diff --git a/.gitattributes b/.gitattributes
index 8095d21866cbff5c5145ee8a7db58132c7b812ec..15d49c09304ee35e5e6d52ceddd080fd4711bd45 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3588,3 +3588,7 @@ dataset/food/fruits/bbe9f0bc72aa5a148241beea0a8ab026/mesh/apple_007.glb filter=l
 dataset/food/fruits/bfecffb87a0357eab8d32dd7fb75c69f/bfecffb87a0357eab8d32dd7fb75c69f.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/bfecffb87a0357eab8d32dd7fb75c69f/mesh/apple.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/bfecffb87a0357eab8d32dd7fb75c69f/mesh/apple_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mesh/strawberry_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mesh/strawberry_002.obj filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002.obj filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/strawberry_002.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mesh/material.mtl b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f01eed53fd50abb2e5e41b3d8cdcaad06553c2e5
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl strwberry_002_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 strwberry_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mesh/material_0.png b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf9b90921f65b6dab21e1cdc452002106567db98
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f99cc8bc94a48759f2d0c1d8b07cd9c225795b61ace718f77991a25c9aafc6ae
+size 15580355
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mesh/strawberry_002.glb b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mesh/strawberry_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..456ab6abe1ee362171b612ca2178c38295e8a523
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mesh/strawberry_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b29fb683b05ca640c59ff7d9a1c01a95adc872a6d8073701fd875e9d1592b683
+size 91694548
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mesh/strawberry_002.mtl b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mesh/strawberry_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cc1b7a09b733f47622831a1dea3021fee7d92d48
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mesh/strawberry_002.mtl
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+newmtl strwberry_002_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/b47ac6cba2965600bfb36fc7dc14d2e9/mesh/strawberry_002.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mesh/strawberry_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b616dbb3c16878488ff2f7bb37a156b9ceac241
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mesh/strawberry_002.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:246e1ed0136c495dc792706f91d294b2de04830aadca5a206768bd96a471ffe4
+size 99260622
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mesh/strawberry_002_collision.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mesh/strawberry_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a2de6b11e9b14e7f7137b1c9ce9f1b9f57f6247
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mesh/strawberry_002_collision.obj
@@ -0,0 +1,15129 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_0.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2846ccb4862f87b6714fb9e671539b3a0f5a353
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_0.obj
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diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_1.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57ebf79d346127c474c1cb15df6189d399377777
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_1.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_10.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89545d328e681b6ddde0061bcc14525b51b3e056
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_10.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.01057667 -0.01581157 0.02304963
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diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_11.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6005f313179e92079b46b742b3e2854e26aaafb8
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_11.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_12.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88fcd0e857bc82ab89e85496891676f047e3cdf7
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_12.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_13.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f228528c0b15101f8f8ef45d847533fd84ac458c
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_13.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
+v -0.00330961 -0.01984733 0.00415640
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diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_14.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..355336336bdd21c8b92ca2abcaa2f81f189b87d3
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_14.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_15.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e848ac18974df22649353fd546389e889efe4e0
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_15.obj
@@ -0,0 +1,151 @@
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+v 0.00370551 -0.02747733 -0.00242856
+v 0.00370551 -0.02755600 -0.00444398
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 11
+f 2 11 3
+f 2 9 10
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 4
+f 4 15 16
+f 4 16 5
+f 5 16 15
+f 5 15 14
+f 5 14 24
+f 5 24 23
+f 5 23 34
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+f 5 44 28
+f 5 28 17
+f 5 17 7
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+f 7 42 29
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+f 7 18 9
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+f 11 19 20
+f 11 20 21
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+f 12 21 25
+f 12 25 26
+f 12 26 22
+f 13 24 14
+f 17 28 45
+f 17 45 51
+f 17 51 49
+f 17 49 50
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+f 17 46 43
+f 17 43 27
+f 18 29 30
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+f 18 31 19
+f 19 32 25
+f 19 25 20
+f 19 31 32
+f 20 25 21
+f 22 33 34
+f 22 34 23
+f 22 26 33
+f 25 32 26
+f 26 32 35
+f 26 35 36
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 41
+f 26 41 33
+f 27 43 42
+f 28 44 45
+f 29 42 43
+f 29 43 46
+f 29 46 47
+f 29 47 30
+f 30 47 36
+f 30 36 35
+f 30 35 32
+f 30 32 31
+f 33 41 44
+f 33 44 34
+f 36 48 49
+f 36 49 37
+f 36 47 50
+f 36 50 48
+f 37 49 51
+f 37 51 38
+f 38 51 45
+f 38 45 39
+f 39 45 44
+f 39 44 40
+f 40 44 41
+f 48 50 49
+
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_16.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83e930a91b2c268d616ea6a74714f301522330ac
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_16.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.00370499 -0.02678829 -0.00138801
+v 0.00370499 -0.02560823 0.00024523
+v 0.00370499 -0.02561105 -0.00138800
+v 0.00382481 -0.02679771 -0.00138801
+v 0.00894883 -0.02943110 0.00001581
+v 0.00831953 -0.02935196 0.00006470
+v 0.00831953 -0.02935196 0.00050470
+v 0.01047999 -0.03036951 0.00233241
+v 0.00561757 -0.02560636 0.00157061
+v 0.00371230 -0.02560635 0.00024738
+v 0.00370590 -0.02560634 -0.00138800
+v 0.01157852 -0.03034125 0.00335049
+v 0.00683501 -0.02688157 -0.00138801
+v 0.00791067 -0.02683022 -0.00138801
+v 0.00969703 -0.02940849 0.00005986
+v 0.01057603 -0.03035490 0.00119613
+v 0.01046078 -0.03035490 0.00119613
+v 0.01044158 -0.03037375 0.00175218
+v 0.01097758 -0.03041427 0.00176078
+v 0.01115777 -0.03040579 0.00273910
+v 0.01149620 -0.02980892 0.00341926
+v 0.01104160 -0.02560636 0.00392536
+v 0.00877504 -0.02560634 -0.00138800
+v 0.01169194 -0.03040013 0.00281700
+v 0.01158584 -0.03034125 0.00335049
+v 0.01210720 -0.02874756 0.00369271
+v 0.00859119 -0.02637939 -0.00138801
+v 0.01039859 -0.02903115 0.00022050
+v 0.01167365 -0.02941508 0.00114671
+v 0.01097758 -0.02978488 0.00098715
+v 0.01127759 -0.03012266 0.00141157
+v 0.01172395 -0.03041851 0.00212127
+v 0.01207061 -0.02560637 0.00410050
+v 0.00877138 -0.02563225 -0.00138800
+v 0.01149437 -0.02560635 0.00129017
+v 0.01162700 -0.02600583 0.00117949
+v 0.01172853 -0.02662484 0.00108762
+v 0.01183188 -0.02768619 0.00099898
+v 0.01111020 -0.02768619 0.00046710
+v 0.01057055 -0.02832357 0.00013079
+v 0.01221788 -0.03000301 0.00281700
+v 0.01272278 -0.02944618 0.00344827
+v 0.01200476 -0.02980374 0.00346438
+v 0.01283071 -0.02874756 0.00356646
+v 0.01097483 -0.02870515 0.00048052
+v 0.01178889 -0.02874755 0.00104571
+v 0.01231483 -0.02874756 0.00158617
+v 0.01267796 -0.02936845 0.00221529
+v 0.01204958 -0.02974532 0.00181343
+v 0.01273376 -0.02947209 0.00281700
+v 0.01289840 -0.02768620 0.00365243
+v 0.01287553 -0.02662485 0.00366694
+v 0.01277674 -0.02560636 0.00358206
+v 0.01192335 -0.02560636 0.00173609
+v 0.01204500 -0.02567749 0.00181882
+v 0.01264960 -0.02605672 0.00226258
+v 0.01225538 -0.02662485 0.00163722
+v 0.01235874 -0.02768620 0.00153944
+v 0.01294139 -0.02874756 0.00281700
+v 0.01304840 -0.02768620 0.00281701
+v 0.01274382 -0.02874756 0.00211858
+v 0.01296151 -0.02662485 0.00281701
+v 0.01276302 -0.02560636 0.00321082
+v 0.01202214 -0.02560636 0.00183977
+v 0.01271912 -0.02662485 0.00216963
+v 0.01253070 -0.02560636 0.00244525
+v 0.01275022 -0.02560636 0.00289170
+v 0.01275479 -0.02564687 0.00286967
+v 0.01278406 -0.02768620 0.00207185
+f 1 2 3
+f 1 3 11
+f 1 11 23
+f 1 23 34
+f 1 34 27
+f 1 27 14
+f 1 14 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 2 8 12
+f 2 12 9
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 7
+f 7 18 8
+f 8 18 19
+f 8 19 20
+f 8 20 12
+f 9 12 21
+f 9 21 22
+f 9 22 33
+f 9 33 53
+f 9 53 63
+f 9 63 67
+f 9 67 66
+f 9 66 64
+f 9 64 54
+f 9 54 35
+f 9 35 23
+f 9 23 11
+f 9 11 10
+f 12 20 24
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+f 12 26 21
+f 14 27 15
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+f 15 30 16
+f 15 27 28
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+f 16 19 17
+f 17 19 18
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+f 20 32 24
+f 21 26 22
+f 22 26 33
+f 23 35 36
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+f 23 40 34
+f 24 32 41
+f 24 41 25
+f 25 41 42
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+f 25 43 26
+f 26 43 42
+f 26 42 44
+f 26 44 33
+f 27 34 40
+f 27 40 28
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+f 28 45 29
+f 29 46 47
+f 29 47 48
+f 29 48 49
+f 29 49 31
+f 29 31 30
+f 29 45 46
+f 31 49 32
+f 32 49 48
+f 32 48 50
+f 32 50 41
+f 33 44 51
+f 33 51 52
+f 33 52 53
+f 35 54 36
+f 36 54 55
+f 36 55 56
+f 36 56 57
+f 36 57 37
+f 37 57 58
+f 37 58 38
+f 38 58 46
+f 38 46 39
+f 39 46 40
+f 40 46 45
+f 41 50 42
+f 42 50 59
+f 42 59 44
+f 44 59 60
+f 44 60 51
+f 46 58 47
+f 47 58 61
+f 47 61 48
+f 48 61 59
+f 48 59 50
+f 51 60 52
+f 52 60 62
+f 52 62 53
+f 53 62 63
+f 54 64 55
+f 55 64 56
+f 56 65 57
+f 56 64 66
+f 56 66 67
+f 56 67 68
+f 56 68 62
+f 56 62 65
+f 57 65 58
+f 58 65 69
+f 58 69 61
+f 59 61 60
+f 60 61 69
+f 60 69 62
+f 62 69 65
+f 62 68 67
+f 62 67 63
+
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_17.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bbbf0bb24e7649514c5c9ad769f1ec750e17f97
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_17.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.00381816 -0.01782656 0.01037187
+v 0.00381816 -0.01699875 0.01037188
+v 0.00482350 -0.01823930 0.01037187
+v 0.00381816 -0.01777950 0.01050721
+v 0.00381816 -0.01699876 0.01274463
+v 0.01680258 -0.01699875 0.01037188
+v 0.00381816 -0.01712297 0.01239056
+v 0.00953370 -0.01971284 0.01037187
+v 0.01679979 -0.02084386 0.01519834
+v 0.00685232 -0.01699876 0.01484187
+v 0.01655159 -0.01699877 0.01559231
+v 0.01705217 -0.01738297 0.01559231
+v 0.01790692 -0.01864281 0.01514820
+v 0.01790692 -0.01864281 0.01497358
+v 0.01785951 -0.01878553 0.01426362
+v 0.01795573 -0.01949259 0.01381046
+v 0.01795294 -0.02025482 0.01383342
+v 0.01791250 -0.02080335 0.01396453
+v 0.01688206 -0.01977263 0.01183165
+v 0.01496200 -0.02014102 0.01037187
+v 0.00998827 -0.01983859 0.01037187
+v 0.01676632 -0.02087163 0.01452766
+v 0.01737148 -0.02093913 0.01452766
+v 0.01737148 -0.02088321 0.01530528
+v 0.01737148 -0.02050518 0.01583760
+v 0.01675099 -0.01991461 0.01622551
+v 0.01012213 -0.01987254 0.01037187
+v 0.01105357 -0.02009473 0.01037187
+v 0.01218441 -0.02033620 0.01037187
+v 0.00792878 -0.01699877 0.01532041
+v 0.01615977 -0.01699877 0.01630891
+v 0.01697687 -0.01745433 0.01626359
+v 0.01761550 -0.01822621 0.01553852
+v 0.01785254 -0.01883028 0.01585755
+v 0.01797664 -0.01918748 0.01553852
+v 0.01799198 -0.01916047 0.01458205
+v 0.01806309 -0.02025482 0.01452767
+v 0.01795294 -0.02085272 0.01452766
+v 0.01737148 -0.02084115 0.01378568
+v 0.01421322 -0.02038597 0.01037187
+v 0.01234755 -0.02035549 0.01037187
+v 0.01795573 -0.02085775 0.01524849
+v 0.01316047 -0.02041760 0.01037187
+v 0.01317163 -0.02041837 0.01037186
+v 0.01678584 -0.02084231 0.01374580
+v 0.01793202 -0.01986755 0.01616690
+v 0.01737148 -0.01997440 0.01623216
+v 0.01631873 -0.01813209 0.01654394
+v 0.01232106 -0.01765068 0.01617658
+v 0.01161829 -0.01754228 0.01610649
+v 0.00856461 -0.01699877 0.01551134
+v 0.01622670 -0.01708827 0.01634153
+v 0.01526598 -0.01699877 0.01647446
+v 0.01717348 -0.01813209 0.01638624
+v 0.01793202 -0.01953735 0.01616690
+v 0.01800592 -0.02023477 0.01559894
+v 0.01744957 -0.01918748 0.01633669
+v 0.01526598 -0.01707052 0.01650890
+v 0.01421322 -0.01707052 0.01650407
+v 0.01316047 -0.01707052 0.01637899
+v 0.01202405 -0.01714111 0.01621586
+v 0.01175912 -0.01699877 0.01618685
+v 0.01421322 -0.01699877 0.01648111
+v 0.01316047 -0.01699877 0.01636751
+f 1 2 6
+f 1 6 20
+f 1 20 40
+f 1 40 44
+f 1 44 43
+f 1 43 41
+f 1 41 29
+f 1 29 28
+f 1 28 27
+f 1 27 21
+f 1 21 8
+f 1 8 3
+f 1 3 4
+f 1 4 7
+f 1 7 5
+f 1 5 2
+f 2 5 10
+f 2 10 30
+f 2 30 51
+f 2 51 62
+f 2 62 64
+f 2 64 63
+f 2 63 53
+f 2 53 31
+f 2 31 11
+f 2 11 6
+f 3 5 7
+f 3 7 4
+f 3 8 9
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+f 5 9 10
+f 6 11 12
+f 6 12 13
+f 6 13 14
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+f 6 15 16
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+f 6 17 18
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+f 6 19 20
+f 8 21 9
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+f 9 21 27
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+f 10 26 30
+f 11 31 32
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+f 13 34 35
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+f 16 37 17
+f 17 37 18
+f 18 37 38
+f 18 38 23
+f 18 23 39
+f 18 39 40
+f 18 40 20
+f 18 20 19
+f 22 29 41
+f 22 41 23
+f 23 38 42
+f 23 42 24
+f 23 41 43
+f 23 43 44
+f 23 44 45
+f 23 45 39
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+f 25 47 26
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+f 26 48 49
+f 26 49 50
+f 26 50 30
+f 30 50 51
+f 31 52 32
+f 31 53 52
+f 32 54 55
+f 32 55 34
+f 32 34 33
+f 32 52 54
+f 34 55 35
+f 35 55 56
+f 35 56 37
+f 35 37 36
+f 37 56 42
+f 37 42 38
+f 39 45 44
+f 39 44 40
+f 42 56 46
+f 46 57 47
+f 46 56 55
+f 46 55 57
+f 47 57 48
+f 48 57 54
+f 48 54 52
+f 48 52 58
+f 48 58 59
+f 48 59 49
+f 49 59 60
+f 49 60 50
+f 50 60 61
+f 50 61 62
+f 50 62 51
+f 52 53 58
+f 53 63 58
+f 54 57 55
+f 58 63 59
+f 59 63 64
+f 59 64 60
+f 60 62 61
+f 60 64 62
+
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_18.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d580fb5a6ecf8b858c85396c597fad932f3991da
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_18.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00381816 -0.01699836 0.00798384
+v -0.00330961 -0.01699836 0.00798384
+v 0.00381816 -0.01924755 0.00798383
+v 0.00381816 -0.01699826 -0.01961556
+v -0.00330961 -0.01898761 0.00798383
+v -0.00330961 -0.01699826 -0.01960187
+v 0.00061150 -0.01917945 0.00798383
+v -0.00330961 -0.02091847 0.00565626
+v 0.00381816 -0.01994760 0.00708841
+v 0.00381816 -0.01856102 -0.01895838
+v 0.00054452 -0.01699826 -0.01999071
+v -0.00052925 -0.01914559 0.00798383
+v -0.00330961 -0.01996744 0.00685291
+v -0.00051181 -0.01699826 -0.01998249
+v -0.00330961 -0.01853650 -0.01894742
+v -0.00330961 -0.02049821 0.00618749
+v 0.00381816 -0.02094065 0.00580961
+v -0.00330961 -0.02097373 0.00558507
+v 0.00263206 -0.01992337 -0.01812593
+v 0.00157922 -0.02004556 -0.01821356
+v 0.00157922 -0.01928636 -0.01874479
+v 0.00368490 -0.01856919 -0.01896933
+v 0.00381816 -0.02097365 -0.01706622
+v 0.00052638 -0.01813180 -0.01947044
+v -0.00052576 -0.01813180 -0.01947865
+v 0.00039033 -0.01699826 -0.01999071
+v -0.00138254 -0.01877348 -0.01907339
+v -0.00330961 -0.01875325 -0.01881051
+v 0.00381816 -0.02097373 0.00576306
+v -0.00330961 -0.02097365 -0.01705252
+v 0.00052638 -0.02066039 -0.01782746
+v 0.00052638 -0.02012961 -0.01826285
+v 0.00052638 -0.01937781 -0.01879408
+v 0.00052638 -0.01884742 -0.01911172
+v 0.00052638 -0.02097365 -0.01750982
+v -0.00052576 -0.01884858 -0.01911720
+v -0.00052576 -0.01937897 -0.01878039
+v -0.00167140 -0.01915328 -0.01877491
+v -0.00263144 -0.01919297 -0.01860787
+v -0.00263144 -0.01987317 -0.01809581
+v -0.00330961 -0.01947314 -0.01825189
+v -0.00330961 -0.01979145 -0.01800271
+v -0.00157860 -0.01998485 -0.01818891
+v -0.00052576 -0.02062576 -0.01778091
+v -0.00052576 -0.02097365 -0.01742767
+v -0.00052576 -0.02009498 -0.01824915
+v 0.00012590 -0.02097365 -0.01747970
+f 1 2 5
+f 1 5 12
+f 1 12 7
+f 1 7 3
+f 1 3 9
+f 1 9 17
+f 1 17 29
+f 1 29 23
+f 1 23 10
+f 1 10 4
+f 1 4 11
+f 1 11 26
+f 1 26 14
+f 1 14 6
+f 1 6 2
+f 2 6 15
+f 2 15 28
+f 2 28 41
+f 2 41 42
+f 2 42 30
+f 2 30 18
+f 2 18 8
+f 2 8 16
+f 2 16 13
+f 2 13 5
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 5 13 12
+f 6 14 15
+f 7 12 13
+f 7 13 16
+f 7 16 8
+f 8 17 9
+f 8 18 17
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 10 23 19
+f 11 24 25
+f 11 25 26
+f 11 22 24
+f 14 26 25
+f 14 25 15
+f 15 27 28
+f 15 25 27
+f 17 18 29
+f 18 30 45
+f 18 45 47
+f 18 47 35
+f 18 35 23
+f 18 23 29
+f 19 23 20
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 20 23 31
+f 21 33 22
+f 22 33 34
+f 22 34 24
+f 23 35 31
+f 24 34 25
+f 25 34 36
+f 25 36 27
+f 27 37 38
+f 27 38 28
+f 27 36 37
+f 28 38 39
+f 28 39 40
+f 28 40 41
+f 30 42 40
+f 30 40 43
+f 30 43 44
+f 30 44 45
+f 31 44 46
+f 31 46 32
+f 31 35 47
+f 31 47 44
+f 32 46 37
+f 32 37 33
+f 33 37 36
+f 33 36 34
+f 37 39 38
+f 37 46 43
+f 37 43 39
+f 39 43 40
+f 40 42 41
+f 43 46 44
+f 44 47 45
+
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_19.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99bc8049013918da4625d4f071b6b9492c1ceb6f
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_19.obj
@@ -0,0 +1,559 @@
+# https://github.com/mikedh/trimesh
+v 0.02456809 -0.01092906 -0.00037400
+v 0.02436318 -0.01161631 -0.00037400
+v 0.02446973 -0.01092906 -0.00117561
+v 0.02456263 -0.01092906 -0.00011217
+v 0.02433859 -0.01162157 0.00068944
+v 0.02417603 -0.01215254 0.00068944
+v 0.02392740 -0.01282402 0.00068943
+v 0.02414461 -0.01214728 -0.00037400
+v 0.02329218 -0.01359489 -0.00250492
+v 0.02429351 -0.01140984 -0.00143744
+v 0.02443695 -0.01092905 -0.00143744
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diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_2.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dbba79ec0d7e5bfdc2c2dc47bce16e342287105
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_2.obj
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diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_20.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..462d8adac521dcc56a5409a2b520bc89b25f6564
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_20.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_21.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da3573dbb1323dd6ab10a1f98fc6ee306ef3b808
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_21.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.00160438 -0.01581155 0.01571536
+v -0.00330961 -0.01581155 0.01642088
+v 0.00046776 -0.01699825 0.01188745
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+
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_22.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72d8aa5677b17d3597c43df6dbe8c0905909aad8
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_22.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+v -0.01401071 -0.01984714 0.01157250
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diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_23.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d36f553ad9709822141e6dd8abc6ccb94dc4e3f
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_23.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_24.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e9927599ec56877b5dffe48d807b47c51bbf277
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_24.obj
@@ -0,0 +1,157 @@
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+f 17 29 18
+f 19 29 27
+f 19 27 26
+f 19 26 30
+f 19 30 31
+f 21 25 33
+f 21 33 34
+f 21 34 22
+f 22 34 26
+f 23 35 24
+f 24 35 37
+f 24 37 44
+f 24 44 36
+f 25 36 33
+f 26 34 30
+f 27 29 28
+f 30 34 38
+f 30 38 39
+f 30 39 40
+f 30 40 31
+f 31 40 39
+f 31 39 41
+f 32 43 44
+f 32 44 42
+f 33 36 45
+f 33 45 46
+f 33 46 34
+f 34 46 38
+f 35 42 37
+f 36 44 45
+f 37 42 44
+f 38 46 47
+f 38 47 39
+f 39 47 48
+f 39 48 41
+f 43 49 50
+f 43 50 51
+f 43 51 45
+f 43 45 44
+f 45 51 50
+f 45 50 46
+f 46 50 47
+f 47 50 52
+f 47 52 48
+f 49 53 50
+f 50 53 52
+
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_25.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dd57938465f51814dde2d5c45df827f72bf306f
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_25.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.01061372 -0.01092914 0.02147492
+v -0.00330961 -0.01092914 0.02147492
+v 0.01061372 -0.01123119 0.02147492
+v 0.01061372 -0.01092899 -0.01967500
+v -0.00330961 -0.01432572 0.02147491
+v -0.00330961 -0.01092898 -0.02188451
+v 0.01059192 -0.01557261 0.02147490
+v 0.01061372 -0.01325469 0.01983919
+v 0.01061372 -0.01344907 -0.01914833
+v 0.01017760 -0.01092899 -0.01991908
+v -0.00330961 -0.01442226 0.02140212
+v 0.00891828 -0.01581157 0.02147490
+v -0.00037939 -0.01092898 -0.02226133
+v -0.00330961 -0.01107953 -0.02186738
+v 0.01014761 -0.01581157 0.02147490
+v 0.01061372 -0.01581155 0.01624659
+v 0.01061372 -0.01404947 0.01881152
+v 0.01061372 -0.01355148 0.01948807
+v 0.01061372 -0.01357332 -0.01910123
+v 0.00847807 -0.01340653 -0.02009037
+v 0.00920585 -0.01282395 -0.01995334
+v 0.00941165 -0.01208747 -0.02004326
+v 0.00901505 -0.01174528 -0.02027448
+v 0.00896326 -0.01092898 -0.02042435
+v -0.00330961 -0.01467651 0.02096536
+v -0.00330961 -0.01499098 0.01982634
+v -0.00330961 -0.01543401 0.01809213
+v -0.00330961 -0.01556017 0.01757401
+v -0.00330961 -0.01581155 0.01641787
+v 0.00041518 -0.01092898 -0.02226989
+v -0.00016677 -0.01133235 -0.02222707
+v -0.00330961 -0.01214099 -0.02165328
+v 0.01061372 -0.01581142 -0.01793654
+v 0.00854757 -0.01559636 -0.01906270
+v 0.00744499 -0.01448711 -0.02010321
+v 0.01061372 -0.01458843 -0.01858739
+v 0.00783614 -0.01381037 -0.02018885
+v 0.00789611 -0.01282394 -0.02043293
+v 0.00867841 -0.01282395 -0.02017601
+v 0.00667905 -0.01092898 -0.02125078
+v 0.00814688 -0.01092898 -0.02073694
+v -0.00330961 -0.01581142 -0.02018886
+v 0.00018894 -0.01133235 -0.02222707
+v 0.00368477 -0.01092898 -0.02193161
+v 0.00052694 -0.01282394 -0.02179460
+v -0.00052522 -0.01282394 -0.02178604
+v -0.00330961 -0.01282394 -0.02148201
+v 0.00875882 -0.01581142 -0.01883575
+v 0.00635059 -0.01551559 -0.02008610
+v 0.00675809 -0.01488330 -0.02018885
+v 0.00684259 -0.01388540 -0.02047575
+v 0.00647052 -0.01138588 -0.02122508
+v 0.00601668 -0.01092898 -0.02143490
+v -0.00330961 -0.01529000 -0.02043722
+v -0.00108400 -0.01443405 -0.02114374
+v -0.00052522 -0.01503814 -0.02092108
+v -0.00057292 -0.01581141 -0.02052286
+v 0.00368477 -0.01176248 -0.02174749
+v 0.00368477 -0.01282394 -0.02148201
+v 0.00263261 -0.01282394 -0.02158906
+v 0.00502040 -0.01092898 -0.02165328
+v 0.00368477 -0.01360677 -0.02123794
+v 0.00052694 -0.01388540 -0.02143063
+v -0.00052522 -0.01388540 -0.02141778
+v -0.00330961 -0.01356280 -0.02123366
+v 0.00664497 -0.01581142 -0.01976923
+v 0.00579044 -0.01581142 -0.02009038
+v 0.00579044 -0.01566470 -0.02016317
+v 0.00579044 -0.01494686 -0.02045862
+v 0.00579044 -0.01388540 -0.02078405
+v 0.00446298 -0.01349828 -0.02117799
+v -0.00052522 -0.01450717 -0.02117371
+v 0.00052694 -0.01504292 -0.02092965
+v 0.00059372 -0.01581141 -0.02053999
+v 0.00478326 -0.01386532 -0.02101528
+v 0.00473692 -0.01494686 -0.02062562
+v 0.00052694 -0.01451195 -0.02117799
+v 0.00481324 -0.01581142 -0.02020171
+v 0.00473692 -0.01578131 -0.02022740
+v 0.00473692 -0.01581142 -0.02021027
+f 1 2 5
+f 1 5 12
+f 1 12 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 17
+f 1 17 16
+f 1 16 33
+f 1 33 36
+f 1 36 19
+f 1 19 9
+f 1 9 4
+f 1 4 10
+f 1 10 24
+f 1 24 41
+f 1 41 40
+f 1 40 53
+f 1 53 61
+f 1 61 44
+f 1 44 30
+f 1 30 13
+f 1 13 6
+f 1 6 2
+f 2 6 14
+f 2 14 32
+f 2 32 47
+f 2 47 65
+f 2 65 54
+f 2 54 42
+f 2 42 29
+f 2 29 28
+f 2 28 27
+f 2 27 26
+f 2 26 25
+f 2 25 11
+f 2 11 5
+f 3 7 8
+f 4 9 10
+f 5 11 12
+f 6 13 14
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 10
+f 10 22 23
+f 10 23 24
+f 11 25 12
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 29 42
+f 12 42 57
+f 12 57 74
+f 12 74 80
+f 12 80 78
+f 12 78 67
+f 12 67 66
+f 12 66 48
+f 12 48 33
+f 12 33 16
+f 12 16 15
+f 13 30 31
+f 13 31 14
+f 14 31 32
+f 19 34 35
+f 19 35 20
+f 19 36 34
+f 20 35 37
+f 20 37 38
+f 20 38 39
+f 20 39 21
+f 21 39 22
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+f 23 40 41
+f 23 41 24
+f 30 43 31
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+f 31 47 32
+f 33 48 34
+f 33 34 36
+f 34 49 35
+f 34 48 49
+f 35 49 50
+f 35 50 51
+f 35 51 37
+f 37 51 38
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+f 38 52 39
+f 39 52 40
+f 40 52 53
+f 42 54 55
+f 42 55 56
+f 42 56 57
+f 43 44 58
+f 43 58 59
+f 43 59 60
+f 43 60 45
+f 44 61 58
+f 45 60 62
+f 45 62 63
+f 45 63 46
+f 46 63 64
+f 46 64 65
+f 46 65 47
+f 48 66 49
+f 49 66 67
+f 49 67 68
+f 49 68 69
+f 49 69 50
+f 50 69 51
+f 51 69 70
+f 51 70 52
+f 52 71 53
+f 52 70 71
+f 53 71 61
+f 54 65 55
+f 55 65 64
+f 55 64 72
+f 55 72 56
+f 56 72 73
+f 56 73 74
+f 56 74 57
+f 58 61 71
+f 58 71 59
+f 59 71 62
+f 59 62 60
+f 62 71 75
+f 62 75 76
+f 62 76 63
+f 63 76 77
+f 63 77 72
+f 63 72 64
+f 67 78 79
+f 67 79 68
+f 68 79 76
+f 68 76 69
+f 69 76 75
+f 69 75 70
+f 70 75 71
+f 72 77 73
+f 73 77 76
+f 73 76 79
+f 73 79 74
+f 74 79 80
+f 78 80 79
+
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_26.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..907a47be69ec282b87ac9a7f82a136b7ca17ee67
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_26.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.00376362 -0.01268426 0.02147491
+v 0.00376362 -0.01268427 0.02415315
+v 0.00376362 -0.01092914 0.02147492
+v 0.00835419 -0.01268426 0.02147491
+v 0.00376362 -0.01092915 0.02362380
+v 0.00790279 -0.01268426 0.02193899
+v 0.01136003 -0.01092914 0.02147492
+v 0.00853787 -0.01092914 0.02260547
+v 0.00807011 -0.01092914 0.02276829
+v 0.00776744 -0.01092914 0.02286084
+v 0.00684383 -0.01092914 0.02308894
+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 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 5
+f 3 5 11
+f 3 11 10
+f 3 10 9
+f 3 9 8
+f 3 8 7
+f 4 7 6
+
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_27.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..991275c229e951210d5223b73f27702d46d54708
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_27.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.00330961 -0.01865891 0.00798383
+v -0.00330961 -0.01865891 0.00837621
+v -0.00330961 -0.01699836 0.00798384
+v 0.00381816 -0.01865891 0.00798383
+v -0.00330961 -0.01699837 0.01222817
+v -0.00122277 -0.01865892 0.01108506
+v 0.00381816 -0.01699836 0.00798384
+v 0.00381816 -0.01865891 0.00884034
+v -0.00062135 -0.01865892 0.01161117
+v -0.00009597 -0.01865892 0.01190848
+v 0.00381816 -0.01699838 0.01274450
+v 0.00140689 -0.01865892 0.01128824
+v 0.00019846 -0.01865892 0.01191407
+v 0.00051312 -0.01865892 0.01185303
+v 0.00079151 -0.01865892 0.01178499
+v 0.00094500 -0.01865892 0.01170344
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 10
+f 1 10 9
+f 1 9 6
+f 1 6 2
+f 2 6 5
+f 3 5 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 5 6 9
+f 5 9 10
+f 5 10 11
+f 8 11 12
+f 10 13 11
+f 11 13 14
+f 11 14 15
+f 11 15 16
+f 11 16 12
+
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_28.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c863192a5bd832e987dfe30c8222fb0036c5196
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_28.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.01277100 -0.02560635 0.00340322
+v 0.01276853 -0.02558350 0.00340322
+v 0.01041700 -0.02560635 0.00340322
+v 0.01276360 -0.02560635 0.00321083
+v 0.01275056 -0.02560635 0.00289203
+v 0.01271991 -0.02522004 0.00340322
+v 0.00917147 -0.02456845 0.00340322
+v 0.00917147 -0.02560618 0.00251468
+v 0.00917147 -0.02560635 0.00241430
+v 0.01267622 -0.02494004 0.00325962
+v 0.01253070 -0.02560635 0.00244544
+v 0.01267622 -0.02494004 0.00340322
+v 0.00917147 -0.02387709 0.00340322
+v 0.00917147 -0.02560634 -0.00032892
+v 0.01184434 -0.02387709 0.00303191
+v 0.01192080 -0.02387709 0.00340322
+v 0.00998115 -0.02387708 -0.00134433
+v 0.01202262 -0.02560635 0.00183991
+v 0.00917147 -0.02387708 -0.00134294
+v 0.00917147 -0.02446789 -0.00134433
+v 0.00922820 -0.02560634 -0.00029872
+v 0.01192326 -0.02560635 0.00173628
+v 0.01149482 -0.02560634 0.00128969
+v 0.01103747 -0.02560634 0.00095741
+v 0.00918838 -0.02387708 -0.00134433
+f 1 2 6
+f 1 6 12
+f 1 12 16
+f 1 16 13
+f 1 13 7
+f 1 7 3
+f 1 3 9
+f 1 9 14
+f 1 14 21
+f 1 21 24
+f 1 24 23
+f 1 23 22
+f 1 22 18
+f 1 18 11
+f 1 11 5
+f 1 5 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 5 10 6
+f 5 11 10
+f 6 10 12
+f 7 13 19
+f 7 19 20
+f 7 20 14
+f 7 14 9
+f 7 9 8
+f 10 15 16
+f 10 16 12
+f 10 11 17
+f 10 17 15
+f 11 18 17
+f 13 16 15
+f 13 15 17
+f 13 17 25
+f 13 25 19
+f 14 20 21
+f 17 18 22
+f 17 22 23
+f 17 23 24
+f 17 24 21
+f 17 21 20
+f 17 20 25
+f 19 25 20
+
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_29.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd76131eed32e8ca9ab90a3d7d08235b7d64c8cb
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_29.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.01745951 -0.02097411 -0.00250705
+v 0.01745708 -0.02097411 -0.00144144
+v 0.01729075 -0.02109648 -0.00250705
+v 0.01718690 -0.02104263 -0.00357128
+v 0.01727209 -0.02097411 -0.00357128
+v 0.01728507 -0.02109607 -0.00144144
+v 0.01742219 -0.02097412 -0.00134432
+v 0.01726804 -0.02108384 -0.00134432
+v 0.01644126 -0.02162674 -0.00144144
+v 0.01384247 -0.02300256 -0.00463552
+v 0.01381407 -0.02298176 -0.00551782
+v 0.01579217 -0.02184781 -0.00516900
+v 0.01707736 -0.02097981 -0.00463552
+v 0.01708386 -0.02097410 -0.00463552
+v 0.01636905 -0.02166509 -0.00134432
+v 0.00917147 -0.02097412 -0.00134432
+v 0.01591468 -0.02191390 -0.00144144
+v 0.01591306 -0.02191391 -0.00134432
+v 0.01316093 -0.02335213 -0.00463553
+v 0.01217107 -0.02377471 -0.00570113
+v 0.01326478 -0.02322038 -0.00580372
+v 0.01368426 -0.02290793 -0.00622640
+v 0.01473091 -0.02184005 -0.00825227
+v 0.01418405 -0.02269542 -0.00580371
+v 0.01621327 -0.02145705 -0.00559442
+v 0.01685830 -0.02097410 -0.00568470
+v 0.01707006 -0.02097410 -0.00470801
+v 0.00917147 -0.02446774 -0.00134433
+v 0.00917147 -0.02097406 -0.01531890
+v 0.01535079 -0.02217537 -0.00134432
+v 0.00917147 -0.02514075 -0.00463553
+v 0.01158932 -0.02397336 -0.00625650
+v 0.01200717 -0.02371189 -0.00667235
+v 0.01300920 -0.02315063 -0.00676536
+v 0.01219216 -0.02329991 -0.00789252
+v 0.01194470 -0.02317142 -0.00889247
+v 0.01174997 -0.02302906 -0.00975150
+v 0.01156011 -0.02289853 -0.01046145
+v 0.01256539 -0.02180414 -0.01146413
+v 0.01396093 -0.02097408 -0.01113583
+v 0.01452807 -0.02097408 -0.01026447
+v 0.01484450 -0.02097408 -0.00976108
+v 0.01501651 -0.02097409 -0.00947792
+v 0.01535890 -0.02097409 -0.00887057
+v 0.01641854 -0.02097410 -0.00677903
+v 0.01651266 -0.02097410 -0.00659163
+v 0.01218811 -0.02341293 -0.00134433
+v 0.00973861 -0.02097407 -0.01494683
+v 0.00917147 -0.02116169 -0.01512192
+v 0.01305221 -0.02310252 -0.00134432
+v 0.00917147 -0.02504163 -0.00570113
+v 0.01136377 -0.02392481 -0.00696645
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+v 0.01105545 -0.02363030 -0.00889247
+v 0.01114794 -0.02323300 -0.01004698
+v 0.01078770 -0.02303150 -0.01102229
+v 0.01054429 -0.02291688 -0.01156946
+v 0.01131427 -0.02276555 -0.01102229
+v 0.01186356 -0.02202074 -0.01182526
+v 0.01217188 -0.02161121 -0.01214261
+v 0.01311549 -0.02105362 -0.01204823
+v 0.01338162 -0.02097408 -0.01189502
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+v 0.00917147 -0.02164424 -0.01457613
+v 0.00917147 -0.02411202 -0.00982401
+v 0.00959662 -0.02401616 -0.00957916
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+v 0.01000230 -0.02336843 -0.01102230
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+v 0.00945788 -0.02290260 -0.01260634
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+v 0.01296377 -0.02097407 -0.01230266
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+v 0.01000230 -0.02222427 -0.01317128
+v 0.00917147 -0.02385015 -0.01059415
+f 1 2 3
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+f 1 14 27
+f 1 27 26
+f 1 26 46
+f 1 46 45
+f 1 45 44
+f 1 44 43
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+f 1 41 40
+f 1 40 62
+f 1 62 75
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+f 1 78 63
+f 1 63 48
+f 1 48 29
+f 1 29 16
+f 1 16 7
+f 1 7 2
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diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_3.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2121ac22ce7e1ecd704c88ad8e94339bbb552b25
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_3.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_30.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..870e6d1750367d84e7788ae720b55f6b22cb69e4
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_30.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00972005 -0.01581155 0.01622182
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+
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_31.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..464996000566f6f7ec5d1a67df68e3e33b26b49e
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_31.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.02237748 -0.01581149 -0.00037445
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diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_32.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c31c9ce342791efd88c65d65299bbb57402d91c
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_32.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_33.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caf1311d101865f9f3caa6ef57656072c52f04bf
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_33.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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+v 0.01277067 -0.02560590 0.00340322
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+
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_34.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28fd81b60d89a034f19c60054f231f00e39ed632
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_34.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_35.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff5b77b6df2e196c090d86a6b316727488610c11
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_35.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_36.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59d5b61dad17145634723ba95630eee9893031f8
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_36.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_37.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a51d9f24fddc91c3ef5a7a864dce41c1d9251192
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_37.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_38.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbe324c89dff53868e033961ec9e3cf4838ce393
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_38.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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+v 0.02150141 -0.01699832 -0.00144292
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+
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_39.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6291825dec7b3e65bf0acfdb8ae2029fba953188
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_39.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.00917228 -0.02332275 -0.00134433
+v 0.00917228 -0.02097399 -0.00134432
+v 0.00918843 -0.02387690 -0.00134433
+v 0.00917228 -0.02387690 -0.00134294
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+v 0.01192150 -0.02387691 0.00340322
+v 0.01589997 -0.02191264 -0.00071649
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+v 0.01535077 -0.02217523 -0.00134432
+v 0.01591289 -0.02191378 -0.00134432
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+
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_4.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88bf11a9dc40cca0b319f355f60f5d31e9e5a8d8
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_4.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.01110267 -0.01984735 0.01131496
+v -0.01111024 -0.01985067 0.01131496
+v -0.01340737 -0.01984735 0.01131496
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+v -0.01470265 -0.02292798 0.01620045
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+v -0.01146512 -0.01993813 0.01131496
+v -0.01401071 -0.02003795 0.01155914
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diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_5.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a3c4c6fd8ac8ea51df37c334ab0c1afa287c859
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_5.obj
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diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_6.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b769777f7e425617bd8cd3c44c31532480236163
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_6.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_7.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..154f3973140251f88e2ec8403cc3fbe6bc17e276
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_7.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+v -0.00556829 -0.02633300 -0.00889339
+v -0.00625078 -0.02601293 -0.00825143
+f 1 2 5
+f 1 5 13
+f 1 13 27
+f 1 27 37
+f 1 37 20
+f 1 20 8
+f 1 8 3
+f 1 3 9
+f 1 9 21
+f 1 21 38
+f 1 38 46
+f 1 46 47
+f 1 47 32
+f 1 32 31
+f 1 31 23
+f 1 23 22
+f 1 22 10
+f 1 10 4
+f 1 4 12
+f 1 12 26
+f 1 26 41
+f 1 41 45
+f 1 45 44
+f 1 44 43
+f 1 43 48
+f 1 48 34
+f 1 34 33
+f 1 33 18
+f 1 18 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 5 7 14
+f 5 14 13
+f 6 15 7
+f 7 16 17
+f 7 17 14
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+f 7 18 19
+f 7 19 16
+f 8 20 9
+f 9 20 21
+f 10 22 11
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 12
+f 12 25 26
+f 13 14 17
+f 13 17 28
+f 13 28 27
+f 16 29 17
+f 16 19 30
+f 16 30 31
+f 16 31 32
+f 16 32 29
+f 17 29 28
+f 18 33 19
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 30
+f 20 37 21
+f 21 37 28
+f 21 28 38
+f 23 31 24
+f 24 39 25
+f 24 31 30
+f 24 30 40
+f 24 40 39
+f 25 41 26
+f 25 39 42
+f 25 42 43
+f 25 43 44
+f 25 44 45
+f 25 45 41
+f 27 28 37
+f 28 29 46
+f 28 46 38
+f 29 32 47
+f 29 47 46
+f 30 36 40
+f 34 48 49
+f 34 49 35
+f 35 49 50
+f 35 50 36
+f 36 50 40
+f 39 40 50
+f 39 50 42
+f 42 50 49
+f 42 49 51
+f 42 51 48
+f 42 48 43
+f 48 51 49
+
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_8.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2034a3d097ffeaef816e516e71dd09ad4e3fe308
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_8.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.01610834 -0.02540032 0.00813954
+v -0.01519503 -0.02535411 0.00812202
+v -0.01549866 -0.02531389 0.00896894
+v -0.01602881 -0.02531389 0.00896894
+v -0.01655411 -0.02450119 0.00813954
+v -0.01594235 -0.02519918 0.00707616
+v -0.01524898 -0.02519266 0.00701592
+v -0.01471019 -0.02507687 0.00733115
+v -0.01471019 -0.02507687 0.00775566
+v -0.01315122 -0.02010448 0.01131496
+v -0.01574281 -0.02411850 0.00976542
+v -0.01585313 -0.02411850 0.00976542
+v -0.01616679 -0.02448379 0.00927576
+v -0.01643203 -0.02343952 0.00920431
+v -0.01668379 -0.02343952 0.00813954
+v -0.01662085 -0.01984787 0.00415926
+v -0.01624771 -0.02450119 0.00707616
+v -0.01580713 -0.02504588 0.00652416
+v -0.01558857 -0.02504588 0.00652416
+v -0.01488690 -0.02501706 0.00662083
+v -0.01356794 -0.02402878 0.00537042
+v -0.01356794 -0.02402878 0.00560369
+v -0.01315295 -0.02346397 0.00604011
+v -0.01315122 -0.02346125 0.00604151
+v -0.01315122 -0.01984789 0.01131496
+v -0.01321796 -0.02013601 0.01131496
+v -0.01594028 -0.02343953 0.00980465
+v -0.01337255 -0.02009959 0.01131496
+v -0.01643860 -0.02237839 0.00920432
+v -0.01600322 -0.02237840 0.00985369
+v -0.01654719 -0.02237839 0.00813955
+v -0.01315122 -0.01984787 0.00415926
+v -0.01334626 -0.02259256 0.00415925
+v -0.01371837 -0.02293721 0.00440163
+v -0.01498754 -0.02413316 0.00529547
+v -0.01617958 -0.02131672 0.00920432
+v -0.01584483 -0.02071550 0.00978504
+v -0.01522027 -0.01984788 0.00919522
+v -0.01421359 -0.02413642 0.00525974
+v -0.01315122 -0.02297690 0.00434909
+v -0.01315122 -0.02350583 0.00498514
+v -0.01315122 -0.02350692 0.00502157
+v -0.01340782 -0.01984789 0.01131496
+v -0.01594028 -0.02131673 0.00984388
+v -0.01315122 -0.02265345 0.00415925
+v -0.01315122 -0.02265888 0.00416205
+v -0.01491353 -0.01984789 0.00981447
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 7
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 8 20 21
+f 8 21 22
+f 8 22 9
+f 9 22 23
+f 9 23 24
+f 9 24 10
+f 10 25 43
+f 10 43 28
+f 10 28 26
+f 10 26 11
+f 10 24 42
+f 10 42 41
+f 10 41 40
+f 10 40 46
+f 10 46 45
+f 10 45 32
+f 10 32 25
+f 11 26 12
+f 12 27 14
+f 12 14 13
+f 12 26 28
+f 12 28 27
+f 14 29 15
+f 14 27 30
+f 14 30 29
+f 15 29 31
+f 15 31 16
+f 16 32 45
+f 16 45 33
+f 16 33 34
+f 16 34 35
+f 16 35 18
+f 16 18 17
+f 16 31 29
+f 16 29 36
+f 16 36 37
+f 16 37 38
+f 16 38 47
+f 16 47 43
+f 16 43 25
+f 16 25 32
+f 18 35 39
+f 18 39 19
+f 19 39 20
+f 20 39 21
+f 21 39 40
+f 21 40 41
+f 21 41 42
+f 21 42 22
+f 22 42 23
+f 23 42 24
+f 27 28 30
+f 28 43 30
+f 29 30 44
+f 29 44 37
+f 29 37 36
+f 30 43 44
+f 33 45 46
+f 33 46 34
+f 34 46 40
+f 34 40 35
+f 35 40 39
+f 37 44 43
+f 37 43 47
+f 37 47 38
+
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_9.obj b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d57a1e8ebb44052e819943ee584af48a63554f74
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/mesh/strawberry_002_collision_9.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.01315122 -0.02265366 0.00415925
+v -0.01315122 -0.01984733 0.00415926
+v -0.01269459 -0.02309111 0.00415925
+v -0.01315122 -0.02265904 0.00416205
+v -0.01315122 -0.01984735 0.01131496
+v -0.00331057 -0.01984733 0.00415926
+v -0.01211658 -0.02321794 0.00415924
+v -0.01315122 -0.02350599 0.00498514
+v -0.01315122 -0.02297718 0.00434909
+v -0.01315122 -0.02010423 0.01131496
+v -0.01110217 -0.01984735 0.01131496
+v -0.00331057 -0.01984734 0.00697041
+v -0.00331057 -0.02217537 0.00415925
+v -0.01106942 -0.02335802 0.00415924
+v -0.01315122 -0.02350706 0.00502157
+v -0.01004441 -0.02343828 0.00415924
+v -0.01315122 -0.02346156 0.00604151
+v -0.01210887 -0.02009671 0.01131496
+v -0.01110988 -0.01985094 0.01131496
+v -0.00331057 -0.01996808 0.00685622
+f 1 2 6
+f 1 6 13
+f 1 13 16
+f 1 16 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 15
+f 1 15 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 11
+f 2 11 12
+f 2 12 6
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 5 10 18
+f 5 18 19
+f 5 19 11
+f 6 12 20
+f 6 20 13
+f 7 14 8
+f 8 14 16
+f 8 16 15
+f 10 17 18
+f 11 19 20
+f 11 20 12
+f 13 20 19
+f 13 19 18
+f 13 18 17
+f 13 17 16
+f 15 16 17
+
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/strawberry_002.xml b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/strawberry_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..74f1752290e00d72f250e75d7eb1a1992fdc662e
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/mjcf/strawberry_002.xml
@@ -0,0 +1,94 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="strawberry_002">
+  <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_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/strawberry_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/strawberry_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/strawberry_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/strawberry_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/strawberry_002_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/strawberry_002_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/strawberry_002_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/strawberry_002_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/strawberry_002_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/strawberry_002_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/strawberry_002_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/strawberry_002_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/strawberry_002_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/strawberry_002_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/strawberry_002_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/strawberry_002_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/strawberry_002_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/strawberry_002_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/strawberry_002_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/strawberry_002_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/strawberry_002_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/strawberry_002_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/strawberry_002_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/strawberry_002_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/strawberry_002_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/strawberry_002_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/strawberry_002_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/strawberry_002_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/strawberry_002_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/strawberry_002_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/strawberry_002_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/strawberry_002_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/strawberry_002_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/strawberry_002_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/strawberry_002_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/strawberry_002_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/strawberry_002_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/strawberry_002_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/strawberry_002_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/strawberry_002_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="strawberry_002">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/strawberry_002.urdf b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/strawberry_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..01fd686d61946deff67998547a7b06a9ab191591
--- /dev/null
+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/strawberry_002.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="strawberry_002">
+   <link name="strawberry_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/strawberry_002.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_002_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>b47ac6cba2965600bfb36fc7dc14d2e9</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>0.0512</min_height>
+         <max_height>0.0512</max_height>
+         <real_height>0.0512</real_height>
+         <min_mass>0.015</min_mass>
+         <max_mass>0.025</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260403180005</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/strawberry_002.usd b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/strawberry_002.usd
new file mode 100644
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+++ b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/strawberry_002.usd
@@ -0,0 +1,3 @@
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diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/textures/material_0.png b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/textures/material_0.png
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 15580355
diff --git a/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/video.mp4 b/dataset/food/fruits/b47ac6cba2965600bfb36fc7dc14d2e9/video.mp4
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0aa8bae7b8c787091de6160b87a236c4ec5a096dfa939bdf9800e87d92c2dd20
+size 1142220