diff --git a/.gitattributes b/.gitattributes
index ae6fae02535af74d53ae7907de56df243ec4b3bf..46833152a733ee7f2c0a8d56195cdfc8686c0da8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3564,3 +3564,6 @@ dataset/food/fruits/5b3d4771cee2530b9cf7073c9cf006bc/mesh/banana.glb filter=lfs
 dataset/food/fruits/5b3d4771cee2530b9cf7073c9cf006bc/mesh/banana_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/530ebd13b4de54e6a7cfcd19cca0e8b9/mesh/peach_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/530ebd13b4de54e6a7cfcd19cca0e8b9/peach_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/50fd83c541cb56e8b6ff6916cbf8c5f5.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mesh/pear.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mesh/pear_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/50fd83c541cb56e8b6ff6916cbf8c5f5.urdf b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/50fd83c541cb56e8b6ff6916cbf8c5f5.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dc2a4332b4ee076bfb9d6b2c2ac56d05250b6fb5
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/50fd83c541cb56e8b6ff6916cbf8c5f5.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pear">
+   <link name="pear">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pear.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pear_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.215000</scale>
+         <version>v0.1.7</version>
+         <category>pear</category>
+         <description>yellow pear with bite marks and visible teeth inside</description>
+         <min_height>0.090</min_height>
+         <max_height>0.125</max_height>
+         <real_height>0.107</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <generate_time>20260120033839</generate_time>
+         <gs_model>mesh/pear_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: the object has a large hole and missing geometry.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.6279802322387695</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/50fd83c541cb56e8b6ff6916cbf8c5f5.usd b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/50fd83c541cb56e8b6ff6916cbf8c5f5.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c31163c2fe48dc23b3e3d72912f97016f0593b07
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/50fd83c541cb56e8b6ff6916cbf8c5f5.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bc406140f9b5098ff825f6f9a9aedd01cae4d3128ffa9e1480d6c82410b898e
+size 650191
diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mesh/material.mtl b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mesh/material_0.png b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9cd85b5cd7ce404267651b968ce1ed43f024446
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9345f0a627846849416907ba44ae7e86796ac55bd50f244c05adaa3d0248c114
+size 2501297
diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mesh/pear.glb b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mesh/pear.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3c093288161ab3cc62215b5974cc9389d3f3fb2b
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mesh/pear.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5fc0564c75cb3325ddc4f115be67267f5fcd722dbca28b8ee3416fa273d5877
+size 2942964
diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mesh/pear.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mesh/pear.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3046999df92eaa308716d31d9c92437645b6438
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mesh/pear.obj
@@ -0,0 +1,40364 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mesh/pear_collision.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mesh/pear_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..700c454879c40c57dda9c03577727d0049d2a4f7
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mesh/pear_collision.obj
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/material_0.png b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/material_0.png
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear.obj
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5adf35049fe9893b336d7e7204141868ad93242
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision.obj
@@ -0,0 +1,29451 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_0.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc965cb65768402f12746c799f88db67b7aefa60
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_0.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_1.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ad71dac2066041b90dc57ae2b6856669e94fbc4
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_1.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_10.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa1a78e478ddb9f5fbdaf3e8c94b5e22cbe87c08
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_10.obj
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_11.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..120a78a2bf640765b076c8a14c4286ebae1dcdb4
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_11.obj
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_12.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66142b8c67501846ec533a474ca6cbb5f4554748
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_12.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_13.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d26101d547d9fbb68bd8065e623ea46f98a66a7
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_13.obj
@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_14.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cba36eb8838fa32a81b0d348926e4e21b621f6d
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_14.obj
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_15.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab18c90ec00d32a0b4eb280e45aba4e31b155bc2
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_15.obj
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_16.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ed9dccdf50e3a41c1075eba6c2fab4a8160edd0
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_16.obj
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_17.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c75b81cd538a4c571296467021b25ac6fed81197
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_17.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_18.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca2965c726bb6612bc379b2c70042d039858fb01
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_18.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_19.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..917e4ba89ee6873d22a481743621c35a1fe46d2a
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_19.obj
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_2.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16bf102f418993d99a4863c3d669f3f810ddb47f
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_2.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_20.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a4cea8e93fb59091563379f94ae63d226eb57b6
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_20.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_21.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb64ff1eef2de341f4303a96ebf82ff109dd0e2c
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_21.obj
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_22.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d39687d1eaa09082520d7dee2984074d2e1ef218
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_22.obj
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_23.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d90cbbf8e8d048a4f22523f1a5502d9b761f9895
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_23.obj
@@ -0,0 +1,535 @@
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_24.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d609f7315bee65240dc6d862b51e7f24033dbdfd
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_24.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_25.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52d0ee246fb737f7992ff8c832ae41ffb51a1792
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_25.obj
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_26.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76ee049c6682501647490e65e7c3742e21f3fc1d
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_26.obj
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_27.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae63a0ad8c2b4534f360f79f2cbff84ba2ce1e05
--- /dev/null
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_28.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0af0f9ab3c3e85a4c588b80480631d38f30b95b
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_28.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_29.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41c5c1e578451411cbfd2e72dc26ea486b76c8c0
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_29.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_3.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98d4f97e5fa6a7a9916951e69abcb6c080c6d36f
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_3.obj
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_30.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c658dc05b39ffccae33acb417531734cd0c11104
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_30.obj
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_31.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee88edcb2bfae015423f19acf3fd87436abc965b
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_31.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_32.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c787dd47b69bd4ba53534abdddef5fb328a492eb
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_32.obj
@@ -0,0 +1,610 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_33.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73495d7a5807d547c0658eb3de607444463befee
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_33.obj
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_34.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55b16e2ba7e446a98e5438480f50c2d1561590c1
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_34.obj
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+
diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_35.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ccf3666e9609e3587fcfd3fd60dc505f6d16afe
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_35.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.01747875 -0.00013341 -0.03192669
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+
diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_36.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d033549ea88191b6387c5c49b14922e08a35fee
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_36.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.01598423 -0.00358584 -0.04256171
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+
diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_37.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d48011d5cbd147e94ea38936e31e18816e2f32a4
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_37.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.02129700 -0.00679875 -0.04256298
+v 0.02112529 -0.00679875 -0.04299579
+v 0.02108336 -0.00646270 -0.04292945
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+v 0.02056687 -0.00598947 -0.04351285
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_38.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3ea0ab7123c2110c98370a9f3980346ae22a33d
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_38.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_39.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0a67bb5d12744156b7e101845caad1ec0d67c2c
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_39.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_4.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f519cbd5dfc8f2e8582ce6e9b1043e7dc000a3c9
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_4.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_40.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..921075d17a6d16bd37206cb3eccb5da2878ade23
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_40.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_41.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..441597a68ac4c17d6d4586aa24b87cc56893d9a4
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_41.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_42.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f20852e7dc58c62904cebccb5bb53960ef1b6c37
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_42.obj
@@ -0,0 +1,625 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_43.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8ae56e303539f206acaa36cbc5d5cc4a24bc31d
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_43.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.00215562 0.00107606 -0.04753198
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+
diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_44.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf6c9276e65dea10438b38a0cbaa3cb4ae05abe7
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_44.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.00268819 0.00107541 0.03718005
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+
diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_45.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00f15aa8ef9f20897936dd4ff6687b7fcdeb5928
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_45.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00079349 -0.00090019 -0.04492310
+v 0.00095617 0.00100126 -0.04566730
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_46.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8b859ab65c772a1c0704fc74e3f2e3ce3574daa
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_46.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_47.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ce5edcc06ef7ea9b2ddfebb436a7a3755f9bd97
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_47.obj
@@ -0,0 +1,418 @@
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_48.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dc56115a468bfec8dfabc47bf3c2511b491a61b
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_48.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_49.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bdefbee2388d119887f8a4efde8f7c37bccd5d2
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_49.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_5.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb714240cc91a28b33d61185cacf4d554a43b74b
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_5.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_50.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b08155c8db9be6b86486eb013a6f4c3d5765909e
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_50.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_51.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a743f448a5487248e69d392b99a40df7e1dcfa9
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_51.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_52.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c122c9cdaa0249d70417654afb7111971b4f360e
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_52.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_53.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..951843b1ef113f352430b419e3109d6424d71335
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_53.obj
@@ -0,0 +1,589 @@
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_54.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..015f0b2c6ddcd039c0f83e633c984b32ed9b1eb1
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_54.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_55.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70ea3653257d9a33d0cfa0f1c76c129e2490c4bb
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_55.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_56.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99f943e2278bb7333510cd2cfa08455e156a7eae
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_56.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_57.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b0242658ec6d32d6768c870ffa6177dbd3c73ee
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_57.obj
@@ -0,0 +1,601 @@
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_58.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73221f111a4272b7b908ef49077b236123d8d82c
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_58.obj
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_59.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b4d6a70fd13c1909d9f1e0e41d0e632d33ffb35
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_59.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_6.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..431d26340e312e9e62e5b6d1e0461d359e70e597
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_6.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_60.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef0a504039212ede76c3df0386675248464cda69
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_60.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_61.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb8ac3088010d6bd29a618ece354ce46b6f06d73
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_61.obj
@@ -0,0 +1,337 @@
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+
diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_62.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48f5dbd8fcae81ba98667056fd7689e9e55e408e
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_62.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.00979759 -0.00197300 0.02621972
+v -0.00979759 0.00107498 0.02677397
+v -0.00349359 0.00107497 0.02917071
+v -0.00349359 0.00093684 0.02915074
+v -0.00349359 0.00085151 0.02913909
+v -0.00349359 -0.00090042 0.02951607
+v -0.00349359 -0.00193631 0.03002370
+v -0.00349359 -0.00197301 0.03004784
+v -0.00979759 -0.00197302 0.03163402
+v -0.00979759 0.00107496 0.03213750
+v -0.00349359 0.00107495 0.03464493
+v -0.00349359 -0.00197303 0.03455503
+v -0.00951991 -0.00197302 0.03194276
+v -0.00979759 -0.00153444 0.03176717
+v -0.00979759 0.00085150 0.03214999
+v -0.00941624 0.00107496 0.03254695
+v -0.00620129 0.00107495 0.03463910
+v -0.00349359 0.00097859 0.03466656
+v -0.00349359 -0.00182295 0.03458417
+v -0.00366760 -0.00197303 0.03459748
+v -0.00918052 -0.00197302 0.03230976
+v -0.00932491 -0.00090043 0.03245874
+v -0.00979759 -0.00090043 0.03194693
+v -0.00979759 -0.00004744 0.03204846
+v -0.00942056 0.00085150 0.03255194
+v -0.00848755 0.00085150 0.03343990
+v -0.00848199 0.00107496 0.03343491
+v -0.00620129 0.00085149 0.03464076
+v -0.00349359 0.00011485 0.03472149
+v -0.00349359 0.00085149 0.03469403
+v -0.00743359 0.00107495 0.03415143
+v -0.00761315 0.00085149 0.03408236
+v -0.00445252 -0.00197303 0.03462245
+v -0.00881459 -0.00197302 0.03265346
+v -0.00838141 -0.00090043 0.03334586
+v -0.00750702 -0.00090043 0.03401245
+v -0.00760760 0.00107495 0.03407819
+v -0.00620129 -0.00090044 0.03456919
+v -0.00629509 -0.00197303 0.03436446
+v -0.00811669 -0.00197302 0.03327595
+v -0.00757304 -0.00197302 0.03373948
+v -0.00735275 -0.00197302 0.03390758
+f 1 2 3
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+f 1 5 6
+f 1 6 7
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+f 33 38 39
+f 34 40 35
+f 35 40 41
+f 35 41 42
+f 35 42 36
+f 36 42 39
+f 36 39 38
+
diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_63.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c85f670ac3d46760f25f55917696392934849c6
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_63.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.01837470 0.01830010 0.00233810
+v 0.01827945 0.01977897 0.00222516
+v 0.01683036 0.01837253 0.00229892
+v 0.01699524 0.01721601 0.00210568
+v 0.01785576 0.01721601 0.00210568
+v 0.02005764 0.01551456 0.00145286
+v 0.02171957 0.01551457 0.00090581
+v 0.01941653 0.01883591 0.00200712
+v 0.01941653 0.01955063 0.00200712
+v 0.01827945 0.02041456 0.00087709
+v 0.01704844 0.01965377 0.00213637
+v 0.01604604 0.01822720 0.00074980
+v 0.01604604 0.01673921 0.00054937
+v 0.01831295 0.01551457 0.00087447
+v 0.01604604 0.01551457 -0.00030256
+v 0.02223720 0.01551457 0.00059311
+v 0.02271804 0.01607580 0.00014071
+v 0.02127223 0.01953722 0.00031044
+v 0.02001035 0.01986772 0.00089211
+v 0.01604604 0.01996511 -0.00433108
+v 0.01688751 0.01985765 0.00087709
+v 0.02002743 0.02010660 -0.00089792
+v 0.01604604 0.01551459 -0.00433109
+v 0.02272198 0.01551457 0.00015115
+v 0.02249076 0.01724384 -0.00021116
+v 0.02275679 0.01772497 -0.00139406
+v 0.02139836 0.01960437 -0.00089792
+v 0.02119275 0.01943409 -0.00205275
+v 0.02002152 0.01790534 -0.00433108
+v 0.02104495 0.01551459 -0.00433109
+v 0.02272986 0.01551457 -0.00046119
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+v 0.02275679 0.01772497 -0.00192806
+v 0.02166176 0.01824352 -0.00258218
+v 0.02107977 0.01666152 -0.00433109
+v 0.02109618 0.01662554 -0.00433109
+v 0.02260046 0.01551457 -0.00091098
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+
diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_64.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da16da3f121435887f479da60840d4a412c345e2
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_64.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.02024435 0.00478317 -0.03276479
+v 0.02047401 0.00478317 -0.03294292
+v 0.01899256 0.00478317 -0.03276479
+v 0.01830737 0.00107520 -0.03276481
+v 0.01861408 0.00107520 -0.03279472
+v 0.01920863 0.00107520 -0.03315696
+v 0.01945793 0.00118954 -0.03328192
+v 0.02052009 0.00478317 -0.03297881
+v 0.01854912 0.00478317 -0.03293760
+v 0.01651543 0.00107520 -0.03277478
+v 0.01781859 0.00107520 -0.03276481
+v 0.01942544 0.00107520 -0.03334506
+v 0.02083889 0.00359267 -0.03392796
+v 0.02106629 0.00478317 -0.03346933
+v 0.01799763 0.00478318 -0.03462452
+v 0.01386228 0.00107523 -0.03955501
+v 0.01571767 0.00107520 -0.03400042
+v 0.01648748 0.00107520 -0.03279074
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+v 0.02057222 0.00268021 -0.03456139
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+v 0.02139718 0.00478318 -0.03457998
+v 0.02126421 0.00478318 -0.03407086
+v 0.01744388 0.00478320 -0.03955499
+v 0.01931665 0.00107523 -0.03955501
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+v 0.02057373 0.00237351 -0.03639918
+v 0.02100812 0.00324932 -0.03639918
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+v 0.02153844 0.00478318 -0.03596714
+v 0.02114183 0.00478320 -0.03955499
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+v 0.02087516 0.00354405 -0.03890297
+v 0.01971553 0.00107522 -0.03820242
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+v 0.02123248 0.00421915 -0.03825690
+v 0.02142588 0.00478319 -0.03823231
+v 0.02110784 0.00468085 -0.03955499
+v 0.02080113 0.00390521 -0.03955500
+f 1 2 8
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+f 1 40 33
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+f 1 25 15
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+f 19 27 28
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+f 19 21 20
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+f 21 30 31
+f 21 31 32
+f 21 32 23
+f 21 23 22
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+f 26 35 36
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+f 33 40 35
+f 33 35 41
+f 34 42 35
+f 35 42 41
+f 35 40 39
+f 35 39 38
+f 35 38 36
+f 36 38 37
+
diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_65.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8a56da2fd5d15957b5c38d905645cfe47b87fd1
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_65.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00942964 0.01551456 0.00234555
+v 0.01381718 0.00990103 0.00234928
+v 0.00951685 0.01543544 0.00234930
+v 0.00957415 0.01551456 0.00234930
+v 0.01020950 0.01551457 0.00070097
+v 0.01528113 0.00990105 -0.00264810
+v 0.01462698 0.00990104 -0.00115787
+v 0.01451666 0.00990104 -0.00089780
+v 0.01407628 0.00990104 0.00079450
+v 0.01661167 0.00990103 0.00234928
+v 0.01339733 0.01551456 0.00234930
+v 0.01115609 0.01551457 -0.00085194
+v 0.01573006 0.00990105 -0.00342549
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+
diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_66.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c8ce36d5ec3c9751da7f68c3d69098ef3756363
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_66.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.02412241 0.01474729 -0.03276476
+v 0.02411902 0.01479774 -0.03276476
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+
diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_67.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76a91ee7a210fc937c3e20914d425cdd6e500bc4
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_67.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.00979759 -0.00575314 0.02351267
+v -0.00529028 -0.00575316 0.02930885
+v -0.00979759 -0.00575316 0.02964211
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+
diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_68.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b740179c903919a5300481e7f08ffa7fa20b0d47
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_68.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v 0.00079280 -0.01714758 0.01804587
+v 0.00008496 -0.01714423 0.01804587
+v 0.00181887 -0.01707286 0.01804587
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_69.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97ee0253ff3697c7cc2b501cda2a0db701d16d17
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_69.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_7.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35a42caf5a21d289df9babec0808586259b7ac01
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_7.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_70.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68bb15478ff2394c590091ac46815e44edcbf518
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_70.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
+v 0.00268703 -0.01698646 0.01804587
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_71.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d6a518dfeaf6e93a2b2f4b729a6cbddb3ce8219
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_71.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_72.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b151a0638020615b0655fe4fac50ad3b364022f6
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_72.obj
@@ -0,0 +1,97 @@
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_73.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e77f0c7a5cbf5681aeb62a59a359ab121a36b5f
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_73.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_74.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18d32b6d2b2d4dbefa70582400273fdbe3d0950a
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_74.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_75.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6842abb54be1504b6e82fc7d39f7825fbb723da8
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_75.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.00191811 0.01494275 0.02689921
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_76.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6083bab955c6523faa8ce2f9b3df3aece2507f1
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_76.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_77.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0825a219d7ebf086864a233a88b839e1b57c856
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_77.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_78.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07e8724265687d8c30243237c5bd1441b911fa24
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_78.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_79.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95adfdbebc109347842b9c1904ac0b3bba2cf372
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_79.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_8.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2789a2024867c6f424ac6759a8592b83bde4e558
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_8.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_80.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e6f7036c0717053f5a0b8599db5e845c9cf1528
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_80.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_81.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78141a0ce2aa83f2c9949a99f1297ef905d01d17
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_81.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_82.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3626ced9209ec8b1a2adb661fbec5cb5bf8ff055
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_82.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_83.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46df21efcd0ccdc5ef3b44d1cbb1909e67c7ef76
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_83.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.00195374 0.00089579 0.03638666
+v -0.00185667 0.00007726 0.03638666
+v -0.00181069 0.00034498 0.03711918
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+
diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_84.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb3eb95581ccd55e35035afe6352da022e8c0121
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_84.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.00569594 -0.00575318 0.03415326
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+
diff --git a/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_9.obj b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82efe14faeed3c828d69d5959689c2627dceb3a2
--- /dev/null
+++ b/dataset/food/fruits/50fd83c541cb56e8b6ff6916cbf8c5f5/mjcf/mesh/pear_collision_9.obj
@@ -0,0 +1,475 @@
+# https://github.com/mikedh/trimesh
+v 0.01567948 0.00107499 0.02337547
+v 0.01276314 0.00107499 0.02337547
+v 0.01572831 0.00107499 0.02324992
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