diff --git a/.gitattributes b/.gitattributes
index 993ba35cc748d750a829f0edc19dc1b38aa65037..acc3e4a9e9f08de93735a95e8668d1d25bfeb0e0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3562,5 +3562,5 @@ dataset/food/fruits/6497379ef8ae500b8eb557c6810007d5/mesh/pear_007.glb filter=lf
 dataset/food/fruits/6497379ef8ae500b8eb557c6810007d5/pear_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/73086733d13359b19d58c3d06cded653/mesh/pear_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/73086733d13359b19d58c3d06cded653/pear_004.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/8850cf33dbfb556483b614ce0dc9024c/lemon_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/8850cf33dbfb556483b614ce0dc9024c/mesh/lemon_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mesh/strawberry_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/strawberry_003.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mesh/material.mtl b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d4a434c65a8dff520e42428fbf419259201a2030
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl strawberry_003_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd strawberry_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mesh/material_0.png b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..da6fb1c575e5f0e33896560fd5e7a461ecbceb45
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1378993b112af7e47e935a0c0a28e3bcda342ce56379e0a6823f583b9e1414e
+size 14076721
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mesh/strawberry_003.glb b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mesh/strawberry_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d133f0229d7bbffdd8eba1bca3c24f184b90c607
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mesh/strawberry_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0617703afc7ef8bc1ea44904750e500dd23965604039c326fe1467d2b2365fe1
+size 17632908
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mesh/strawberry_003.mtl b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mesh/strawberry_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5b5ad2942eb147d863d0196857965b5397eca5bc
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mesh/strawberry_003.mtl
@@ -0,0 +1,6 @@
+newmtl strawberry_003_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mesh/strawberry_003.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mesh/strawberry_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ca32a8904df1ceb15fda0d7d85019287de1fbae
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mesh/strawberry_003.obj
@@ -0,0 +1,114574 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl strawberry_003_geometry_Looks_material_0
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diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mesh/strawberry_003_collision.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mesh/strawberry_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a53fcd2301153e864f24bc81a3b013747914ee2
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mesh/strawberry_003_collision.obj
@@ -0,0 +1,16386 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mesh/strawberry_003_geometry_Looks_material_0.png b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mesh/strawberry_003_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..da6fb1c575e5f0e33896560fd5e7a461ecbceb45
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mesh/strawberry_003_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 14076721
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/material_0.png b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..da6fb1c575e5f0e33896560fd5e7a461ecbceb45
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1378993b112af7e47e935a0c0a28e3bcda342ce56379e0a6823f583b9e1414e
+size 14076721
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9287cfeec2b4ac87fe9c64212bcb360393c26b3d
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+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003.obj
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diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b063f775ea98a925e308321e4d4f7ccf00157d5
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision.obj
@@ -0,0 +1,16386 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_0.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc40fc710f5d554221d43ed78069bc242c7746d9
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_0.obj
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diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_1.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aa17f16fbb56b2f753bcc8f22fa37a42c847360
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_1.obj
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diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_10.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a11e480dc514fc041d4c6831072ae1585f1395f
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_10.obj
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diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_11.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e5d83abb9e231c89032bff320997f7ed858bab7
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_11.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_12.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d18394b00c1328b4fbf89e777469b16ea4a740f
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_12.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+f 46 56 57
+f 49 50 51
+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_13.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d70318683bfcb869050ff18c624bbb8135a5bad
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_13.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.00666989 0.02554189 -0.00224025
+v 0.00694430 0.02554189 -0.00226833
+v 0.00666989 0.02554188 0.00016652
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+v 0.00802201 0.02554189 -0.00220242
+v 0.00694430 0.02571163 -0.00238517
+v 0.00802201 0.02575395 -0.00235708
+v 0.01014788 0.02554188 0.00082485
+v 0.00947964 0.03036180 0.00003809
+v 0.00666989 0.02839143 -0.00142762
+v 0.00666989 0.02638539 -0.00266190
+v 0.00694430 0.02640250 -0.00270758
+v 0.00888043 0.02554189 -0.00199384
+v 0.00861557 0.02582717 -0.00230840
+v 0.00802201 0.02640250 -0.00264804
+v 0.01017697 0.02554188 0.00082373
+v 0.00985002 0.03036180 0.00003809
+v 0.00990950 0.03039937 -0.00064121
+v 0.00911186 0.03039366 -0.00069925
+v 0.00847619 0.03027289 -0.00110406
+v 0.00666989 0.02932765 -0.00199307
+v 0.00666989 0.02917977 -0.00189421
+v 0.00666989 0.02749420 -0.00295511
+v 0.00694430 0.02749420 -0.00300080
+v 0.00916136 0.02554189 -0.00185865
+v 0.00933374 0.02614717 -0.00217395
+v 0.00902459 0.02646764 -0.00241587
+v 0.00802201 0.02749420 -0.00293789
+v 0.01089819 0.02554188 0.00044139
+v 0.01073927 0.02920354 -0.00006976
+v 0.01044835 0.02978933 -0.00064121
+v 0.00978836 0.03031901 -0.00131714
+v 0.00909927 0.03033233 -0.00139166
+v 0.00847619 0.03027289 -0.00133174
+v 0.00666989 0.02932765 -0.00248551
+v 0.00666989 0.02858590 -0.00283564
+v 0.00694430 0.02858590 -0.00291915
+v 0.00802201 0.02858590 -0.00289781
+v 0.00997159 0.02554189 -0.00146508
+v 0.01071148 0.02586473 -0.00118608
+v 0.00968154 0.02687513 -0.00231551
+v 0.00909927 0.02749420 -0.00263943
+v 0.01090601 0.02554188 0.00018112
+v 0.01101108 0.02629836 -0.00074869
+v 0.01099198 0.02640249 0.00022233
+v 0.01092468 0.02858589 -0.00064121
+v 0.01076055 0.02924300 -0.00064121
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+v 0.01075186 0.02920877 -0.00123887
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+v 0.01049698 0.02554188 -0.00108012
+v 0.00975189 0.02749420 -0.00235969
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+v 0.00974624 0.02837384 -0.00235670
+v 0.01090166 0.02749420 -0.00141376
+v 0.01083610 0.02858589 -0.00134747
+v 0.01013399 0.02867672 -0.00197098
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+f 65 67 66
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+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_14.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cd2300ede73238ec70c4e710655ab447ff1e249
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_14.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.01151641 0.01873706 0.01078405
+v 0.01151641 0.01873709 0.00155460
+v 0.01151641 0.02115943 0.01007683
+v 0.01151448 0.01873706 0.01193710
+v 0.01019808 0.01873665 0.01445664
+v 0.00164965 0.01873666 0.01142941
+v 0.00164965 0.01873709 0.00155460
+v 0.01151641 0.02065276 0.00155461
+v 0.01019808 0.01873666 0.01193710
+v 0.01151641 0.02134036 0.00995937
+v 0.01019808 0.01948366 0.01330738
+v 0.00164965 0.01978135 0.01034834
+v 0.00544916 0.01873665 0.01297397
+v 0.01151641 0.02151528 0.00979519
+v 0.00165061 0.01873706 0.01142941
+v 0.00164965 0.02283482 0.00155461
+v 0.01145267 0.02128503 0.00155461
+v 0.01151641 0.02126256 0.00155840
+v 0.00164965 0.02283481 0.00544442
+v 0.01151641 0.02283480 0.00685384
+v 0.00525697 0.02260051 0.00653180
+v 0.00940901 0.02283482 0.00155461
+v 0.01151641 0.02283482 0.00317747
+f 1 2 8
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+f 1 3 4
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+f 18 22 23
+f 19 21 20
+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_15.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f9c5e86d652048c6c5423cd699beb2d717206e7
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_15.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.01033397 0.02283536 0.00377585
+v -0.01344168 0.02283535 0.00415852
+v -0.01344168 0.02293823 0.00413553
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+v -0.01344168 0.02304967 0.00412164
+v -0.01344168 0.02388649 0.00413581
+v -0.01030971 0.02286732 0.00377585
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+v -0.01344168 0.02283535 0.00635671
+v -0.01344168 0.02394074 0.00414677
+v -0.00907898 0.02385398 0.00377586
+v -0.01010900 0.02312944 0.00377585
+v 0.00909085 0.02373133 0.00377586
+v 0.00909085 0.02283535 0.00612182
+v -0.01344168 0.02316559 0.00600639
+v -0.00706526 0.02283535 0.00650582
+v -0.01344168 0.02408890 0.00493268
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+v -0.00816145 0.02417147 0.00377586
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+v -0.01344168 0.02408469 0.00494257
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+v -0.00275329 0.02426721 0.00377586
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+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_16.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e6c47dde90682ee1153d1e6ce336fbfdf45c218
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_16.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v -0.01265574 0.02083025 0.00374476
+v -0.01265574 0.01896153 0.00374475
+v -0.01265574 0.02100343 0.00298817
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+v -0.01549458 0.01896153 0.00374475
+v -0.01265574 0.01896158 -0.01218730
+v -0.01265574 0.02131739 0.00155629
+v -0.01321869 0.02054987 0.00374476
+v -0.01353181 0.02107766 0.00045737
+v -0.01462341 0.01960800 0.00374475
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+v -0.01555826 0.01896153 0.00364783
+v -0.01265738 0.01896158 -0.01222481
+v -0.01265574 0.01936625 -0.01181370
+v -0.01265574 0.02159543 0.00009314
+v -0.01322441 0.02054663 0.00374476
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+v -0.01432091 0.02062263 0.00045737
+v -0.01265574 0.02172855 -0.00061498
+v -0.01345914 0.02127440 -0.00061498
+v -0.01401923 0.02001561 0.00374475
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+v -0.01599384 0.01896153 0.00278495
+v -0.01375674 0.02019203 0.00374475
+v -0.01309704 0.01896158 -0.01181995
+v -0.01281128 0.01911355 -0.01196533
+v -0.01265574 0.01966018 -0.01143853
+v -0.01393718 0.02032309 0.00289750
+v -0.01451564 0.02004742 0.00258017
+v -0.01619632 0.01928786 0.00084190
+v -0.01611427 0.01922659 0.00155628
+v -0.01315787 0.02159632 -0.00174048
+v -0.01442828 0.02069125 -0.00064156
+v -0.01265574 0.02187582 -0.00174048
+v -0.01605753 0.01896153 0.00265520
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diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_17.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48678609ba9a04884a9ec56c0021f54ca4393ba1
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_17.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_18.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..513388b40926d1106d68fd37f6f9d46a954c0c77
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_18.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_19.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ec6338ee237d92e6d046b6c1e483393a61f796a
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_19.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_2.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c302edb94b3e9aa506e51db89fa3551eb61c5f9
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_2.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_20.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51a1fd2613f934dee90e34be4b374b7326d9fa3c
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_20.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.00047768 0.02944587 -0.00650251
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+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_21.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c66481c6c82be2b7a4c5e6507a8fe65684cb431
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_21.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_22.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f97c76ad5eda1881fd002cd6fa7d267f6421ab20
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_22.obj
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diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_23.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8013d1c913472d9502995eade8d1b8c46fdbfa1
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_23.obj
@@ -0,0 +1,217 @@
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diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_24.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4f6895a684315230625c3c2e09c2c9f013c1385
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_24.obj
@@ -0,0 +1,499 @@
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diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_25.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb01c91907c04c0fd3532706496f19139755d315
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_25.obj
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diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_26.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9fb19d5b2d92027c3d57ad70a19007299efac83
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_26.obj
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+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_27.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..544d58a87803015c4e983801cf946b1ee4616867
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_27.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.00371504 0.02554240 0.00070769
+v 0.00367722 0.02554198 0.00071043
+v 0.00371504 0.02554198 0.00061937
+v 0.00371504 0.02573735 0.00037399
+v 0.00341010 0.02554198 0.00071134
+v 0.00371504 0.02554199 -0.00393919
+v 0.00371504 0.02632601 -0.00066219
+v 0.00278284 0.02554198 0.00029340
+v 0.00023495 0.02554199 -0.00393919
+v 0.00371504 0.02618789 -0.00393918
+v 0.00023495 0.02554199 -0.00166469
+v 0.00371504 0.02653210 -0.00172796
+v 0.00023495 0.02615959 -0.00393918
+v 0.00361316 0.02633376 -0.00393918
+v 0.00371504 0.02622553 -0.00383720
+v 0.00354298 0.02641602 -0.00393918
+v 0.00271605 0.02662485 -0.00393918
+f 1 2 3
+f 1 3 6
+f 1 6 10
+f 1 10 15
+f 1 15 12
+f 1 12 7
+f 1 7 4
+f 1 4 2
+f 2 5 8
+f 2 8 11
+f 2 11 9
+f 2 9 6
+f 2 6 3
+f 2 4 5
+f 4 7 5
+f 5 7 8
+f 6 9 13
+f 6 13 17
+f 6 17 16
+f 6 16 14
+f 6 14 10
+f 7 11 8
+f 7 12 13
+f 7 13 11
+f 9 11 13
+f 10 14 15
+f 12 15 14
+f 12 14 16
+f 12 16 17
+f 12 17 13
+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_28.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f875ce4de3817d11555bab854ef71304e6b46a4a
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_28.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00386749 0.02553282 -0.00393965
+v -0.00386749 0.02553282 0.00120701
+v -0.00386749 0.02653282 -0.00393965
+v -0.00386749 0.02653282 0.00120701
+v 0.00023461 0.02553282 -0.00393965
+v 0.00023461 0.02553282 0.00120701
+v 0.00023461 0.02653282 -0.00393965
+v 0.00023461 0.02653282 0.00120701
+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/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_29.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab6b050a129ad8471d945a384809a3b70197168e
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_29.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.00488863 0.02554224 0.00061641
+v 0.00488863 0.02554225 -0.00212978
+v 0.00666989 0.02554224 0.00016681
+v 0.00666989 0.02839172 -0.00142741
+v 0.00666989 0.02917959 -0.00189413
+v 0.00666989 0.02932783 -0.00199307
+v 0.00624109 0.02923888 -0.00212207
+v 0.00488863 0.02727290 -0.00105367
+v 0.00616158 0.02577017 -0.00234619
+v 0.00666989 0.02573200 -0.00237171
+v 0.00666989 0.02562193 -0.00229550
+v 0.00666989 0.02554225 -0.00224026
+v 0.00488863 0.02637571 -0.00250910
+v 0.00666989 0.02932783 -0.00248532
+v 0.00624109 0.02923888 -0.00241470
+v 0.00518158 0.02822384 -0.00200846
+v 0.00488863 0.02768204 -0.00176373
+v 0.00666989 0.02638498 -0.00266188
+v 0.00488863 0.02665514 -0.00250141
+v 0.00586636 0.02749415 -0.00282130
+v 0.00666989 0.02749415 -0.00295520
+v 0.00666989 0.02884050 -0.00272235
+v 0.00666989 0.02858628 -0.00283563
+v 0.00587560 0.02858702 -0.00259300
+v 0.00518158 0.02822384 -0.00242100
+v 0.00488863 0.02749230 -0.00198713
+v 0.00505272 0.02749415 -0.00247903
+f 1 2 12
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+f 1 3 4
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+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_3.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc4032e3055fa039e285b4124e37f5a1867adf5e
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_3.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.01509705 0.02421869 0.00815059
+v 0.01505942 0.02490008 0.00815059
+v 0.01503942 0.02481110 0.00872758
+v 0.01505883 0.02421869 0.00878758
+v 0.01505648 0.02355031 0.00878880
+v 0.01506412 0.02353081 0.00815059
+v 0.01504648 0.02360597 0.00752996
+v 0.01506471 0.02421869 0.00745541
+v 0.01505706 0.02489886 0.00747844
+v 0.01489125 0.02544535 0.00815059
+v 0.01418686 0.02621694 0.00888336
+v 0.01452259 0.02522879 0.00896880
+v 0.01415452 0.02312692 0.00994095
+v 0.01430151 0.02650948 0.00825181
+v 0.01481893 0.02283561 0.00832392
+v 0.01490125 0.02298472 0.00815058
+v 0.01414276 0.02283560 0.00993853
+v 0.01454376 0.02283561 0.00940760
+v 0.01462137 0.02283561 0.00920941
+v 0.01475778 0.02319600 0.00711903
+v 0.01490419 0.02421869 0.00690629
+v 0.01484657 0.02528161 0.00708812
+v 0.01427035 0.02643553 0.00709843
+v 0.01399812 0.02698609 0.00749542
+v 0.01399812 0.02698609 0.00795241
+v 0.01370765 0.02621694 0.00888336
+v 0.01402222 0.02375711 0.00982702
+v 0.01369060 0.02312692 0.00994095
+v 0.01391639 0.02283560 0.00996762
+v 0.01481893 0.02283561 0.00813724
+v 0.01456316 0.02283561 0.00709478
+v 0.01411983 0.02283562 0.00616080
+v 0.01418098 0.02321877 0.00597413
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+v 0.01427152 0.02531575 0.00589049
+v 0.01413570 0.02609383 0.00621537
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+v 0.01352303 0.02650948 0.00825181
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+v 0.01271103 0.02596503 0.00525290
+v 0.00909085 0.02377502 0.00377828
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+v 0.00909085 0.02283563 0.00377585
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+v 0.01150097 0.02489237 0.00421103
+v 0.00910437 0.02377868 0.00377586
+v 0.00909673 0.02377583 0.00377586
+v 0.00909085 0.02373154 0.00377586
+f 1 2 3
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+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_30.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf49fb88ddafd339c1984c9ceda5d29d09d557a4
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_30.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.01265574 0.01896149 0.01360075
+v -0.01265574 0.01896150 0.01065557
+v -0.01265574 0.01963040 0.01269646
+v -0.01403728 0.02162839 0.01754073
+v -0.01403728 0.02139223 0.01754073
+v -0.01400496 0.01896148 0.01694285
+v -0.01354791 0.01896150 0.01065557
+v -0.01265767 0.02010696 0.01065557
+v -0.01265574 0.02010781 0.01065628
+v -0.01265574 0.01970922 0.01257745
+v -0.01403728 0.02162839 0.01742244
+v -0.01459782 0.02184703 0.01701056
+v -0.01460936 0.02177895 0.01768539
+v -0.01457243 0.02099421 0.01780226
+v -0.01453011 0.01896147 0.01793479
+v -0.01265574 0.02004990 0.01164822
+v -0.01265574 0.02012476 0.01087861
+v -0.01470516 0.01896150 0.01153349
+v -0.01348713 0.01983013 0.01065557
+v -0.01417078 0.02042475 0.01195180
+v -0.01624289 0.02150579 0.01524188
+v -0.01605784 0.02150579 0.01524188
+v -0.01494907 0.02169901 0.01606137
+v -0.01572390 0.02177556 0.01686376
+v -0.01538958 0.02173629 0.01770107
+v -0.01569389 0.02163743 0.01575495
+v -0.01558002 0.02094280 0.01784288
+v -0.01470708 0.01985128 0.01791341
+v -0.01563234 0.01985128 0.01791341
+v -0.01551923 0.01896147 0.01786068
+v -0.01548845 0.01896149 0.01253113
+v -0.01550346 0.01985130 0.01270501
+v -0.01540689 0.02057305 0.01283685
+v -0.01638293 0.02094564 0.01482358
+v -0.01645603 0.02094281 0.01584403
+v -0.01625020 0.02151681 0.01584403
+v -0.01631907 0.02058350 0.01398271
+v -0.01624135 0.02150918 0.01644404
+v -0.01611863 0.02094281 0.01722933
+v -0.01617133 0.01985129 0.01737825
+v -0.01607323 0.01896148 0.01707112
+v -0.01557040 0.01896149 0.01263945
+v -0.01604245 0.01985130 0.01341619
+v -0.01653066 0.01985130 0.01474519
+v -0.01658606 0.01985129 0.01584402
+v -0.01632984 0.02094281 0.01667991
+v -0.01632676 0.01985130 0.01396560
+v -0.01638216 0.01985129 0.01682883
+v -0.01631099 0.01903436 0.01664284
+v -0.01625213 0.01896148 0.01671838
+v -0.01626713 0.01921628 0.01410242
+v -0.01638793 0.01896149 0.01454352
+v -0.01646795 0.01896149 0.01479079
+v -0.01647565 0.01896149 0.01494614
+v -0.01650643 0.01896148 0.01586041
+v -0.01646103 0.01896148 0.01607989
+v -0.01634946 0.01896148 0.01647040
+f 1 2 9
+f 1 9 17
+f 1 17 16
+f 1 16 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 15
+f 1 15 30
+f 1 30 41
+f 1 41 50
+f 1 50 57
+f 1 57 56
+f 1 56 55
+f 1 55 54
+f 1 54 53
+f 1 53 52
+f 1 52 42
+f 1 42 31
+f 1 31 18
+f 1 18 7
+f 1 7 2
+f 2 7 19
+f 2 19 8
+f 2 8 9
+f 3 10 4
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 4 10 16
+f 4 16 17
+f 4 17 11
+f 5 15 6
+f 7 18 19
+f 8 19 20
+f 8 20 9
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 12
+f 9 12 11
+f 9 11 17
+f 12 24 25
+f 12 25 13
+f 12 23 26
+f 12 26 24
+f 13 25 27
+f 13 27 14
+f 14 27 28
+f 14 28 15
+f 15 28 29
+f 15 29 30
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 19 33 20
+f 20 33 21
+f 21 34 35
+f 21 35 36
+f 21 36 24
+f 21 24 26
+f 21 26 22
+f 21 33 37
+f 21 37 34
+f 22 26 23
+f 24 36 38
+f 24 38 25
+f 25 38 39
+f 25 39 27
+f 27 29 28
+f 27 39 40
+f 27 40 29
+f 29 40 30
+f 30 40 41
+f 31 42 43
+f 31 43 32
+f 32 43 37
+f 32 37 33
+f 34 44 35
+f 34 37 44
+f 35 45 46
+f 35 46 38
+f 35 38 36
+f 35 44 45
+f 37 43 47
+f 37 47 44
+f 38 46 39
+f 39 46 40
+f 40 46 48
+f 40 48 49
+f 40 49 50
+f 40 50 41
+f 42 51 47
+f 42 47 43
+f 42 52 51
+f 44 53 45
+f 44 47 53
+f 45 48 46
+f 45 53 54
+f 45 54 55
+f 45 55 56
+f 45 56 48
+f 47 51 52
+f 47 52 53
+f 48 56 57
+f 48 57 49
+f 49 57 50
+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_31.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a288a4c6ace6b82698b09bb663cb98fa176a5752
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_31.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.01513756 0.02085971 0.00531324
+v 0.01513756 0.02085972 0.00283870
+v 0.01513756 0.02145839 0.00459847
+v 0.01481926 0.02283520 0.00832366
+v 0.01462182 0.02283520 0.00920982
+v 0.01437902 0.02203483 0.00924995
+v 0.01396218 0.02147346 0.00981591
+v 0.01336740 0.02085970 0.00928088
+v 0.01263083 0.02085972 0.00155628
+v 0.01513756 0.02090864 0.00281696
+v 0.01513756 0.02158273 0.00439867
+v 0.01481890 0.02283520 0.00813724
+v 0.01513756 0.02194725 0.00379424
+v 0.01454349 0.02283520 0.00940795
+v 0.01410963 0.02203482 0.00993295
+v 0.01340993 0.02123773 0.00996974
+v 0.01312601 0.02085969 0.00979251
+v 0.01229693 0.02085972 0.00155461
+v 0.01233238 0.02098735 0.00155461
+v 0.01513756 0.02186178 0.00289722
+v 0.01456334 0.02283520 0.00709475
+v 0.01414260 0.02283519 0.00993881
+v 0.01333160 0.02211816 0.01003244
+v 0.01240469 0.02086066 0.01008092
+v 0.01240540 0.02085969 0.01008009
+v 0.01202187 0.02085972 0.00155461
+v 0.01151641 0.02085972 0.00155545
+v 0.01151641 0.02126329 0.00155712
+v 0.01448748 0.02191979 0.00281362
+v 0.01233273 0.02265635 0.00310287
+v 0.01202152 0.02283522 0.00323496
+v 0.01292539 0.02258925 0.00318731
+v 0.01243482 0.02283522 0.00357939
+v 0.01411991 0.02283521 0.00616011
+v 0.01391681 0.02283519 0.00996723
+v 0.01358681 0.02283519 0.00996723
+v 0.01151641 0.02115981 0.01007758
+v 0.01151641 0.02095541 0.01009179
+v 0.01151641 0.02085969 0.01009514
+v 0.01151641 0.02283522 0.00317644
+v 0.01330962 0.02283519 0.00979083
+v 0.01165465 0.02155081 0.00988029
+v 0.01151641 0.02134100 0.00995970
+v 0.01151641 0.02283520 0.00685315
+v 0.01151641 0.02151600 0.00979585
+f 1 2 10
+f 1 10 20
+f 1 20 13
+f 1 13 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 17
+f 1 17 25
+f 1 25 39
+f 1 39 27
+f 1 27 26
+f 1 26 18
+f 1 18 9
+f 1 9 2
+f 2 9 10
+f 3 11 4
+f 4 12 21
+f 4 21 34
+f 4 34 33
+f 4 33 31
+f 4 31 40
+f 4 40 44
+f 4 44 41
+f 4 41 36
+f 4 36 35
+f 4 35 22
+f 4 22 14
+f 4 14 5
+f 4 11 13
+f 4 13 12
+f 5 14 15
+f 5 15 6
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 12 13 20
+f 12 20 21
+f 14 22 15
+f 15 22 23
+f 15 23 24
+f 15 24 16
+f 16 24 25
+f 16 25 17
+f 18 26 19
+f 19 26 27
+f 19 27 28
+f 19 28 20
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 22 35 23
+f 23 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 39
+f 23 39 24
+f 24 39 25
+f 27 39 38
+f 27 38 37
+f 27 37 43
+f 27 43 45
+f 27 45 44
+f 27 44 40
+f 27 40 28
+f 28 40 31
+f 28 31 30
+f 28 30 29
+f 31 33 32
+f 36 41 42
+f 36 42 43
+f 36 43 37
+f 41 45 42
+f 41 44 45
+f 42 45 43
+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_32.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddd6b6d34486a016c6701a6080dda613166f2898
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_32.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00758964 0.01553295 0.02055877
+v 0.00591864 0.01553295 0.02204231
+v 0.00837135 0.01843035 0.02276711
+v 0.00921842 0.01634352 0.02055877
+v 0.01023845 0.01553295 0.02055877
+v 0.00562630 0.01553295 0.02249380
+v 0.00837135 0.01843034 0.02323805
+v 0.00909903 0.01838355 0.02280954
+v 0.01000376 0.01634579 0.02055877
+v 0.01007003 0.01658091 0.02136948
+v 0.01014085 0.01657580 0.02243865
+v 0.01026342 0.01553295 0.02134120
+v 0.00599400 0.01553294 0.02331371
+v 0.00836953 0.01722044 0.02411841
+v 0.00862964 0.01722044 0.02411841
+v 0.00909903 0.01838354 0.02318467
+v 0.00600898 0.01553294 0.02334482
+v 0.00721740 0.01630437 0.02417038
+v 0.00964559 0.01822359 0.02297076
+v 0.00981718 0.01764162 0.02253800
+v 0.00982263 0.01657579 0.02321188
+v 0.00973229 0.01586336 0.02309910
+v 0.00989753 0.01553295 0.02249380
+v 0.00992568 0.01553295 0.02242132
+v 0.00964559 0.01822359 0.02300046
+v 0.00975772 0.01766743 0.02313799
+v 0.00862964 0.01676978 0.02411841
+v 0.00903321 0.01647397 0.02382601
+v 0.00903321 0.01761750 0.02369732
+v 0.00783795 0.01580720 0.02417038
+v 0.00696137 0.01553294 0.02392360
+v 0.00721740 0.01580720 0.02417038
+v 0.00961109 0.01553295 0.02295201
+v 0.00855565 0.01604203 0.02408588
+v 0.00917076 0.01553294 0.02333209
+v 0.00806538 0.01553294 0.02396461
+v 0.00818069 0.01553294 0.02393173
+v 0.00909994 0.01553294 0.02337911
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 12
+f 1 12 24
+f 1 24 23
+f 1 23 33
+f 1 33 35
+f 1 35 38
+f 1 38 37
+f 1 37 36
+f 1 36 31
+f 1 31 17
+f 1 17 13
+f 1 13 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 16
+f 3 16 8
+f 3 8 9
+f 3 9 4
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 6 13 7
+f 7 14 15
+f 7 15 16
+f 7 13 17
+f 7 17 18
+f 7 18 14
+f 8 16 25
+f 8 25 19
+f 8 19 9
+f 9 19 10
+f 10 19 20
+f 10 20 11
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 11 20 19
+f 11 19 25
+f 11 25 26
+f 11 26 21
+f 14 18 15
+f 15 27 28
+f 15 28 21
+f 15 21 26
+f 15 26 29
+f 15 29 16
+f 15 18 30
+f 15 30 27
+f 16 29 25
+f 17 31 32
+f 17 32 18
+f 18 32 30
+f 21 28 22
+f 22 33 23
+f 22 28 34
+f 22 34 35
+f 22 35 33
+f 25 29 26
+f 27 30 34
+f 27 34 28
+f 30 32 36
+f 30 36 37
+f 30 37 34
+f 31 36 32
+f 34 38 35
+f 34 37 38
+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_33.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43202946d75ca2f0d942b4c0cbc282e435e0d1fd
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_33.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.00164965 0.01553297 0.01556195
+v 0.00164965 0.01553296 0.01944505
+v 0.00164965 0.01739863 0.01556195
+v 0.01258027 0.01553297 0.01556195
+v 0.00263352 0.01553296 0.01977031
+v 0.01125459 0.01873625 0.01893442
+v 0.00179444 0.01613217 0.01874023
+v 0.00164965 0.01595062 0.01891631
+v 0.00164965 0.01735850 0.01574879
+v 0.01100536 0.01873625 0.01822765
+v 0.01101723 0.01873625 0.01797820
+v 0.01121661 0.01873626 0.01556196
+v 0.01370656 0.01873626 0.01556196
+v 0.01377303 0.01873626 0.01584467
+v 0.01267403 0.01553297 0.01597427
+v 0.00366487 0.01553296 0.01994591
+v 0.00921801 0.01634350 0.02055828
+v 0.01000368 0.01634601 0.02055828
+v 0.01241886 0.01873625 0.01893247
+v 0.00164965 0.01715218 0.01649518
+v 0.00164965 0.01697251 0.01697354
+v 0.00164965 0.01694805 0.01703175
+v 0.00164965 0.01625069 0.01845850
+v 0.00164965 0.01610740 0.01870404
+v 0.01377421 0.01873626 0.01596450
+v 0.01287579 0.01553297 0.01693930
+v 0.00758969 0.01553295 0.02055828
+v 0.01023867 0.01553295 0.02055828
+v 0.01252449 0.01873625 0.01889432
+v 0.01245328 0.01873625 0.01892415
+v 0.01374217 0.01873626 0.01647025
+v 0.01370894 0.01873626 0.01696768
+v 0.01368876 0.01873626 0.01704056
+v 0.01347513 0.01873626 0.01760696
+v 0.01328168 0.01873625 0.01809167
+v 0.01325082 0.01868106 0.01812836
+v 0.01320691 0.01873625 0.01823303
+v 0.01294462 0.01873625 0.01866198
+v 0.01284256 0.01826498 0.01855193
+v 0.01326625 0.01873625 0.01812444
+f 1 2 8
+f 1 8 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 9
+f 1 9 3
+f 1 3 12
+f 1 12 13
+f 1 13 4
+f 1 4 15
+f 1 15 26
+f 1 26 28
+f 1 28 27
+f 1 27 16
+f 1 16 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 6
+f 3 6 10
+f 3 10 11
+f 3 11 12
+f 4 13 14
+f 4 14 15
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 19
+f 6 19 30
+f 6 30 29
+f 6 29 38
+f 6 38 37
+f 6 37 40
+f 6 40 35
+f 6 35 34
+f 6 34 33
+f 6 33 32
+f 6 32 31
+f 6 31 25
+f 6 25 14
+f 6 14 13
+f 6 13 12
+f 6 12 11
+f 6 11 10
+f 6 9 20
+f 6 20 21
+f 6 21 22
+f 6 22 23
+f 6 23 7
+f 7 23 24
+f 7 24 8
+f 14 25 26
+f 14 26 15
+f 16 27 17
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 25 31 26
+f 26 31 32
+f 26 32 33
+f 26 33 34
+f 26 34 35
+f 26 35 36
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 28
+f 28 39 38
+f 28 38 29
+f 35 40 36
+f 36 40 37
+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_34.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c6ea2e40bba74b9cd9c9798d2bd3bde68b87d4b
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_34.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.00371549 0.02554210 -0.00548047
+v 0.00371549 0.02571244 -0.00534961
+v 0.00488846 0.02749230 -0.00198725
+v 0.00488846 0.02665485 -0.00250099
+v 0.00381758 0.02554210 -0.00523390
+v 0.00371549 0.02554208 0.00061963
+v 0.00371549 0.02612163 -0.00465653
+v 0.00488846 0.02768212 -0.00176430
+v 0.00488846 0.02637556 -0.00250886
+v 0.00488846 0.02554209 -0.00213023
+v 0.00475870 0.02554208 0.00065901
+v 0.00371549 0.02554250 0.00070748
+v 0.00371549 0.02653228 -0.00172856
+v 0.00418548 0.02702757 -0.00134628
+v 0.00418548 0.02702757 -0.00110334
+v 0.00488846 0.02727271 -0.00105366
+v 0.00488846 0.02554208 0.00061600
+v 0.00478867 0.02721677 -0.00102761
+v 0.00371549 0.02573736 0.00037366
+v 0.00371549 0.02632610 -0.00066229
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 17
+f 1 17 11
+f 1 11 6
+f 1 6 12
+f 1 12 19
+f 1 19 20
+f 1 20 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 16
+f 3 16 17
+f 3 17 10
+f 3 10 9
+f 3 9 4
+f 4 9 5
+f 5 9 10
+f 6 11 12
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 11 17 16
+f 11 16 12
+f 12 16 18
+f 12 18 15
+f 12 15 19
+f 13 20 15
+f 13 15 14
+f 15 20 19
+f 15 18 16
+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_35.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8cde7c04485efc531c6c258f35884405cf04d99
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_35.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.00928716 0.01652166 0.02420224
+v -0.00852389 0.01650590 0.02419058
+v -0.00922123 0.01740818 0.02416531
+v -0.00987610 0.01743554 0.02414879
+v -0.01087680 0.01388697 0.02412497
+v -0.01035501 0.01326997 0.02415898
+v -0.00960347 0.01266707 0.02414830
+v -0.00852389 0.01702670 0.02414296
+v -0.00852389 0.01581758 0.02417649
+v -0.00861976 0.01719007 0.02412984
+v -0.00956667 0.01850700 0.02333441
+v -0.01029879 0.01849041 0.02331060
+v -0.01026077 0.01774653 0.02379263
+v -0.01096822 0.01766692 0.02318425
+v -0.01156888 0.01330066 0.02243836
+v -0.01087680 0.01361413 0.02412497
+v -0.01003344 0.01266707 0.02414830
+v -0.00852389 0.01003571 0.02167061
+v -0.00866304 0.01165782 0.02299570
+v -0.00852389 0.01171753 0.02296411
+v -0.00852389 0.01186266 0.02304915
+v -0.00852389 0.01227564 0.02328142
+v -0.00852389 0.01708641 0.02375860
+v -0.00956667 0.01850701 0.02279504
+v -0.01029879 0.01849042 0.02276346
+v -0.01088408 0.01828890 0.02307153
+v -0.01193171 0.01386790 0.02085623
+v -0.01265574 0.01003572 0.01955251
+v -0.01107622 0.01326997 0.02362691
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diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_36.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15036a4041f3b941e30eedf2ab9676e424b282b8
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_36.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_37.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a108ff3cd14d1a8797944df1426c5d17db103276
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_37.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_38.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbad57bbc2bb4ce5d073f6098f82682a017ad672
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_38.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
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+v -0.00490458 0.01593189 0.01942931
+v -0.00490666 0.01600434 0.01923855
+v -0.00667156 0.01566427 0.02248219
+v -0.00667156 0.01003571 0.02233349
+v -0.00490458 0.01003572 0.01923853
+v -0.00490458 0.01577705 0.01923855
+v -0.00491029 0.01600492 0.01923855
+v -0.00667156 0.01571569 0.02207944
+v -0.00667156 0.01003572 0.01923853
+v -0.00667156 0.01589449 0.01923855
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 16
+f 1 16 18
+f 1 18 17
+f 1 17 12
+f 1 12 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 3
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 3 7 8
+f 4 10 11
+f 5 12 6
+f 6 12 17
+f 6 17 13
+f 6 13 14
+f 6 14 9
+f 6 9 8
+f 6 8 7
+f 9 14 10
+f 10 14 13
+f 10 13 17
+f 10 17 18
+f 10 18 15
+f 10 15 11
+f 11 15 16
+f 15 18 16
+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_39.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32011e80408e03230b21005b8123d3a09b4e0011
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_39.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.00852349 0.01650655 0.02419049
+v -0.00821332 0.01650034 0.02418613
+v -0.00852349 0.01702698 0.02414298
+v -0.00852349 0.01581701 0.02417643
+v -0.00814317 0.01578664 0.02417886
+v -0.00754405 0.01588121 0.02412262
+v -0.00754405 0.01608620 0.02412262
+v -0.00852349 0.01708634 0.02375853
+v -0.00738996 0.01613728 0.02353745
+v -0.00852349 0.01227547 0.02328098
+v -0.00667156 0.01465054 0.02329698
+v -0.00667156 0.01539736 0.02341092
+v -0.00667156 0.01003571 0.02233316
+v -0.00667156 0.01548640 0.02320196
+v -0.00852349 0.01706287 0.02352824
+v -0.00667156 0.01566449 0.02248202
+v -0.00667156 0.01571556 0.02207962
+v -0.00667156 0.01589434 0.01923815
+v -0.00852349 0.01186273 0.02304874
+v -0.00852349 0.01171709 0.02296390
+v -0.00710536 0.01003571 0.02223668
+v -0.00667156 0.01003572 0.01923813
+v -0.00852349 0.01617043 0.01923815
+v -0.00852349 0.01003571 0.02167091
+v -0.00779602 0.01003571 0.02199476
+v -0.00852349 0.01003572 0.01923813
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 23
+f 1 23 26
+f 1 26 24
+f 1 24 20
+f 1 20 19
+f 1 19 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 6
+f 3 7 9
+f 3 9 8
+f 4 10 5
+f 5 10 6
+f 6 11 12
+f 6 12 7
+f 6 10 13
+f 6 13 11
+f 7 12 14
+f 7 14 9
+f 8 9 16
+f 8 16 17
+f 8 17 18
+f 8 18 15
+f 9 14 16
+f 10 19 13
+f 11 13 22
+f 11 22 18
+f 11 18 17
+f 11 17 16
+f 11 16 14
+f 11 14 12
+f 13 19 20
+f 13 20 21
+f 13 21 25
+f 13 25 24
+f 13 24 26
+f 13 26 22
+f 15 18 23
+f 18 22 26
+f 18 26 23
+f 20 24 25
+f 20 25 21
+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_4.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7adfdcaf537d67f613d6f7a613445b34ad1a17a
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_4.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.00922076 0.02640285 -0.00395512
+v -0.00837109 0.02554189 -0.00371146
+v -0.00917958 0.02554189 -0.00369863
+v -0.01029800 0.02562371 -0.00351161
+v -0.01029800 0.02640285 -0.00369755
+v -0.01033543 0.02750187 -0.00358801
+v -0.01000005 0.02813215 -0.00347312
+v -0.00923723 0.02752616 -0.00368046
+v -0.00804320 0.02649997 -0.00370397
+v -0.00713889 0.02554189 -0.00366283
+v -0.01005844 0.02554189 -0.00353191
+v -0.01021565 0.02554189 -0.00349397
+v -0.01029800 0.02554189 -0.00346084
+v -0.01084223 0.02584858 -0.00339244
+v -0.01088191 0.02640285 -0.00342663
+v -0.01089164 0.02714239 -0.00343572
+v -0.00992968 0.03039565 -0.00135702
+v -0.00922076 0.03059203 -0.00157077
+v -0.00849087 0.03017501 -0.00226331
+v -0.00777221 0.03024839 -0.00230980
+v -0.00960778 0.02813215 -0.00347312
+v -0.01071871 0.02787033 -0.00315517
+v -0.00833591 0.02718304 -0.00358961
+v -0.00712167 0.02972896 -0.00250591
+v -0.00619041 0.02939904 -0.00244873
+v -0.00589396 0.02867322 -0.00255988
+v -0.00386749 0.02554189 -0.00283563
+v -0.01062589 0.02554189 -0.00330481
+v -0.01100842 0.02554189 -0.00297777
+v -0.01109751 0.02554189 -0.00281052
+v -0.01123525 0.02640285 -0.00283883
+v -0.01100318 0.02750187 -0.00280891
+v -0.01087517 0.02920372 -0.00124053
+v -0.01002850 0.03054135 -0.00064151
+v -0.00922076 0.03093408 -0.00064151
+v -0.00813603 0.03054611 -0.00183421
+v -0.00751768 0.03024839 -0.00230980
+v -0.00569558 0.02896513 -0.00173963
+v -0.00522396 0.02841931 -0.00173964
+v -0.00531080 0.02836705 -0.00238569
+v -0.00735374 0.03038722 -0.00173963
+v -0.00735673 0.03041730 -0.00101343
+v -0.00386749 0.02636114 -0.00166002
+v -0.00386749 0.02554188 0.00119509
+v -0.01151523 0.02554189 -0.00173965
+v -0.01144636 0.02640285 -0.00173964
+v -0.01108253 0.02858558 -0.00064151
+v -0.01088341 0.02922536 -0.00064151
+v -0.01056750 0.02977118 -0.00064151
+v -0.00994765 0.03047483 0.00004248
+v -0.00922076 0.03056616 0.00004248
+v -0.00821239 0.03065431 -0.00064471
+v -0.00427099 0.02713024 -0.00098031
+v -0.00427099 0.02713024 -0.00133566
+v -0.00386749 0.02652372 -0.00062068
+v -0.00861738 0.03042838 -0.00004676
+v -0.00386749 0.02652372 -0.00068053
+v -0.00491030 0.02554188 0.00126509
+v -0.01148304 0.02554188 -0.00064153
+v -0.01126295 0.02749447 -0.00064152
+v -0.01095377 0.02858558 0.00000187
+v -0.01086095 0.02918472 -0.00007027
+v -0.00922450 0.02554187 0.00150395
+v -0.01090886 0.02599162 0.00109036
+v -0.01029875 0.02554187 0.00142540
+v -0.01142465 0.02554188 -0.00039572
+v -0.01109077 0.02749447 0.00016110
+v -0.01109077 0.02637433 0.00048813
+v -0.01115964 0.02554188 0.00046407
+v -0.01108703 0.02554188 0.00067248
+v -0.01090212 0.02554188 0.00108608
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 27
+f 2 27 44
+f 2 44 58
+f 2 58 63
+f 2 63 65
+f 2 65 71
+f 2 71 70
+f 2 70 69
+f 2 69 66
+f 2 66 59
+f 2 59 45
+f 2 45 30
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+f 2 28 13
+f 2 13 12
+f 2 12 11
+f 2 11 3
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+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 7
+f 7 17 18
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+f 7 21 8
+f 7 16 22
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+f 8 23 9
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+f 9 25 26
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+f 9 27 10
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+f 13 28 14
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+f 14 30 31
+f 14 31 15
+f 15 31 16
+f 16 31 32
+f 16 32 22
+f 17 22 33
+f 17 33 34
+f 17 34 35
+f 17 35 18
+f 18 35 36
+f 18 36 20
+f 18 20 19
+f 20 36 37
+f 21 37 24
+f 22 32 33
+f 24 37 25
+f 25 38 39
+f 25 39 40
+f 25 40 27
+f 25 27 26
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+f 25 41 42
+f 25 42 38
+f 27 40 43
+f 27 43 57
+f 27 57 55
+f 27 55 44
+f 30 45 31
+f 31 45 46
+f 31 46 32
+f 32 46 33
+f 33 46 47
+f 33 47 48
+f 33 48 49
+f 33 49 34
+f 34 50 35
+f 34 49 50
+f 35 50 51
+f 35 51 52
+f 35 52 42
+f 35 42 41
+f 35 41 36
+f 36 41 37
+f 38 42 53
+f 38 53 39
+f 39 53 54
+f 39 54 40
+f 40 54 43
+f 42 44 55
+f 42 55 53
+f 42 52 56
+f 42 56 44
+f 43 54 57
+f 44 56 51
+f 44 51 58
+f 45 59 46
+f 46 59 60
+f 46 60 47
+f 47 60 61
+f 47 61 62
+f 47 62 48
+f 48 62 49
+f 49 62 50
+f 50 63 51
+f 50 62 64
+f 50 64 65
+f 50 65 63
+f 51 56 52
+f 51 63 58
+f 53 55 57
+f 53 57 54
+f 59 66 67
+f 59 67 60
+f 60 67 61
+f 61 67 64
+f 61 64 62
+f 64 67 68
+f 64 68 69
+f 64 69 70
+f 64 70 71
+f 64 71 65
+f 66 69 68
+f 66 68 67
+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_40.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b10f5f2e10da82501b1ea52854fa8c1b52aa5040
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_40.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.01513782 0.01873669 0.00372481
+v 0.01513782 0.02022454 0.00306004
+v 0.01599762 0.02047989 0.00324478
+v 0.01722845 0.02033490 0.00425038
+v 0.01526264 0.01873669 0.00382758
+v 0.01513782 0.01873667 0.00940393
+v 0.01513782 0.02090828 0.00281678
+v 0.01560928 0.02088328 0.00295338
+v 0.01627058 0.02120708 0.00309583
+v 0.01663506 0.02088328 0.00351147
+v 0.01734881 0.02094288 0.00410859
+v 0.01778461 0.02094288 0.00485466
+v 0.01739181 0.02009570 0.00485465
+v 0.01715162 0.01932967 0.00548364
+v 0.01673260 0.01896357 0.00589147
+v 0.01627373 0.01873668 0.00590708
+v 0.01550073 0.01873667 0.00946182
+v 0.01708948 0.02266492 0.00556105
+v 0.01513782 0.01887358 0.00924132
+v 0.01513782 0.02186159 0.00289679
+v 0.01556549 0.02182352 0.00295143
+v 0.01627058 0.02166470 0.00309583
+v 0.01735798 0.02180236 0.00409753
+v 0.01762020 0.02211347 0.00479677
+v 0.01781633 0.02094288 0.00595328
+v 0.01749853 0.01975653 0.00589147
+v 0.01724497 0.01923738 0.00621605
+v 0.01649635 0.01873667 0.00704213
+v 0.01615626 0.01873667 0.00917497
+v 0.01738893 0.02266492 0.00556105
+v 0.01708948 0.02266492 0.00512525
+v 0.01513782 0.02194735 0.00379377
+v 0.01513782 0.01935581 0.00858306
+v 0.01513782 0.01922083 0.00880681
+v 0.01513782 0.01891626 0.00919058
+v 0.01738893 0.02266492 0.00512525
+v 0.01753472 0.02194349 0.00593767
+v 0.01738053 0.02094288 0.00668309
+v 0.01740282 0.01985151 0.00679691
+v 0.01724497 0.01923738 0.00666421
+v 0.01638622 0.01873667 0.00820124
+v 0.01721534 0.02151894 0.00651267
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 16
+f 1 16 28
+f 1 28 41
+f 1 41 29
+f 1 29 17
+f 1 17 6
+f 1 6 19
+f 1 19 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 20
+f 1 20 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 6 17 18
+f 6 18 19
+f 7 20 21
+f 7 21 22
+f 7 22 9
+f 7 9 8
+f 9 22 23
+f 9 23 11
+f 9 11 10
+f 11 23 12
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 13
+f 13 26 14
+f 14 26 27
+f 14 27 15
+f 15 27 28
+f 15 28 16
+f 17 29 30
+f 17 30 18
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 18 30 36
+f 18 36 31
+f 20 32 31
+f 20 31 36
+f 20 36 21
+f 21 36 22
+f 22 36 23
+f 23 36 24
+f 24 36 30
+f 24 30 25
+f 25 30 37
+f 25 37 38
+f 25 38 29
+f 25 29 39
+f 25 39 26
+f 26 39 40
+f 26 40 27
+f 27 40 28
+f 28 40 41
+f 29 41 40
+f 29 40 39
+f 29 38 42
+f 29 42 30
+f 30 42 37
+f 37 42 38
+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_41.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82a742b34c194bb724622b23ddc4bf5465c68d58
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_41.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.01265574 0.02075735 0.00997354
+v -0.01609907 0.02283500 0.00951542
+v -0.01620955 0.02260963 0.00980842
+v -0.01363359 0.02075735 0.01008652
+v -0.01265574 0.02075738 0.00374476
+v -0.01265574 0.02283501 0.00605091
+v -0.01647178 0.02283499 0.00955328
+v -0.01624760 0.02260963 0.00980842
+v -0.01560900 0.02102013 0.00987546
+v -0.01544442 0.02075735 0.00985932
+v -0.01627327 0.02203485 0.00983015
+v -0.01626686 0.02143525 0.00983139
+v -0.01278686 0.02075738 0.00374476
+v -0.01265574 0.02083040 0.00374476
+v -0.01265574 0.02283501 0.00412343
+v -0.01732585 0.02283500 0.00875063
+v -0.01583501 0.02075736 0.00924973
+v -0.01639017 0.02129940 0.00924973
+v -0.01730843 0.02256815 0.00871463
+v -0.01280153 0.02075738 0.00374786
+v -0.01411816 0.02283501 0.00428172
+v -0.01380963 0.02283501 0.00421778
+v -0.01350660 0.02283501 0.00416440
+v -0.01326134 0.02283501 0.00414267
+v -0.01733914 0.02283500 0.00841231
+v -0.01583592 0.02075736 0.00924104
+v -0.01644381 0.02125201 0.00815097
+v -0.01730843 0.02256815 0.00862586
+v -0.01703199 0.02213635 0.00821615
+v -0.01327555 0.02075737 0.00433076
+v -0.01612382 0.02158843 0.00664685
+v -0.01640989 0.02231616 0.00624956
+v -0.01610961 0.02283094 0.00551705
+v -0.01610503 0.02283501 0.00551146
+v -0.01558974 0.02283501 0.00513590
+v -0.01435655 0.02283501 0.00438663
+v -0.01731209 0.02283500 0.00801502
+v -0.01727908 0.02268591 0.00789273
+v -0.01580842 0.02075736 0.00806344
+v -0.01633837 0.02137201 0.00737873
+v -0.01576853 0.02075736 0.00794115
+v -0.01544946 0.02075736 0.00730673
+v -0.01573323 0.02109194 0.00702800
+v -0.01660472 0.02198523 0.00702800
+v -0.01702098 0.02283500 0.00705531
+v -0.01690637 0.02283501 0.00680204
+v -0.01648461 0.02283501 0.00604346
+v -0.01611511 0.02283501 0.00552202
+v -0.01611053 0.02283501 0.00551643
+v -0.01729421 0.02283500 0.00779961
+v -0.01722682 0.02283500 0.00757924
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 17
+f 1 17 26
+f 1 26 39
+f 1 39 41
+f 1 41 42
+f 1 42 30
+f 1 30 20
+f 1 20 13
+f 1 13 5
+f 1 5 14
+f 1 14 15
+f 1 15 6
+f 1 6 2
+f 2 7 3
+f 2 6 15
+f 2 15 24
+f 2 24 23
+f 2 23 22
+f 2 22 21
+f 2 21 36
+f 2 36 35
+f 2 35 34
+f 2 34 49
+f 2 49 48
+f 2 48 47
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+f 2 46 45
+f 2 45 51
+f 2 51 50
+f 2 50 37
+f 2 37 25
+f 2 25 16
+f 2 16 7
+f 3 8 4
+f 3 7 8
+f 4 9 10
+f 4 8 11
+f 4 11 12
+f 4 12 9
+f 5 13 14
+f 7 16 8
+f 8 16 11
+f 9 12 10
+f 10 12 17
+f 11 16 12
+f 12 18 17
+f 12 16 19
+f 12 19 18
+f 13 20 21
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+f 13 22 23
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+f 14 23 24
+f 14 24 15
+f 16 25 19
+f 17 18 26
+f 18 19 27
+f 18 27 26
+f 19 25 28
+f 19 28 29
+f 19 29 27
+f 20 30 31
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+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 21
+f 25 37 38
+f 25 38 28
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+f 27 29 40
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+f 28 38 29
+f 29 38 40
+f 30 42 43
+f 30 43 31
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+f 31 43 40
+f 31 40 44
+f 32 44 45
+f 32 45 46
+f 32 46 47
+f 32 47 48
+f 32 48 33
+f 33 48 49
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+f 37 50 38
+f 38 50 51
+f 38 51 45
+f 38 45 44
+f 38 44 40
+f 40 43 42
+f 40 42 41
+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_42.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dcd7f1f7a3b43a4568ec83895eab349a76dfc98
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_42.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.00164965 0.01553300 0.00929754
+v 0.00164965 0.01553297 0.01556195
+v 0.00164965 0.01873629 0.00929755
+v 0.01371101 0.01553300 0.00929754
+v 0.00164965 0.01739863 0.01556195
+v 0.01257996 0.01553297 0.01556195
+v 0.00164965 0.01873628 0.01135993
+v 0.01371101 0.01873629 0.00929755
+v 0.01371101 0.01553298 0.01385219
+v 0.00416322 0.01824900 0.01425572
+v 0.00165083 0.01873628 0.01143045
+v 0.00164965 0.01873597 0.01143045
+v 0.01121633 0.01873626 0.01556196
+v 0.01371101 0.01589702 0.01430477
+v 0.01370629 0.01873626 0.01556196
+v 0.01371101 0.01873628 0.00959805
+v 0.01371101 0.01624162 0.01430477
+v 0.01371101 0.01678878 0.01368355
+v 0.01371101 0.01690824 0.01345235
+f 1 2 5
+f 1 5 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 15
+f 2 15 13
+f 2 13 5
+f 3 7 11
+f 3 11 13
+f 3 13 15
+f 3 15 16
+f 3 16 8
+f 4 8 16
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+f 4 19 18
+f 4 18 17
+f 4 17 14
+f 4 14 9
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+f 5 13 10
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+f 6 14 15
+f 7 12 11
+f 10 13 11
+f 14 17 15
+f 15 17 18
+f 15 18 19
+f 15 19 16
+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_43.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b0e00bf38aeb1060fbc92d1ee2a8bfab512aa2d
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_43.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.00164965 0.01553301 0.00483868
+v 0.00164965 0.01553300 0.00929649
+v 0.00164965 0.01873630 0.00483869
+v 0.01756855 0.01553301 0.00483868
+v 0.00164965 0.01873629 0.00929650
+v 0.01579372 0.01553300 0.00929649
+v 0.01549143 0.01873630 0.00483869
+v 0.01627210 0.01873630 0.00590743
+v 0.01649493 0.01873629 0.00704294
+v 0.01688604 0.01852339 0.00929650
+v 0.01705589 0.01763226 0.00929649
+v 0.01691721 0.01737452 0.00929649
+v 0.01587787 0.01873629 0.00929650
+v 0.01638585 0.01873629 0.00820114
+v 0.01668815 0.01857105 0.00929650
+v 0.01615523 0.01873629 0.00917518
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 12
+f 2 12 11
+f 2 11 10
+f 2 10 15
+f 2 15 13
+f 2 13 5
+f 3 5 13
+f 3 13 16
+f 3 16 14
+f 3 14 9
+f 3 9 8
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+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 6
+f 9 14 10
+f 10 14 16
+f 10 16 15
+f 13 15 16
+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_44.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92dfa965709e8e818d81994fb5d5933f8825a7c0
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_44.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.01834078 0.01836283 0.01166377
+v 0.01772037 0.01848793 0.01254716
+v 0.01832130 0.01832833 0.01254716
+v 0.01834078 0.01796368 0.01166377
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+v 0.01832130 0.01802199 0.01254716
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+v 0.01740223 0.01688034 0.01034945
+v 0.01722730 0.01707506 0.00974402
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+v 0.01579477 0.01553300 0.00929693
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+v 0.01507647 0.01553298 0.01321778
+v 0.01577392 0.01553298 0.01274324
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+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_45.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0ceb13cb3d49093ab213337b88c3c1345f38438
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_45.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.01265574 0.01896167 0.01065557
+v -0.01265574 0.02067438 0.01016311
+v -0.01265761 0.02010676 0.01065557
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+v -0.01265574 0.01896170 0.00374543
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+v -0.01549450 0.01896170 0.00374543
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+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_5.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d88811e4b5e5b45314a35c7dfd960428a6929a55
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_5.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
+v -0.00059757 0.02283544 -0.01337711
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+v -0.00383232 0.02302913 -0.01272901
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diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_6.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..786a30828d1eeaf872a4cf8b1562d61440c9d43b
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_6.obj
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diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_7.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14a5ac5b07d127c04d915e2f34ddc1db31cbfe32
--- /dev/null
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diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_8.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7ea0234303e0c85e2d146ce24e2e2a24187f68e
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_8.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00047706 0.02450364 -0.00940733
+v 0.00047706 0.02554191 -0.00743912
+v 0.00145587 0.02450364 -0.00936162
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+v 0.00485492 0.02450363 -0.00613657
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+f 28 33 30
+f 30 33 31
+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_9.obj b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45120b27a7453a3a5a860147bdbcb29de4ee1000
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/mesh/strawberry_003_collision_9.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.01344207 0.02283521 0.00415885
+v -0.01350670 0.02283521 0.00416469
+v -0.01344207 0.02293850 0.00413545
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+v -0.01380951 0.02283521 0.00421733
+v -0.01361367 0.02303655 0.00412907
+v -0.01344207 0.02300669 0.00412694
+v -0.01344207 0.02316647 0.00600648
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+v -0.01568675 0.02498053 0.00520203
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+v -0.01731736 0.02480379 0.00788759
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+v -0.01735391 0.02341420 0.00743672
+v -0.01731236 0.02283520 0.00801519
+v -0.01690644 0.02283521 0.00680241
+v -0.01702110 0.02283520 0.00705549
+v -0.01722694 0.02283520 0.00757920
+v -0.01729428 0.02283520 0.00779932
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+
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/strawberry_003.xml b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/strawberry_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4049b84bbfbc774c543282a5d542f44e08f4c32c
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/mjcf/strawberry_003.xml
@@ -0,0 +1,106 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="strawberry_003">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/strawberry_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/strawberry_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/strawberry_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/strawberry_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/strawberry_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/strawberry_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/strawberry_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/strawberry_003_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/strawberry_003_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/strawberry_003_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/strawberry_003_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/strawberry_003_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/strawberry_003_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/strawberry_003_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/strawberry_003_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/strawberry_003_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/strawberry_003_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/strawberry_003_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/strawberry_003_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/strawberry_003_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/strawberry_003_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/strawberry_003_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/strawberry_003_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/strawberry_003_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/strawberry_003_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/strawberry_003_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/strawberry_003_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/strawberry_003_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/strawberry_003_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/strawberry_003_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/strawberry_003_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/strawberry_003_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/strawberry_003_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/strawberry_003_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/strawberry_003_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/strawberry_003_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/strawberry_003_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/strawberry_003_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/strawberry_003_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/strawberry_003_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/strawberry_003_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/strawberry_003_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/strawberry_003_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/strawberry_003_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/strawberry_003_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/strawberry_003_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/strawberry_003_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="strawberry_003">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/strawberry_003.urdf b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/strawberry_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..775fd51c67e2f60e400c30f1a4d18aff6024f175
--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/strawberry_003.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="strawberry_003">
+   <link name="strawberry_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/strawberry_003.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/strawberry_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>828b80729f725220bc8e9f60ebde5d05</uuid>
+         <domain>food</domain>
+         <super_category>fruits</super_category>
+         <category>strawberry</category>
+         <name>ripe strawberry</name>
+         <color>red,green</color>
+         <shape>cone</shape>
+         <material>organic</material>
+         <description>red strawberry with green leaves and yellow seeds</description>
+         <min_height>0.0495</min_height>
+         <max_height>0.0495</max_height>
+         <real_height>0.0495</real_height>
+         <min_mass>0.015</min_mass>
+         <max_mass>0.025</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427235703</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/strawberry_003.usd b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/strawberry_003.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/strawberry_003.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b94a966f2e5663f2d0da1aae6932a886288f8eb58b0fd4b17dabbf778b61594
+size 5046599
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/textures/material_0.png b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1378993b112af7e47e935a0c0a28e3bcda342ce56379e0a6823f583b9e1414e
+size 14076721
diff --git a/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/video.mp4 b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/food/fruits/828b80729f725220bc8e9f60ebde5d05/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc751d767549c49f266eace247eb26582134399e403df7a134bc302f2e0283e2
+size 519089