diff --git a/.gitattributes b/.gitattributes
index a9444b859da24c57e2e179ade3fae2fe28ed6545..6888a73f4562bc4b60c2c5aafe6798cecdb453c9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3523,3 +3523,6 @@ dataset/food/fruits/1dab1503595f5dd1b7bbf7d527332589/mesh/strawberry_004.glb fil
 dataset/food/fruits/1dab1503595f5dd1b7bbf7d527332589/strawberry_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/1d85d7846685503083bb4c515ebeee21/mesh/peach_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/1d85d7846685503083bb4c515ebeee21/peach_009.usd filter=lfs diff=lfs merge=lfs -text
+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
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/348fb32637095f4ead9a68b23bcd6110.urdf b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/348fb32637095f4ead9a68b23bcd6110.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5aa3e8899d7dfb3840b92e38d219df1eb09e5545
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/348fb32637095f4ead9a68b23bcd6110.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="strawberry">
+   <link name="strawberry">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/strawberry.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/strawberry_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.075000</scale>
+         <version>v0.1.7</version>
+         <category>strawberry</category>
+         <description>realistic red strawberry with green leafy top</description>
+         <min_height>0.06</min_height>
+         <max_height>0.09</max_height>
+         <real_height>0.075</real_height>
+         <min_mass>0.015</min_mass>
+         <max_mass>0.025</max_mass>
+         <generate_time>20260120044255</generate_time>
+         <gs_model>mesh/strawberry_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.678274631500244</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>12</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/348fb32637095f4ead9a68b23bcd6110.usd b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/348fb32637095f4ead9a68b23bcd6110.usd
new file mode 100644
index 0000000000000000000000000000000000000000..6e60a34efae598bafdbedb21d99f583820b4665d
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/348fb32637095f4ead9a68b23bcd6110.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1ed92e59c44671f8780a6df97947aa9de390afa2a5030119c66beb8913b9cee
+size 833771
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mesh/material.mtl b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/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/348fb32637095f4ead9a68b23bcd6110/mesh/material_0.png b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2cd3ed87a897d2adaeedf8fe2ad5c65f56c7fc1
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:224a91041f370b36afab63eae3b02598c444dad47ec0cdad6f7c587e2385e1af
+size 3221795
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mesh/strawberry.glb b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mesh/strawberry.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d0380f7cebb0d72f29935d65037d0bb6a5010900
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mesh/strawberry.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c178bc88f12cc3369d41d948291ac7c68cd984193004ca98613f21633cd0a919
+size 3834640
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mesh/strawberry.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mesh/strawberry.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f92105323b63723549f6b46328cc522d6794711f
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mesh/strawberry.obj
@@ -0,0 +1,56742 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mesh/strawberry_collision.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mesh/strawberry_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c46866a897601cd71a7e47bc87f1b43291b45c2a
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mesh/strawberry_collision.obj
@@ -0,0 +1,24885 @@
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/348fb32637095f4ead9a68b23bcd6110.xml b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/348fb32637095f4ead9a68b23bcd6110.xml
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+  </worldbody>
+</mujoco>
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/material_0.png b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2cd3ed87a897d2adaeedf8fe2ad5c65f56c7fc1
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:224a91041f370b36afab63eae3b02598c444dad47ec0cdad6f7c587e2385e1af
+size 3221795
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5645741ff69a660f07ce5ad62aefae5229368534
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry.obj
@@ -0,0 +1,56742 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c82985b3ddea562b25c6083273eb7b190a9492b
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision.obj
@@ -0,0 +1,24885 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_0.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13952159b1a4888a89f406425f4d027e7f722831
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_0.obj
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_1.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3606ebf2af2024b2597caf2e3d2437cf57a9827
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_1.obj
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_10.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07e659552f3ff47e9d6ffbd8f45898ad1a9e0683
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_10.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_11.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..678e97603cd85035f6f8e4ba98f73dbf94fe7f4a
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_11.obj
@@ -0,0 +1,637 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_12.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05ec617fcadc4b5fba80894af97ed7fa3266f7ec
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_12.obj
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_13.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fffbe05e5a0c43e70d55a643c2db017264c8c779
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_13.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_14.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18a1959487862169b4f9745b40499d9f20cef130
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_14.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_15.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e5988bc8a4e7456341ffca5359cba35d9352c89
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_15.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_16.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e83f8d00ba856ea5d338381e2df3b54ae6b46a5
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_16.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_17.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bd7d645d443c411c4de282cc407fb14e58f41de
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_17.obj
@@ -0,0 +1,223 @@
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_18.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10876e5240e0e0aada63d91571a7e1ec9e5cd8f7
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_18.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.00872571 -0.01372999 0.02281655
+v -0.00872571 -0.01372999 0.02196368
+v -0.00872571 -0.01331259 0.02291312
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+v -0.00872571 -0.00320114 0.02347204
+v -0.01352929 -0.00320114 0.02347204
+v -0.01352929 -0.01062369 0.02196369
+v -0.01316300 -0.01142964 0.02196369
+f 1 2 6
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+f 8 14 9
+f 9 14 15
+f 9 15 10
+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_19.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c3789f5399c92a64a2ee75775fb4985a43ce30a
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_19.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_2.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..894116ebb5b3923aa754768fcc495057ffd48569
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_2.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.00434079 -0.01727435 0.02593227
+v -0.00434079 -0.01727435 0.02721126
+v 0.00558714 -0.01727435 0.02593227
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+v -0.00163918 -0.02387040 0.02859120
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_20.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78261966b53e01dd1f18e2f6c91431727a0a8edc
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_20.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.01143595 -0.02232376 0.02074836
+v -0.00900773 -0.02231825 0.01805807
+v -0.00900773 -0.02230464 0.01808862
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_21.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b77679fa79a917034a55b075525da4c601ba6954
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_21.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_22.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d811404e4c010582fe2262c20765b5792a7266ba
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_22.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_23.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6bf16f5eebd8b7f4f2c72e98f0006288efde9e8
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_23.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_24.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de1e7cc5e8d983ce9894b36668ace090082a4a2c
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_24.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_25.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef35adf5054dca1e136258286642c6491be16fe6
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_25.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_26.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12d1f9b7d59c3626eb274ac17b7f50b16aaddda7
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_26.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_27.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b19f93cd2be7441eab86308a906e996efa2c34ea
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_27.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.00510787 0.01539414 0.02792309
+v 0.00271334 0.01539414 0.02789093
+v 0.00510787 0.01539414 0.02593239
+v 0.00510787 0.01645781 0.02802385
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+v 0.00160532 0.02409315 0.03140818
+v 0.00145271 0.02408235 0.03140818
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+v 0.00314526 0.02514121 0.03140818
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+v 0.00271334 0.02401753 0.02919933
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+v 0.00338018 0.02468382 0.02979375
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+v 0.00468242 0.02115907 0.02876194
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+v 0.00260235 0.02641618 0.03140819
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+v -0.00308202 0.01821657 0.02865902
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+v -0.00178532 0.02454215 0.03140818
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+v -0.00232638 0.02327320 0.02867727
+v -0.00106669 0.02401753 0.02899511
+v 0.00019394 0.02401753 0.02900423
+v 0.00145271 0.02497555 0.02961526
+v 0.00145271 0.02559862 0.03001673
+v 0.00139259 0.02659506 0.03071461
+v 0.00177180 0.02706927 0.03112947
+v 0.00246362 0.02623971 0.03079394
+v 0.00253761 0.02650982 0.03140819
+v -0.00202395 0.02474864 0.03140818
+v -0.00320595 0.02187939 0.02993953
+v -0.00367857 0.02023586 0.02902350
+v -0.00328179 0.02277378 0.03008372
+v -0.00197770 0.02652542 0.03140819
+v -0.00161144 0.02721573 0.03140819
+v -0.00314029 0.02374141 0.02951450
+v -0.00198695 0.02625892 0.03077625
+v -0.00148474 0.02708848 0.03112679
+v -0.00203134 0.02488071 0.02966940
+v -0.00106669 0.02563824 0.02998993
+v -0.00106669 0.02501637 0.02959007
+v 0.00019394 0.02501277 0.02959704
+v 0.00019394 0.02563464 0.02998403
+v 0.00019394 0.02650622 0.03057203
+v 0.00093200 0.02714971 0.03105229
+v 0.00160347 0.02741141 0.03140819
+v -0.00210164 0.02535731 0.03140818
+v -0.00128866 0.02743302 0.03140819
+v -0.00064494 0.02717012 0.03103889
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+v 0.00019394 0.02717492 0.03103460
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+v 0.00036689 0.02764552 0.03140819
+v 0.00122611 0.02748585 0.03140819
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_28.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23471d9216ff8bc893621878ed914cb6158e5993
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_28.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01268747 -0.01662896 0.02858703
+v -0.01268747 -0.01662896 0.02958703
+v -0.01268747 -0.01562896 0.02858703
+v -0.01268747 -0.01562896 0.02958703
+v -0.01153259 -0.01662896 0.02858703
+v -0.01153259 -0.01662896 0.02958703
+v -0.01153259 -0.01562896 0.02858703
+v -0.01153259 -0.01562896 0.02958703
+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/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_29.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd241086e696290f1e9c11681206e4c605e79ded
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_29.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.01352929 -0.02303618 0.02196364
+v -0.01352929 -0.01887153 0.02360028
+v -0.01452875 -0.01784444 0.02368457
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+v -0.01358458 -0.01121983 0.02593229
+v -0.01366822 -0.01119653 0.02593229
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_3.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01cc1aff8bd6cde991f55f05a038bcf647807362
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_3.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.00434079 -0.00445000 0.02593231
+v -0.00434079 -0.01727435 0.02593227
+v -0.00434079 -0.00445000 0.02602297
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+v -0.00434079 -0.01727435 0.02721057
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+v -0.00434079 -0.01500599 0.02759245
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+v -0.00130127 -0.01727435 0.02814074
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+v 0.01405238 -0.01727436 0.02994182
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+v 0.01486254 -0.01206477 0.02788055
+v 0.01486254 -0.01200075 0.02800261
+v 0.01486254 -0.01081950 0.02851714
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_30.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70e8f037e4587da8a7e07f566e243b9f2b21f53d
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_30.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.02016610 -0.00955602 0.01805811
+v 0.02016610 -0.01423941 0.01805810
+v 0.02016610 -0.00955602 0.02032859
+v 0.02312584 -0.00955602 0.01805811
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+v 0.02221225 -0.01892281 0.01986109
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+v 0.02016610 -0.01742585 0.02074838
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_31.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60937ec31d73263e913515925c90490ba0546dd5
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_31.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_32.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dc4063e4351133d0fd304c6bd5180d8a2ae45b5
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_32.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_33.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2912e6cc10332f77cf18ae22404a63abe1764531
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_33.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_34.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf826aa9e06e8048d02b6cb529d943871fc2aa0a
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_34.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_35.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b23da6381fbe8fb38d4acd06d1914695ed022991
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_35.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_36.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94120c4c280576b5dde3702a96e667c58c8929c3
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_36.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+f 38 44 45
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_37.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae6aeff8fd4bab13f56ebea60b3d8cce196860f2
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_37.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.02825270 0.01406613 0.01805820
+v 0.02824241 0.01431720 0.01805820
+v 0.02758858 0.01282150 0.01895812
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+v 0.02799386 0.01546882 0.01805821
+v 0.02737803 0.01493129 0.01871187
+v 0.02624926 0.01282150 0.02004214
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_38.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ed97b3b20b7d419232779b500c63910dd1ebc8a
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_38.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.02006763 -0.01127233 0.01805811
+v -0.02073946 -0.01127234 0.02073576
+v -0.01890254 -0.01127233 0.01805811
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+v -0.02073946 -0.01668002 0.01976154
+v -0.02073946 -0.01611928 0.01976734
+v -0.02073946 -0.01127234 0.02074840
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+v -0.02073946 -0.01694852 0.01994801
+v -0.01937638 -0.01271148 0.01805810
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+v -0.02073946 -0.01718405 0.02074838
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+v -0.02031094 -0.01199220 0.02074840
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+v -0.01890470 -0.01579755 0.02074838
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+v -0.01890254 -0.01282375 0.01869307
+v -0.02073946 -0.01718116 0.02051583
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_39.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ae6b15c745c16b916b3e2d019d4d6cf00abcba7
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_39.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.00464794 -0.00320338 0.02303757
+v -0.00464794 -0.01525042 0.02303752
+v -0.00464794 -0.00320340 0.02593232
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_4.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11cd82768a774a3259cf1695e514188ce764131f
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_4.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00434079 -0.00459630 0.02603398
+v -0.01366905 -0.00459630 0.02742294
+v -0.00434079 -0.00459630 0.02593231
+v -0.00434079 0.01157536 0.02703429
+v -0.00518985 0.01406494 0.02754148
+v -0.00610729 0.01504347 0.02797218
+v -0.00736778 0.01504347 0.02820432
+v -0.01492726 -0.00459630 0.02759270
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+v -0.00434079 0.01275767 0.02707569
+v -0.00524228 0.01504347 0.02757808
+v -0.01598374 -0.00459630 0.02769047
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_40.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af61f148c1703772770702ed976b0bbc7225eb96
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_40.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_41.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7256bd80f4251876e8f3cf8bdc4f9ec993702b1
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_41.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_42.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c03f33c4390baa703687fcfecbd53dd5e3bf6965
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_42.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_43.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14cc088b8bcef5e19612794c0d256002c258b80c
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_43.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_44.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f3f03812427e93422d99b57742dc42f50335c6d
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_44.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_45.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27c776655784f191c8b41efbf36f43e1512d3940
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_45.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_46.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccb569e40b527610aa732378ba4f056e814940f1
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_46.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_47.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4d113375bf7179d10cca5a4e0479dcc28ddd723
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_47.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_48.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d447d85d82d81610a6e1ffaed195ef1065eb2d4
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_48.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.01884240 -0.02188962 0.02074848
+v 0.01884240 -0.02175295 0.02083817
+v 0.01397715 -0.02565848 0.02074847
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+v 0.01552373 0.01040662 0.02196376
+v 0.01884240 0.00504324 0.02161091
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+v 0.00327606 -0.03157269 0.02074844
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+v 0.00327606 -0.02841679 0.02196362
+v 0.00397849 -0.02830497 0.02196362
+v 0.00388402 -0.02832153 0.02196362
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_49.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bee6961c6ec21140fc01004b8378b57f2816fd9
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_49.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.02073964 -0.00907571 0.01805825
+v -0.02073964 -0.00708934 0.01915143
+v -0.02247951 -0.00908952 0.02074841
+v -0.02248770 -0.00908952 0.02074551
+v -0.02252386 -0.00908952 0.02074841
+v -0.02250126 -0.00705827 0.01805825
+v -0.02073964 0.00647527 0.01805830
+v -0.02073964 -0.00579155 0.01977058
+v -0.02073964 -0.00536356 0.01994993
+v -0.02073964 -0.00531006 0.01996705
+v -0.02073964 -0.00459559 0.02009583
+v -0.02073964 -0.00086447 0.02055935
+v -0.02073964 0.00037809 0.02055961
+v -0.02248770 -0.00908262 0.02074841
+v -0.02337416 -0.00463356 0.01805826
+v -0.02326145 -0.00567938 0.01805826
+v -0.02302472 -0.00629893 0.01805826
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+v -0.02123372 0.00546914 0.01964896
+v -0.02283771 0.00501526 0.01805830
+v -0.02320919 0.00422658 0.01805830
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_5.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c88d04ca0e787e3de9f6bc2c5c2e10ca6420e3c8
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_5.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.01747732 -0.00459744 0.02762766
+v -0.01747732 -0.00459744 0.02767396
+v -0.01747397 -0.00459744 0.02670841
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+v -0.01282741 -0.01624218 0.02749238
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_50.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35ed04135bd238b509402ec532e0f31b740aeae6
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_50.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00327606 0.01765912 0.02074862
+v 0.00327606 0.01073863 0.02074860
+v 0.00327606 0.01765912 0.02196378
+v 0.01101809 0.01765912 0.02074862
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+v 0.01884240 0.01406575 0.02115973
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+v 0.01272770 0.01644032 0.02074862
+v 0.01270332 0.01646268 0.02074862
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_51.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be3559e31b0266a99a67e3adc93cd7f0e8e3ddbc
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_51.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.00872571 -0.01373001 0.02593204
+v -0.01139034 -0.01373001 0.02593204
+v -0.00872571 -0.01373000 0.02409754
+v -0.00872571 -0.00320115 0.02593208
+v -0.01184409 -0.01373000 0.02576949
+v -0.01352929 -0.01123178 0.02593205
+v -0.01106449 -0.01373000 0.02347215
+v -0.00872571 -0.01056908 0.02347216
+v -0.00872571 -0.00320114 0.02347219
+v -0.01352929 -0.00320115 0.02593208
+v -0.01275722 -0.01373000 0.02542489
+v -0.01352929 -0.01373000 0.02513303
+v -0.01349685 -0.01373000 0.02514531
+v -0.01352929 -0.01373000 0.02347215
+v -0.01352929 -0.00320114 0.02347219
+f 1 2 5
+f 1 5 11
+f 1 11 13
+f 1 13 12
+f 1 12 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 4 9 15
+f 4 15 10
+f 5 6 11
+f 6 12 13
+f 6 13 11
+f 6 10 15
+f 6 15 14
+f 6 14 12
+f 7 14 15
+f 7 15 9
+f 7 9 8
+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_52.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa90e4b97e28325e9ffa073aee8bb952ef15324f
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_52.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.00327681 0.01916302 0.02074863
+v 0.00327681 0.01765912 0.02074862
+v 0.00327681 0.01916302 0.02164379
+v 0.00799841 0.01916302 0.02074863
+v 0.00327681 0.01765912 0.02196378
+v 0.01101733 0.01765912 0.02074862
+v 0.00327681 0.01848379 0.02191990
+v 0.00381028 0.01916302 0.02163261
+v 0.00773699 0.01916302 0.02083927
+v 0.00327681 0.01836617 0.02196379
+v 0.00514393 0.01765912 0.02196378
+v 0.00729749 0.01916302 0.02098512
+v 0.00666097 0.01916302 0.02115166
+v 0.01043461 0.01765912 0.02089815
+v 0.00397395 0.01916302 0.02162916
+v 0.00401790 0.01823545 0.02196379
+v 0.00511059 0.01768135 0.02196378
+v 0.00901381 0.01765912 0.02120625
+v 0.00636165 0.01916302 0.02122827
+v 0.01028230 0.01765912 0.02093324
+v 0.00536596 0.01916302 0.02146405
+v 0.00413914 0.01916302 0.02161179
+v 0.00438845 0.01812283 0.02196379
+v 0.00523411 0.01916302 0.02148701
+f 1 2 5
+f 1 5 10
+f 1 10 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 22
+f 1 22 24
+f 1 24 21
+f 1 21 19
+f 1 19 13
+f 1 13 12
+f 1 12 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 6 14
+f 2 14 20
+f 2 20 18
+f 2 18 11
+f 2 11 5
+f 3 7 8
+f 4 9 6
+f 5 11 17
+f 5 17 23
+f 5 23 16
+f 5 16 10
+f 6 9 12
+f 6 12 13
+f 6 13 14
+f 7 10 15
+f 7 15 8
+f 10 16 15
+f 11 18 17
+f 13 19 14
+f 14 19 21
+f 14 21 20
+f 15 16 22
+f 16 23 22
+f 17 18 21
+f 17 21 23
+f 18 20 21
+f 21 24 23
+f 22 23 24
+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_53.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..700d569df6e57907c3288b8b85f14de8cbbf5f9d
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_53.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.02548726 -0.00329126 0.01805814
+v 0.02544924 -0.00210888 0.01805814
+v 0.02490441 -0.00210888 0.01878345
+v 0.02490128 -0.00335272 0.01877660
+v 0.02548674 -0.00335272 0.01805814
+v 0.02544298 -0.00205401 0.01805814
+v 0.02483461 -0.00109625 0.01871577
+v 0.02345849 -0.00109625 0.01985115
+v 0.02413457 -0.00210888 0.01939025
+v 0.02413457 -0.00335272 0.01934942
+v 0.02483045 -0.00417950 0.01870680
+v 0.02531433 -0.00408146 0.01805814
+v 0.02539194 -0.00168671 0.01805814
+v 0.02527214 -0.00109625 0.01811056
+v 0.02294596 -0.00109625 0.02019247
+v 0.02347932 -0.00210888 0.01986957
+v 0.02341057 -0.00335272 0.01983560
+v 0.02324493 -0.00459728 0.01974947
+v 0.02421739 -0.00459509 0.01906998
+v 0.02469294 -0.00500848 0.01854167
+v 0.02517109 -0.00459509 0.01808446
+v 0.02519036 -0.00459582 0.01805813
+v 0.02352203 -0.00773979 0.01865859
+v 0.02530704 -0.00109625 0.01805815
+v 0.02206465 -0.00109626 0.02074844
+v 0.02199850 -0.00210889 0.02074843
+v 0.02170838 -0.00337980 0.02074843
+v 0.02261573 -0.00459728 0.02007473
+v 0.02127918 -0.00832878 0.02003969
+v 0.02190943 -0.00832878 0.01965280
+v 0.02379236 -0.00818464 0.01805812
+v 0.02437521 -0.00671180 0.01805813
+v 0.02184016 -0.00857096 0.01962647
+v 0.02252926 -0.00857096 0.01910869
+v 0.02254385 -0.00857096 0.01909763
+v 0.02276000 -0.00857096 0.01892354
+v 0.02328816 -0.00857096 0.01840682
+v 0.02360173 -0.00857096 0.01805812
+v 0.02016610 -0.00109625 0.01805815
+v 0.02016610 -0.00109626 0.02074844
+v 0.02157295 -0.00375148 0.02074843
+v 0.02035465 -0.00832879 0.02049031
+v 0.02037496 -0.00857097 0.02043184
+v 0.02112918 -0.00857096 0.02006418
+v 0.02122241 -0.00857096 0.02001230
+v 0.02016610 -0.00857096 0.01805812
+v 0.02016610 -0.00729421 0.02074841
+v 0.02016610 -0.00832879 0.02057538
+v 0.02016610 -0.00850512 0.02054246
+v 0.02018381 -0.00857097 0.02052112
+v 0.02016610 -0.00857097 0.02052929
+f 1 2 3
+f 1 3 4
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+f 1 5 12
+f 1 12 22
+f 1 22 32
+f 1 32 31
+f 1 31 38
+f 1 38 46
+f 1 46 39
+f 1 39 24
+f 1 24 13
+f 1 13 6
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_54.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44a3090d42bc766a6e5e401058cd903edfe1966a
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_54.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.02030696 -0.01793181 0.02144107
+v 0.01898260 -0.02175999 0.02074848
+v 0.02030696 -0.01792740 0.02083081
+v 0.02030696 -0.01743382 0.02196366
+v 0.01884240 -0.02110335 0.02116293
+v 0.01884240 -0.02127229 0.02107918
+v 0.01892254 -0.02183491 0.02074848
+v 0.02030696 -0.01762920 0.02074850
+v 0.01884240 -0.01922599 0.02196365
+v 0.01884240 -0.01946984 0.02186813
+v 0.02030696 -0.01141391 0.02196368
+v 0.01884240 -0.02175412 0.02083817
+v 0.01884240 -0.02189220 0.02074848
+v 0.02030696 -0.01560199 0.02074850
+v 0.01884240 -0.01336032 0.02196367
+v 0.02030696 -0.01466625 0.02100974
+v 0.02030338 -0.00688649 0.02074853
+v 0.01959088 -0.00688649 0.02108185
+v 0.01884240 -0.00688649 0.02132322
+v 0.01884240 -0.00688649 0.02074853
+v 0.02030696 -0.01548448 0.02078121
+f 1 2 3
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+f 1 21 16
+f 1 16 11
+f 1 11 4
+f 1 4 2
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+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 15
+f 14 17 21
+f 16 21 17
+f 17 20 19
+f 17 19 18
+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_55.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b049c3ad088157fdebf59e8364d588168b2e5867
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_55.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v -0.00900773 -0.01126959 0.02074840
+v -0.00900876 -0.01827473 0.02074837
+v -0.00900876 -0.01849890 0.02065172
+v -0.00900773 -0.01126958 0.01805837
+v -0.00900773 0.01728338 0.02074850
+v -0.00953142 -0.01796300 0.02074837
+v -0.01315516 -0.01776335 0.01995281
+v -0.00900876 -0.01849889 0.01805834
+v -0.01240762 -0.01849889 0.01972898
+v -0.00900773 0.01728339 0.01805847
+v -0.01002842 0.01728338 0.02074850
+v -0.01345500 -0.01558476 0.02074838
+v -0.01399410 -0.01730801 0.01965472
+v -0.01354434 -0.01849889 0.01914962
+v -0.01264688 -0.01849889 0.01961179
+v -0.01801215 -0.01257954 0.01984276
+v -0.01425081 -0.01849889 0.01805834
+v -0.01444591 0.01728339 0.01805847
+v -0.01187161 0.01728339 0.01995137
+v -0.01189625 0.01725537 0.01996348
+v -0.01113228 0.01653383 0.02074850
+v -0.01581059 -0.01293681 0.02074839
+v -0.01753364 -0.01339914 0.01965447
+v -0.01741349 -0.01449895 0.01900191
+v -0.01816515 -0.01405062 0.01873778
+v -0.01697195 -0.01532556 0.01875489
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+v -0.01819390 -0.01174943 0.01999630
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+v -0.01545941 0.01581581 0.01855197
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+v -0.01368399 0.01657237 0.01929328
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+v -0.01642875 0.01303127 0.01966800
+v -0.01682306 0.01220116 0.01988735
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+v -0.01890139 -0.01350072 0.01805836
+v -0.01949799 -0.00393871 0.02074843
+v -0.01949799 -0.01126958 0.01805837
+v -0.01621311 0.01551109 0.01805847
+v -0.01626856 0.01539550 0.01811140
+v -0.01666698 0.01453037 0.01849929
+v -0.01703870 0.01370376 0.01884006
+v -0.01735086 0.01270553 0.01922111
+v -0.01761168 0.01157420 0.01958925
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+v -0.01812613 0.00980890 0.01991764
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+v -0.01844342 0.01157420 0.01896829
+v -0.01894349 0.00908737 0.01955685
+v -0.01949799 0.00746568 0.01974777
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+v -0.01949799 0.00604363 0.02024416
+v -0.01732416 0.01409605 0.01805846
+v -0.01949799 0.00974936 0.01879581
+v -0.01949799 0.01000154 0.01868020
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_56.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e070cd14c57df5aa555e4f2db49d30ed6d055bf8
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_56.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.01211633 0.02206415 0.02074852
+v 0.00922387 0.02206197 0.01805823
+v 0.00922387 0.02191672 0.01828762
+v 0.00922387 0.02137391 0.01894261
+v 0.00922387 0.02073582 0.01949305
+v 0.00922387 0.02057301 0.01962684
+v 0.00922387 0.01992696 0.02000687
+v 0.00922387 0.01925922 0.02032765
+v 0.01409697 0.02078688 0.02074852
+v 0.01873130 0.02206415 0.02074852
+v 0.01504264 0.02206416 0.01999582
+v 0.01187099 0.02079485 0.01805823
+v 0.00922387 0.01925922 0.01805822
+v 0.01572133 0.02206416 0.01983121
+v 0.01657394 0.02206416 0.01964817
+v 0.01788246 0.02206416 0.01944222
+v 0.01829795 0.02206416 0.01949331
+v 0.01005955 0.01925922 0.02007245
+v 0.01657018 0.01930313 0.02074851
+v 0.01531336 0.02002881 0.02074851
+v 0.01875668 0.02153040 0.02074852
+v 0.01879146 0.02206415 0.02061868
+v 0.01285613 0.02031876 0.01805822
+v 0.01407723 0.01925922 0.01805822
+v 0.01874634 0.02206416 0.01962579
+v 0.01405843 0.01928091 0.01805822
+v 0.01354611 0.01982784 0.01805822
+v 0.01286741 0.02031244 0.01805822
+v 0.01153446 0.01925922 0.01961366
+v 0.01388170 0.01925922 0.01825969
+v 0.01406971 0.01925922 0.01806796
+v 0.01780820 0.01933938 0.02074851
+v 0.01169238 0.01925922 0.01954835
+v 0.01270197 0.01925922 0.01912169
+v 0.01300184 0.01925922 0.01896604
+v 0.01881308 0.02153040 0.02050543
+v 0.01882624 0.02206415 0.02054257
+v 0.01857244 0.02002441 0.02074851
+v 0.01864670 0.02153041 0.01972797
+v 0.01846809 0.02090221 0.01988073
+v 0.01834213 0.01977813 0.02074851
+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 20
+f 1 20 19
+f 1 19 32
+f 1 32 41
+f 1 41 38
+f 1 38 21
+f 1 21 10
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+f 1 37 25
+f 1 25 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 11
+f 1 11 2
+f 2 12 23
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+f 19 31 24
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+f 19 34 35
+f 19 35 30
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+f 24 25 39
+f 24 39 40
+f 24 40 41
+f 24 41 32
+f 25 37 36
+f 25 36 38
+f 25 38 39
+f 38 41 40
+f 38 40 39
+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_57.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08568aba0930b9e4a14f4af4890d223be45c5fe8
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_57.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.02557063 0.01167315 0.02074860
+v 0.02551556 0.01186856 0.02074860
+v 0.02517957 0.00985996 0.02153539
+v 0.02547194 0.01029501 0.02074860
+v 0.02538748 0.01218636 0.02074860
+v 0.02448966 0.00985996 0.02196376
+v 0.02540047 0.00985996 0.02074860
+v 0.02492990 0.01327104 0.02074861
+v 0.02459515 0.01406445 0.02074861
+v 0.02449646 0.01429083 0.02074861
+v 0.02241032 0.00985996 0.02196376
+v 0.02405993 0.01525678 0.02074862
+v 0.02356245 0.01480477 0.02115902
+v 0.02287469 0.01406519 0.02171360
+v 0.02256934 0.01371862 0.02196377
+v 0.02241032 0.00985996 0.02074860
+v 0.02241032 0.01403791 0.02196377
+v 0.02405436 0.01526784 0.02074862
+v 0.02404322 0.01525531 0.02075861
+v 0.02334959 0.01563432 0.02104578
+v 0.02290780 0.01525531 0.02138005
+v 0.02241032 0.01527595 0.02163439
+v 0.02241032 0.01464919 0.02180151
+v 0.02241032 0.01739295 0.02074862
+v 0.02367351 0.01599489 0.02074862
+v 0.02307920 0.01655308 0.02090326
+v 0.02244899 0.01655308 0.02123373
+v 0.02241032 0.01649999 0.02127001
+v 0.02241032 0.01727644 0.02093181
+v 0.02255603 0.01736493 0.02074862
+v 0.02334959 0.01656193 0.02074862
+v 0.02241032 0.01706039 0.02108741
+v 0.02241032 0.01667696 0.02121351
+v 0.02322213 0.01671604 0.02074862
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 16
+f 1 16 24
+f 1 24 30
+f 1 30 34
+f 1 34 31
+f 1 31 25
+f 1 25 18
+f 1 18 12
+f 1 12 10
+f 1 10 9
+f 1 9 8
+f 1 8 5
+f 1 5 2
+f 2 5 3
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+f 3 11 16
+f 3 16 7
+f 3 7 4
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+f 11 24 16
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+f 29 32 34
+f 29 34 30
+f 31 34 32
+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_58.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c94fd31db9ad5498bca533a8910cc6b33268f879
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_58.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.01952521 0.02066741 0.01805823
+v -0.01952007 0.02065582 0.01805823
+v -0.01950051 0.02064356 0.01890548
+v -0.01951080 0.02066741 0.01888204
+v -0.01769063 0.02066741 0.01805823
+v -0.01950565 0.02064422 0.01805823
+v -0.01710278 0.01763020 0.02074850
+v -0.01950154 0.02066741 0.01890548
+v -0.01839687 0.01928512 0.02024442
+v -0.01850600 0.02028614 0.02027524
+v -0.01080526 0.02066740 0.02074852
+v -0.00900773 0.02066642 0.01805823
+v -0.01444664 0.01728372 0.01805821
+v -0.01777093 0.01876405 0.02074851
+v -0.01621328 0.01735526 0.02074850
+v -0.01857292 0.02066741 0.02006271
+v -0.01843187 0.02066741 0.02017886
+v -0.01779461 0.01895651 0.02074851
+v -0.01776784 0.02033350 0.02074851
+v -0.00900773 0.01791407 0.02074851
+v -0.00900773 0.01897043 0.01977431
+v -0.00900773 0.01972336 0.01906612
+v -0.00900773 0.02024905 0.01852859
+v -0.00900773 0.02051901 0.01823047
+v -0.01750840 0.02066740 0.02074852
+v -0.00900773 0.01728372 0.01805821
+v -0.01410072 0.01728372 0.01845062
+v -0.01342742 0.01728372 0.01894944
+v -0.01191816 0.01728372 0.01992574
+v -0.01187183 0.01728372 0.01995155
+v -0.01002901 0.01728371 0.02074850
+v -0.00900773 0.01728371 0.02074850
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 17
+f 1 17 25
+f 1 25 11
+f 1 11 5
+f 1 5 12
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+f 1 13 6
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+f 15 29 30
+f 15 30 31
+f 17 19 25
+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_59.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71e4eed2a389ac5534968273d79cf4ea98dc7049
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_59.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.01932557 -0.01515968 0.01805809
+v 0.01932557 -0.01411889 0.01882397
+v 0.01787201 -0.01702943 0.01805809
+v 0.01932557 0.01485141 0.01805820
+v 0.01932557 -0.01409333 0.01884056
+v 0.01818448 -0.01610186 0.01844418
+v 0.01784927 -0.01705500 0.01805809
+v 0.01912286 0.01507417 0.01805821
+v 0.01932557 0.01463229 0.01825836
+v 0.01932557 -0.01262528 0.01966095
+v 0.01853155 -0.01526923 0.01869623
+v 0.01734498 -0.01656564 0.01871940
+v 0.01693264 -0.01739827 0.01846999
+v 0.01782752 -0.01707691 0.01805809
+v 0.01860967 0.01482584 0.01874058
+v 0.01932557 0.01443144 0.01843481
+v 0.01899926 0.01520199 0.01805821
+v 0.01932557 -0.01226374 0.01983977
+v 0.01859681 -0.01280422 0.01994723
+v 0.01609314 -0.01776346 0.01871544
+v 0.01733410 -0.01407507 0.01994960
+v 0.01633738 -0.01804831 0.01828905
+v 0.01661029 -0.01804831 0.01810022
+v 0.01666270 -0.01804831 0.01805808
+v 0.01858198 0.01238274 0.01999078
+v 0.01905562 0.01399322 0.01892125
+v 0.01932557 0.01382158 0.01883908
+v 0.01832588 0.01585567 0.01805821
+v 0.01781565 0.01632676 0.01805821
+v 0.01705031 0.01703157 0.01805821
+v 0.01596460 0.01718861 0.01865473
+v 0.01314055 0.01816731 0.01970874
+v 0.01360925 0.01733833 0.01997631
+v 0.01932557 -0.01183282 0.02002888
+v 0.01904771 -0.01199715 0.02008392
+v 0.01764459 -0.01187300 0.02074840
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+v 0.01346785 -0.01769407 0.01990007
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+v 0.01400576 -0.01804831 0.01948711
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+v 0.01702559 0.01182399 0.02074848
+v 0.01718479 0.01157567 0.02074848
+v 0.01744584 0.01113379 0.02074848
+v 0.01873327 0.00866878 0.02074847
+v 0.01932557 0.00745271 0.02074847
+v 0.01932557 0.00821229 0.02056991
+v 0.01932557 0.00834741 0.02053488
+v 0.01932557 0.00908875 0.02034183
+v 0.01407893 0.01925922 0.01805822
+v 0.01407003 0.01925922 0.01806796
+v 0.01388216 0.01925922 0.01825969
+v 0.01300212 0.01925922 0.01896604
+v 0.01230105 0.01851424 0.01995103
+v 0.01274997 0.01776925 0.02012960
+v 0.01270448 0.01646187 0.02074850
+v 0.01272822 0.01643996 0.02074850
+v 0.01332941 0.01587027 0.02074850
+v 0.01932557 -0.01081395 0.02038759
+v 0.01909419 -0.01081396 0.02049030
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+v 0.00922486 -0.01804832 0.02074837
+v 0.00922486 0.01925922 0.01805822
+v 0.01932557 -0.00942259 0.02074841
+v 0.01270152 0.01925922 0.01912169
+v 0.01169293 0.01925922 0.01954835
+v 0.01153472 0.01925922 0.01961366
+v 0.01005941 0.01925922 0.02007245
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+v 0.01127367 0.01755013 0.02074850
+v 0.01187784 0.01714112 0.02074850
+v 0.01932557 -0.00960519 0.02070995
+v 0.01904573 -0.00994116 0.02074840
+v 0.00922486 0.01844484 0.02074851
+v 0.01925635 -0.00957962 0.02074840
+v 0.01932557 -0.00958328 0.02071548
+v 0.00922486 0.01904375 0.02044564
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 24
+f 1 24 46
+f 1 46 78
+f 1 78 63
+f 1 63 30
+f 1 30 29
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+f 1 17 8
+f 1 8 4
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+f 36 45 44
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+f 46 84 78
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+f 87 90 88
+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_6.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..669289e0f6a3c9ddcd5dbb5430e29a3e500ff617
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_6.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.00558714 -0.01727529 0.02593227
+v 0.00671972 -0.01727529 0.02593227
+v 0.00558714 -0.01854539 0.02593226
+v 0.00558714 -0.01727529 0.02818903
+v 0.00643526 -0.01823962 0.02593226
+v 0.01305755 -0.01727529 0.02774217
+v 0.00558714 -0.01854727 0.02621744
+v 0.01153345 -0.02282703 0.02971485
+v 0.01027491 -0.02294745 0.02958685
+v 0.00933127 -0.02283832 0.02963064
+v 0.00815460 -0.02167077 0.02920511
+v 0.00816510 -0.02169994 0.03002249
+v 0.00683833 -0.01727530 0.02872908
+v 0.00558714 -0.01778992 0.02817442
+v 0.01574992 -0.02672013 0.03740128
+v 0.01574992 -0.02623185 0.03740128
+v 0.01410406 -0.01833747 0.02835070
+v 0.01455751 -0.01878813 0.02862465
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_60.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..532ba782c37a05efa6b367081fdbd3dd61e043a4
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_60.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00327606 -0.02048285 0.02074848
+v 0.00327606 -0.02043306 0.02078262
+v -0.00106724 -0.02119373 0.02100031
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_61.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0edf89f0341a010455c163022e934633663b712
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_61.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.02016610 -0.00956296 0.01805811
+v 0.02016610 -0.00956296 0.02074841
+v 0.02016610 -0.00856296 0.01805811
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+v 0.02676307 -0.00956296 0.02074841
+v 0.02676307 -0.00856296 0.01805811
+v 0.02676307 -0.00856296 0.02074841
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+f 4 8 3
+f 7 5 3
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+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_62.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e091a2603c2bd49f49c29427437220f3ec02909b
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_62.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.00660836 -0.01986295 0.02074849
+v -0.00660836 -0.01960376 0.02086649
+v -0.00712833 -0.02314387 0.02196363
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_63.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7eb2b2bfe9046a481f454e055b0bce5f9cf27ea
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_63.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.01949799 0.01105502 0.01805819
+v -0.01990965 0.01035565 0.01805819
+v -0.01949799 0.01063977 0.01838424
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+v -0.01949799 0.00975026 0.01879561
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+v -0.02073952 -0.01127234 0.02073576
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+v -0.02073952 -0.01127234 0.02074840
+v -0.01949799 -0.00463270 0.02063938
+v -0.01949799 -0.00393989 0.02074843
+v -0.02073952 0.00411160 0.02023832
+v -0.01950492 0.00411159 0.02074846
+v -0.01990430 0.00324175 0.02074845
+v -0.02073952 -0.01120677 0.02074840
+v -0.02073952 0.00289207 0.02042424
+v -0.02005792 0.00285273 0.02074845
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+v -0.02073952 0.00037871 0.02055987
+v -0.02073952 0.00162228 0.02050036
+v -0.02023270 0.00162228 0.02074845
+f 1 2 3
+f 1 3 8
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+f 1 14 17
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+f 1 16 15
+f 1 15 19
+f 1 19 18
+f 1 18 26
+f 1 26 30
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+f 1 27 20
+f 1 20 10
+f 1 10 4
+f 1 4 11
+f 1 11 23
+f 1 23 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 9
+f 3 9 8
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+f 4 21 28
+f 4 28 22
+f 4 22 11
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+f 5 22 28
+f 5 28 34
+f 5 34 38
+f 5 38 39
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+f 5 35 31
+f 5 31 24
+f 5 24 13
+f 5 13 7
+f 5 7 6
+f 7 13 9
+f 8 9 14
+f 9 15 16
+f 9 16 17
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+f 9 13 18
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+f 9 19 15
+f 10 20 21
+f 11 22 23
+f 12 23 22
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+f 18 25 26
+f 20 27 21
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+f 31 36 33
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+f 35 40 36
+f 37 40 39
+f 37 39 38
+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_64.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fba2b8fa01dbc4758ad1ae8a7cbf83771d4cda47
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_64.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00434079 -0.00445000 0.02547762
+v -0.00434079 -0.00445000 0.02647762
+v -0.00434079 -0.00301552 0.02547762
+v -0.00434079 -0.00301552 0.02647762
+v -0.00296996 -0.00445000 0.02547762
+v -0.00296996 -0.00445000 0.02647762
+v -0.00296996 -0.00301552 0.02547762
+v -0.00296996 -0.00301552 0.02647762
+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/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_65.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52e0ef538c727b94ee0d0928cf757c50e8ffeea1
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_65.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.02872324 -0.01579337 0.02074850
+v 0.02844478 -0.01703709 0.02074850
+v 0.02866722 -0.01454966 0.02074851
+v 0.02609439 -0.00958405 0.02196368
+v 0.02585795 -0.01087511 0.02196368
+v 0.02791424 -0.01782581 0.02074849
+v 0.02539248 -0.01197216 0.02196368
+v 0.02478532 -0.01335560 0.02196367
+v 0.02413531 -0.01451848 0.02196367
+v 0.02411554 -0.01454966 0.02196367
+v 0.02816962 -0.01206224 0.02074852
+v 0.02737710 -0.01003326 0.02121067
+v 0.02746360 -0.01081852 0.02124089
+v 0.02669332 -0.00960137 0.02154614
+v 0.02523678 -0.00803316 0.02196369
+v 0.02757564 -0.01828196 0.02074849
+v 0.02326782 -0.01575065 0.02196366
+v 0.02773711 -0.01055061 0.02074852
+v 0.02741087 -0.01001363 0.02074852
+v 0.02629952 -0.00871564 0.02144789
+v 0.02496821 -0.00770635 0.02196369
+v 0.02287485 -0.01816301 0.02138087
+v 0.02413531 -0.01856604 0.02100318
+v 0.02413531 -0.01884203 0.02074849
+v 0.02283119 -0.01632573 0.02196366
+v 0.02222073 -0.01702208 0.02196366
+v 0.02159791 -0.01733041 0.02196366
+v 0.02642063 -0.00895930 0.02074853
+v 0.02629952 -0.00871564 0.02086939
+v 0.02468728 -0.00753891 0.02196369
+v 0.02161521 -0.01812606 0.02152541
+v 0.02287485 -0.01878545 0.02088160
+v 0.02287485 -0.01884088 0.02074849
+v 0.02030696 -0.01743434 0.02196366
+v 0.02558526 -0.00863481 0.02074853
+v 0.02539413 -0.00848468 0.02079552
+v 0.02413531 -0.00735530 0.02183308
+v 0.02403481 -0.00728716 0.02196369
+v 0.02030696 -0.01793205 0.02144107
+v 0.02276858 -0.01880739 0.02074849
+v 0.02030696 -0.01141440 0.02196368
+v 0.02540154 -0.00857707 0.02074853
+v 0.02413531 -0.00796387 0.02121187
+v 0.02296382 -0.00704466 0.02196369
+v 0.02321262 -0.00708392 0.02196369
+v 0.02030696 -0.01792743 0.02083081
+v 0.02060272 -0.01800712 0.02074849
+v 0.02156248 -0.00826874 0.02196369
+v 0.02030696 -0.01466745 0.02100974
+v 0.02452911 -0.00890156 0.02074853
+v 0.02198511 -0.00745923 0.02196369
+v 0.02030696 -0.01762950 0.02074850
+v 0.02035475 -0.01769879 0.02074849
+v 0.02030696 -0.01560283 0.02074850
+v 0.02030696 -0.01548505 0.02078121
+v 0.02030696 -0.01472866 0.02099261
+v 0.02404222 -0.00947434 0.02074853
+f 1 2 6
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+f 1 16 24
+f 1 24 33
+f 1 33 40
+f 1 40 47
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+f 1 53 52
+f 1 52 54
+f 1 54 57
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+f 1 28 19
+f 1 19 18
+f 1 18 11
+f 1 11 3
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+f 4 45 44
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+f 24 32 33
+f 27 34 31
+f 28 35 29
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+f 34 52 46
+f 34 46 39
+f 35 42 36
+f 36 42 43
+f 36 43 44
+f 36 44 45
+f 36 45 37
+f 37 45 38
+f 39 46 40
+f 40 46 47
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+f 42 50 43
+f 43 51 44
+f 43 50 51
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+f 46 53 47
+f 48 51 54
+f 48 54 55
+f 48 55 56
+f 48 56 49
+f 50 57 51
+f 51 57 54
+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_66.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01e48c30bbc4a817c640231f3296b4d2bafa44bc
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_66.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.00882931 0.00507631 0.02593235
+v -0.01657911 0.00507631 0.02593235
+v -0.00882931 0.00507633 0.02196374
+v -0.00882931 0.01486160 0.02593238
+v -0.01658232 0.00531434 0.02593235
+v -0.01896860 0.00507632 0.02501634
+v -0.01609896 0.00507633 0.02196374
+v -0.00882931 0.02198487 0.02196380
+v -0.00882931 0.02172235 0.02254884
+v -0.00914406 0.02223340 0.02242531
+v -0.00988756 0.02228065 0.02244046
+v -0.01068727 0.02224215 0.02240821
+v -0.01108873 0.01400401 0.02593238
+v -0.01658071 0.00535809 0.02593235
+v -0.01934597 0.00507632 0.02485978
+v -0.02207751 0.00660073 0.02371730
+v -0.01611662 0.00507633 0.02196530
+v -0.02240510 0.00652199 0.02196374
+v -0.00908946 0.02250468 0.02196380
+v -0.00988756 0.02289672 0.02196380
+v -0.01112888 0.02295623 0.02196380
+v -0.01112406 0.02270420 0.02210016
+v -0.01152713 0.02201113 0.02231148
+v -0.01224012 0.01269837 0.02593238
+v -0.01218231 0.02118329 0.02248474
+v -0.01252436 0.02157008 0.02221748
+v -0.01302217 0.02089626 0.02236432
+v -0.01444173 0.01977089 0.02241830
+v -0.01954028 0.01602549 0.02244471
+v -0.01996261 0.01526416 0.02256358
+v -0.01863940 0.01406002 0.02338402
+v -0.01642976 0.00634870 0.02593235
+v -0.01981809 0.00507632 0.02461272
+v -0.02197473 0.00588666 0.02369632
+v -0.01639122 0.00660072 0.02593235
+v -0.02203415 0.00746883 0.02366797
+v -0.02451036 0.00908951 0.02243924
+v -0.02455371 0.00815316 0.02246177
+v -0.01996743 0.00507633 0.02274768
+v -0.02197955 0.00591992 0.02230754
+v -0.02351634 0.00698053 0.02196375
+v -0.01158333 0.02272870 0.02196380
+v -0.01246494 0.02218439 0.02196380
+v -0.01607969 0.00774359 0.02593236
+v -0.01366771 0.02130930 0.02196380
+v -0.01435020 0.02080175 0.02196380
+v -0.02038013 0.01565095 0.02229282
+v -0.02248218 0.01406528 0.02196377
+v -0.02341035 0.01285416 0.02196377
+v -0.02112524 0.00507632 0.02388239
+v -0.02349225 0.00694903 0.02268359
+v -0.02374758 0.00908951 0.02273914
+v -0.02437868 0.00971432 0.02237049
+v -0.02488291 0.01021138 0.02206205
+v -0.02509809 0.01022538 0.02196376
+v -0.02514145 0.00908951 0.02203135
+v -0.02523459 0.00908951 0.02196375
+v -0.02483634 0.00808490 0.02196375
+v -0.02112524 0.00507633 0.02311478
+v -0.02349225 0.00694903 0.02198784
+v -0.02426788 0.01158177 0.02196376
+v -0.02373474 0.01239036 0.02196377
+v -0.01489137 0.02039045 0.02196379
+v -0.02117663 0.01561070 0.02196378
+v -0.02153473 0.01527816 0.02196378
+v -0.02491503 0.01057716 0.02196376
+f 1 2 6
+f 1 6 15
+f 1 15 33
+f 1 33 50
+f 1 50 59
+f 1 59 39
+f 1 39 17
+f 1 17 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 13
+f 1 13 24
+f 1 24 44
+f 1 44 35
+f 1 35 32
+f 1 32 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
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+f 3 18 41
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+f 15 34 33
+f 16 32 35
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+f 16 36 37
+f 16 37 38
+f 16 38 34
+f 17 39 40
+f 17 40 18
+f 18 40 41
+f 21 42 22
+f 22 42 23
+f 23 42 43
+f 23 43 26
+f 23 26 25
+f 24 31 44
+f 26 43 27
+f 27 43 28
+f 28 43 29
+f 29 43 45
+f 29 45 46
+f 29 46 47
+f 29 47 30
+f 30 48 49
+f 30 49 31
+f 30 47 48
+f 31 49 44
+f 33 34 50
+f 34 38 51
+f 34 51 50
+f 35 44 36
+f 36 44 52
+f 36 52 37
+f 37 52 53
+f 37 53 54
+f 37 54 55
+f 37 55 56
+f 37 56 38
+f 38 56 57
+f 38 57 58
+f 38 58 51
+f 39 59 40
+f 40 60 41
+f 40 59 60
+f 41 60 58
+f 44 61 53
+f 44 53 52
+f 44 49 62
+f 44 62 61
+f 46 63 47
+f 47 63 64
+f 47 64 65
+f 47 65 48
+f 50 51 60
+f 50 60 59
+f 51 58 60
+f 53 61 66
+f 53 66 54
+f 54 66 55
+f 55 57 56
+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_67.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef200e0ffb8641952f14a84a752833cbc5da6034
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_67.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00327557 -0.03157206 0.02074844
+v 0.00327557 -0.02841867 0.02196362
+v 0.00271318 -0.03175137 0.02074844
+v 0.00327557 -0.02580402 0.02074847
+v 0.00267107 -0.02851295 0.02196362
+v 0.00327557 -0.02315150 0.02196363
+v 0.00145336 -0.03038848 0.02124772
+v 0.00068914 -0.03025127 0.02120941
+v 0.00145239 -0.03121514 0.02074845
+v 0.00226065 -0.02856430 0.02196362
+v 0.00145336 -0.02864763 0.02196361
+v 0.00055798 -0.02620809 0.02074846
+v -0.00073427 -0.02357324 0.02196363
+v 0.00019353 -0.02345034 0.02196363
+v 0.00036583 -0.02342929 0.02196363
+v 0.00327557 -0.02568701 0.02080152
+v 0.00327557 -0.02375591 0.02167837
+v 0.00016111 -0.02833869 0.02196362
+v 0.00060783 -0.03052402 0.02074845
+v -0.00046421 -0.02788749 0.02196362
+v -0.00049906 -0.02896668 0.02121619
+v 0.00019353 -0.02630321 0.02074846
+v 0.00019353 -0.02588989 0.02091345
+v -0.00112243 -0.02373571 0.02196363
+v -0.00049906 -0.02896668 0.02096150
+v -0.00025512 -0.02919144 0.02074845
+v -0.00090754 -0.02705915 0.02196362
+v -0.00156141 -0.02557926 0.02196363
+v -0.00025270 -0.02651029 0.02074846
+v -0.00145784 -0.02400256 0.02196363
+v -0.00066168 -0.02606919 0.02099994
+v -0.00065490 -0.02823515 0.02081293
+v -0.00050680 -0.02850621 0.02074846
+v -0.00166789 -0.02492181 0.02196363
+v -0.00063844 -0.02716859 0.02074846
+v -0.00161513 -0.02450344 0.02196363
+v -0.00077735 -0.02699181 0.02084172
+v -0.00056730 -0.02823599 0.02074846
+f 1 2 3
+f 1 3 9
+f 1 9 19
+f 1 19 26
+f 1 26 33
+f 1 33 38
+f 1 38 35
+f 1 35 29
+f 1 29 22
+f 1 22 12
+f 1 12 4
+f 1 4 16
+f 1 16 17
+f 1 17 6
+f 1 6 2
+f 2 5 3
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+f 2 10 5
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+f 3 5 10
+f 3 10 11
+f 3 11 7
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 6 17 15
+f 7 11 18
+f 7 18 8
+f 8 19 9
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+f 12 22 23
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+f 13 23 22
+f 13 22 24
+f 15 17 16
+f 19 21 25
+f 19 25 26
+f 20 27 21
+f 21 27 28
+f 21 28 25
+f 22 29 24
+f 24 29 31
+f 24 31 30
+f 25 32 33
+f 25 33 26
+f 25 28 32
+f 28 34 32
+f 29 35 31
+f 30 31 37
+f 30 37 36
+f 31 35 37
+f 32 38 33
+f 32 34 37
+f 32 37 38
+f 34 36 37
+f 35 38 37
+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_68.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8877aa7ec7fc80bdbcc9fe8d37120257d7d748bc
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_68.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.03010729 -0.00707062 0.02074853
+v -0.02959642 -0.00762352 0.02074853
+v -0.02931334 -0.00740725 0.02106817
+v -0.02988140 -0.00707062 0.02086404
+v -0.02523400 -0.00707062 0.02074853
+v -0.02876340 -0.00806590 0.02074853
+v -0.02847365 -0.00788554 0.02125517
+v -0.02752816 -0.00708511 0.02185378
+v -0.02890160 -0.00707062 0.02129847
+v -0.02523209 -0.00708511 0.02074853
+v -0.02204010 -0.00707062 0.02196369
+v -0.02124901 -0.00728482 0.02196369
+v -0.02037024 -0.00756060 0.02196369
+v -0.02037024 -0.00831393 0.02161193
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_69.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92a8840ddb2995aca7e550f5857a44c94bb4898a
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_69.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_7.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..101c38cd83c6dec9b19f03bc4f65814944f94b8d
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_7.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_70.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79234bfacb184bc9db179919a39c8d7b406dd659
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_70.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_71.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25fd56ac90b895764873424dcd7cc38c9b5181c3
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_71.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.02555661 0.00517597 0.02074846
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_72.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a36dee50fc692d3a8e540ebf44f84eee5c37624
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_72.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.00922387 -0.02136042 0.01805807
+v 0.00922387 -0.02136042 0.01915367
+v 0.01163803 -0.02136042 0.01805807
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_73.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..857b2d62cc78fa39203ac3c91765f8552c606e10
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_73.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_74.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ea202792d10f7c848695a8132c1045443636013
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_74.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.02442630 0.00263388 0.02196337
+v -0.02500916 0.00260437 0.02189434
+v -0.02500916 0.00260437 0.02196337
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+v -0.03256687 -0.00583918 0.01827365
+v -0.03382674 -0.00459531 0.01823238
+v -0.03508661 -0.00459531 0.01831127
+v -0.03701900 -0.00406087 0.01861918
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+v -0.03677241 -0.00493790 0.01926310
+v -0.02759166 -0.00589611 0.02196334
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+v -0.02816406 -0.00210969 0.02196335
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+v -0.03449478 -0.00648114 0.01871194
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+v -0.03087659 -0.00779880 0.01960751
+v -0.03449478 -0.00648114 0.01862063
+v -0.03382674 -0.00660448 0.01852677
+v -0.03382674 -0.00583918 0.01831091
+v -0.03593698 -0.00536166 0.01855014
+v -0.03635245 -0.00452363 0.01852348
+v -0.03498349 -0.00580228 0.01849061
+f 1 2 3
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+f 31 49 50
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+f 40 64 45
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+f 43 63 78
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+f 48 71 49
+f 49 71 50
+f 50 71 55
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+f 53 71 70
+f 53 70 72
+f 53 72 73
+f 53 73 56
+f 53 56 54
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+f 56 74 57
+f 57 74 59
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+f 60 76 61
+f 61 76 62
+f 62 77 78
+f 62 78 63
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+f 65 79 69
+f 65 68 80
+f 65 80 81
+f 65 81 82
+f 65 82 83
+f 65 83 84
+f 65 84 85
+f 65 85 86
+f 65 86 66
+f 67 69 87
+f 67 87 70
+f 69 79 88
+f 69 88 89
+f 69 89 90
+f 69 90 87
+f 70 87 72
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+f 72 90 91
+f 72 91 92
+f 72 92 93
+f 72 93 73
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+f 74 94 75
+f 75 94 76
+f 76 95 96
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+f 77 79 78
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+f 77 95 79
+f 79 95 88
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+f 88 92 89
+f 89 92 91
+f 89 91 90
+f 92 95 97
+f 92 97 93
+f 93 97 94
+f 94 97 95
+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_75.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..212dcf92dd66dc282c1f957f355a4968ff474fe1
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_75.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00393682 -0.00445000 0.02548682
+v 0.00393682 -0.00445000 0.02648682
+v 0.00393682 -0.00304933 0.02548682
+v 0.00393682 -0.00304933 0.02648682
+v 0.00518437 -0.00445000 0.02548682
+v 0.00518437 -0.00445000 0.02648682
+v 0.00518437 -0.00304933 0.02548682
+v 0.00518437 -0.00304933 0.02648682
+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/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_76.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41c33b8c0bc59c3870f14e5ce628168aa50673ea
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_76.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00464814 -0.01956182 0.02527730
+v -0.00522729 -0.02036649 0.02500110
+v -0.00664462 -0.02273769 0.02369039
+v -0.00545479 -0.02142154 0.02366514
+v -0.00464814 -0.01956182 0.02421561
+v -0.00464814 -0.01944625 0.02536509
+v -0.00464814 -0.01860093 0.02593226
+v -0.00610698 -0.02043925 0.02500769
+v -0.00736705 -0.02282543 0.02372341
+v -0.00872531 -0.02462951 0.02265550
+v -0.00769554 -0.02420363 0.02265084
+v -0.00660271 -0.02284896 0.02299153
+v -0.00545479 -0.02142154 0.02357385
+v -0.00464814 -0.01800597 0.02196365
+v -0.00464814 -0.00320309 0.02593232
+v -0.00475790 -0.01858381 0.02593226
+v -0.00824156 -0.02278691 0.02368262
+v -0.00736705 -0.02201221 0.02413208
+v -0.00484651 -0.01856883 0.02593226
+v -0.00610658 -0.01828848 0.02593226
+v -0.00872531 -0.02471511 0.02253041
+v -0.00872531 -0.02330695 0.02332755
+v -0.00872531 -0.02506608 0.02196363
+v -0.00817610 -0.02462523 0.02196363
+v -0.00774902 -0.02415013 0.02196363
+v -0.00665020 -0.02281900 0.02227442
+v -0.00464814 -0.00320307 0.02196371
+v -0.00671606 -0.02286394 0.02223130
+v -0.00712677 -0.02314215 0.02196363
+v -0.00671606 -0.00320309 0.02593232
+v -0.00872531 -0.02261571 0.02361308
+v -0.00872531 -0.01602000 0.02593227
+v -0.00872531 -0.02212991 0.02379062
+v -0.00872531 -0.00320521 0.02196371
+v -0.00671606 -0.00320307 0.02196371
+v -0.00872531 -0.00320523 0.02593232
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 5
+f 1 5 14
+f 1 14 27
+f 1 27 15
+f 1 15 7
+f 1 7 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 5 13 14
+f 7 15 30
+f 7 30 36
+f 7 36 32
+f 7 32 20
+f 7 20 19
+f 7 19 16
+f 7 16 8
+f 8 17 18
+f 8 18 9
+f 8 16 19
+f 8 19 20
+f 8 20 17
+f 9 18 17
+f 9 17 10
+f 10 21 11
+f 10 17 22
+f 10 22 31
+f 10 31 33
+f 10 33 32
+f 10 32 36
+f 10 36 34
+f 10 34 23
+f 10 23 21
+f 11 21 23
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+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 12 26 13
+f 13 26 14
+f 14 26 28
+f 14 28 29
+f 14 29 25
+f 14 25 24
+f 14 24 23
+f 14 23 34
+f 14 34 35
+f 14 35 27
+f 15 27 35
+f 15 35 30
+f 17 31 22
+f 17 20 31
+f 20 32 33
+f 20 33 31
+f 25 29 28
+f 25 28 26
+f 30 35 34
+f 30 34 36
+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_77.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d31529efbdf91168bc8a31f240d35f2dd55f613
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_77.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.01418634 -0.01988380 0.02074837
+v -0.01455762 -0.01954910 0.02074837
+v -0.01795165 -0.01988380 0.02074837
+v -0.00900861 -0.01988379 0.02006704
+v -0.00900861 -0.01849903 0.02065197
+v -0.01492715 -0.01923920 0.02074837
+v -0.01721961 -0.01881286 0.02074837
+v -0.01795340 -0.01988380 0.02049343
+v -0.00900861 -0.01988379 0.01805808
+v -0.00900861 -0.01849902 0.01805808
+v -0.01240789 -0.01849902 0.01972914
+v -0.01619247 -0.01850188 0.02074837
+v -0.01698668 -0.01872705 0.02074837
+v -0.01425027 -0.01849902 0.01805808
+v -0.01746391 -0.01988379 0.02001884
+v -0.01304887 -0.01988379 0.01805808
+v -0.01264695 -0.01849902 0.01961194
+v -0.01354186 -0.01849902 0.01914947
+v -0.01342102 -0.01952171 0.01805808
+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 15
+f 1 15 16
+f 1 16 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 5 10 14
+f 5 14 18
+f 5 18 17
+f 5 17 11
+f 5 11 12
+f 5 12 6
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 9 16 19
+f 9 19 14
+f 9 14 10
+f 11 17 12
+f 12 17 18
+f 12 18 14
+f 12 14 13
+f 14 19 15
+f 15 19 16
+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_78.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a81c367f22c792c0d8570830095f35498d044640
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_78.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.00800372 0.02311102 0.02196380
+v 0.00786535 0.02266544 0.02196380
+v 0.00800372 0.02204943 0.02196380
+v 0.00800372 0.02308203 0.02189861
+v 0.00327652 0.02135536 0.02074864
+v 0.00327652 0.02118378 0.02088461
+v 0.00327652 0.02108137 0.02095729
+v 0.00327652 0.02086689 0.02110872
+v 0.00327652 0.02024470 0.02131392
+v 0.00327652 0.01916302 0.02164379
+v 0.00790330 0.02226005 0.02196380
+v 0.00799863 0.01916302 0.02074863
+v 0.00800372 0.02276939 0.02181915
+v 0.00381056 0.01916302 0.02163261
+v 0.00397391 0.01916302 0.02162916
+v 0.00413912 0.01916302 0.02161179
+v 0.00523404 0.01916302 0.02148701
+v 0.00536593 0.01916302 0.02146405
+v 0.00636088 0.01916302 0.02122827
+v 0.00666030 0.01916302 0.02115166
+v 0.00729753 0.01916302 0.02098512
+v 0.00773670 0.01916302 0.02083927
+v 0.00775984 0.01937248 0.02074863
+v 0.00672555 0.02025707 0.02074863
+v 0.00660060 0.02034209 0.02074863
+v 0.00645112 0.02041744 0.02074863
+v 0.00555659 0.02085877 0.02074864
+v 0.00523404 0.02098089 0.02074864
+v 0.00461717 0.02118262 0.02074864
+v 0.00397391 0.02130010 0.02074864
+v 0.00359398 0.02134145 0.02074864
+v 0.00327652 0.01916302 0.02074863
+f 1 2 11
+f 1 11 3
+f 1 3 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
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+f 3 11 10
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+f 5 29 28
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+f 5 25 24
+f 5 24 23
+f 5 23 12
+f 5 12 32
+f 5 32 10
+f 5 10 9
+f 5 9 8
+f 5 8 7
+f 5 7 6
+f 10 32 12
+f 10 12 22
+f 10 22 21
+f 10 21 20
+f 10 20 19
+f 10 19 18
+f 10 18 17
+f 10 17 16
+f 10 16 15
+f 10 15 14
+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_79.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..734f2272435c54945e14afd0cf6cf0b3215bdc79
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_79.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.00872571 -0.02506541 0.02196363
+v -0.00872571 -0.02471752 0.02253041
+v -0.00889404 -0.02525095 0.02196363
+v -0.00872571 -0.01373115 0.02196367
+v -0.00872571 -0.02463287 0.02265511
+v -0.00901676 -0.02535880 0.02196363
+v -0.01170491 -0.01373115 0.02196367
+v -0.00872571 -0.01373117 0.02593228
+v -0.00872571 -0.02330973 0.02332755
+v -0.00913620 -0.02516746 0.02239833
+v -0.00955938 -0.02557681 0.02196363
+v -0.01352929 -0.01614899 0.02222899
+v -0.01352929 -0.01373115 0.02308868
+v -0.01352929 -0.01701060 0.02196366
+v -0.01139034 -0.01373117 0.02593228
+v -0.00872571 -0.01602261 0.02593227
+v -0.00982457 -0.02449719 0.02256149
+v -0.00936283 -0.02516746 0.02239833
+v -0.00872571 -0.02261859 0.02361308
+v -0.00962944 -0.02557681 0.02196363
+v -0.01352929 -0.01373116 0.02513281
+v -0.01352929 -0.02303605 0.02196364
+v -0.01184409 -0.01373116 0.02576912
+v -0.01109459 -0.01450581 0.02593228
+v -0.00980200 -0.01570371 0.02593227
+v -0.00872571 -0.02213155 0.02379023
+v -0.00988758 -0.02325870 0.02303853
+v -0.01145335 -0.02479290 0.02196363
+v -0.01020261 -0.02490886 0.02228490
+v -0.01069021 -0.02534140 0.02196363
+v -0.00908212 -0.02249335 0.02356219
+v -0.01349685 -0.01373116 0.02514524
+v -0.01352929 -0.01413240 0.02506638
+v -0.01283198 -0.02366341 0.02196363
+v -0.01352929 -0.01887298 0.02360028
+v -0.01275722 -0.01373116 0.02542455
+v -0.01343384 -0.01455102 0.02503297
+v -0.01327350 -0.01540915 0.02492536
+v -0.01352929 -0.01589040 0.02468645
+v -0.01284421 -0.01623945 0.02479910
+v -0.01352929 -0.01690508 0.02435042
+v -0.01352929 -0.01703612 0.02430147
+v -0.01317664 -0.01901445 0.02365660
+v -0.01352929 -0.01842884 0.02377237
+v -0.01352929 -0.01566079 0.02476026
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 20
+f 1 20 30
+f 1 30 28
+f 1 28 34
+f 1 34 22
+f 1 22 14
+f 1 14 7
+f 1 7 4
+f 1 4 8
+f 1 8 16
+f 1 16 26
+f 1 26 19
+f 1 19 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 13
+f 4 13 21
+f 4 21 32
+f 4 32 36
+f 4 36 23
+f 4 23 15
+f 4 15 8
+f 5 9 10
+f 5 10 6
+f 6 10 11
+f 7 12 13
+f 7 14 12
+f 8 15 24
+f 8 24 25
+f 8 25 16
+f 9 17 18
+f 9 18 10
+f 9 19 17
+f 10 18 20
+f 10 20 11
+f 12 14 22
+f 12 22 35
+f 12 35 44
+f 12 44 42
+f 12 42 41
+f 12 41 39
+f 12 39 45
+f 12 45 33
+f 12 33 21
+f 12 21 13
+f 15 23 24
+f 16 25 26
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 17 19 27
+f 18 29 30
+f 18 30 20
+f 19 26 25
+f 19 25 31
+f 19 31 27
+f 21 33 32
+f 22 34 35
+f 23 36 24
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 24 40 25
+f 24 36 32
+f 24 32 33
+f 24 33 37
+f 25 40 41
+f 25 41 42
+f 25 42 27
+f 25 27 31
+f 27 42 43
+f 27 43 28
+f 28 30 29
+f 28 43 44
+f 28 44 35
+f 28 35 34
+f 33 45 37
+f 37 45 38
+f 38 45 39
+f 39 41 40
+f 42 44 43
+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_8.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d81ec379651bd9ab7959896ece71774ff364a42
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_8.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.03371856 -0.00045473 0.03741722
+v 0.03372033 -0.00049756 0.03665950
+v 0.03371856 -0.00009375 0.03741722
+v 0.03330768 -0.00045473 0.03741722
+v 0.03235309 -0.00150511 0.03499005
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diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_80.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7442116cda2b71ffe948f105f2c5ee4145e58036
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_80.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+v 0.01924583 -0.01742624 0.02074850
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_81.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4f94adb77bfeb969b05c1b5cfbd93b8c59d612e
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_81.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_9.obj b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..878cd775db95aa4f9404142514dedc6cb04b79b6
--- /dev/null
+++ b/dataset/food/fruits/348fb32637095f4ead9a68b23bcd6110/mjcf/mesh/strawberry_collision_9.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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