44 54 55
+f 44 55 45
+f 46 56 47
+f 48 51 50
+f 48 50 49
+f 52 57 53
+f 53 58 55
+f 53 55 54
+f 53 57 58
+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_32.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ef0480689a3bc8e083009e3e6cc6dbeeb76823b
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_32.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.01755473 -0.01623004 0.03310105
+v -0.01761424 -0.01562586 0.03307410
+v -0.01770185 -0.01623004 0.03310105
+v -0.01755969 -0.01686982 0.03309800
+v -0.01637775 -0.01696924 0.03208034
+v -0.01637775 -0.01658270 0.03208034
+v -0.01767100 -0.01562586 0.03307410
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+v -0.01640971 -0.01705652 0.02790596
+v -0.01687367 -0.01642786 0.02790596
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+f 40 45 41
+f 41 45 42
+f 42 45 43
+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_33.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c406c14a9e4c5fe1df244e82de25f3ec0d0c309
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_33.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.01331715 -0.02447969 0.01814141
+v 0.01210933 -0.02381631 0.01913968
+v 0.01255336 -0.02456823 0.01879661
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diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_34.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67864a4b7f9aad5e335cc5402c5409cf65d32a94
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_34.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_35.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58110a51d220a8ee2fbac2bc2d931e06829d70a4
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_35.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_36.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..399f76dca9bd02b654a87b97d189648052eb861a
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_36.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_37.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86a0f97a38a0d5cdc8e71706dcffd86d453617b5
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_37.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.00177176 -0.02212794 0.01853934
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+v -0.00537717 -0.01649719 0.01785383
+v -0.00550829 -0.01659012 0.01788356
+f 1 2 9
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+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_38.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d569f2fb86a98f04bee70e00ac9cbeb93e92d4ec
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_38.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.01932058 0.00715161 0.01730809
+v -0.01967186 0.00689719 0.01664393
+v -0.02050882 0.00686544 0.01667785
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+v -0.01540845 0.00498671 0.01864448
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+v -0.02108482 0.00675961 0.01681997
+v -0.02034489 0.00616482 0.01829205
+v -0.01949232 0.00616482 0.01887255
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+v -0.02091643 0.00616483 0.01745312
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+v -0.01775037 0.00408629 0.01990045
+v -0.01794274 0.00425435 0.01990045
+v -0.01666193 0.00330186 0.01990044
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+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_39.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..043984505b204d5815365962b0aa83743b9847ce
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_39.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.00957611 -0.00244670 0.02292145
+v -0.00633503 -0.00244670 0.02292145
+v -0.00931683 -0.00244670 0.02236504
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+v -0.01656725 -0.00971147 0.02147394
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+v -0.01782207 -0.00646499 0.02228951
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+v -0.01296605 -0.01321838 0.02253290
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+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_4.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5d4465196008d5b267cf01bedc86ef97fd1b4e2
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_4.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.00762488 0.03010991 0.01817901
+v 0.00762488 0.03010991 0.01775583
+v 0.00762488 0.03058100 0.01817901
+v 0.00578774 0.02031643 0.01872717
+v 0.00579206 0.02031643 0.01872584
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+v 0.00762488 0.03058100 0.01775583
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+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_40.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18e963fcc66ee1791821d7bcddd2484f822d73c6
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_40.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01482771 0.00965177 0.01978254
+v 0.01424206 0.00850746 0.01978253
+v 0.01261604 0.00984989 0.01758869
+v 0.01306373 0.01088816 0.01758869
+v 0.01306513 0.01108276 0.01758869
+v 0.01462499 0.01090330 0.01978254
+v 0.01402456 0.00826158 0.01978253
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+v 0.01006791 0.01541181 0.01917584
+v 0.00997922 0.01541181 0.01926368
+v 0.01379368 0.01154188 0.01978254
+v 0.01359236 0.00778498 0.01978253
+v 0.01321295 0.00741325 0.01978253
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+v 0.01113081 0.00544740 0.01978252
+v 0.01051208 0.00507101 0.01978252
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+v 0.00848624 0.01541181 0.01871366
+v 0.00848624 0.01541181 0.01856375
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+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_41.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..092daf056190036f3e5605a7a83974ee7af47dda
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_41.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.00737702 0.00350491 0.01710928
+v 0.00737702 0.00350490 0.01865843
+v 0.00880095 0.00350491 0.01710928
+v 0.00737702 -0.00627025 0.01710925
+v 0.00737702 0.00272490 0.01927229
+v 0.00785544 0.00238308 0.01927229
+v 0.00754069 0.00350490 0.01856166
+v 0.00881967 0.00336038 0.01710928
+v 0.00770373 0.00350490 0.01844986
+v 0.00898460 0.00149756 0.01927229
+v 0.00799503 -0.00579308 0.01710925
+v 0.00898460 -0.01622893 0.01726781
+v 0.00737702 -0.01622893 0.01741053
+v 0.00737702 -0.01732552 0.01927222
+v 0.00891426 0.00262856 0.01710928
+v 0.00898460 0.00144251 0.01710928
+v 0.00892685 0.00249780 0.01710928
+v 0.00898460 -0.01969991 0.01927221
+v 0.00898460 -0.00445791 0.01710925
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+v 0.00898460 -0.01991556 0.01858191
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+v 0.00898460 -0.01980314 0.01842204
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+v 0.00737702 -0.01760999 0.01889658
+v 0.00737702 -0.01762834 0.01886164
+v 0.00737702 -0.01777516 0.01855036
+v 0.00852271 -0.01944068 0.01887645
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+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_42.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0942bb68054eae4d90c3752edcad85a5320cb829
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_42.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.01379156 0.01163962 0.01986537
+v 0.01379156 0.01163961 0.02059908
+v 0.01576445 0.01159503 0.02116066
+v 0.01462478 0.01160698 0.02011290
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+v 0.01227437 0.00544794 0.02116064
+v 0.01411490 0.00690312 0.02116065
+v 0.01367342 0.00653773 0.02116064
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+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_43.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f24998c5a1184fa7c2bdf2b8fd0648fec0e1ac3
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_43.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.00210793 0.01939557 0.01923607
+v 0.00210793 0.01939558 0.01674849
+v 0.00210793 0.01973552 0.01910855
+v 0.00199639 0.01939557 0.01935793
+v 0.00007293 0.01939558 0.01721176
+v 0.00210793 0.02149405 0.01615617
+v 0.00210793 0.02014598 0.01893887
+v 0.00189919 0.01998566 0.01924224
+v 0.00141942 0.01939557 0.01972762
+v -0.00018628 0.01939558 0.01729454
+v -0.00108726 0.02146215 0.01694748
+v -0.00029469 0.02105169 0.01683385
+v -0.00071777 0.02183735 0.01674336
+v 0.00210793 0.02266751 0.01593661
+v 0.00210793 0.02249207 0.01780307
+v 0.00168734 0.02077132 0.01905560
+v 0.00126925 0.02035079 0.01945305
+v 0.00118576 0.01939557 0.01985668
+v -0.00425752 0.01939557 0.01884735
+v -0.00107231 0.02030967 0.01732642
+v -0.00147918 0.02232336 0.01684362
+v -0.00108726 0.02269689 0.01668320
+v -0.00171845 0.02310902 0.01677215
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+v -0.00107231 0.02384517 0.01659837
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+v -0.00425752 0.02150998 0.02084031
+v -0.00425752 0.02635073 0.01892142
+v -0.00425752 0.02266665 0.02060070
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+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_44.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8534f4206a85962339ac3688496cf8dd6140107b
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_44.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.00901036 0.01327947 0.01973669
+v -0.01094996 0.01327947 0.01973669
+v -0.00901036 0.01327948 0.01729025
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+v -0.01135463 0.01383784 0.01973669
+v -0.01037116 0.01327948 0.01729025
+v -0.00901036 0.01807639 0.01729027
+v -0.00901036 0.02242861 0.01948477
+v -0.01136257 0.02358291 0.01943928
+v -0.01136257 0.02266617 0.01973145
+v -0.01018293 0.02209359 0.01973672
+v -0.01174123 0.01443175 0.01973669
+v -0.01324839 0.01825912 0.01737817
+v -0.01322899 0.01829364 0.01729027
+v -0.00988935 0.01905912 0.01729027
+v -0.01078245 0.02208851 0.01795608
+v -0.00907604 0.02148751 0.01842405
+v -0.00901036 0.02141949 0.01843076
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+v -0.01047167 0.02338901 0.01888461
+v -0.01047167 0.02338901 0.01927906
+v -0.01136257 0.02358291 0.01870954
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+v -0.01079655 0.02148751 0.01973672
+v -0.01250561 0.02266617 0.01958296
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+v -0.01319064 0.02347733 0.01890257
+v -0.01342207 0.02154131 0.01860151
+v -0.01303547 0.02087534 0.01729028
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+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_45.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96ab48312e1ef2ce25427f839325ba5fd1ef02ad
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_45.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.00900992 0.01838817 0.01743707
+v -0.00900992 0.01939557 0.01789344
+v -0.00644350 0.01717995 0.01743706
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+v -0.00900992 0.01939557 0.02003353
+v -0.00644350 0.01939557 0.01875839
+v -0.00644350 0.01066636 0.01743704
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+v -0.00644350 0.01939556 0.02085875
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+v -0.00790145 0.01066634 0.02292150
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+v -0.00728491 0.01559917 0.02292152
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+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_46.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eae93b4ad01334c7cfd3f703ffea70e2bd2036eb
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_46.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.01101888 0.01066635 0.01776336
+v -0.01109366 0.01059961 0.01776336
+v -0.00914923 0.01066635 0.01990026
+v 0.00343813 0.01066635 0.01776336
+v -0.01117624 0.01052259 0.01776336
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+v -0.01247875 0.00901567 0.01776335
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+v -0.01247875 0.00857155 0.01793488
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+v -0.01247875 0.00852149 0.01795413
+v -0.01247875 0.00305345 0.01990023
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+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_47.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7256ea2edac073e7587e004e58bab511ccb7f4b
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_47.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.01064399 -0.01649538 0.02271938
+v -0.01057989 -0.01649538 0.02271108
+v -0.01058134 -0.01642913 0.02271052
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+f 36 40 37
+f 38 57 40
+f 42 44 43
+f 45 58 46
+f 46 58 59
+f 46 59 47
+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_48.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b94be72144114c7ec9c27354c2d304c68f5f664
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_48.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.02043560 0.01559435 0.01041010
+v 0.02031368 0.01560938 0.00928867
+v 0.02032090 0.01659611 0.00924923
+v 0.02035774 0.01655338 0.01041010
+v 0.02024759 0.01637359 0.01124414
+v 0.02023240 0.01559435 0.01126197
+v 0.02011541 0.01493152 0.01109872
+v 0.02015833 0.01488036 0.01041009
+v 0.02014883 0.01491228 0.00970225
+v 0.02019859 0.01601215 0.00851156
+v 0.01950845 0.01683035 0.00924923
+v 0.02019859 0.01643087 0.00851156
+v 0.01950845 0.01673552 0.01041010
+v 0.01950997 0.01641725 0.01160732
+v 0.01932651 0.01634824 0.01193791
+v 0.01971355 0.01573799 0.01193791
+v 0.01980509 0.01559059 0.01193791
+v 0.01987042 0.01559435 0.01184258
+v 0.01959277 0.01443065 0.01193790
+v 0.01975609 0.01448933 0.01152020
+v 0.01912710 0.01355517 0.01193790
+v 0.01917230 0.01351574 0.01157130
+v 0.01973786 0.01429170 0.01041009
+v 0.01916622 0.01360071 0.01041009
+v 0.01904582 0.01373121 0.00971529
+v 0.01896947 0.01498223 0.00865560
+v 0.01941387 0.01560938 0.00847384
+v 0.01950845 0.01650316 0.00843474
+v 0.01881261 0.01636234 0.00851396
+v 0.01876323 0.01641773 0.00924923
+v 0.01876855 0.01633322 0.01157131
+v 0.01878678 0.01630271 0.01193791
+v 0.01917002 0.01634824 0.01193791
+v 0.01868194 0.01301393 0.01193790
+v 0.01866257 0.01292662 0.01157130
+v 0.01809094 0.01239241 0.01157130
+v 0.01793103 0.01255342 0.01088850
+v 0.01856914 0.01373121 0.00971529
+v 0.01890984 0.01498223 0.00865560
+v 0.01882324 0.01559436 0.00854311
+v 0.01778442 0.01470432 0.00980754
+v 0.01778442 0.01502071 0.00980755
+v 0.01798193 0.01553145 0.01193791
+v 0.01747334 0.01488880 0.01193790
+v 0.01809663 0.01235580 0.01193790
+v 0.01725494 0.01203471 0.01193789
+v 0.01764768 0.01255342 0.01088850
+v 0.01780720 0.01391898 0.00983532
+v 0.01658036 0.01228444 0.01193790
+v 0.01655568 0.01293366 0.01193790
+v 0.01702020 0.01403445 0.01193790
+v 0.01721240 0.01443863 0.01193790
+v 0.01724886 0.01222811 0.01157780
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 2 10 3
+f 3 11 4
+f 3 10 12
+f 3 12 11
+f 4 11 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 6
+f 6 18 19
+f 6 19 7
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 8
+f 8 22 23
+f 8 23 9
+f 9 23 24
+f 9 24 25
+f 9 25 10
+f 10 26 27
+f 10 27 28
+f 10 28 12
+f 10 25 26
+f 11 12 28
+f 11 28 29
+f 11 29 30
+f 11 30 31
+f 11 31 13
+f 13 31 32
+f 13 32 33
+f 13 33 15
+f 13 15 14
+f 15 33 32
+f 15 32 43
+f 15 43 44
+f 15 44 52
+f 15 52 51
+f 15 51 50
+f 15 50 49
+f 15 49 46
+f 15 46 45
+f 15 45 34
+f 15 34 21
+f 15 21 19
+f 15 19 17
+f 15 17 16
+f 17 19 18
+f 19 21 20
+f 21 34 22
+f 22 34 35
+f 22 35 24
+f 22 24 23
+f 24 35 36
+f 24 36 25
+f 25 36 37
+f 25 37 47
+f 25 47 38
+f 25 38 39
+f 25 39 26
+f 26 39 27
+f 27 39 40
+f 27 40 29
+f 27 29 28
+f 29 40 41
+f 29 41 42
+f 29 42 30
+f 30 43 31
+f 30 42 44
+f 30 44 43
+f 31 43 32
+f 34 45 35
+f 35 45 36
+f 36 45 46
+f 36 46 37
+f 37 46 47
+f 38 47 39
+f 39 47 48
+f 39 48 40
+f 40 48 41
+f 41 48 49
+f 41 49 50
+f 41 50 42
+f 42 50 51
+f 42 51 52
+f 42 52 44
+f 46 49 53
+f 46 53 47
+f 47 53 49
+f 47 49 48
+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_49.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7fc011db9943afa84ea402b3fb502b10e88e6e9
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_49.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01525764 -0.01434047 0.01656263
+v 0.01525764 -0.01434047 0.01756263
+v 0.01525764 -0.01243499 0.01656263
+v 0.01525764 -0.01243499 0.01756263
+v 0.01653262 -0.01434047 0.01656263
+v 0.01653262 -0.01434047 0.01756263
+v 0.01653262 -0.01243499 0.01656263
+v 0.01653262 -0.01243499 0.01756263
+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/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_5.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10d41388bf0cc92dc52f3777fb3ea5665de4b669
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_5.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.01791525 0.00766705 0.03080537
+v 0.01832375 0.00750867 0.03011756
+v 0.01902820 0.00782199 0.02970728
+v 0.01791525 0.00802553 0.03080537
+v 0.01766006 0.00766705 0.03080537
+v 0.01150538 0.00543614 0.02524506
+v 0.01147919 0.00512054 0.02431782
+v 0.01836451 0.00728798 0.02899089
+v 0.01913396 0.00775738 0.02899089
+v 0.02010136 0.00907068 0.02738091
+v 0.01902820 0.00819648 0.02970728
+v 0.01766006 0.00802553 0.03080537
+v 0.01923876 0.00928621 0.02872097
+v 0.01836451 0.00897519 0.02938783
+v 0.01071264 0.00542299 0.02510598
+v 0.01034586 0.00514455 0.02431782
+v 0.01150538 0.00512740 0.02431782
+v 0.01836451 0.00739834 0.02782929
+v 0.01911650 0.00780713 0.02782929
+v 0.01262609 0.00543957 0.02431782
+v 0.01372448 0.00580548 0.02431782
+v 0.02010136 0.00907068 0.02695984
+v 0.02010136 0.00916444 0.02738091
+v 0.01836451 0.00928907 0.02880671
+v 0.01770760 0.00917358 0.02862825
+v 0.01747667 0.00825651 0.03015185
+v 0.01045551 0.00621942 0.02431782
+v 0.01042349 0.00619369 0.02431782
+v 0.01071264 0.00579805 0.02510598
+v 0.01957545 0.00946175 0.02779246
+v 0.01914560 0.01040683 0.02638064
+v 0.01018867 0.00519772 0.02431782
+v 0.01025854 0.00515885 0.02431782
+v 0.01900491 0.00788775 0.02709131
+v 0.01491020 0.00630061 0.02431782
+v 0.01567578 0.00666595 0.02434577
+v 0.01953664 0.00854010 0.02663848
+v 0.01934064 0.00875966 0.02550737
+v 0.01910582 0.00895863 0.02463220
+v 0.01921547 0.00959497 0.02431784
+v 0.01923876 0.00966244 0.02431784
+v 0.01967345 0.00970074 0.02550738
+v 0.02010136 0.00916444 0.02695984
+v 0.01926883 0.01056350 0.02550738
+v 0.01876136 0.01040683 0.02638064
+v 0.01731851 0.01057722 0.02431784
+v 0.01117451 0.00658362 0.02459091
+v 0.01836451 0.01096086 0.02434579
+v 0.01807438 0.00775054 0.02550737
+v 0.01789585 0.00785688 0.02473318
+v 0.01882734 0.00801010 0.02631712
+v 0.01565734 0.00666195 0.02431782
+v 0.01624729 0.00699013 0.02434578
+v 0.01864589 0.00817020 0.02550737
+v 0.01840720 0.00849609 0.02431783
+v 0.01843728 0.00852239 0.02431783
+v 0.01901558 0.00907355 0.02431783
+v 0.01777844 0.00794722 0.02431783
+v 0.01916598 0.01060295 0.02431784
+v 0.01917277 0.01060867 0.02434579
+v 0.01804818 0.01085394 0.02431784
+v 0.01836451 0.01095857 0.02431784
+v 0.01621430 0.00697926 0.02431783
+v 0.01726612 0.00760475 0.02434641
+v 0.01723118 0.00759331 0.02431783
+f 1 2 3
+f 1 3 11
+f 1 11 4
+f 1 4 12
+f 1 12 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 23
+f 3 23 11
+f 4 11 13
+f 4 13 14
+f 4 14 12
+f 5 12 29
+f 5 29 15
+f 5 15 6
+f 6 15 16
+f 6 16 7
+f 7 16 33
+f 7 33 32
+f 7 32 28
+f 7 28 27
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+f 7 56 55
+f 7 55 58
+f 7 58 65
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+f 11 23 13
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+f 12 28 29
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+f 13 24 14
+f 15 29 32
+f 15 32 33
+f 15 33 16
+f 18 34 19
+f 18 21 35
+f 18 35 36
+f 18 36 34
+f 19 34 37
+f 19 37 22
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 42
+f 22 42 43
+f 23 43 44
+f 23 44 31
+f 23 31 30
+f 24 31 45
+f 24 45 25
+f 25 45 46
+f 25 46 47
+f 25 47 27
+f 25 27 26
+f 27 47 46
+f 28 32 29
+f 31 44 48
+f 31 48 45
+f 34 49 50
+f 34 50 51
+f 34 51 38
+f 34 38 37
+f 34 36 52
+f 34 52 53
+f 34 53 49
+f 35 52 36
+f 38 51 54
+f 38 54 50
+f 38 50 39
+f 39 55 56
+f 39 56 57
+f 39 57 40
+f 39 50 58
+f 39 58 55
+f 41 59 42
+f 42 59 60
+f 42 60 43
+f 43 60 44
+f 44 60 48
+f 45 48 61
+f 45 61 46
+f 48 62 61
+f 48 60 62
+f 49 53 50
+f 50 53 63
+f 50 63 64
+f 50 64 65
+f 50 65 58
+f 50 54 51
+f 52 63 53
+f 59 62 60
+f 63 65 64
+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_50.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c243aa94e893948d919885d05f703e642a58051
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_50.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.00343813 0.00732882 0.01387245
+v 0.00763622 0.00732882 0.01387245
+v 0.00343813 0.00350721 0.01387243
+v 0.00343813 0.00732880 0.02004845
+v 0.00763622 0.00350721 0.01387243
+v 0.00763622 0.00732880 0.01991361
+v 0.00343813 0.00350718 0.02047219
+v 0.00343813 0.00380797 0.02045650
+v 0.00540628 0.00380797 0.02115992
+v 0.00602644 0.00476384 0.02115993
+v 0.00669468 0.00530968 0.02115993
+v 0.00721867 0.00570587 0.02115993
+v 0.00763622 0.00593520 0.02115993
+v 0.00763622 0.00350718 0.02115992
+v 0.00539190 0.00350718 0.02115992
+v 0.00538162 0.00364036 0.02115992
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 13
+f 2 13 14
+f 2 14 5
+f 3 5 14
+f 3 14 15
+f 3 15 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 6
+f 7 15 16
+f 7 16 8
+f 8 16 9
+f 9 16 15
+f 9 15 14
+f 9 14 13
+f 9 13 12
+f 9 12 11
+f 9 11 10
+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_51.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e6ddc391810f988e8981d45f69a26ba588a95c8
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_51.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00343813 0.01686850 0.01564527
+v 0.00343813 0.02031518 0.01604707
+v 0.00350126 0.02031518 0.01602439
+v 0.00463691 0.02031518 0.01606748
+v 0.00349119 0.01684362 0.01564527
+v 0.00343813 0.01512992 0.01564527
+v 0.00343813 0.02031517 0.01791390
+v 0.00464531 0.02031518 0.01606824
+v 0.00356070 0.01681063 0.01564527
+v 0.00498009 0.01512992 0.01564527
+v 0.00343813 0.01512991 0.01950669
+v 0.00343813 0.01991568 0.01806396
+v 0.00578801 0.02031517 0.01872731
+v 0.00562482 0.02031518 0.01650405
+v 0.00464128 0.01565429 0.01564527
+v 0.00563019 0.02031518 0.01650707
+v 0.00620171 0.02031518 0.01693986
+v 0.00674804 0.01795174 0.01761001
+v 0.00671849 0.01677357 0.01768068
+v 0.00659257 0.01559489 0.01778991
+v 0.00651064 0.01512991 0.01785379
+v 0.00343813 0.01515022 0.01950291
+v 0.00663220 0.01512991 0.01919977
+v 0.00650930 0.01677356 0.01918276
+v 0.00644113 0.01795173 0.01915480
+v 0.00636625 0.01856492 0.01912305
+v 0.00634711 0.01856492 0.01912305
+v 0.00343813 0.01913041 0.01831531
+v 0.00579204 0.02031517 0.01872617
+v 0.00343813 0.01788929 0.01870690
+v 0.00343813 0.01549590 0.01941673
+v 0.00667383 0.02031518 0.01752043
+v 0.00671614 0.01913042 0.01755747
+v 0.00686826 0.01677356 0.01853907
+v 0.00676349 0.01512991 0.01855003
+v 0.00682964 0.01795173 0.01853908
+v 0.00667383 0.02031517 0.01838335
+v 0.00667417 0.02030909 0.01752081
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 15
+f 1 15 10
+f 1 10 6
+f 1 6 11
+f 1 11 22
+f 1 22 31
+f 1 31 30
+f 1 30 28
+f 1 28 12
+f 1 12 7
+f 1 7 2
+f 2 7 13
+f 2 13 29
+f 2 29 37
+f 2 37 32
+f 2 32 17
+f 2 17 16
+f 2 16 14
+f 2 14 8
+f 2 8 4
+f 2 4 3
+f 4 8 9
+f 4 9 5
+f 6 10 21
+f 6 21 35
+f 6 35 23
+f 6 23 11
+f 7 12 13
+f 8 14 10
+f 8 10 15
+f 8 15 9
+f 10 14 16
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 22
+f 12 28 13
+f 13 27 26
+f 13 26 29
+f 13 28 30
+f 13 30 31
+f 13 31 22
+f 13 22 27
+f 17 32 33
+f 17 33 18
+f 18 33 34
+f 18 34 19
+f 19 34 35
+f 19 35 20
+f 20 35 21
+f 23 35 34
+f 23 34 36
+f 23 36 25
+f 23 25 24
+f 25 36 37
+f 25 37 26
+f 26 37 29
+f 32 37 36
+f 32 36 38
+f 32 38 33
+f 33 36 34
+f 33 38 36
+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_52.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1e89b332f7df6bf55dd71e6e8f7a93fac8d11dd
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_52.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.01455958 -0.00244668 0.01706654
+v -0.01443273 -0.00317108 0.01706654
+v -0.00935370 -0.00914894 0.02011445
+v -0.01392007 -0.00244668 0.01742519
+v 0.00343813 -0.00244668 0.01706654
+v -0.01441159 -0.00326439 0.01706654
+v -0.00901016 -0.01034591 0.02011444
+v -0.00925857 -0.00754662 0.02011445
+v -0.01364877 -0.00244668 0.01757139
+v 0.00343813 -0.00244669 0.02005569
+v 0.00343813 -0.01269570 0.01706650
+v -0.01418609 -0.00394866 0.01706654
+v -0.00797251 -0.01269571 0.02011413
+v -0.00892736 -0.01050644 0.02011444
+v -0.00932199 -0.00244669 0.01968898
+v -0.01066089 -0.00244669 0.01905911
+v -0.01080183 -0.00244669 0.01899108
+v -0.00839533 -0.00244669 0.02011447
+v -0.00847108 -0.00244669 0.02008404
+v 0.00291314 -0.00244669 0.02011447
+v 0.00343813 -0.00284099 0.02011447
+v -0.00604519 -0.01269570 0.01706650
+v 0.00343813 -0.01269571 0.01962867
+v -0.01397116 -0.00443026 0.01706653
+v -0.00797251 -0.01161011 0.02011444
+v -0.00833543 -0.01126596 0.02011444
+v -0.01385489 -0.00464698 0.01706653
+v -0.01327881 -0.00562222 0.01706653
+v -0.01252832 -0.00678407 0.01706653
+v -0.01199980 -0.00750246 0.01706652
+v -0.00797251 -0.01269571 0.01989870
+v -0.00510796 -0.01269571 0.02011443
+v 0.00343813 -0.00818072 0.02011445
+v -0.00793376 -0.01151077 0.01706651
+v 0.00121308 -0.01269370 0.02000642
+v 0.00121132 -0.01269571 0.02000642
+v -0.01168269 -0.00790479 0.01706652
+v -0.01128631 -0.00838940 0.01706652
+v -0.01094982 -0.00878873 0.01706652
+v -0.01044068 -0.00938471 0.01706652
+v -0.00987517 -0.00994657 0.01706651
+v -0.00957215 -0.01024055 0.01706651
+v -0.00925857 -0.01052951 0.01706651
+v -0.00898726 -0.01076228 0.01706651
+v -0.00867720 -0.01102315 0.01706651
+v -0.00348718 -0.01269571 0.02011443
+v 0.00063700 -0.01033588 0.02011444
+v 0.00121308 -0.01151479 0.02005417
+v 0.00006973 -0.01074022 0.02011444
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 17
+f 1 17 16
+f 1 16 15
+f 1 15 19
+f 1 19 18
+f 1 18 20
+f 1 20 10
+f 1 10 5
+f 1 5 11
+f 1 11 22
+f 1 22 34
+f 1 34 45
+f 1 45 44
+f 1 44 43
+f 1 43 42
+f 1 42 41
+f 1 41 40
+f 1 40 39
+f 1 39 38
+f 1 38 37
+f 1 37 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 24
+f 1 24 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 7 14
+f 3 14 26
+f 3 26 25
+f 3 25 32
+f 3 32 46
+f 3 46 49
+f 3 49 47
+f 3 47 33
+f 3 33 21
+f 3 21 20
+f 3 20 18
+f 3 18 8
+f 3 8 4
+f 3 6 7
+f 4 8 9
+f 5 10 21
+f 5 21 33
+f 5 33 23
+f 5 23 11
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 8 18 19
+f 8 19 15
+f 10 20 21
+f 11 23 36
+f 11 36 46
+f 11 46 32
+f 11 32 13
+f 11 13 31
+f 11 31 22
+f 12 24 13
+f 13 25 26
+f 13 26 14
+f 13 24 27
+f 13 27 28
+f 13 28 29
+f 13 29 30
+f 13 30 31
+f 13 32 25
+f 22 31 34
+f 23 33 35
+f 23 35 36
+f 30 37 31
+f 31 37 38
+f 31 38 39
+f 31 39 40
+f 31 40 41
+f 31 41 42
+f 31 42 43
+f 31 43 44
+f 31 44 45
+f 31 45 34
+f 33 47 48
+f 33 48 36
+f 33 36 35
+f 36 48 49
+f 36 49 46
+f 47 49 48
+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_53.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58f15b6b8e98d7656ea34e5156673ef35bff3c62
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_53.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.01172599 0.00956354 0.01758834
+v 0.01159350 0.00956354 0.01742261
+v 0.00763663 0.00956354 0.01758834
+v 0.00815420 0.00350720 0.01758831
+v 0.01005718 0.00350720 0.01621529
+v 0.00923899 0.00739556 0.01621531
+v 0.01152905 0.00956354 0.01739707
+v 0.01001996 0.00375085 0.01621529
+v 0.00979739 0.00498690 0.01621530
+v 0.00957683 0.00616544 0.01621530
+v 0.00950919 0.00641739 0.01621530
+v 0.00763663 0.00350720 0.01758831
+v 0.00763663 0.00956354 0.01621532
+v 0.00763663 0.00350720 0.01621529
+v 0.00862695 0.00908927 0.01621531
+v 0.00843160 0.00956354 0.01621532
+f 1 2 7
+f 1 7 16
+f 1 16 13
+f 1 13 3
+f 1 3 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 5 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 6
+f 3 13 14
+f 3 14 12
+f 4 12 14
+f 4 14 5
+f 5 14 13
+f 5 13 16
+f 5 16 15
+f 5 15 6
+f 5 6 11
+f 5 11 10
+f 5 10 9
+f 5 9 8
+f 6 15 7
+f 7 15 16
+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_54.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8d11784cf991bd0335279f758313f17c2eed99b
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_54.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.00425799 0.01939556 0.02118931
+v -0.00425799 0.01939557 0.01884787
+v -0.00425799 0.01959164 0.02116065
+v -0.00450268 0.01939556 0.02122554
+v -0.00900992 0.01939557 0.01789370
+v -0.00425799 0.02384473 0.01833046
+v -0.00425799 0.02030990 0.02105559
+v -0.00450268 0.02030990 0.02109182
+v -0.00564612 0.02148840 0.02104473
+v -0.00564612 0.02030990 0.02119063
+v -0.00564612 0.01939556 0.02125815
+v -0.00900992 0.01939557 0.02003324
+v -0.00900992 0.02142033 0.01843090
+v -0.00425799 0.02502391 0.01828698
+v -0.00450268 0.02148840 0.02090278
+v -0.00425799 0.02151019 0.02084052
+v -0.00564612 0.02266690 0.02087017
+v -0.00678863 0.02148840 0.02082834
+v -0.00900992 0.02030855 0.02012942
+v -0.00900992 0.02148228 0.01845198
+v -0.00425799 0.02616020 0.01871945
+v -0.00450268 0.02266690 0.02067090
+v -0.00425799 0.02266690 0.02060075
+v -0.00564612 0.02384472 0.02061558
+v -0.00648160 0.02384472 0.02047593
+v -0.00684120 0.02267439 0.02061129
+v -0.00900992 0.02148841 0.02000658
+v -0.00900992 0.02041136 0.02012184
+v -0.00900992 0.02241841 0.01884491
+v -0.00425799 0.02635083 0.01892168
+v -0.00517535 0.02571835 0.01903167
+v -0.00453757 0.02378482 0.02041039
+v -0.00494228 0.02458002 0.02032805
+v -0.00425799 0.02360168 0.02036823
+v -0.00564612 0.02462087 0.02036790
+v -0.00629134 0.02453781 0.02035011
+v -0.00900992 0.02242931 0.01948520
+v -0.00425799 0.02635083 0.01929089
+v -0.00517535 0.02571835 0.01931295
+v -0.00425799 0.02418242 0.02020783
+v -0.00425799 0.02529420 0.01981523
+f 1 2 6
+f 1 6 14
+f 1 14 21
+f 1 21 30
+f 1 30 38
+f 1 38 41
+f 1 41 40
+f 1 40 34
+f 1 34 23
+f 1 23 16
+f 1 16 7
+f 1 7 3
+f 1 3 4
+f 1 4 11
+f 1 11 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 19
+f 5 19 28
+f 5 28 27
+f 5 27 37
+f 5 37 29
+f 5 29 20
+f 5 20 13
+f 5 13 14
+f 5 14 6
+f 7 15 8
+f 7 16 15
+f 8 15 17
+f 8 17 9
+f 9 17 18
+f 9 18 10
+f 10 18 11
+f 11 19 12
+f 11 18 19
+f 13 20 14
+f 14 20 21
+f 15 16 22
+f 15 22 17
+f 16 23 22
+f 17 22 24
+f 17 24 25
+f 17 25 26
+f 17 26 18
+f 18 27 28
+f 18 28 19
+f 18 26 27
+f 20 29 21
+f 21 29 31
+f 21 31 30
+f 22 23 32
+f 22 32 33
+f 22 33 24
+f 23 34 32
+f 24 33 35
+f 24 35 36
+f 24 36 25
+f 25 36 27
+f 25 27 26
+f 27 36 37
+f 29 37 31
+f 30 31 39
+f 30 39 38
+f 31 37 39
+f 32 34 33
+f 33 40 41
+f 33 41 38
+f 33 38 35
+f 33 34 40
+f 35 38 36
+f 36 38 39
+f 36 39 37
+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_55.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57787958b292e135eba97fbe52c894b0dec4c058
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_55.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00343813 0.01066635 0.01994841
+v 0.00192078 0.01205913 0.02031486
+v 0.00190225 0.01087997 0.02031163
+v 0.00197141 0.01066635 0.02028658
+v 0.00343813 0.01066636 0.01682573
+v 0.00343813 0.01087997 0.01994599
+v 0.00185208 0.01649979 0.02030882
+v -0.00117946 0.01087996 0.02095281
+v -0.00117946 0.01085176 0.02095281
+v -0.00117946 0.01073043 0.02095240
+v -0.00117946 0.01066634 0.02095079
+v -0.00117946 0.01066636 0.01682573
+v 0.00343813 0.01939558 0.01682576
+v 0.00343813 0.01205913 0.01989427
+v 0.00176213 0.01728590 0.02027245
+v 0.00131420 0.01684499 0.02040659
+v -0.00117946 0.01677235 0.02089263
+v 0.00343813 0.01323744 0.01981428
+v -0.00117946 0.01601788 0.01682575
+v 0.00196146 0.01939558 0.01682576
+v 0.00343813 0.01939557 0.01823054
+v 0.00343813 0.01788915 0.01870728
+v 0.00343813 0.01912983 0.01831579
+v 0.00199672 0.01939557 0.01935776
+v 0.00155376 0.01795152 0.02018237
+v 0.00073881 0.01864193 0.02031166
+v 0.00098244 0.01795152 0.02037711
+v 0.00343813 0.01448838 0.01962399
+v 0.00343813 0.01514973 0.01950279
+v 0.00343813 0.01549494 0.01941674
+v -0.00117946 0.01795151 0.02082961
+v -0.00117946 0.01784043 0.02083769
+v -0.00117946 0.01939557 0.01769723
+v -0.00108952 0.01939558 0.01764996
+v -0.00018552 0.01939558 0.01729442
+v 0.00007347 0.01939558 0.01721160
+v 0.00096752 0.01939558 0.01701484
+v 0.00141952 0.01939557 0.01972784
+v 0.00115736 0.01907344 0.01999288
+v 0.00042422 0.01939557 0.02017065
+v 0.00031800 0.01939557 0.02020661
+v -0.00017965 0.01939557 0.02034761
+v 0.00000974 0.01907344 0.02037994
+v -0.00117946 0.01912982 0.02062679
+v -0.00117946 0.01939556 0.02055407
+v 0.00118584 0.01939557 0.01985673
+v -0.00080792 0.01939556 0.02048336
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 12
+f 1 12 5
+f 1 5 13
+f 1 13 21
+f 1 21 23
+f 1 23 22
+f 1 22 30
+f 1 30 29
+f 1 29 28
+f 1 28 18
+f 1 18 14
+f 1 14 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 7 8
+f 3 10 11
+f 3 11 4
+f 5 12 19
+f 5 19 20
+f 5 20 13
+f 6 14 7
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 7 14 18
+f 7 18 15
+f 8 17 32
+f 8 32 31
+f 8 31 44
+f 8 44 45
+f 8 45 33
+f 8 33 19
+f 8 19 12
+f 8 12 11
+f 8 11 10
+f 8 10 9
+f 13 20 37
+f 13 37 36
+f 13 36 35
+f 13 35 34
+f 13 34 33
+f 13 33 45
+f 13 45 47
+f 13 47 42
+f 13 42 41
+f 13 41 40
+f 13 40 46
+f 13 46 38
+f 13 38 24
+f 13 24 21
+f 15 22 23
+f 15 23 21
+f 15 21 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 15 18 28
+f 15 28 29
+f 15 29 30
+f 15 30 22
+f 16 27 31
+f 16 31 32
+f 16 32 17
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 37
+f 19 37 20
+f 24 38 25
+f 25 38 39
+f 25 39 26
+f 26 39 40
+f 26 40 41
+f 26 41 42
+f 26 42 43
+f 26 43 44
+f 26 44 31
+f 26 31 27
+f 38 46 39
+f 39 46 40
+f 42 47 44
+f 42 44 43
+f 44 47 45
+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_56.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..291254bd200ca35541e7cc26ada583d493c254d3
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_56.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01980473 0.01559035 0.01193826
+v 0.01971345 0.01573797 0.01193826
+v 0.01903081 0.01514305 0.01342187
+v 0.01903081 0.01461862 0.01342186
+v 0.01923719 0.01430174 0.01284610
+v 0.01959262 0.01443050 0.01193825
+v 0.01932671 0.01634786 0.01193826
+v 0.01912959 0.01627348 0.01229401
+v 0.01823130 0.01519521 0.01387248
+v 0.01849193 0.01433449 0.01387247
+v 0.01849722 0.01430674 0.01387247
+v 0.01852588 0.01430174 0.01384312
+v 0.01842049 0.01399097 0.01387247
+v 0.01893511 0.01383281 0.01330845
+v 0.01905374 0.01361804 0.01253446
+v 0.01912694 0.01355423 0.01193825
+v 0.01917016 0.01634786 0.01193826
+v 0.01530010 0.01635673 0.01293509
+v 0.01561407 0.01635673 0.01309073
+v 0.01560702 0.01635673 0.01342338
+v 0.01548575 0.01635673 0.01364377
+v 0.01534243 0.01635673 0.01378198
+v 0.01530010 0.01635673 0.01382250
+v 0.01820573 0.01519577 0.01387248
+v 0.01819999 0.01323291 0.01387247
+v 0.01812062 0.01306476 0.01387247
+v 0.01760379 0.01210247 0.01387246
+v 0.01795393 0.01239937 0.01359018
+v 0.01873006 0.01323013 0.01284610
+v 0.01810827 0.01227673 0.01273307
+v 0.01868199 0.01301371 0.01193825
+v 0.01878694 0.01630291 0.01193826
+v 0.01798171 0.01553153 0.01193826
+v 0.01747326 0.01488889 0.01193825
+v 0.01721219 0.01443827 0.01193825
+v 0.01702037 0.01403371 0.01193825
+v 0.01655557 0.01293380 0.01193825
+v 0.01652250 0.01228950 0.01196949
+v 0.01542798 0.01132110 0.01321718
+v 0.01530010 0.01119735 0.01340235
+v 0.01530010 0.01430063 0.01387247
+v 0.01668654 0.01495548 0.01387247
+v 0.01723424 0.01516913 0.01387248
+v 0.01692952 0.01119013 0.01387246
+v 0.01691630 0.01125839 0.01294795
+v 0.01809637 0.01235554 0.01193825
+v 0.01658027 0.01228451 0.01193825
+v 0.01607887 0.01119957 0.01296726
+v 0.01530010 0.01080666 0.01387246
+v 0.01608681 0.01068790 0.01387246
+v 0.01725497 0.01203478 0.01193824
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 31
+f 1 31 46
+f 1 46 51
+f 1 51 47
+f 1 47 37
+f 1 37 36
+f 1 36 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 17
+f 1 17 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 3 8 9
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 8
+f 8 23 9
+f 9 24 43
+f 9 43 42
+f 9 42 41
+f 9 41 49
+f 9 49 50
+f 9 50 44
+f 9 44 27
+f 9 27 26
+f 9 26 25
+f 9 25 13
+f 9 13 11
+f 9 11 10
+f 9 23 24
+f 11 13 12
+f 13 25 14
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 15
+f 15 29 30
+f 15 30 16
+f 16 30 31
+f 17 32 18
+f 18 23 22
+f 18 22 21
+f 18 21 20
+f 18 20 19
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 36
+f 18 36 37
+f 18 37 38
+f 18 38 39
+f 18 39 40
+f 18 40 49
+f 18 49 41
+f 18 41 23
+f 23 41 42
+f 23 42 43
+f 23 43 24
+f 27 44 28
+f 28 44 30
+f 28 30 29
+f 30 44 45
+f 30 45 46
+f 30 46 31
+f 37 47 38
+f 38 47 39
+f 39 47 48
+f 39 48 40
+f 40 48 49
+f 44 50 45
+f 45 50 48
+f 45 48 51
+f 45 51 46
+f 47 51 48
+f 48 50 49
+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_57.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78ce454d856d5eb1768e15eed467086138a3c6ce
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_57.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.00763622 0.00732995 0.01617245
+v 0.00763622 0.00732996 0.01387245
+v 0.00763622 0.01106671 0.01617246
+v 0.00343813 0.00732995 0.01617245
+v 0.00343813 0.00732996 0.01387245
+v 0.00763622 0.01540094 0.01387248
+v 0.00763622 0.01160522 0.01589532
+v 0.00746075 0.01130819 0.01617246
+v 0.00343813 0.01512884 0.01617248
+v 0.00343813 0.01891208 0.01387249
+v 0.00568799 0.01783845 0.01387249
+v 0.00763622 0.01465608 0.01431441
+v 0.00763622 0.01442481 0.01444274
+v 0.00461299 0.01512884 0.01617248
+v 0.00343813 0.01686797 0.01564499
+v 0.00343813 0.01838604 0.01436216
+v 0.00348128 0.01889735 0.01387249
+v 0.00508063 0.01830441 0.01387249
+v 0.00356100 0.01681015 0.01564499
+v 0.00349156 0.01684303 0.01564499
+v 0.00427315 0.01862299 0.01387249
+f 1 2 6
+f 1 6 12
+f 1 12 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 17
+f 2 17 21
+f 2 21 18
+f 2 18 11
+f 2 11 6
+f 3 7 8
+f 4 9 15
+f 4 15 16
+f 4 16 10
+f 4 10 5
+f 6 11 12
+f 7 13 8
+f 8 13 14
+f 9 14 15
+f 10 16 17
+f 11 18 19
+f 11 19 14
+f 11 14 12
+f 12 14 13
+f 14 19 20
+f 14 20 15
+f 15 20 18
+f 15 18 16
+f 16 21 17
+f 16 18 21
+f 18 20 19
+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_58.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..812267043b933b7499a97b25276335ab45be7fe0
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_58.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.01908946 -0.02087886 0.02116054
+v 0.01905438 -0.01968388 0.02091936
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+v 0.01260792 -0.01269615 0.02116057
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+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_59.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9a36b38ab37569ecccf3a54e4fe83b2bcdc64e6
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_59.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.00884006 -0.00244670 0.02147397
+v -0.00839656 -0.00244669 0.02011490
+v -0.00988748 -0.00565032 0.02147396
+v -0.00416122 -0.00244670 0.02147397
+v -0.00925876 -0.00754700 0.02011488
+v -0.00988748 -0.00931832 0.02026575
+v -0.00988748 -0.00905854 0.02029103
+v -0.00988748 -0.00797831 0.02043605
+v -0.00988748 -0.00671552 0.02085809
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+v -0.00988748 -0.01128424 0.02147394
+v -0.00169854 -0.00744571 0.02147395
+v 0.00343813 -0.00442362 0.02032071
+v 0.00343813 -0.00425411 0.02030275
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+v 0.00343813 -0.00284087 0.02011490
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+v -0.00935529 -0.00914882 0.02011488
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+v -0.00149375 -0.00797831 0.02147395
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+v -0.00901093 -0.01034641 0.02011487
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+v -0.00563257 -0.01269347 0.02091473
+v -0.00564561 -0.01269347 0.02091939
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+f 40 45 46
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+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_6.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fea1465b75e0aac4cb1e6e63f44e32bc472efc37
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_6.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v 0.01501789 0.01159895 0.02116066
+v 0.01520508 0.01159490 0.02165019
+v 0.01583450 0.01159490 0.02118322
+v 0.01576396 0.01159490 0.02116066
+v 0.01464485 0.01147401 0.02116066
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+v 0.01648833 0.01155271 0.02272658
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+v 0.01585078 0.01155190 0.02116066
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+v 0.01659549 0.01141479 0.02152162
+v 0.01632826 0.01116085 0.02116066
+v 0.01378890 0.01094423 0.02116066
+v 0.00669579 0.00530968 0.02116064
+v 0.00761956 0.00544030 0.02234026
+v 0.00838191 0.00574049 0.02293795
+v 0.00944948 0.00581755 0.02401681
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+v 0.01804830 0.01085416 0.02431784
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+v 0.01683966 0.01062944 0.02127594
+v 0.01664026 0.01071138 0.02116066
+v 0.00602704 0.00476448 0.02116064
+v 0.00622644 0.00453651 0.02162451
+v 0.00729807 0.00465496 0.02275128
+v 0.00944948 0.00530643 0.02401681
+v 0.01018877 0.00519771 0.02431782
+v 0.01042344 0.00619400 0.02431782
+v 0.01923930 0.00966235 0.02431784
+v 0.01901684 0.01046636 0.02364073
+v 0.01901684 0.01002744 0.02364073
+v 0.01797912 0.00970049 0.02239621
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+v 0.01671079 0.00968994 0.02116066
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+v 0.00796954 0.00331062 0.02183867
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+v 0.01767662 0.00802431 0.02395872
+v 0.01742702 0.00824661 0.02318426
+v 0.01460958 0.00660048 0.02227690
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+v 0.01725611 0.00760811 0.02431783
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+v 0.01621432 0.00697935 0.02431783
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+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_60.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96a7f047cb26c9af258db745d3da68d327e95016
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_60.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.01144020 0.01569980 0.01549300
+v -0.01219747 0.01527411 0.01549300
+v -0.01127359 0.01569980 0.01729008
+v -0.00900992 0.01569980 0.01549300
+v -0.01510253 0.01129604 0.01549298
+v -0.01521966 0.01109846 0.01549298
+v -0.01540882 0.01066636 0.01549298
+v -0.01531174 0.01066636 0.01558131
+v -0.01529483 0.01066636 0.01559661
+v -0.01479311 0.01066636 0.01588938
+v -0.01356482 0.01066636 0.01653826
+v -0.01343328 0.01066636 0.01660617
+v -0.01246931 0.01066636 0.01707805
+v -0.01202084 0.01066636 0.01729006
+v -0.00900992 0.01569980 0.01729008
+v -0.00900992 0.01066636 0.01549298
+v -0.00900992 0.01066636 0.01729006
+f 1 2 3
+f 1 3 15
+f 1 15 4
+f 1 4 16
+f 1 16 7
+f 1 7 6
+f 1 6 5
+f 1 5 2
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+f 7 17 14
+f 7 14 13
+f 7 13 12
+f 7 12 11
+f 7 11 10
+f 7 10 9
+f 7 9 8
+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_61.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..015bfee5586de9d45d1a504c3944702742f70329
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_61.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.00307258 0.01066636 0.01743651
+v -0.00900992 0.01066636 0.01743651
+v -0.00307258 0.01066636 0.01549281
+v -0.00307258 0.01523019 0.01743653
+v -0.00900992 0.01066636 0.01549281
+v -0.00900992 0.01838799 0.01743654
+v -0.00307258 0.01865946 0.01549284
+v -0.00307258 0.01792785 0.01593614
+v -0.00369276 0.01868336 0.01573884
+v -0.00568117 0.01690769 0.01743653
+v -0.00900992 0.01819761 0.01549284
+v -0.00348119 0.01892581 0.01549284
+v -0.00450242 0.01926387 0.01549284
+v -0.00564571 0.01938766 0.01549284
+v -0.00576196 0.01936119 0.01549284
+v -0.00682563 0.01904447 0.01549284
+v -0.00307258 0.01848275 0.01560737
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 17
+f 1 17 8
+f 1 8 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 5 11
+f 3 11 16
+f 3 16 15
+f 3 15 14
+f 3 14 13
+f 3 13 12
+f 3 12 7
+f 4 8 9
+f 4 9 10
+f 6 10 9
+f 6 9 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 11
+f 7 12 17
+f 8 17 9
+f 9 17 12
+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_62.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac5d46b8d9e2404bdcf05023c0463832419f1f3f
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_62.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.00737686 -0.01777607 0.01855036
+v 0.00737686 -0.01770007 0.01804640
+v 0.00737686 -0.01760983 0.01889658
+v 0.00343852 -0.02075410 0.01710919
+v 0.00568432 -0.01940757 0.01710920
+v 0.00596731 -0.01920096 0.01710920
+v 0.00647584 -0.01877111 0.01710920
+v 0.00737686 -0.01745070 0.01749290
+v 0.00737686 -0.01733197 0.01926523
+v 0.00737686 -0.01732485 0.01927222
+v 0.00343852 -0.01741034 0.01859187
+v 0.00343852 0.00350720 0.01710928
+v 0.00676384 -0.01776893 0.01710920
+v 0.00737686 -0.01622767 0.01741053
+v 0.00704915 -0.01717286 0.01927222
+v 0.00343852 -0.01622768 0.01905772
+v 0.00737686 0.00272587 0.01927229
+v 0.00343852 0.00350719 0.01927229
+v 0.00737686 0.00350720 0.01710928
+v 0.00737686 -0.00626999 0.01710925
+v 0.00343852 -0.01540123 0.01927222
+v 0.00737686 0.00350719 0.01865843
+v 0.00722611 0.00350719 0.01927229
+f 1 2 8
+f 1 8 14
+f 1 14 20
+f 1 20 19
+f 1 19 22
+f 1 22 17
+f 1 17 10
+f 1 10 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 16
+f 4 16 21
+f 4 21 18
+f 4 18 12
+f 4 12 19
+f 4 19 20
+f 4 20 13
+f 4 13 7
+f 4 7 6
+f 4 6 5
+f 7 13 8
+f 8 13 14
+f 10 15 16
+f 10 16 11
+f 10 17 23
+f 10 23 18
+f 10 18 21
+f 10 21 15
+f 12 18 23
+f 12 23 22
+f 12 22 19
+f 13 20 14
+f 15 21 16
+f 17 22 23
+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_63.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f31521568f77c08eb009527343153ce61079519
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_63.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.00900992 0.01569980 0.01729008
+v -0.01127288 0.01569980 0.01729008
+v -0.00900992 0.01569980 0.01549300
+v -0.00900992 0.01807675 0.01729009
+v -0.01143969 0.01569980 0.01549300
+v -0.01286211 0.01778944 0.01729009
+v -0.00900992 0.01819832 0.01549301
+v -0.00988945 0.01905915 0.01729009
+v -0.01322909 0.01829318 0.01729009
+v -0.01311384 0.01849326 0.01677493
+v -0.01312337 0.01913056 0.01677036
+v -0.01310258 0.01980276 0.01678373
+v -0.01018494 0.01791374 0.01549301
+v -0.00916070 0.01820105 0.01549301
+v -0.01251896 0.02126927 0.01729010
+v -0.01022957 0.01942223 0.01729009
+v -0.01341453 0.01913056 0.01729009
+v -0.01343576 0.02023453 0.01729009
+v -0.01303542 0.02087620 0.01729010
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 16
+f 1 16 15
+f 1 15 19
+f 1 19 18
+f 1 18 17
+f 1 17 9
+f 1 9 6
+f 1 6 2
+f 2 6 5
+f 3 5 13
+f 3 13 14
+f 3 14 7
+f 4 7 8
+f 5 6 9
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 9 17 10
+f 10 17 18
+f 10 18 11
+f 11 18 12
+f 12 18 19
+f 12 19 15
+f 12 15 13
+f 13 15 14
+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_64.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82ce955eb013457d1ee1153be52e5e2006318e7c
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_64.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.01379035 -0.01461144 0.01927223
+v 0.00955333 -0.01461302 0.01927223
+v 0.00987274 -0.01461302 0.01915217
+v 0.01023214 -0.01461302 0.01900140
+v 0.01044430 -0.01461302 0.01890845
+v 0.01091095 -0.01461302 0.01866727
+v 0.01154318 -0.01461302 0.01832381
+v 0.01188141 -0.01461302 0.01810042
+v 0.01206958 -0.01461302 0.01795113
+v 0.01234006 -0.01461301 0.01737984
+v 0.01234006 -0.01461301 0.01710922
+v 0.01379035 -0.01399476 0.01857579
+v 0.01379035 -0.00944931 0.01927225
+v 0.00898507 -0.01461302 0.01927223
+v 0.01379035 -0.01387805 0.01847013
+v 0.01379035 -0.01390486 0.01848686
+v 0.01379035 -0.01394271 0.01851735
+v 0.00964130 -0.01461301 0.01710922
+v 0.01379035 -0.01089243 0.01710923
+v 0.01379035 -0.01259264 0.01777962
+v 0.01379035 -0.00428246 0.01774683
+v 0.01364829 -0.00235356 0.01927227
+v 0.00898507 -0.01461301 0.01733262
+v 0.00898507 0.00149793 0.01927229
+v 0.00898507 -0.00445751 0.01710925
+v 0.01379035 -0.00365315 0.01710926
+v 0.01379035 -0.00367208 0.01725346
+v 0.01379035 -0.00366104 0.01720497
+v 0.01239369 -0.00057134 0.01927228
+v 0.00975232 0.00121561 0.01927228
+v 0.00898507 0.00144431 0.01710928
+v 0.01206911 -0.00032530 0.01912469
+v 0.01182967 0.00001537 0.01927228
+v 0.01011642 0.00107524 0.01927228
+v 0.01068609 0.00081658 0.01927228
+v 0.01098574 0.00062574 0.01927228
+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 10
+f 1 10 11
+f 1 11 12
+f 1 12 17
+f 1 17 16
+f 1 16 15
+f 1 15 20
+f 1 20 19
+f 1 19 26
+f 1 26 28
+f 1 28 27
+f 1 27 21
+f 1 21 13
+f 1 13 22
+f 1 22 29
+f 1 29 33
+f 1 33 36
+f 1 36 35
+f 1 35 34
+f 1 34 30
+f 1 30 24
+f 1 24 14
+f 1 14 2
+f 2 14 23
+f 2 23 18
+f 2 18 11
+f 2 11 10
+f 2 10 9
+f 2 9 8
+f 2 8 7
+f 2 7 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 11 15 16
+f 11 16 17
+f 11 17 12
+f 11 18 25
+f 11 25 31
+f 11 31 26
+f 11 26 19
+f 11 19 20
+f 11 20 15
+f 13 21 22
+f 14 24 31
+f 14 31 25
+f 14 25 23
+f 18 23 25
+f 21 27 22
+f 22 27 28
+f 22 28 26
+f 22 26 29
+f 24 30 31
+f 26 31 32
+f 26 32 29
+f 29 32 33
+f 30 34 31
+f 31 34 35
+f 31 35 36
+f 31 36 33
+f 31 33 32
+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_65.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a49aadbf9c7a893ceffac2904d09e525eb0d9bed
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_65.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.01247875 -0.00244668 0.01812918
+v -0.01319928 -0.00244668 0.01778632
+v -0.01247875 -0.00244668 0.01776331
+v -0.01247875 0.00255986 0.01990023
+v -0.01482929 0.00265411 0.01990023
+v -0.01540760 0.00282802 0.01990023
+v -0.01324717 -0.00244668 0.01776331
+v -0.01247875 0.00901495 0.01776335
+v -0.01247875 0.00305355 0.01990023
+v -0.01540760 0.00581041 0.01990024
+v -0.01540760 0.00307824 0.01961468
+v -0.01333289 -0.00208539 0.01776331
+v -0.01540760 0.00384010 0.01909714
+v -0.01540760 0.00411276 0.01895155
+v -0.01274225 0.00861887 0.01776335
+v -0.01540760 0.00598208 0.01886223
+v -0.01540760 0.00592710 0.01969419
+v -0.01540760 0.00584855 0.01983309
+v -0.01466729 0.00565669 0.01990024
+v -0.01438516 0.00556131 0.01990024
+v -0.01311441 0.00479608 0.01990024
+v -0.01255502 0.00398036 0.01990023
+v -0.01248822 0.00386479 0.01990023
+v -0.01247875 0.00852238 0.01795413
+v -0.01338307 -0.00171848 0.01776331
+v -0.01540760 0.00461431 0.01873357
+v -0.01540760 0.00498571 0.01864467
+v -0.01280361 0.00852350 0.01776335
+v -0.01321047 0.00734311 0.01776335
+v -0.01345532 -0.00095662 0.01776332
+v -0.01358664 0.00617843 0.01776334
+v -0.01376527 0.00498571 0.01776334
+v -0.01346765 -0.00081861 0.01776332
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 24
+f 1 24 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 7 12
+f 3 12 25
+f 3 25 30
+f 3 30 33
+f 3 33 32
+f 3 32 31
+f 3 31 29
+f 3 29 28
+f 3 28 15
+f 3 15 8
+f 4 9 23
+f 4 23 22
+f 4 22 21
+f 4 21 20
+f 4 20 19
+f 4 19 10
+f 4 10 6
+f 4 6 5
+f 6 10 18
+f 6 18 17
+f 6 17 16
+f 6 16 27
+f 6 27 26
+f 6 26 14
+f 6 14 13
+f 6 13 11
+f 6 11 7
+f 7 11 13
+f 7 13 14
+f 7 14 12
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 10
+f 8 10 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 24
+f 9 24 23
+f 12 14 26
+f 12 26 27
+f 12 27 25
+f 15 28 16
+f 16 28 29
+f 16 29 27
+f 25 27 30
+f 27 29 31
+f 27 31 32
+f 27 32 33
+f 27 33 30
+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_66.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..511fc4288ab06c4cefc5817f971d06253e15aca3
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_66.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01094930 0.01327820 0.01973669
+v -0.01037111 0.01327821 0.01729025
+v -0.01202051 0.01066636 0.01729024
+v -0.00915726 0.01066635 0.01973668
+v -0.00900992 0.01327820 0.01973669
+v -0.00900992 0.01327821 0.01729025
+v -0.00900992 0.01066636 0.01729024
+v -0.00900992 0.01066635 0.01973668
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 8 7
+f 5 7 6
+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_67.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44f27bf5f4480e52f3ed5802de5014d85a914133
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_67.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00343840 -0.01667561 0.01628403
+v 0.00343840 -0.01667561 0.01728403
+v 0.00343840 -0.01243500 0.01628403
+v 0.00343840 -0.01243500 0.01728403
+v 0.00619285 -0.01667561 0.01628403
+v 0.00619285 -0.01667561 0.01728403
+v 0.00619285 -0.01243500 0.01628403
+v 0.00619285 -0.01243500 0.01728403
+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/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_68.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b127bbbb534a87b2fdef0059135f493756d61306
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_68.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00343813 -0.02077494 0.01906538
+v 0.00343813 -0.02077494 0.02006538
+v 0.00343813 -0.01387315 0.01906538
+v 0.00343813 -0.01387315 0.02006538
+v 0.00983494 -0.02077494 0.01906538
+v 0.00983494 -0.02077494 0.02006538
+v 0.00983494 -0.01387315 0.01906538
+v 0.00983494 -0.01387315 0.02006538
+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/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_69.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f38d87a2e6828cfd6c073ffa49c6a8834881f1df
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_69.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.00343813 0.01066636 0.01682560
+v -0.00117946 0.01066636 0.01682560
+v 0.00343813 0.01066636 0.01549281
+v 0.00343813 0.01939558 0.01682563
+v -0.00117946 0.01066636 0.01549281
+v -0.00117946 0.01601788 0.01682562
+v 0.00343813 0.01686807 0.01549283
+v 0.00343813 0.01939558 0.01623980
+v 0.00196146 0.01939558 0.01682563
+v -0.00117946 0.01803356 0.01549284
+v 0.00232396 0.01783191 0.01549284
+v 0.00007166 0.01799511 0.01549284
+v 0.00246725 0.01939558 0.01656937
+v 0.00203062 0.01939558 0.01678661
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 12
+f 3 12 11
+f 3 11 7
+f 4 8 13
+f 4 13 14
+f 4 14 9
+f 6 9 10
+f 7 11 8
+f 8 11 12
+f 8 12 10
+f 8 10 13
+f 9 14 10
+f 10 14 13
+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_7.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b64f89f4941798d1e5699e585f583259cf527255
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_7.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.01239304 -0.01851365 0.02292173
+v -0.01128442 -0.01855493 0.02292173
+v -0.01247869 -0.01855313 0.02292173
+v -0.01309850 -0.02031538 0.02378019
+v -0.01336152 -0.02589193 0.02643924
+v -0.01285883 -0.02589193 0.02643924
+v -0.01126851 -0.01858095 0.02292173
+v -0.01316620 -0.01955359 0.02292173
+v -0.01321156 -0.01985956 0.02310505
+v -0.01351588 -0.02094526 0.02318459
+v -0.01362860 -0.02556352 0.02559290
+v -0.01334324 -0.02683765 0.02645481
+v -0.01272343 -0.02683765 0.02645481
+v -0.01173735 -0.02705747 0.02526984
+v -0.01077801 -0.02740113 0.02378985
+v -0.01039143 -0.02691210 0.02292170
+v -0.01342313 -0.02056391 0.02292172
+v -0.01370612 -0.02212338 0.02318459
+v -0.01384931 -0.02565863 0.02434568
+v -0.01347154 -0.02694172 0.02544762
+v -0.01314792 -0.02747740 0.02622515
+v -0.01282430 -0.02747740 0.02622515
+v -0.01173735 -0.02761737 0.02526984
+v -0.01077801 -0.02744599 0.02378985
+v -0.01049468 -0.02761467 0.02292170
+v -0.01362183 -0.02181471 0.02292172
+v -0.01375893 -0.02330150 0.02318458
+v -0.01334561 -0.02564337 0.02315656
+v -0.01319599 -0.02640426 0.02352525
+v -0.01339300 -0.02664383 0.02434567
+v -0.01366686 -0.02448051 0.02318458
+v -0.01304874 -0.02740471 0.02502151
+v -0.01314792 -0.02747739 0.02579557
+v -0.01232670 -0.02767928 0.02434567
+v -0.01135890 -0.02763980 0.02424467
+v -0.01059014 -0.02760122 0.02318457
+v -0.01145368 -0.02765325 0.02310329
+v -0.01138801 -0.02764428 0.02292170
+v -0.01366821 -0.02299911 0.02292172
+v -0.01326504 -0.02549352 0.02292171
+v -0.01314115 -0.02586499 0.02292170
+v -0.01277217 -0.02645988 0.02292170
+v -0.01254910 -0.02689775 0.02309360
+v -0.01289844 -0.02723244 0.02434567
+v -0.01357749 -0.02415748 0.02292171
+v -0.01352299 -0.02448050 0.02292171
+v -0.01210565 -0.02757161 0.02343602
+v -0.01163546 -0.02754558 0.02292170
+v -0.01248444 -0.02683853 0.02292170
+v -0.01228844 -0.02709425 0.02292170
+f 1 2 7
+f 1 7 16
+f 1 16 25
+f 1 25 38
+f 1 38 48
+f 1 48 50
+f 1 50 49
+f 1 49 42
+f 1 42 41
+f 1 41 40
+f 1 40 46
+f 1 46 45
+f 1 45 39
+f 1 39 26
+f 1 26 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 8 17 10
+f 8 10 9
+f 10 17 18
+f 10 18 11
+f 11 19 12
+f 11 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 14 24 15
+f 15 24 16
+f 16 24 25
+f 17 26 18
+f 18 26 27
+f 18 27 19
+f 19 28 29
+f 19 29 30
+f 19 30 20
+f 19 27 31
+f 19 31 28
+f 20 32 33
+f 20 33 21
+f 20 30 32
+f 21 33 34
+f 21 34 23
+f 21 23 22
+f 23 34 35
+f 23 35 25
+f 23 25 36
+f 23 36 24
+f 24 36 25
+f 25 35 37
+f 25 37 38
+f 26 39 27
+f 27 39 31
+f 28 40 41
+f 28 41 29
+f 28 31 40
+f 29 41 42
+f 29 42 43
+f 29 43 44
+f 29 44 30
+f 30 44 32
+f 31 39 45
+f 31 45 46
+f 31 46 40
+f 32 44 47
+f 32 47 34
+f 32 34 33
+f 34 37 35
+f 34 47 38
+f 34 38 37
+f 38 47 48
+f 42 49 43
+f 43 49 50
+f 43 50 44
+f 44 50 47
+f 47 50 48
+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_70.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c736e4521cb3694841dada28bdae5de2f7da476
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_70.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.00763663 0.01540096 0.01387248
+v 0.00763663 0.01251688 0.01758848
+v 0.00900882 0.01541183 0.01758849
+v 0.00912297 0.01541183 0.01744991
+v 0.00974173 0.01541183 0.01673806
+v 0.01073703 0.01541183 0.01560136
+v 0.01119153 0.01541183 0.01510739
+v 0.00842730 0.01479300 0.01387247
+v 0.00763663 0.00956355 0.01387246
+v 0.00763663 0.00956354 0.01758847
+v 0.01119153 0.01541183 0.01758849
+v 0.00985518 0.01274473 0.01387247
+v 0.00955868 0.01324735 0.01387247
+v 0.00920440 0.01379062 0.01387247
+v 0.00896950 0.01410776 0.01387247
+v 0.01119153 0.01088020 0.01649360
+v 0.01118596 0.00956355 0.01387246
+v 0.01038728 0.01161068 0.01387246
+v 0.01027592 0.01188889 0.01387246
+v 0.01021432 0.01202743 0.01387246
+v 0.01051117 0.00956354 0.01758847
+v 0.01119153 0.00956525 0.01758847
+v 0.01119153 0.01020355 0.01671439
+v 0.01119153 0.00956354 0.01738005
+v 0.01119153 0.00956354 0.01757756
+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 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 9
+f 1 9 10
+f 1 10 2
+f 2 10 21
+f 2 21 22
+f 2 22 11
+f 2 11 3
+f 3 11 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 7 11 22
+f 7 22 25
+f 7 25 24
+f 7 24 23
+f 7 23 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 12
+f 9 17 24
+f 9 24 25
+f 9 25 21
+f 9 21 10
+f 16 23 17
+f 17 23 24
+f 21 25 22
+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_71.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f86f0554a470ec2d58fc728f33ce29d878ed959d
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_71.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.01315373 0.00380777 0.01387243
+v 0.01286588 0.00380777 0.01415130
+v 0.01285400 0.00350721 0.01415955
+v 0.01314995 0.00350721 0.01387243
+v 0.01257642 0.00596685 0.01387244
+v 0.01217679 0.00471361 0.01454828
+v 0.01229452 0.00380777 0.01462992
+v 0.01242791 0.00350721 0.01451617
+v 0.00763663 0.00350721 0.01387243
+v 0.01226373 0.00693969 0.01387245
+v 0.01205204 0.00549971 0.01445586
+v 0.00923894 0.00739556 0.01621508
+v 0.00950950 0.00641739 0.01621507
+v 0.00957701 0.00616544 0.01621507
+v 0.00979789 0.00498690 0.01621507
+v 0.01002039 0.00375085 0.01621506
+v 0.01119715 0.00350720 0.01542616
+v 0.01210226 0.00350721 0.01477027
+v 0.00763663 0.00350720 0.01621506
+v 0.00763663 0.00956355 0.01387246
+v 0.01193755 0.00616545 0.01436757
+v 0.01212224 0.00734340 0.01387245
+v 0.01173071 0.00734340 0.01419558
+v 0.01087582 0.00894760 0.01442514
+v 0.00862707 0.00908927 0.01621508
+v 0.01004037 0.00362221 0.01621506
+v 0.01065008 0.00350720 0.01580547
+v 0.01005765 0.00350720 0.01621506
+v 0.00763663 0.00956354 0.01621509
+v 0.01118580 0.00956355 0.01387246
+v 0.01162540 0.00855811 0.01387245
+v 0.01074999 0.00956355 0.01430154
+v 0.01028339 0.00956355 0.01470081
+v 0.00881069 0.00956354 0.01591971
+v 0.00843157 0.00956354 0.01621509
+v 0.01108320 0.00956355 0.01397360
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 20
+f 1 20 30
+f 1 30 31
+f 1 31 22
+f 1 22 10
+f 1 10 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 6
+f 3 8 18
+f 3 18 17
+f 3 17 27
+f 3 27 28
+f 3 28 19
+f 3 19 9
+f 3 9 4
+f 3 7 8
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 7 14 15
+f 9 19 29
+f 9 29 20
+f 10 21 11
+f 10 22 21
+f 11 21 12
+f 12 21 23
+f 12 23 24
+f 12 24 25
+f 12 25 35
+f 12 35 29
+f 12 29 19
+f 12 19 28
+f 12 28 26
+f 12 26 16
+f 12 16 15
+f 12 15 14
+f 12 14 13
+f 16 26 27
+f 16 27 17
+f 20 29 35
+f 20 35 34
+f 20 34 33
+f 20 33 32
+f 20 32 36
+f 20 36 30
+f 21 22 23
+f 22 31 24
+f 22 24 23
+f 24 31 32
+f 24 32 33
+f 24 33 34
+f 24 34 25
+f 25 34 35
+f 26 28 27
+f 30 36 31
+f 31 36 32
+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_72.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..500d925c2ff3f01122c7baa6e00085c51ecd8564
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_72.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.00644325 0.01717995 0.01743653
+v -0.00644325 0.01939557 0.01875796
+v -0.00307199 0.01939557 0.01854146
+v -0.00568063 0.01690823 0.01743653
+v -0.00644325 0.01066636 0.01743651
+v -0.00644325 0.01939556 0.02085876
+v -0.00307199 0.01939556 0.02098919
+v -0.00307199 0.01523006 0.01743653
+v -0.00307199 0.01066636 0.01743651
+v -0.00644325 0.01066634 0.02255647
+v -0.00564565 0.01939556 0.02125807
+v -0.00644325 0.01605973 0.02254526
+v -0.00335909 0.01939556 0.02107311
+v -0.00307199 0.01912982 0.02105708
+v -0.00307199 0.01066634 0.02196151
+v -0.00644325 0.01323743 0.02289539
+v -0.00477775 0.01066634 0.02238114
+v -0.00390029 0.01142682 0.02262008
+v -0.00450253 0.01939556 0.02122546
+v -0.00644325 0.01543170 0.02272541
+v -0.00307199 0.01795151 0.02120461
+v -0.00566875 0.01436105 0.02272754
+v -0.00502228 0.01393126 0.02262918
+v -0.00485002 0.01323743 0.02269814
+v -0.00390029 0.01156182 0.02262008
+v -0.00343202 0.01066634 0.02215395
+v -0.00307199 0.01093721 0.02202886
+v -0.00564565 0.01323743 0.02285155
+v -0.00644325 0.01439950 0.02289699
+v -0.00307199 0.01202409 0.02193478
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 10
+f 1 10 16
+f 1 16 29
+f 1 29 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 6 11
+f 2 11 19
+f 2 19 13
+f 2 13 7
+f 2 7 3
+f 3 7 14
+f 3 14 21
+f 3 21 30
+f 3 30 27
+f 3 27 15
+f 3 15 9
+f 3 9 8
+f 3 8 4
+f 5 9 15
+f 5 15 26
+f 5 26 17
+f 5 17 10
+f 6 12 11
+f 7 13 14
+f 10 17 18
+f 10 18 16
+f 11 12 19
+f 12 13 19
+f 12 20 13
+f 13 20 14
+f 14 20 22
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 21
+f 15 27 18
+f 15 18 26
+f 16 28 29
+f 16 18 28
+f 17 26 18
+f 18 27 25
+f 18 25 28
+f 20 29 22
+f 21 25 30
+f 22 29 24
+f 22 24 23
+f 24 29 28
+f 24 28 25
+f 25 27 30
+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_73.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee2723d0db69d4f3d264dc43f7837219c6ab87e8
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_73.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.00763622 0.00732994 0.01991364
+v 0.00343813 0.00732994 0.02004834
+v 0.00763622 0.00732995 0.01617245
+v 0.00763622 0.01205772 0.01972052
+v 0.00343813 0.01088036 0.01994590
+v 0.00343813 0.00732995 0.01617245
+v 0.00763622 0.01106591 0.01617246
+v 0.00763622 0.01278460 0.01963554
+v 0.00343813 0.01323661 0.01981425
+v 0.00343813 0.01205772 0.01989430
+v 0.00343813 0.01512942 0.01617248
+v 0.00746114 0.01130718 0.01617246
+v 0.00651056 0.01512941 0.01785412
+v 0.00763622 0.01439260 0.01860614
+v 0.00763622 0.01323661 0.01956724
+v 0.00343813 0.01448728 0.01962416
+v 0.00343813 0.01512941 0.01950654
+v 0.00461269 0.01512942 0.01617248
+v 0.00676331 0.01512941 0.01855000
+v 0.00763622 0.01438420 0.01926066
+v 0.00663221 0.01512941 0.01919996
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 14
+f 1 14 20
+f 1 20 15
+f 1 15 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 9
+f 2 9 16
+f 2 16 17
+f 2 17 11
+f 2 11 6
+f 3 6 11
+f 3 11 18
+f 3 18 12
+f 3 12 7
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 7 12 13
+f 7 13 14
+f 8 15 9
+f 9 15 16
+f 11 17 21
+f 11 21 19
+f 11 19 13
+f 11 13 18
+f 12 18 13
+f 13 19 14
+f 14 19 20
+f 15 20 21
+f 15 21 17
+f 15 17 16
+f 19 21 20
+
diff --git a/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_74.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5a0c98cfd86300469fc4dc9c6e52813c605ee5c
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_74.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01651163 -0.01400386 0.02216964
+v -0.01651163 -0.01400386 0.02316964
+v -0.01651163 -0.01300386 0.02216964
+v -0.01651163 -0.01300386 0.02316964
+v -0.01200317 -0.01400386 0.02216964
+v -0.01200317 -0.01400386 0.02316964
+v -0.01200317 -0.01300386 0.02216964
+v -0.01200317 -0.01300386 0.02316964
+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/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_75.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3023a76c900d510b5b9bec40297a43f538132ec
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_75.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01344239 0.01080614 0.01311952
+v 0.01344239 0.01080614 0.01411953
+v 0.01344239 0.01430849 0.01311952
+v 0.01344239 0.01430849 0.01411953
+v 0.01530009 0.01080614 0.01311952
+v 0.01530009 0.01080614 0.01411953
+v 0.01530009 0.01430849 0.01311952
+v 0.01530009 0.01430849 0.01411953
+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/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_8.obj b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd9980270b6ab95274c763180e81c9d3fdbe066c
--- /dev/null
+++ b/dataset/food/fruits/3452299858935fcea7e3efb69ad2550c/mjcf/mesh/strawberry1_collision_8.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.00793273 0.00961109 0.02292150
+v -0.01122763 0.00907830 0.02566595
+v -0.01037854 0.00873749 0.02566595
+v -0.00733849 0.00935307 0.02292149
+v -0.01479187 0.00870668 0.02292149
+v -0.01479187 0.00884318 0.02310580
+v -0.01549482 0.00913466 0.02371138
+v -0.01589943 0.00919806 0.02434033
+v -0.01593567 0.00933544 0.02550690
+v -0.01593567 0.00933192 0.02566595
+v -0.01494889 0.00935482 0.02566595
+v -0.01479187 0.00935394 0.02566595
+v -0.01380509 0.00932576 0.02566595
+v -0.01266613 0.00925090 0.02566595
+v -0.01250549 0.00924034 0.02566595
+v -0.01165399 0.00915139 0.02566595
+v -0.01022032 0.00866000 0.02566595
+v -0.00704982 0.00904132 0.02292149
+v -0.00941712 0.00823289 0.02566595
+v -0.00930118 0.00815627 0.02566595
+v -0.00840498 0.00805060 0.02501765
+v -0.01585354 0.00843280 0.02292149
+v -0.01595862 0.00859395 0.02318801
+v -0.01625694 0.00905012 0.02395023
+v -0.01664344 0.00916108 0.02472399
+v -0.01689104 0.00920423 0.02550690
+v -0.01607698 0.00931695 0.02566595
+v -0.00712833 0.00734344 0.02403324
+v -0.00637103 0.00729062 0.02292149
+v -0.00915865 0.00739892 0.02566595
+v -0.00824193 0.00734344 0.02510255
+v -0.00767063 0.00734344 0.02461357
+v -0.01610114 0.00749228 0.02292149
+v -0.01679804 0.00826459 0.02343922
+v -0.01710120 0.00861068 0.02431320
+v -0.01746234 0.00899464 0.02550690
+v -0.01698042 0.00918926 0.02566595
+v -0.01690191 0.00920335 0.02566595
+v -0.00637103 0.00616427 0.02353485
+v -0.00594467 0.00616428 0.02292148
+v -0.00916228 0.00739452 0.02566595
+v -0.00825400 0.00657553 0.02506976
+v -0.00694232 0.00616427 0.02408267
+v -0.01610959 0.00727476 0.02292149
+v -0.01679804 0.00757945 0.02343922
+v -0.01780777 0.00817124 0.02467671
+v -0.01756621 0.00891890 0.02566595
+v -0.01747321 0.00900785 0.02566595
+v -0.01798894 0.00840549 0.02550690
+v -0.00568741 0.00498687 0.02292148
+v -0.00592173 0.00608414 0.02292148
+v -0.01026259 0.00707749 0.02566595
+v -0.00799553 0.00061451 0.02296794
+v -0.00783490 0.00061451 0.02292146
+v -0.00583597 0.00455184 0.02292148
+v -0.00571278 0.00479577 0.02292148
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