diff --git a/.gitattributes b/.gitattributes
index 0a4be168265d6a47a90dd8ad6fcdf7037e4cbb68..1963a1d9c1ca1cbba1910c746c5f6c7daafd8dda 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3570,6 +3570,6 @@ dataset/food/fruits/8d9fed7dc3325c31a7d1b561f4a21245/mesh/orange.glb filter=lfs
 dataset/food/fruits/8d9fed7dc3325c31a7d1b561f4a21245/mesh/orange_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/92e21b8341d45e93878923825c4ba18f/mesh/pear_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/92e21b8341d45e93878923825c4ba18f/pear_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/a0bbd0938c435da2a4a1d991febc6525/a0bbd0938c435da2a4a1d991febc6525.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/a0bbd0938c435da2a4a1d991febc6525/mesh/pear.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/fruits/a0bbd0938c435da2a4a1d991febc6525/mesh/pear_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/a51de86cdf05592b844f3a6eb30122c2.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mesh/strawberry.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mesh/strawberry_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/a51de86cdf05592b844f3a6eb30122c2.urdf b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/a51de86cdf05592b844f3a6eb30122c2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..76b6f4c8f153101401479a2d7a4602f7b0a20f9c
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/a51de86cdf05592b844f3a6eb30122c2.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="strawberry">
+   <link name="strawberry">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/strawberry.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/strawberry_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0300" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.075000</scale>
+         <version>v0.1.7</version>
+         <category>strawberry</category>
+         <description>realistic red strawberry with green leaves and textured surface</description>
+         <min_height>0.06</min_height>
+         <max_height>0.09</max_height>
+         <real_height>0.075</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.04</max_mass>
+         <generate_time>20260120041121</generate_time>
+         <gs_model>mesh/strawberry_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.437342643737793</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/a51de86cdf05592b844f3a6eb30122c2.usd b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/a51de86cdf05592b844f3a6eb30122c2.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ca597d62054cd11c66c27d660ff06834637aa81f
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/a51de86cdf05592b844f3a6eb30122c2.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26e5b18d8b9e3ebfe9cec9b206bd8f0fcaf41b80cce5c7df97c356312cb70505
+size 633251
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mesh/material.mtl b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/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/a51de86cdf05592b844f3a6eb30122c2/mesh/material_0.png b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9a67bd221a5c58c72f98b56cf2221c4b085e955
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0e1baaadf8158d139093f1aff4e27427a19b6ec5ee3cb14c4c6c0954a4a3b75
+size 3299281
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mesh/strawberry.glb b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mesh/strawberry.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b4ba3d6182d621f54d93f0d900a5b591bf5aa30d
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mesh/strawberry.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efd87f6e5f86df5b03416ab4634ec86e0b299c6d15df8fa2cbceeae22c63d8f8
+size 3746068
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mesh/strawberry.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mesh/strawberry.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85d19565024c9068e47f82b94c11e795567e709f
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mesh/strawberry.obj
@@ -0,0 +1,41084 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mesh/strawberry_collision.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mesh/strawberry_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..953edc45e1b37e0ad379a35584fc678a2a187f10
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mesh/strawberry_collision.obj
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/material_0.png b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9a67bd221a5c58c72f98b56cf2221c4b085e955
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0e1baaadf8158d139093f1aff4e27427a19b6ec5ee3cb14c4c6c0954a4a3b75
+size 3299281
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cd1e3118be6fa5583b635d3e72da12febbbaa2c
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry.obj
@@ -0,0 +1,41084 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.022649 0.007290 -0.001915
+v -0.022490 0.007274 -0.002030
+v -0.022660 0.007534 -0.000962
+v 0.015394 0.014463 -0.011395
+v 0.015376 0.014036 -0.012271
+v 0.015545 0.014689 -0.010773
+v 0.023907 -0.001776 0.005389
+v 0.023932 0.001103 0.005536
+v 0.023886 -0.000703 0.005320
+v 0.007977 0.001713 0.018076
+v 0.009573 0.002208 0.018027
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c4e07ca2b75e329b0143b0dc3fc24f7e412388f
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision.obj
@@ -0,0 +1,26773 @@
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_0.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3879381126cd522502d1d19580089f8a2e73526a
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_0.obj
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_1.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1627e8bcc8b32f3257fb8e5eb4204babbf8b6d4
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_1.obj
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_10.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fdc271b20a645a2b2bed0c2a070ebe53d2d35f5
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_10.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.00737628 0.02260769 0.00336409
+v -0.00765045 0.02254061 0.00336409
+v -0.00737628 0.02241092 0.00394501
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+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_11.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..584b1fe4c312a8e2d4ffbbda47fe1b01aff76831
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_11.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_12.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da50a683953ebfceb3aee70166f286428b1025f8
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_12.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_13.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cfd35886e453de96eb949afaddc2cd7d19f14c8
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_13.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_14.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba99d8bffa807f4f4e45f0989db44eb2abf7f60b
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_14.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_15.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a73fc0377cdc1a80946196edee66cec0854af42
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_15.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_16.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb24c77a17eb7175bb035225765d896d38facd72
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_16.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.01508166 0.01775317 0.01134009
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+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_17.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..321dd22d65f46e278861455c15e768649b506543
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_17.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_18.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0f38b5e927f35ea1d0f9b14b820b92345d566f8
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_18.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.00105759 0.02065020 0.01494318
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_19.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a536c647b5630a6507a47a576510087a1f444499
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_19.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_2.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a0e6ac9f84e04ac4ba487876d895fbdb1db0edf
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_2.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_20.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44d401ba72166846e9051e883aa44f67227ff0bd
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_20.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_21.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b00698f305d07ba2894681e01894c52035dd6522
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_21.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_22.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d7adbbe982c35249a5956ae23937e70d6849e66
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_22.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_23.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6bd185743fc597e578ee9c641c7869e7db3409e
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_23.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_24.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9207d8faf734c90f2bb6acf7f11719f6857fe3e5
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_24.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_25.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7e77dbae3d10da7f42346abd61bef5fd3f21efc
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_25.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_26.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7770b498183d20caf913dac91982d36b10f7f03f
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_26.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_27.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2020335220755c4eecaccb8f344ec34e4ffbaf4d
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_27.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.00131125 -0.01508681 0.01133996
+v -0.00131125 -0.01931038 0.01133995
+v -0.00131125 -0.01508682 0.01385199
+v 0.00873406 -0.01508681 0.01133996
+v -0.00131125 -0.01964820 0.01134290
+v 0.00163469 -0.02217381 0.01133994
+v -0.00131125 -0.01894280 0.01385198
+v 0.00873406 -0.01508682 0.01385199
+v 0.00873406 -0.01802907 0.01133995
+v -0.00131125 -0.02067533 0.01167804
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+v -0.00131125 -0.01915917 0.01369608
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+v 0.00873406 -0.01800816 0.01146510
+v -0.00131125 -0.02067533 0.01169082
+v 0.00241346 -0.02281486 0.01133994
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+v 0.00366519 -0.02320175 0.01144345
+v 0.00369076 -0.02068339 0.01385197
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+v 0.00531811 -0.02306823 0.01133994
+v 0.00573895 -0.02033430 0.01385198
+v 0.00618537 -0.02279878 0.01133994
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+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_28.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f192d2ead6b5a891b86b8610913aa304e4853989
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_28.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00636729 -0.02670074 0.00550195
+v 0.00636729 -0.02670074 0.00650195
+v 0.00636729 -0.02570074 0.00550195
+v 0.00636729 -0.02570074 0.00650195
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+v 0.00814825 -0.02670074 0.00650195
+v 0.00814825 -0.02570074 0.00550195
+v 0.00814825 -0.02570074 0.00650195
+f 2 4 1
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+f 2 8 4
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+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_29.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6344e836f55129c191d63638aac08908056a115
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_29.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.01391233 0.02938396 0.01335827
+v 0.01398474 0.02936078 0.01408855
+v 0.01484044 0.02933263 0.01398870
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+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_3.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4138635f2fdf2c6febc53adbee5896a65c2f2d18
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_3.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
+v -0.01154807 -0.00625839 0.01851840
+v -0.01154807 -0.00775595 0.01962850
+v -0.01154807 -0.00967171 0.01851838
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_30.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e6de7e385bf7bfdabad492c6d46163c7c23af14
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_30.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_31.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53802163d14a24c03df105945b567b85bd555939
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_31.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_32.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32d42e44bfd4953b392a06f66982bd0d4afc97cf
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_32.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_33.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ee0e2e7c2a31886676b84546617f67bb59b31bd
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_33.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_34.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af56de7d1f10ae1a947823b862955c96c6f69f0a
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_34.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_35.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cb16f9f2273de3a1d3c040b8167a6198d258c72
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_35.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_36.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c2e6ed8818b50cd2b938422bba1462a0f0f56e5
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_36.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_37.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b64a028269473beb7b76647dcee552c383227f2e
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_37.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_38.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..304a52f3f38e3bbf059bba61897d6ee1db436f3e
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_38.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_39.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e930fb0372737f6d346a45ff769ea7efd84b1281
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_39.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_4.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76f93515bbf464f4ab2cff74b3e64a063cb242f7
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_4.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_40.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1057b5b2bfb860db3aeac5020a7f6a2d0ca05e5
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_40.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_41.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e86e66257d871f8e7cc7bb3e0d4727106688d0d9
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_41.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_42.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a42169f08ca5ca113451e09b9642c6e5c672427
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_42.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_43.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aa30ad42ba1bc5d371537168fc5f04be17fa690
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_43.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_44.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcc9e6b30ad1869471d848e9a7a619668f5ef894
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_44.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+f 33 46 48
+f 33 48 49
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+f 40 44 42
+f 40 42 41
+f 43 51 47
+f 43 47 52
+f 43 52 44
+f 44 53 54
+f 44 54 45
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_45.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef7c6ac16fce080e93e13f75fb6133594dd72755
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_45.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.02123572 -0.00149580 0.01324035
+v 0.02123572 -0.00158748 0.01326761
+v 0.02194699 -0.00633767 0.01439104
+v 0.02128984 -0.00164363 0.01324035
+v 0.02123572 -0.00606034 0.01324034
+v 0.02123572 -0.00569706 0.01439104
+v 0.02159275 -0.00589646 0.01439104
+v 0.02207812 -0.00676170 0.01439104
+v 0.02133027 -0.00178803 0.01324035
+v 0.02232830 -0.01302577 0.01435721
+v 0.02232830 -0.01313808 0.01436859
+v 0.02221952 -0.01313578 0.01439101
+v 0.02201063 -0.01270489 0.01439101
+v 0.02165671 -0.01187861 0.01439102
+v 0.02123572 -0.00794896 0.01439103
+v 0.02136183 -0.00557902 0.01324034
+v 0.02231910 -0.00797188 0.01439103
+v 0.02154355 -0.00304749 0.01324035
+v 0.02232830 -0.01187861 0.01426564
+v 0.02232830 -0.01320340 0.01439101
+v 0.02152108 -0.00431154 0.01324034
+v 0.02232830 -0.00988113 0.01439102
+v 0.02232830 -0.01050226 0.01435046
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 18
+f 1 18 21
+f 1 21 16
+f 1 16 5
+f 1 5 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 6
+f 3 6 15
+f 3 15 14
+f 3 14 13
+f 3 13 12
+f 3 12 20
+f 3 20 22
+f 3 22 17
+f 3 17 8
+f 3 8 4
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 16 10
+f 8 17 9
+f 9 17 18
+f 10 19 23
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+f 10 22 20
+f 10 20 11
+f 10 16 19
+f 11 20 12
+f 16 21 19
+f 17 22 23
+f 17 23 19
+f 17 19 18
+f 18 19 21
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_46.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..883e0a3d5e6bf07cbde73131233210188e2fa5c3
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_46.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01830053 -0.02025573 0.00770909
+v -0.01830053 -0.02025573 0.00870909
+v -0.01830053 -0.01925573 0.00770909
+v -0.01830053 -0.01925573 0.00870909
+v -0.01730053 -0.02025573 0.00770909
+v -0.01730053 -0.02025573 0.00870909
+v -0.01730053 -0.01925573 0.00770909
+v -0.01730053 -0.01925573 0.00870909
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_47.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa10675317e20c829bcaea6b02a28a1fdd62ecc5
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_47.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.02024546 0.01193292 0.01134006
+v 0.01945210 0.01082786 0.01235862
+v 0.01944690 0.01004557 0.01237085
+v 0.01987336 0.00696021 0.01162380
+v 0.02021378 0.01109222 0.01134006
+v 0.02017123 0.01227027 0.01134007
+v 0.01936416 0.01154791 0.01225712
+v 0.01894667 0.01080250 0.01274319
+v 0.01879963 0.00965596 0.01274319
+v 0.01820957 0.00696020 0.01274318
+v 0.01997029 0.00696021 0.01134005
+v 0.01977077 0.01318013 0.01134007
+v 0.01887197 0.01104303 0.01274319
+v 0.01971450 0.01330615 0.01134007
+v 0.01911925 0.01238861 0.01210481
+v 0.01804315 0.01395396 0.01221236
+v 0.01541532 0.00696020 0.01274318
+v 0.01541532 0.00696021 0.01134005
+v 0.01865779 0.01138884 0.01274319
+v 0.01928567 0.01407538 0.01134007
+v 0.01869609 0.01345984 0.01197736
+v 0.01899112 0.01455490 0.01134007
+v 0.01876890 0.01467171 0.01143923
+v 0.01779871 0.01461177 0.01207405
+v 0.01755191 0.01481080 0.01212789
+v 0.01709707 0.01481079 0.01237456
+v 0.01717319 0.01461176 0.01241343
+v 0.01653349 0.01461176 0.01274320
+v 0.01755002 0.01345983 0.01262879
+v 0.01541532 0.01481079 0.01274320
+v 0.01541532 0.01481080 0.01134007
+v 0.01731834 0.01346214 0.01274320
+v 0.01886110 0.01476162 0.01134007
+v 0.01813440 0.01481080 0.01177202
+v 0.01788192 0.01481080 0.01192970
+v 0.01638172 0.01481079 0.01274320
+v 0.01882469 0.01481080 0.01134007
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 18
+f 1 18 31
+f 1 31 37
+f 1 37 33
+f 1 33 22
+f 1 22 20
+f 1 20 14
+f 1 14 12
+f 1 12 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 7
+f 3 8 9
+f 3 9 10
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+f 8 19 32
+f 8 32 28
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+f 25 31 30
+f 25 30 36
+f 25 36 26
+f 26 36 28
+f 26 28 27
+f 28 32 29
+f 33 37 34
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_48.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5ea8500f2a8865daadeeada2cb0e9892fd72c7d
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_48.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.02494188 0.00376308 0.01408833
+v 0.02494188 0.00389518 0.01362207
+v 0.02494188 0.00452069 0.01485306
+v 0.02455263 0.00367727 0.01480238
+v 0.02167290 -0.00068553 0.01274348
+v 0.02494188 0.00416955 0.01338581
+v 0.02494188 0.00454215 0.01485767
+v 0.01947547 0.00124972 0.01599782
+v 0.02372492 0.00325724 0.01498862
+v 0.02332775 0.00245785 0.01486161
+v 0.01916204 -0.00068214 0.01452399
+v 0.02015156 -0.00068553 0.01378165
+v 0.01916204 -0.00068553 0.01274348
+v 0.02271277 0.00320644 0.01274349
+v 0.02494188 0.00440666 0.01334106
+v 0.02494188 0.00456134 0.01486030
+v 0.01916204 0.00108261 0.01602546
+v 0.02244233 0.00325949 0.01540027
+v 0.01964350 0.00199717 0.01601922
+v 0.01916204 0.00199717 0.01610444
+v 0.01916204 -0.00068553 0.01430122
+v 0.01987264 -0.00068553 0.01394091
+v 0.01916204 0.00669757 0.01274350
+v 0.02305336 0.00452069 0.01274350
+v 0.02494188 0.00578075 0.01322820
+v 0.02369437 0.00452068 0.01517159
+v 0.02494188 0.00577624 0.01490933
+v 0.02021832 0.00325949 0.01588134
+v 0.01959258 0.00325949 0.01599618
+v 0.01916204 0.00265995 0.01608766
+v 0.01916204 0.00950222 0.01393995
+v 0.02273879 0.01031178 0.01340854
+v 0.02369437 0.01049356 0.01332496
+v 0.02494188 0.01084922 0.01326441
+v 0.02494188 0.00956884 0.01301466
+v 0.02111279 0.00685226 0.01274351
+v 0.02282139 0.00584398 0.01274350
+v 0.02494188 0.00830426 0.01307059
+v 0.02494188 0.00701146 0.01482510
+v 0.01940701 0.00407469 0.01596723
+v 0.01916204 0.00379694 0.01602481
+v 0.01916204 0.00325949 0.01606265
+v 0.01916204 0.01000467 0.01415944
+v 0.01916204 0.01028355 0.01431014
+v 0.02494188 0.01084697 0.01390738
+v 0.02244516 0.00625158 0.01274350
+v 0.02494188 0.00708372 0.01481918
+v 0.01917901 0.00491586 0.01592973
+v 0.01916204 0.00423051 0.01599159
+v 0.02445589 0.00914543 0.01472705
+v 0.02119086 0.00830425 0.01531802
+v 0.01916204 0.01022371 0.01470534
+v 0.01993940 0.01029258 0.01481853
+v 0.02494188 0.01079051 0.01395970
+v 0.02119086 0.01037952 0.01486493
+v 0.02244233 0.01035807 0.01481162
+v 0.02335604 0.01027226 0.01474877
+v 0.02494188 0.00734680 0.01479713
+v 0.01916204 0.00493167 0.01593071
+v 0.01916204 0.00490006 0.01593367
+v 0.02494188 0.00865767 0.01467078
+v 0.02494188 0.00956658 0.01456450
+v 0.02419054 0.00998660 0.01466026
+v 0.02374189 0.00956658 0.01479517
+v 0.02494188 0.00804457 0.01473099
+v 0.02244233 0.00956544 0.01498997
+v 0.01993940 0.00830425 0.01547860
+v 0.01916204 0.00753309 0.01566320
+v 0.01916204 0.00606527 0.01581521
+v 0.01916204 0.00497458 0.01592643
+v 0.01916204 0.01017516 0.01477016
+v 0.01919768 0.01022032 0.01474450
+v 0.01916204 0.00986691 0.01498372
+v 0.02494188 0.00960384 0.01455397
+v 0.01916204 0.00961286 0.01510876
+v 0.01993940 0.00956544 0.01517490
+v 0.02119086 0.00956544 0.01514298
+v 0.01916204 0.00830425 0.01556843
+v 0.01916204 0.00878299 0.01545294
+f 1 2 6
+f 1 6 15
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+f 1 38 35
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+f 1 45 54
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+f 1 62 61
+f 1 61 65
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+f 1 16 7
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+f 44 53 45
+f 45 53 55
+f 45 55 56
+f 45 56 57
+f 45 57 54
+f 47 58 50
+f 48 59 60
+f 48 60 49
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+f 50 64 51
+f 50 58 65
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+f 51 66 67
+f 51 67 68
+f 51 68 69
+f 51 69 70
+f 51 70 59
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+f 52 72 53
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+f 53 71 73
+f 53 73 55
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+f 55 77 56
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+f 62 74 63
+f 66 77 67
+f 67 78 68
+f 67 77 78
+f 75 79 76
+f 76 79 77
+f 77 79 78
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_49.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a96982051b45efff1ba8cd3fdfe0d891cd245a01
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_49.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01446731 -0.00068555 0.01769410
+v -0.01446731 -0.00068555 0.01869410
+v -0.01446731 0.01454155 0.01769410
+v -0.01446731 0.01454155 0.01869410
+v 0.01537582 -0.00068555 0.01769410
+v 0.01537582 -0.00068555 0.01869410
+v 0.01537582 0.01454155 0.01769410
+v 0.01537582 0.01454155 0.01869410
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_5.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4dec499e0a1284774d3fc40239da7fb6efa7fcc
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_5.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.00497555 -0.00518765 0.01851840
+v -0.00509339 -0.00609897 0.01851840
+v -0.00509339 -0.01070120 0.01929855
+v -0.00343528 -0.01187621 0.02031792
+v -0.00462798 -0.00518765 0.01864047
+v 0.00706687 -0.00518765 0.01851840
+v -0.00509339 -0.01214737 0.01851838
+v -0.00509339 -0.01191685 0.01897848
+v -0.00343647 -0.01296499 0.02031791
+v -0.00344004 -0.01189280 0.02031792
+v -0.00253778 -0.01106689 0.02031792
+v -0.00346385 -0.00518765 0.01886718
+v 0.00706687 -0.00518765 0.01875286
+v 0.00706687 -0.00985704 0.01851838
+v -0.00009050 -0.01365823 0.02031791
+v -0.00134152 -0.01357696 0.02031791
+v -0.00259373 -0.01342936 0.02031791
+v 0.00241274 -0.01204621 0.01851838
+v 0.00116053 -0.01364828 0.02031791
+v -0.00179741 -0.01093753 0.02031792
+v -0.00012501 -0.00518765 0.01925030
+v -0.00102370 -0.00518765 0.01921137
+v -0.00134152 -0.00518765 0.01919041
+v -0.00221283 -0.00518765 0.01908719
+v -0.00259373 -0.00518765 0.01903399
+v 0.00706687 -0.00934126 0.01900069
+v 0.00491597 -0.00518765 0.01899911
+v 0.00282221 -0.01128663 0.02031792
+v 0.00380422 -0.01195250 0.02031792
+v 0.00400657 -0.01309850 0.02031791
+v 0.00706687 -0.01100967 0.01852050
+v 0.00706449 -0.01101133 0.01851838
+v 0.00352211 -0.01179993 0.01851838
+v 0.00367685 -0.01334810 0.02031791
+v 0.00283887 -0.01353136 0.02031791
+v 0.00241274 -0.01356950 0.02031791
+v 0.00166522 -0.01362008 0.02031791
+v -0.00134152 -0.01090104 0.02031792
+v 0.00116767 -0.00518765 0.01924220
+v 0.00706687 -0.01053369 0.01884813
+v 0.00366376 -0.00518765 0.01912242
+v 0.00241274 -0.01111830 0.02031792
+v 0.00706687 -0.01067134 0.01880251
+v 0.00706687 -0.01058179 0.01883246
+v 0.00388754 -0.01329668 0.02031791
+v -0.00063328 -0.01093421 0.02031792
+v 0.00241274 -0.00518765 0.01919534
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
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+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_50.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88fa91ecbb3069169abea61b3c84a6a224f01da9
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_50.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.01387069 0.02028491 0.01134009
+v -0.01390273 0.01961618 0.01186161
+v -0.01351479 0.01916768 0.01231789
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+v -0.00770833 0.01683732 0.01269685
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+v -0.00770833 0.01765020 0.01134008
+v -0.01283505 0.02005878 0.01134009
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+v -0.01522103 0.01967298 0.01134009
+v -0.01632762 0.01885261 0.01134009
+v -0.01523247 0.01846628 0.01205240
+v -0.01573027 0.01775951 0.01222072
+v -0.01489603 0.01809225 0.01238929
+v -0.01436162 0.01642687 0.01342051
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+v -0.01386611 0.01603785 0.01375527
+v -0.00882636 0.01680785 0.01375527
+v -0.00770833 0.01576618 0.01375527
+v -0.00770833 0.01481080 0.01134007
+v -0.01659884 0.01863667 0.01134009
+v -0.01647296 0.01850861 0.01146988
+v -0.01636424 0.01746587 0.01207839
+v -0.01636424 0.01683518 0.01239637
+v -0.01521988 0.01595319 0.01330869
+v -0.01523247 0.01725795 0.01267345
+v -0.01394393 0.01598749 0.01375527
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+v -0.01939908 0.01481080 0.01134007
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+v -0.01636424 0.01587389 0.01284910
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+v -0.01535034 0.01485044 0.01375526
+v -0.01833254 0.01481079 0.01228572
+v -0.01895735 0.01594838 0.01144008
+v -0.01905119 0.01604108 0.01134008
+v -0.01880630 0.01635401 0.01134008
+v -0.01821925 0.01521053 0.01220653
+v -0.01781986 0.01481079 0.01257249
+v -0.01769399 0.01481079 0.01263561
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 16
+f 1 16 15
+f 1 15 28
+f 1 28 38
+f 1 38 49
+f 1 49 59
+f 1 59 60
+f 1 60 50
+f 1 50 40
+f 1 40 39
+f 1 39 29
+f 1 29 19
+f 1 19 18
+f 1 18 17
+f 1 17 6
+f 1 6 2
+f 2 6 3
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+f 50 60 51
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+f 52 63 54
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+f 58 60 59
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+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_51.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e3498a2b29759254c84ee68f12eec5b3c96fbdc
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_51.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.01912087 0.00329969 0.02018247
+v 0.01860162 0.00332368 0.01992235
+v 0.01803506 0.00378968 0.01969920
+v 0.01873173 0.00452124 0.02018248
+v 0.01904044 0.00300672 0.02018247
+v 0.01812732 0.00249104 0.01964724
+v 0.01812732 0.00294676 0.01964724
+v 0.01754420 0.00332368 0.01944136
+v 0.01532763 0.00326029 0.01851848
+v 0.01504494 0.00418715 0.01851849
+v 0.01493494 0.00452124 0.01851849
+v 0.01725914 0.00452124 0.01949268
+v 0.01788603 0.00452124 0.01977104
+v 0.01868678 0.00452124 0.02015968
+v 0.01868678 0.00462917 0.02018248
+v 0.01853065 0.00223234 0.02018247
+v 0.01746258 0.00204216 0.01945618
+v 0.01532408 0.00189654 0.01851848
+v 0.01537494 0.00199933 0.01851848
+v 0.01706516 0.00127120 0.01954625
+v 0.01533118 0.00316777 0.01851848
+v 0.01468537 0.00511059 0.01851849
+v 0.01454580 0.00541898 0.01851849
+v 0.01701785 0.00551492 0.01958796
+v 0.01813205 0.00582331 0.02018248
+v 0.01847151 0.00216895 0.02018247
+v 0.01469247 0.00123522 0.01851847
+v 0.01706516 0.00127120 0.01983862
+v 0.00828998 -0.00155737 0.01851846
+v 0.00990214 0.01080715 0.01851851
+v 0.01558667 0.00770788 0.01966730
+v 0.01648796 0.00704485 0.01980868
+v 0.01676828 0.00635613 0.01970621
+v 0.01743538 0.00587470 0.01987675
+v 0.01743301 0.00697975 0.02018249
+v 0.01731355 0.00177661 0.02018247
+v 0.00703858 -0.00155737 0.01887598
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+v 0.00967504 0.01461399 0.02018251
+v 0.00994235 0.01439641 0.02018251
+v 0.00718525 0.01593148 0.02018252
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+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_52.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04c38f35b97744b109104488476879d6e9843e45
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_52.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.00009053 0.02373555 0.00336410
+v 0.00116079 0.02369171 0.00336410
+v -0.00117707 0.02369171 0.00336410
+v -0.00117707 0.02550355 0.00807063
+v 0.00195249 0.02366249 0.00336410
+v -0.00117707 -0.02423496 0.00336392
+v -0.00117707 0.02538179 0.00858769
+v -0.00070364 0.02534282 0.00851964
+v -0.00070364 0.02534282 0.00845963
+v 0.00309549 0.02361378 0.00336410
+v -0.00006418 -0.02425444 0.00336392
+v -0.00117707 -0.02421547 0.00347537
+v -0.00117707 0.02524541 0.00883737
+v -0.00098887 0.02521619 0.00883737
+v -0.00039248 0.02492882 0.00883737
+v 0.00309549 0.02303904 0.00533425
+v 0.00309549 0.02323873 0.00478238
+v 0.00309549 0.02343356 0.00415013
+v 0.00309549 0.02353585 0.00372148
+v 0.00309549 0.02359430 0.00347233
+v 0.00309549 -0.02406449 0.00336392
+v -0.00037743 -0.02390377 0.00487115
+v -0.00117707 -0.02405476 0.00427372
+v -0.00117707 -0.02407911 0.00416281
+v 0.00033062 -0.02424470 0.00336392
+v 0.00203655 -0.02387454 0.00479399
+v -0.00117707 -0.02167791 0.00883720
+v 0.00309549 0.02062808 0.00883736
+v 0.00309549 0.02276141 0.00592846
+v 0.00309549 0.02283935 0.00577629
+v 0.00309549 -0.02403526 0.00360021
+v 0.00286296 -0.02410345 0.00336392
+v -0.00117707 -0.02390377 0.00488401
+v -0.00117707 -0.02366511 0.00548518
+v 0.00159407 -0.02420573 0.00336392
+v 0.00287091 -0.02385506 0.00473559
+v 0.00243721 -0.02363589 0.00528157
+v -0.00117707 -0.02358718 0.00565664
+v 0.00243721 -0.02398170 0.00425282
+v -0.00117707 -0.02219420 0.00813530
+v -0.00022729 -0.02176558 0.00883720
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+v -0.00117707 -0.02263742 0.00747572
+v -0.00117707 -0.02268613 0.00739374
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+v 0.00116079 -0.02168279 0.00883720
+v 0.00162251 -0.02160973 0.00883720
+v 0.00309549 -0.02259359 0.00728336
+f 1 2 5
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+f 1 43 35
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+f 1 11 6
+f 1 6 3
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+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_53.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ee750190fddcecdb22a986500ac727c2a00c0a6
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_53.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.00491770 0.01481077 0.01774296
+v 0.00616873 0.01481078 0.01765974
+v 0.00616873 0.01694486 0.01690407
+v 0.00585065 0.01694486 0.01692522
+v 0.00491770 0.01638606 0.01713797
+v 0.00404865 0.01557972 0.01726752
+v 0.00373909 0.01481078 0.01739346
+v 0.00640019 0.01481078 0.01761386
+v 0.01117569 0.01587364 0.01645382
+v 0.01124953 0.01694486 0.01620912
+v 0.00992324 0.01694486 0.01646686
+v 0.00867079 0.01694486 0.01664363
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+v 0.00483818 0.01694486 0.01676958
+v 0.00108934 0.01692794 0.01504367
+v 0.00108934 0.01683665 0.01509584
+v 0.00108934 0.01583896 0.01555780
+v 0.00108934 0.01481078 0.01579574
+v 0.01117569 0.01481078 0.01662068
+v 0.01213278 0.01687822 0.01603145
+v 0.01197090 0.01694486 0.01605259
+v 0.00108934 0.01694486 0.01503287
+v 0.00108934 0.01481079 0.01314771
+v 0.01140431 0.01481078 0.01655681
+v 0.01220236 0.01694486 0.01598152
+v 0.01250056 0.01576146 0.01610162
+v 0.01296775 0.01610698 0.01583173
+v 0.00108934 0.01694487 0.01314772
+v 0.01559619 0.01481079 0.01314771
+v 0.01255594 0.01481078 0.01615558
+v 0.01305437 0.01526617 0.01595318
+v 0.01262126 0.01694486 0.01578135
+v 0.01318927 0.01694486 0.01525283
+v 0.00926435 0.01694487 0.01314772
+v 0.01486772 0.01585694 0.01314772
+v 0.01305437 0.01523797 0.01595318
+v 0.01256020 0.01481078 0.01615378
+v 0.01321625 0.01694486 0.01517231
+v 0.01320773 0.01694487 0.01442563
+v 0.01359255 0.01612224 0.01314772
+v 0.01483648 0.01587302 0.01314772
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 18
+f 1 18 23
+f 1 23 29
+f 1 29 37
+f 1 37 30
+f 1 30 24
+f 1 24 19
+f 1 19 8
+f 1 8 2
+f 2 8 9
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+f 2 11 12
+f 2 12 13
+f 2 13 3
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+f 3 12 11
+f 3 11 10
+f 3 10 21
+f 3 21 25
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+f 3 32 33
+f 3 33 38
+f 3 38 39
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+f 3 28 22
+f 3 22 14
+f 3 14 4
+f 4 14 5
+f 5 14 6
+f 6 14 15
+f 6 15 16
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+f 6 17 7
+f 7 17 18
+f 8 19 9
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+f 9 20 21
+f 9 21 10
+f 14 22 15
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+f 15 23 18
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+f 19 24 20
+f 20 25 21
+f 20 24 26
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+f 23 28 34
+f 23 34 40
+f 23 40 41
+f 23 41 35
+f 23 35 29
+f 24 30 31
+f 24 31 26
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+f 26 31 27
+f 27 31 29
+f 27 29 33
+f 27 33 32
+f 29 35 33
+f 29 31 36
+f 29 36 37
+f 30 37 36
+f 30 36 31
+f 33 35 38
+f 34 39 40
+f 35 41 39
+f 35 39 38
+f 39 41 40
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_54.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f934e8446aad7fd337d49d327b268663245abcc
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_54.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.02745001 -0.00935640 0.00542176
+v 0.02849663 -0.00935640 0.00548567
+v 0.02834556 -0.01017522 0.00563913
+v 0.02745001 -0.01017289 0.00569850
+v 0.02677642 -0.01004701 0.00596720
+v 0.02675942 -0.00935640 0.00594960
+v 0.02678572 -0.00858537 0.00597476
+v 0.02745001 -0.00834118 0.00573726
+v 0.02836737 -0.00835283 0.00568342
+v 0.02831445 -0.00831029 0.00663443
+v 0.02842864 -0.00929870 0.00669834
+v 0.02834556 -0.01017522 0.00632648
+v 0.02752571 -0.01030285 0.00669833
+v 0.02629497 -0.01024632 0.00672248
+v 0.02522011 -0.01021661 0.00764532
+v 0.02550687 -0.01008082 0.00719547
+v 0.02522011 -0.00935641 0.00744959
+v 0.02522011 -0.00895079 0.00748934
+v 0.02522011 -0.00807951 0.00760004
+v 0.02522011 -0.00791866 0.00762923
+v 0.02522011 -0.00709401 0.00779679
+v 0.02522011 -0.00683350 0.00788635
+v 0.02522011 -0.00611551 0.00815456
+v 0.02528747 -0.00581712 0.00821645
+v 0.02653040 -0.00683350 0.00699522
+v 0.02681138 -0.00619943 0.00725135
+v 0.02682935 -0.00619943 0.00725135
+v 0.02688035 -0.00611434 0.00787680
+v 0.02689382 -0.00608870 0.00860390
+v 0.02810243 -0.00854458 0.00728807
+v 0.02810243 -0.00884006 0.00728807
+v 0.02799369 -0.00968161 0.00715472
+v 0.02715908 -0.01026498 0.00761312
+v 0.02628695 -0.01039436 0.00796736
+v 0.02522011 -0.01031918 0.00794421
+v 0.02522011 -0.00589696 0.00824664
+v 0.02522011 -0.00575651 0.00830753
+v 0.02522011 -0.00459733 0.00934962
+v 0.02570798 -0.00475410 0.00938082
+v 0.02570798 -0.00475411 0.00991016
+v 0.02580549 -0.00557235 0.00999520
+v 0.02697144 -0.00683350 0.00868189
+v 0.02697561 -0.00809467 0.00865924
+v 0.02689959 -0.00897818 0.00857370
+v 0.02744648 -0.00932960 0.00786472
+v 0.02676359 -0.00981915 0.00844085
+v 0.02592898 -0.01029354 0.00879308
+v 0.02522011 -0.01034075 0.00907436
+v 0.02522011 -0.00444057 0.00990866
+v 0.02522011 -0.00444057 0.01011999
+v 0.02522011 -0.00548785 0.01054367
+v 0.02522011 -0.00557235 0.01056229
+v 0.02579812 -0.00683351 0.00994991
+v 0.02642423 -0.00683350 0.00930281
+v 0.02631614 -0.00809467 0.00928067
+v 0.02560374 -0.00880393 0.00976423
+v 0.02569034 -0.00809468 0.00984072
+v 0.02541225 -0.00964490 0.00962132
+v 0.02522011 -0.00995843 0.00942357
+v 0.02522011 -0.00683351 0.01041887
+v 0.02522011 -0.00909300 0.00993682
+v 0.02522011 -0.00948347 0.00980851
+v 0.02522011 -0.00802824 0.01020049
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 3 12 13
+f 3 13 4
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 6 17 7
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 24
+f 7 24 25
+f 7 25 8
+f 8 25 26
+f 8 26 9
+f 9 26 27
+f 9 27 28
+f 9 28 29
+f 9 29 10
+f 10 30 11
+f 10 29 30
+f 11 30 31
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+f 11 32 12
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+f 13 34 14
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+f 15 48 59
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+f 15 63 60
+f 15 60 52
+f 15 52 51
+f 15 51 50
+f 15 50 49
+f 15 49 38
+f 15 38 37
+f 15 37 36
+f 15 36 23
+f 15 23 22
+f 15 22 21
+f 15 21 20
+f 15 20 19
+f 15 19 18
+f 15 18 17
+f 15 17 16
+f 23 36 24
+f 24 36 37
+f 24 37 38
+f 24 38 26
+f 24 26 25
+f 26 38 27
+f 27 38 39
+f 27 39 28
+f 28 39 29
+f 29 39 40
+f 29 40 41
+f 29 41 42
+f 29 42 30
+f 30 42 31
+f 31 42 43
+f 31 43 44
+f 31 44 45
+f 31 45 32
+f 32 46 33
+f 32 45 46
+f 33 46 47
+f 33 47 34
+f 34 48 35
+f 34 47 48
+f 38 49 39
+f 39 49 50
+f 39 50 40
+f 40 50 51
+f 40 51 52
+f 40 52 41
+f 41 52 53
+f 41 53 54
+f 41 54 42
+f 42 54 43
+f 43 54 53
+f 43 53 55
+f 43 55 44
+f 44 56 46
+f 44 46 45
+f 44 55 57
+f 44 57 56
+f 46 58 47
+f 46 56 58
+f 47 58 59
+f 47 59 48
+f 52 60 53
+f 53 60 57
+f 53 57 55
+f 56 61 62
+f 56 62 58
+f 56 57 63
+f 56 63 61
+f 57 60 63
+f 58 62 59
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_55.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26d7a4f5c93472d44ddaab3cb0353004bdb3f756
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_55.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.01981105 0.02181090 0.00569592
+v -0.01977426 0.02177501 0.00663459
+v -0.01886895 0.02197031 0.00663459
+v -0.01886895 0.02174997 0.00577216
+v -0.01894543 0.02104054 0.00578597
+v -0.01981713 0.02091869 0.00573293
+v -0.02077720 0.02016752 0.00716054
+v -0.02077720 0.02034863 0.00716054
+v -0.02077720 0.02034863 0.00732463
+v -0.01955090 0.02158888 0.00731083
+v -0.01886895 0.02176916 0.00760585
+v -0.01781792 0.02181923 0.00797326
+v -0.01781792 0.02172994 0.00674453
+v -0.01781792 0.02168821 0.00663680
+v -0.01823914 0.02155550 0.00600862
+v -0.01823914 0.02154215 0.00600862
+v -0.01941329 0.02023346 0.00595668
+v -0.01781792 0.01356816 0.01120636
+v -0.01960768 0.02023346 0.00595668
+v -0.02075431 0.01896733 0.00845888
+v -0.02075431 0.01896733 0.00851137
+v -0.02076561 0.01960749 0.00789203
+v -0.01953815 0.01393039 0.01092404
+v -0.02075431 0.01904829 0.00851137
+v -0.02045969 0.01988875 0.00815336
+v -0.01962506 0.02040205 0.00859369
+v -0.02000515 0.02079599 0.00773182
+v -0.01886895 0.02131846 0.00822685
+v -0.01824030 0.02154798 0.00849591
+v -0.01781792 0.02178001 0.00807657
+v -0.01781792 0.02117742 0.00665558
+v -0.01810675 0.01386529 0.01091741
+v -0.01886866 0.01385527 0.01089034
+v -0.01781792 0.01346550 0.01130194
+v -0.01953815 0.01393039 0.01108150
+v -0.01963636 0.01461227 0.01116935
+v -0.01781792 0.01344464 0.01134007
+v -0.01907985 0.01363577 0.01134007
+v -0.01916039 0.01368751 0.01134007
+v -0.01972414 0.01810099 0.00991854
+v -0.01941532 0.01894229 0.00969313
+v -0.02007352 0.01954406 0.00878319
+v -0.01963955 0.01557793 0.01113289
+v -0.01886895 0.02068749 0.00882574
+v -0.01894688 0.01971766 0.00947766
+v -0.01811109 0.02017752 0.00966827
+v -0.01781792 0.02100381 0.00918320
+v -0.01781792 0.02108644 0.00911579
+v -0.01931914 0.01418996 0.01134007
+v -0.01944979 0.01463898 0.01134007
+v -0.01781792 0.01749255 0.01134008
+v -0.01943386 0.01641923 0.01093179
+v -0.01935999 0.01660034 0.01089091
+v -0.01914184 0.01713617 0.01076825
+v -0.01851581 0.01713617 0.01114726
+v -0.01825015 0.01777298 0.01098594
+v -0.01858157 0.01933706 0.00993125
+v -0.01918008 0.01582748 0.01134008
+v -0.01781792 0.01987623 0.01000584
+v -0.01781792 0.02087945 0.00928099
+v -0.01781792 0.01797580 0.01109976
+v -0.01819076 0.01710028 0.01134008
+v -0.01905146 0.01604114 0.01134008
+v -0.01876495 0.01660034 0.01124947
+v -0.01871541 0.01660034 0.01127930
+v -0.01860416 0.01660034 0.01134008
+v -0.01781792 0.01840646 0.01086219
+v -0.01781792 0.01965338 0.01014119
+v -0.01781792 0.01864349 0.01072793
+v -0.01880666 0.01635413 0.01134008
+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 4
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+f 4 14 15
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+f 4 16 5
+f 5 17 6
+f 5 16 18
+f 5 18 17
+f 6 17 19
+f 6 19 7
+f 7 20 21
+f 7 21 22
+f 7 22 9
+f 7 9 8
+f 7 19 23
+f 7 23 20
+f 9 22 21
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+f 9 27 10
+f 10 27 26
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+f 12 48 47
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+f 17 18 32
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+f 17 33 19
+f 18 34 33
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+f 19 33 23
+f 20 23 35
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+f 21 36 24
+f 23 33 34
+f 23 34 37
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+f 23 39 35
+f 24 40 41
+f 24 41 42
+f 24 42 26
+f 24 26 25
+f 24 36 43
+f 24 43 40
+f 26 44 29
+f 26 29 28
+f 26 42 41
+f 26 41 45
+f 26 45 46
+f 26 46 44
+f 29 44 47
+f 29 47 48
+f 29 48 30
+f 35 49 50
+f 35 50 36
+f 35 39 49
+f 36 50 43
+f 37 51 62
+f 37 62 66
+f 37 66 70
+f 37 70 63
+f 37 63 58
+f 37 58 50
+f 37 50 49
+f 37 49 39
+f 37 39 38
+f 40 43 52
+f 40 52 53
+f 40 53 54
+f 40 54 41
+f 41 54 55
+f 41 55 56
+f 41 56 57
+f 41 57 45
+f 43 50 58
+f 43 58 52
+f 44 46 47
+f 45 57 46
+f 46 57 59
+f 46 59 60
+f 46 60 47
+f 51 61 56
+f 51 56 62
+f 52 58 63
+f 52 63 64
+f 52 64 55
+f 52 55 53
+f 53 55 54
+f 55 64 65
+f 55 65 66
+f 55 66 62
+f 55 62 56
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+f 56 67 57
+f 57 68 59
+f 57 67 69
+f 57 69 68
+f 63 70 65
+f 63 65 64
+f 65 70 66
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_56.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..172cfd8910bbe7f62d4e6523a8037c2bbed30a63
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_56.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00703787 -0.00518765 0.01825649
+v 0.00703787 -0.00518765 0.01925649
+v 0.00703787 -0.00155773 0.01825649
+v 0.00703787 -0.00155773 0.01925649
+v 0.01181530 -0.00518765 0.01825649
+v 0.01181530 -0.00518765 0.01925649
+v 0.01181530 -0.00155773 0.01825649
+v 0.01181530 -0.00155773 0.01925649
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_57.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..887457ee9df6fb8bbd31a74965783ecb7ea5f06f
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_57.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01729554 0.00871073 0.01131401
+v -0.01729554 0.00871073 0.01231401
+v -0.01729554 0.01046928 0.01131401
+v -0.01729554 0.01046928 0.01231401
+v -0.01118048 0.00871073 0.01131401
+v -0.01118048 0.00871073 0.01231401
+v -0.01118048 0.01046928 0.01131401
+v -0.01118048 0.01046928 0.01231401
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_58.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18fa39d1fb47a3305b58da4c9733ea89a750a976
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_58.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
+v -0.00117756 0.02368711 0.00336488
+v -0.00134296 0.02368183 0.00336488
+v -0.00509802 0.02679210 0.00338441
+v -0.00384601 0.02671830 0.00343594
+v -0.00321436 0.02660232 0.00352182
+v -0.00117756 0.02550053 0.00807038
+v -0.00117756 -0.02423207 0.00336470
+v -0.00259497 0.02352369 0.00336488
+v -0.00580722 0.02669721 0.00345467
+v -0.00509802 0.02710312 0.00415109
+v -0.00406883 0.02678683 0.00356320
+v -0.00443300 0.02320212 0.00336488
+v -0.00509802 0.02308087 0.00336487
+v -0.00559618 0.02298598 0.00336487
+v -0.00606636 0.02289109 0.00336487
+v -0.00619102 0.02285946 0.00336487
+v -0.00406883 0.02698714 0.00415109
+v -0.00384601 0.02696078 0.00415109
+v -0.00314123 0.02667611 0.00415109
+v -0.00300675 0.02672883 0.00539324
+v -0.00303522 0.02666557 0.00622160
+v -0.00117756 0.02537928 0.00858723
+v -0.00117756 -0.02421099 0.00347556
+v -0.00188038 -0.02405287 0.01007747
+v -0.00294540 -0.02538658 0.00911795
+v -0.00415128 -0.02659379 0.00699980
+v -0.00513582 -0.02675193 0.00660475
+v -0.00557802 -0.02655688 0.00594502
+v -0.00134296 -0.02423735 0.00336470
+v -0.00592011 0.02681845 0.00415109
+v -0.00406883 0.02700296 0.00539324
+v -0.00384601 0.02699241 0.00539324
+v -0.00592305 0.02678682 0.00539324
+v -0.00509802 0.02705040 0.00539324
+v -0.00619102 0.02268022 0.00394886
+v -0.00618268 0.02346041 0.00911891
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_59.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a22c496da7ecfa3bc6626630754728f9d5a5795
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_59.obj
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_6.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9614e504e369435fa83d9281af6ded575c61aab
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_6.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_60.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cf197ccd1aa7260f56a4aefa892ccbeb076b0a0
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_60.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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+f 8 43 45
+f 8 45 41
+f 8 41 30
+f 8 30 23
+f 8 23 16
+f 9 17 18
+f 10 19 20
+f 10 20 11
+f 11 20 13
+f 13 20 21
+f 13 21 14
+f 14 21 22
+f 16 23 32
+f 16 32 25
+f 16 25 24
+f 16 24 17
+f 17 24 18
+f 18 24 25
+f 19 26 20
+f 20 26 27
+f 20 27 21
+f 21 27 28
+f 21 28 22
+f 22 28 29
+f 23 30 31
+f 23 31 32
+f 26 33 27
+f 27 33 34
+f 27 34 28
+f 28 34 35
+f 28 35 36
+f 28 36 29
+f 30 37 38
+f 30 38 39
+f 30 39 40
+f 30 40 31
+f 30 41 37
+f 33 42 34
+f 34 42 35
+f 35 42 43
+f 37 41 45
+f 37 45 49
+f 37 49 47
+f 37 47 44
+f 42 46 45
+f 42 45 43
+f 44 47 48
+f 45 46 49
+f 46 50 49
+f 47 49 48
+f 48 49 50
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_61.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a33a963b6c7f6ce619d9eb16754dead6eb89ac4
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_61.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.00654316 0.02092475 0.01521402
+v 0.00654316 0.02092475 0.01523806
+v 0.00656749 0.02092476 0.01458467
+v 0.00127908 0.02073580 0.01314811
+v 0.00658816 0.02092475 0.01527060
+v 0.00742010 0.02092476 0.01432694
+v 0.00227036 0.02074788 0.01314811
+v 0.00108934 0.02066606 0.01314811
+v 0.00867166 0.02092476 0.01412616
+v 0.00664533 0.02035358 0.01597648
+v 0.00744808 0.02092475 0.01562816
+v 0.00232144 0.02074788 0.01314811
+v 0.00992322 0.02092476 0.01400191
+v 0.01116991 0.02092476 0.01389505
+v 0.01117477 0.02092476 0.01389468
+v 0.01242633 0.02092476 0.01380039
+v 0.00108934 0.01694526 0.01314809
+v 0.00108934 0.01971774 0.01374047
+v 0.00531715 0.01935695 0.01611588
+v 0.00620382 0.01972942 0.01614398
+v 0.00616855 0.01839655 0.01655184
+v 0.00705278 0.02035358 0.01597648
+v 0.00753322 0.02092475 0.01565331
+v 0.00315581 0.02048995 0.01314811
+v 0.01351369 0.02092476 0.01423265
+v 0.01351004 0.01965774 0.01430511
+v 0.01323880 0.01713500 0.01440605
+v 0.00926521 0.01694526 0.01314809
+v 0.00856341 0.01828630 0.01314810
+v 0.00609070 0.01953501 0.01314810
+v 0.00108934 0.01694525 0.01503281
+v 0.00483793 0.01694525 0.01676963
+v 0.00585110 0.01694525 0.01692530
+v 0.00616855 0.01694525 0.01690385
+v 0.00742010 0.01839655 0.01644609
+v 0.00744929 0.01974695 0.01609961
+v 0.00992322 0.02092475 0.01555791
+v 0.00867774 0.02092475 0.01563260
+v 0.01351369 0.02092476 0.01491931
+v 0.01351490 0.02091931 0.01423376
+v 0.01351004 0.01965773 0.01500102
+v 0.01341395 0.01839656 0.01438166
+v 0.01321691 0.01694525 0.01517185
+v 0.01320718 0.01694526 0.01442565
+v 0.00849408 0.01694525 0.01666794
+v 0.00867166 0.01839655 0.01631741
+v 0.01117477 0.02092475 0.01543810
+v 0.01351490 0.02091931 0.01491968
+v 0.01243241 0.02092475 0.01524064
+v 0.01197144 0.01694525 0.01605264
+v 0.01220253 0.01694525 0.01598128
+v 0.01341395 0.01839655 0.01506980
+v 0.01262093 0.01694525 0.01578160
+v 0.01318894 0.01694525 0.01525209
+v 0.00867166 0.01694525 0.01664353
+v 0.00867166 0.01713499 0.01660582
+v 0.01118085 0.02092475 0.01543736
+v 0.01242754 0.02092475 0.01524175
+v 0.01125018 0.01694525 0.01620905
+v 0.00992322 0.01694525 0.01646678
+v 0.00992322 0.01713499 0.01642944
+f 1 2 5
+f 1 5 11
+f 1 11 23
+f 1 23 38
+f 1 38 37
+f 1 37 47
+f 1 47 57
+f 1 57 58
+f 1 58 49
+f 1 49 39
+f 1 39 25
+f 1 25 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 9
+f 1 9 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 4
+f 4 7 12
+f 4 12 24
+f 4 24 30
+f 4 30 29
+f 4 29 28
+f 4 28 17
+f 4 17 8
+f 4 8 5
+f 4 6 9
+f 4 9 7
+f 5 8 10
+f 5 10 11
+f 7 9 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 12
+f 8 17 31
+f 8 31 18
+f 8 18 19
+f 8 19 10
+f 10 19 20
+f 10 20 21
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+f 10 23 11
+f 12 16 24
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 30
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+f 17 28 44
+f 17 44 43
+f 17 43 54
+f 17 54 53
+f 17 53 51
+f 17 51 50
+f 17 50 59
+f 17 59 60
+f 17 60 55
+f 17 55 45
+f 17 45 34
+f 17 34 33
+f 17 33 32
+f 17 32 31
+f 18 31 19
+f 19 32 21
+f 19 21 20
+f 19 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 22
+f 22 36 37
+f 22 37 38
+f 22 38 23
+f 25 39 48
+f 25 48 40
+f 25 40 26
+f 26 40 48
+f 26 48 41
+f 26 41 52
+f 26 52 42
+f 26 42 27
+f 27 42 43
+f 27 43 44
+f 27 44 28
+f 34 45 35
+f 35 45 46
+f 35 46 47
+f 35 47 36
+f 36 47 37
+f 39 49 50
+f 39 50 51
+f 39 51 48
+f 41 48 53
+f 41 53 52
+f 42 52 43
+f 43 52 54
+f 45 55 56
+f 45 56 46
+f 46 56 47
+f 47 56 57
+f 48 51 53
+f 49 58 50
+f 50 58 59
+f 52 53 54
+f 55 60 61
+f 55 61 56
+f 56 61 57
+f 57 61 58
+f 58 61 60
+f 58 60 59
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_62.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f1827ad3a7ef9f4413c649eef34dd4afa4da446
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_62.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00371677 0.00797648 0.01843840
+v 0.00371677 0.00797648 0.01943840
+v 0.00371677 0.01397626 0.01843840
+v 0.00371677 0.01397626 0.01943840
+v 0.00500989 0.00797648 0.01843840
+v 0.00500989 0.00797648 0.01943840
+v 0.00500989 0.01397626 0.01843840
+v 0.00500989 0.01397626 0.01943840
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_63.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdf68d41b0325774eb45e365b7e1dfb962bca656
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_63.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.00309549 -0.02393138 0.00967784
+v 0.00309549 -0.02391212 0.00996293
+v 0.00302439 -0.02388324 0.00993550
+v -0.00117707 -0.02167846 0.00883798
+v -0.00022729 -0.02176511 0.00883798
+v -0.00009053 -0.02177474 0.00883798
+v 0.00116079 -0.02168328 0.00883798
+v 0.00162251 -0.02160625 0.00883798
+v 0.00252336 -0.02144258 0.00883798
+v 0.00264716 -0.02141851 0.00883798
+v 0.00309549 -0.02132704 0.00883798
+v 0.00309549 -0.02387842 0.01003151
+v 0.00241253 -0.02291564 0.01123388
+v 0.00177224 -0.02262200 0.01101442
+v -0.00117707 -0.02070606 0.01027498
+v -0.00117707 0.02524743 0.00883815
+v 0.00309549 0.02063090 0.00883814
+v 0.00309549 -0.02307450 0.01133994
+v 0.00304614 -0.02306006 0.01133994
+v 0.00241253 -0.02281455 0.01133994
+v 0.00202024 -0.02250646 0.01133994
+v 0.00163422 -0.02216949 0.01133994
+v -0.00117707 -0.01964219 0.01133995
+v -0.00117707 0.02513190 0.00904806
+v 0.00309549 0.02413060 0.00983208
+v 0.00309549 0.02417874 0.00971329
+v -0.00098887 0.02521373 0.00883815
+v -0.00039248 0.02492971 0.00883815
+v 0.00309549 0.02417874 0.00959450
+v 0.00309549 0.02299933 0.01134010
+v -0.00117707 0.02312931 0.01134010
+v -0.00117707 0.02441462 0.01013554
+v -0.00009053 0.02435685 0.01010223
+v 0.00309549 0.02345184 0.01087278
+v 0.00309549 0.02305229 0.01129331
+v -0.00009053 0.02319189 0.01129994
+v -0.00009053 0.02313893 0.01134010
+v -0.00017292 0.02313893 0.01134010
+v -0.00117707 0.02313893 0.01133471
+v -0.00117707 0.02382732 0.01075668
+v -0.00009053 0.02382251 0.01072337
+v 0.00309549 0.02310524 0.01124359
+v -0.00117707 0.02319670 0.01128965
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 17
+f 1 17 29
+f 1 29 26
+f 1 26 25
+f 1 25 34
+f 1 34 42
+f 1 42 35
+f 1 35 30
+f 1 30 18
+f 1 18 12
+f 1 12 2
+f 2 12 13
+f 2 13 3
+f 3 13 14
+f 3 14 4
+f 4 14 15
+f 4 15 23
+f 4 23 31
+f 4 31 39
+f 4 39 43
+f 4 43 40
+f 4 40 32
+f 4 32 24
+f 4 24 16
+f 4 16 27
+f 4 27 28
+f 4 28 17
+f 4 17 11
+f 4 11 10
+f 4 10 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 12 18 19
+f 12 19 13
+f 13 19 20
+f 13 20 14
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 17 28 29
+f 18 30 37
+f 18 37 38
+f 18 38 31
+f 18 31 23
+f 18 23 22
+f 18 22 21
+f 18 21 20
+f 18 20 19
+f 24 32 33
+f 24 33 25
+f 25 33 34
+f 26 29 27
+f 27 29 28
+f 30 35 36
+f 30 36 37
+f 31 38 39
+f 32 40 41
+f 32 41 34
+f 32 34 33
+f 34 41 42
+f 35 42 41
+f 35 41 36
+f 36 43 39
+f 36 39 38
+f 36 38 37
+f 36 41 40
+f 36 40 43
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_64.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..211cd31026998b45ea4476d450dfd698057487d5
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_64.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.00621357 -0.01233184 0.01851837
+v -0.00694098 -0.01233184 0.01851837
+v -0.00634849 -0.01238551 0.01851837
+v 0.00692387 -0.01233184 0.01794387
+v -0.00732229 -0.01508656 0.01726391
+v -0.00632796 -0.01508656 0.01740572
+v -0.00509605 -0.01508656 0.01751723
+v -0.00886804 -0.01233184 0.01787196
+v -0.01010289 -0.01508656 0.01678152
+v -0.00953973 -0.01508656 0.01690838
+v -0.00384361 -0.01508656 0.01750187
+v 0.00616712 -0.01508656 0.01734431
+v 0.00741957 -0.01508656 0.01729341
+v 0.00816165 -0.01508656 0.01722391
+v 0.00740197 -0.01233184 0.01789781
+v -0.01590166 -0.01233182 0.01439101
+v -0.01073351 -0.01508656 0.01654558
+v 0.00873360 -0.01508656 0.01704251
+v 0.00860455 -0.01233183 0.01763642
+v 0.00829364 -0.01233184 0.01771480
+v -0.01581660 -0.01253435 0.01439101
+v -0.01120281 -0.01508656 0.01630156
+v 0.01337673 -0.01233182 0.01439101
+v 0.00992152 -0.01508656 0.01665345
+v 0.00880693 -0.01233183 0.01755158
+v -0.01547049 -0.01320503 0.01439101
+v -0.01509799 -0.01390834 0.01439101
+v -0.01493373 -0.01421712 0.01439101
+v -0.01474015 -0.01444014 0.01439101
+v -0.01431778 -0.01487270 0.01439101
+v -0.01408899 -0.01508655 0.01439100
+v 0.01406308 -0.01233182 0.01439182
+v 0.01406308 -0.01278272 0.01439101
+v 0.01092171 -0.01508656 0.01617874
+v 0.01187791 -0.01233183 0.01598806
+v 0.01266398 -0.01508655 0.01439100
+v 0.01406308 -0.01233182 0.01450696
+v 0.01406308 -0.01278838 0.01439101
+v 0.01313915 -0.01440239 0.01439101
+v 0.01367004 -0.01360900 0.01439101
+v 0.01394576 -0.01317672 0.01439101
+v 0.01372577 -0.01233183 0.01497399
+v 0.01236480 -0.01233183 0.01572141
+f 1 2 3
+f 1 3 4
+f 1 4 15
+f 1 15 20
+f 1 20 19
+f 1 19 25
+f 1 25 35
+f 1 35 43
+f 1 43 42
+f 1 42 37
+f 1 37 32
+f 1 32 23
+f 1 23 16
+f 1 16 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 2 8 9
+f 2 9 10
+f 2 10 5
+f 3 7 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 13 14
+f 4 14 15
+f 5 10 9
+f 5 9 17
+f 5 17 22
+f 5 22 31
+f 5 31 36
+f 5 36 34
+f 5 34 24
+f 5 24 18
+f 5 18 14
+f 5 14 13
+f 5 13 12
+f 5 12 11
+f 5 11 7
+f 5 7 6
+f 8 16 17
+f 8 17 9
+f 14 18 19
+f 14 19 20
+f 14 20 15
+f 16 21 22
+f 16 22 17
+f 16 23 33
+f 16 33 38
+f 16 38 41
+f 16 41 40
+f 16 40 39
+f 16 39 36
+f 16 36 31
+f 16 31 30
+f 16 30 29
+f 16 29 28
+f 16 28 27
+f 16 27 26
+f 16 26 21
+f 18 24 19
+f 19 24 25
+f 21 26 22
+f 22 26 27
+f 22 27 28
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 23 32 33
+f 24 34 25
+f 25 34 35
+f 32 37 38
+f 32 38 33
+f 34 36 39
+f 34 39 40
+f 34 40 41
+f 34 41 42
+f 34 42 43
+f 34 43 35
+f 37 42 38
+f 38 42 41
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_65.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbdd3c91a8b2f56ee6a5eb0122b5d3c0a640ced4
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_65.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.01541532 0.00696021 0.01134005
+v 0.01541532 -0.00068552 0.01134002
+v 0.01541532 0.00696020 0.01274318
+v 0.01996952 0.00696021 0.01134005
+v 0.01541532 -0.00068553 0.01274315
+v 0.02374213 -0.00068552 0.01134002
+v 0.01821072 0.00696020 0.01274318
+v 0.01987433 0.00696021 0.01162380
+v 0.02111266 0.00685318 0.01274318
+v 0.02242870 0.00660696 0.01134004
+v 0.02167244 -0.00068553 0.01274315
+v 0.02381898 -0.00049916 0.01134002
+v 0.02374126 -0.00068552 0.01136075
+v 0.02244530 0.00625146 0.01274317
+v 0.02303913 0.00639142 0.01134004
+v 0.02203660 -0.00068553 0.01251845
+v 0.02271252 0.00320544 0.01274316
+v 0.02374039 -0.00068552 0.01137312
+v 0.02423117 0.00073571 0.01134002
+v 0.02282169 0.00584358 0.01274317
+v 0.02340330 0.00578896 0.01134004
+v 0.02365742 -0.00068552 0.01144948
+v 0.02369410 0.00073571 0.01168943
+v 0.02305311 0.00451965 0.01274317
+v 0.02433684 0.00199752 0.01134003
+v 0.02414035 0.00325784 0.01134003
+v 0.02403818 0.00369940 0.01134003
+v 0.02383819 0.00451142 0.01134004
+v 0.02382335 0.00456830 0.01134004
+v 0.02344609 0.00569316 0.01134004
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 10
+f 1 10 15
+f 1 15 21
+f 1 21 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 6 13
+f 2 13 18
+f 2 18 22
+f 2 22 16
+f 2 16 11
+f 2 11 5
+f 3 5 11
+f 3 11 17
+f 3 17 24
+f 3 24 20
+f 3 20 14
+f 3 14 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 6 12 13
+f 7 9 8
+f 9 14 15
+f 9 15 10
+f 11 16 17
+f 12 18 13
+f 12 19 18
+f 14 20 15
+f 15 20 21
+f 16 22 19
+f 16 19 23
+f 16 23 17
+f 17 23 24
+f 18 19 22
+f 19 25 24
+f 19 24 23
+f 20 24 26
+f 20 26 27
+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 20 30 21
+f 24 25 26
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_66.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d85eb0b2872087db7321372109f4af217afb7d8
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_66.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.02301053 -0.00735119 0.01439103
+v 0.02265413 -0.00809538 0.01439103
+v 0.02369478 -0.00739207 0.01439103
+v 0.02745019 -0.00988506 0.01342077
+v 0.02669615 -0.00990172 0.01344063
+v 0.02259914 -0.00825285 0.01439103
+v 0.02425740 -0.00747762 0.01439103
+v 0.02816405 -0.00993730 0.01343165
+v 0.02862937 -0.01062925 0.01333397
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_67.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab5cb3d90213eda1c38d62b06d494798a9596e35
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_67.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_68.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ead006a1b73e023ba66b0566cdc656b5117b70aa
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_68.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_69.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..261400dd33afc0a29f9d9ca640447f15ae2eac4f
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_69.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_7.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee728bbc5850f205cb202ce89635d577bad1afc9
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_7.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_70.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81b0126180eaf55a524caed435fa56d566f3dc4d
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_70.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_71.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b18bcf52a99be0339ebbbe568a47d2062ec6a874
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_71.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_72.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c50db25c4f437c9297661be14eaf69cc899db16
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_72.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_73.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd04f96c0fb6c9c43c2b4324a9f1200ee5362f56
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_73.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_74.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23ecbd45b611f6f65afbd6fbfeca274ccdfdd434
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_74.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.01982974 -0.00435441 0.01439127
+v 0.01982974 -0.00774922 0.01439126
+v 0.01982974 -0.00478729 0.01611389
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+v 0.03207998 -0.01505765 0.01439123
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+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_75.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..761056cb1af4a6eb391e3f9c34a8494003f57b34
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_75.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.01541532 0.01481079 0.01274358
+v 0.01541532 0.01481079 0.01324533
+v 0.01638170 0.01481079 0.01274358
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+v 0.01916204 -0.00068552 0.01274353
+v 0.01541532 -0.00068553 0.01627894
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+v 0.01608867 0.00831100 0.01601650
+v 0.01644258 0.00873724 0.01590124
+v 0.01916204 0.00878275 0.01545313
+v 0.01541532 0.00757381 0.01618045
+v 0.01731802 0.01346229 0.01274358
+v 0.01916204 0.01028446 0.01431005
+v 0.01887194 0.01104289 0.01274357
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+v 0.01743501 0.00073577 0.01629948
+v 0.01701765 0.00789690 0.01598112
+v 0.01916204 0.00830342 0.01556839
+v 0.01541532 0.00704442 0.01624892
+v 0.01894676 0.01080171 0.01274357
+v 0.01916204 0.01000535 0.01415979
+v 0.01914370 -0.00068552 0.01453901
+v 0.01916204 -0.00068249 0.01452417
+v 0.01916204 0.00950175 0.01393991
+v 0.01618366 0.00073577 0.01648397
+v 0.01541532 0.00073577 0.01656005
+v 0.01608280 -0.00068553 0.01614200
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+v 0.01541532 0.00500878 0.01643987
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+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_76.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9875607cedb0064d59a81ba056e5bce4955572f4
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_76.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.00992311 -0.02035093 0.00709541
+v 0.00992311 -0.01992062 0.00779734
+v 0.00742691 -0.02291826 0.00884852
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+v 0.00992311 0.02001561 0.00709555
+v 0.00992311 -0.01920505 0.00884853
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+v 0.00978811 -0.02041861 0.00709540
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+v 0.00992311 0.01943543 0.00792534
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+v 0.00309549 -0.02269585 0.00709540
+v 0.00309549 -0.02131791 0.00884852
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+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_77.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d831cd3e65aa1e85f2d5d7d6584835ddfb4b751
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_77.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.01740565 -0.01076904 0.00336397
+v 0.00992311 -0.01077014 0.00336397
+v 0.01740565 -0.01076906 0.00864193
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+v 0.02202788 -0.01076905 0.00471962
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+v 0.00992311 -0.02060771 0.00663579
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+v 0.01540319 -0.01893301 0.00336394
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+f 35 53 56
+f 36 58 43
+f 36 43 37
+f 39 50 40
+f 40 50 41
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+f 47 61 48
+f 48 61 62
+f 49 63 50
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+f 50 65 66
+f 50 66 67
+f 50 67 59
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+f 65 68 72
+f 66 72 68
+f 68 73 70
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_78.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63119295c7edb67f38b723053b90744db2513196
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_78.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.01091569 0.01046926 0.01698697
+v 0.01541532 0.01046927 0.01442110
+v 0.01091205 0.01081587 0.01698697
+v -0.00839341 0.01046926 0.01698697
+v 0.01541532 0.01046928 0.01134006
+v 0.01541532 0.01165461 0.01408115
+v 0.01085016 0.01165460 0.01698697
+v -0.00877201 0.01150769 0.01698697
+v -0.01635513 0.01046926 0.01635186
+v 0.01541532 0.01165462 0.01134006
+v -0.01653351 0.01046928 0.01134006
+v -0.00880478 0.01165460 0.01698697
+v -0.01636241 0.01055629 0.01630432
+v -0.01746911 0.01046926 0.01614900
+v -0.01655536 0.01165462 0.01134006
+v -0.02177580 0.01046927 0.01305801
+v -0.01659540 0.01098380 0.01134006
+v -0.01474968 0.01165461 0.01494566
+v -0.02177580 0.01163953 0.01398221
+v -0.02011938 0.01158789 0.01485390
+v -0.02096397 0.01153521 0.01477541
+v -0.02137535 0.01075542 0.01484672
+v -0.02177580 0.01047809 0.01477486
+v -0.02177580 0.01046927 0.01477596
+v -0.02177580 0.01088492 0.01306685
+v -0.02177580 0.01164451 0.01329017
+v -0.01704318 0.01165462 0.01188452
+v -0.01516469 0.01165461 0.01474667
+v -0.02177580 0.01164451 0.01340569
+v -0.02177580 0.01114880 0.01456647
+v -0.02177580 0.01110644 0.01460572
+v -0.01725433 0.01165461 0.01327303
+v -0.01724705 0.01165461 0.01283912
+v -0.01721064 0.01165461 0.01254892
+v -0.01715967 0.01165462 0.01214597
+v -0.01707230 0.01165461 0.01354333
+f 1 2 3
+f 1 3 7
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+f 1 12 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 24
+f 1 24 16
+f 1 16 11
+f 1 11 5
+f 1 5 2
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+f 2 6 7
+f 2 7 3
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+f 6 12 7
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+f 26 35 27
+f 28 36 29
+f 29 36 32
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_79.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b93fc2ef40050f50fef6490c3f89eeb6bbfe1af
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_79.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00932399 0.01001760 0.01692830
+v -0.00932399 0.01001760 0.01792830
+v -0.00932399 0.01481078 0.01692830
+v -0.00932399 0.01481078 0.01792830
+v 0.01099113 0.01001760 0.01692830
+v 0.01099113 0.01001760 0.01792830
+v 0.01099113 0.01481078 0.01692830
+v 0.01099113 0.01481078 0.01792830
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_8.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6baac9b2d885314d840c855154bb8b56fba572e2
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_8.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.00941947 -0.00539410 0.01851840
+v -0.00885335 -0.00542460 0.01851840
+v -0.01010562 -0.00548882 0.01851840
+v -0.01135726 -0.00763219 0.01958114
+v -0.01154744 -0.00843335 0.01996677
+v -0.00509402 -0.00609892 0.01851840
+v -0.01154744 -0.01970573 0.02506710
+v -0.01154744 -0.02099335 0.02564240
+v -0.01138443 -0.00603791 0.01851840
+v -0.01154744 -0.00775421 0.01962856
+v -0.00555272 -0.01188040 0.01982939
+v -0.00509402 -0.01070195 0.01929871
+v -0.00509402 -0.01214852 0.01851838
+v -0.01055169 -0.01986467 0.02478049
+v -0.01154744 -0.02179451 0.02531604
+v -0.01055169 -0.02048601 0.02478048
+v -0.01154744 -0.00625787 0.01851840
+v -0.00674813 -0.01440108 0.02110273
+v -0.00675445 -0.01540934 0.02113270
+v -0.00557357 -0.01314234 0.01985030
+v -0.00509402 -0.01191893 0.01897863
+v -0.00635071 -0.01238614 0.01851837
+v -0.00509402 -0.01214049 0.01853512
+v -0.00570562 -0.01379900 0.01972966
+v -0.00570562 -0.01379900 0.01965225
+v -0.00789172 -0.01646899 0.02081611
+v -0.00797070 -0.01692495 0.02238304
+v -0.01154744 -0.02140758 0.02444715
+v -0.01047271 -0.02020344 0.02330422
+v -0.01040258 -0.02047798 0.02402665
+v -0.00807116 -0.01775822 0.02235513
+v -0.00928994 -0.01912774 0.02357688
+v -0.01154744 -0.00967120 0.01851838
+v -0.00656490 -0.01236687 0.01851837
+v -0.00885335 -0.01649628 0.02080634
+v -0.00807116 -0.01775822 0.02195486
+v -0.00885335 -0.01801831 0.02182027
+v -0.01010562 -0.01874080 0.02222055
+v -0.00885335 -0.01712725 0.02119965
+v -0.01109505 -0.02020344 0.02330422
+v -0.01154744 -0.01966076 0.02307688
+v -0.00982762 -0.01177283 0.01851838
+v -0.01154744 -0.01534512 0.02079379
+v -0.00760235 -0.01227215 0.01851837
+v -0.01010562 -0.01810983 0.02183910
+v -0.01017639 -0.01685592 0.02117245
+v -0.00980677 -0.01638871 0.02087329
+v -0.00885335 -0.01204256 0.01851838
+v -0.01135726 -0.01854492 0.02233700
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+v -0.01154744 -0.01835708 0.02227773
+v -0.01064141 -0.01626187 0.02094372
+v -0.01135726 -0.01692495 0.02144790
+v -0.01154744 -0.01692977 0.02150927
+v -0.01154744 -0.01581393 0.02099184
+v -0.01135726 -0.01791395 0.02195765
+v -0.01154744 -0.01786739 0.02198345
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+f 1 42 33
+f 1 33 17
+f 1 17 9
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+f 52 56 53
+f 53 56 57
+f 53 57 54
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_80.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4ebb44ebbcbd4d14d281b6f7b328884f61fed57
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_80.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.00992372 0.02192648 0.00336409
+v 0.00992372 0.01568464 0.00336407
+v 0.00992372 0.02194241 0.00336487
+v 0.00992434 0.02194179 0.00336409
+v 0.01620220 0.01568464 0.00336407
+v 0.00992372 0.01568461 0.01134008
+v 0.00992372 0.02173598 0.00391138
+v 0.00992434 0.02173598 0.00391138
+v 0.01595757 0.01794368 0.01118706
+v 0.01620220 0.01805577 0.01067880
+v 0.01072090 0.02161041 0.00366701
+v 0.01079896 0.02165451 0.00336409
+v 0.01620220 0.01822303 0.00336408
+v 0.01620220 0.01568461 0.01134008
+v 0.00992372 0.01729928 0.01134008
+v 0.00992372 0.02103889 0.00539244
+v 0.00992434 0.02103889 0.00539244
+v 0.01521571 0.01794368 0.01118706
+v 0.01555130 0.01775318 0.01134009
+v 0.01605530 0.01767783 0.01134008
+v 0.01620220 0.01788794 0.01112382
+v 0.00992434 0.02052129 0.00636290
+v 0.01620220 0.01808640 0.01054139
+v 0.01104789 0.02154241 0.00336409
+v 0.01541608 0.01891214 0.00336408
+v 0.01620220 0.01759208 0.01134008
+v 0.01508172 0.01775318 0.01134009
+v 0.00992372 0.02052129 0.00636290
+v 0.01533987 0.01897524 0.00336408
+v 0.01448922 0.01958411 0.00336408
+v 0.01358079 0.02021074 0.00336408
+v 0.01325872 0.02041533 0.00336408
+v 0.01246400 0.02087106 0.00336409
+v 0.01139454 0.02138621 0.00336409
+f 1 2 6
+f 1 6 15
+f 1 15 28
+f 1 28 16
+f 1 16 7
+f 1 7 3
+f 1 3 4
+f 1 4 12
+f 1 12 24
+f 1 24 34
+f 1 34 33
+f 1 33 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 25
+f 1 25 13
+f 1 13 5
+f 1 5 2
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+f 2 14 6
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+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
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+f 5 23 10
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+f 5 26 14
+f 6 14 26
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+f 9 28 18
+f 10 23 12
+f 10 12 11
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+f 13 25 23
+f 15 27 18
+f 15 18 28
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+f 16 22 17
+f 20 26 21
+f 23 25 29
+f 23 29 30
+f 23 30 31
+f 23 31 32
+f 23 32 33
+f 23 33 34
+f 23 34 24
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_81.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de27e15acec1aa95b7a517667f9f403284680bcf
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_81.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.01620220 0.01822244 0.00336408
+v 0.01620220 0.01568464 0.00336407
+v 0.01620220 0.01801054 0.00387475
+v 0.01678393 0.01774374 0.00345443
+v 0.01668094 0.01785926 0.00336408
+v 0.01894216 0.01568464 0.00336407
+v 0.01620220 0.01568462 0.00710118
+v 0.01620220 0.01798495 0.00393620
+v 0.01620220 0.01787564 0.00414984
+v 0.01657017 0.01756686 0.00414983
+v 0.01742413 0.01686337 0.00405033
+v 0.01808338 0.01652652 0.00356965
+v 0.01812575 0.01656452 0.00336407
+v 0.01689926 0.01767021 0.00336407
+v 0.01679975 0.01775691 0.00336408
+v 0.01831966 0.01636803 0.00336407
+v 0.01870614 0.01568464 0.00390181
+v 0.01648033 0.01568462 0.00710118
+v 0.01620220 0.01594744 0.00710118
+v 0.01620220 0.01769206 0.00446259
+v 0.01699957 0.01668201 0.00501094
+v 0.01783395 0.01628455 0.00439785
+v 0.01864633 0.01568464 0.00401484
+v 0.01762636 0.01568463 0.00557831
+v 0.01621185 0.01593850 0.00710118
+v 0.01620220 0.01617202 0.00677158
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+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_82.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52f3b605bf75648336e876c16319cad0ead10bf7
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_82.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00309549 -0.02676364 0.00612416
+v 0.00309549 -0.02676364 0.00712417
+v 0.00309549 0.02258934 0.00612416
+v 0.00309549 0.02258934 0.00712417
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+f 8 6 7
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_83.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a517127560d12e38abb01de07e571058af38b05
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_83.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_84.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98ea6c4f3ca59a9d2170f9cd285338d629b66764
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_84.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.00580246 -0.02291863 0.01133994
+v 0.00616796 -0.02294307 0.01124105
+v 0.00617112 -0.02291863 0.01125767
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+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_85.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95d0c7af41432b78084be0a0c9f62dfec656f9d9
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_85.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.00619123 0.02286770 0.00336409
+v -0.00673631 0.02275618 0.00336409
+v -0.00619123 0.02263981 0.00406987
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+f 12 19 20
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 15 23 16
+f 16 23 24
+f 16 24 25
+f 16 25 17
+f 17 25 26
+f 17 26 18
+f 18 26 27
+f 19 28 20
+f 20 28 29
+f 20 29 21
+f 21 29 30
+f 23 31 24
+f 24 32 33
+f 24 33 34
+f 24 34 25
+f 24 31 32
+f 25 34 26
+f 26 34 35
+f 26 35 27
+f 27 35 36
+f 28 37 29
+f 29 37 38
+f 29 38 39
+f 29 39 30
+f 33 40 41
+f 33 41 35
+f 33 35 34
+f 35 41 42
+f 35 42 43
+f 35 43 44
+f 35 44 45
+f 35 45 46
+f 35 46 36
+f 37 47 38
+f 38 48 39
+f 38 47 49
+f 38 49 50
+f 38 50 51
+f 38 51 48
+f 40 52 41
+f 41 52 42
+f 44 53 54
+f 44 54 45
+f 45 54 55
+f 45 55 46
+f 49 56 50
+f 50 56 57
+f 50 57 60
+f 50 60 54
+f 50 54 59
+f 50 59 58
+f 50 58 51
+f 53 58 59
+f 53 59 54
+f 54 60 61
+f 54 61 55
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_86.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b30311d35bf7f950e2cb205b11bb3bc660f0014
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_86.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.01740581 -0.02044437 0.00792929
+v 0.01740581 -0.02040838 0.00871441
+v 0.01613122 -0.02030610 0.00908215
+v 0.00992311 -0.01994053 0.00776920
+v 0.01740581 -0.01946699 0.00777270
+v 0.01735966 -0.02038281 0.00914647
+v 0.01740581 -0.02037997 0.00912934
+v 0.01523755 -0.02020193 0.00990431
+v 0.01106657 -0.01950392 0.00776920
+v 0.01361501 -0.01914405 0.01133995
+v 0.01284953 -0.01899630 0.01123752
+v 0.00992311 -0.01992253 0.00779752
+v 0.00992311 -0.01077001 0.00776923
+v 0.01118671 -0.01945183 0.00776920
+v 0.01218880 -0.01900481 0.00776920
+v 0.01229648 -0.01895652 0.00776920
+v 0.01231699 -0.01894042 0.00776920
+v 0.01621473 -0.01571658 0.00776921
+v 0.01639640 -0.01556315 0.00776921
+v 0.01730399 -0.01471457 0.00776922
+v 0.01740581 -0.01459998 0.00776922
+v 0.01689231 -0.02011859 0.00977882
+v 0.01618323 -0.02020098 0.00989242
+v 0.01740581 -0.02031935 0.00920100
+v 0.01367948 -0.01915731 0.01133995
+v 0.01296600 -0.01892906 0.01133995
+v 0.01274112 -0.01884666 0.01133995
+v 0.00992311 -0.01745541 0.01133996
+v 0.00992311 -0.01914498 0.00894372
+v 0.00992311 -0.01077002 0.01133998
+v 0.01740581 -0.01077001 0.00776923
+v 0.01740581 -0.01950772 0.01002211
+v 0.01735966 -0.01945469 0.01008608
+v 0.01669966 -0.01875764 0.01094075
+v 0.01586532 -0.01896031 0.01109595
+v 0.01493135 -0.01912984 0.01124242
+v 0.01378203 -0.01915446 0.01133995
+v 0.01721096 -0.01077002 0.01133998
+v 0.01740581 -0.01077002 0.01108200
+v 0.01740581 -0.01943480 0.01007734
+v 0.01740581 -0.01850098 0.01077156
+v 0.01740581 -0.01789486 0.01117600
+v 0.01633486 -0.01837313 0.01133995
+v 0.01613269 -0.01847636 0.01133995
+v 0.01494674 -0.01899346 0.01133995
+v 0.01740581 -0.01314433 0.01133997
+v 0.01740581 -0.01309414 0.01133647
+v 0.01740581 -0.01786928 0.01119173
+v 0.01671284 -0.01811174 0.01133995
+v 0.01740581 -0.01761073 0.01133996
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 21
+f 1 21 31
+f 1 31 39
+f 1 39 47
+f 1 47 46
+f 1 46 50
+f 1 50 48
+f 1 48 42
+f 1 42 41
+f 1 41 40
+f 1 40 32
+f 1 32 24
+f 1 24 7
+f 1 7 2
+f 2 6 3
+f 2 7 6
+f 3 8 4
+f 3 6 8
+f 4 9 5
+f 4 8 10
+f 4 10 11
+f 4 11 12
+f 4 12 29
+f 4 29 28
+f 4 28 30
+f 4 30 13
+f 4 13 31
+f 4 31 21
+f 4 21 20
+f 4 20 19
+f 4 19 18
+f 4 18 17
+f 4 17 16
+f 4 16 15
+f 4 15 14
+f 4 14 9
+f 5 9 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 21
+f 6 7 22
+f 6 22 23
+f 6 23 8
+f 7 24 22
+f 8 23 25
+f 8 25 10
+f 10 25 37
+f 10 37 45
+f 10 45 44
+f 10 44 43
+f 10 43 49
+f 10 49 50
+f 10 50 46
+f 10 46 38
+f 10 38 30
+f 10 30 28
+f 10 28 27
+f 10 27 26
+f 10 26 11
+f 11 26 27
+f 11 27 28
+f 11 28 29
+f 11 29 12
+f 13 30 38
+f 13 38 39
+f 13 39 31
+f 22 24 32
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 23
+f 23 36 37
+f 23 37 25
+f 32 40 33
+f 33 40 34
+f 34 41 42
+f 34 42 43
+f 34 43 44
+f 34 44 35
+f 34 40 41
+f 35 45 36
+f 35 44 45
+f 36 45 37
+f 38 46 47
+f 38 47 39
+f 42 48 49
+f 42 49 43
+f 48 50 49
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_87.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddde11b61772761d6ec39fe873d7218246e9b757
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_87.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.00737644 -0.02463029 0.00873150
+v -0.00737628 -0.02472576 0.00885431
+v -0.00737628 -0.02488634 0.00905066
+v -0.00737644 -0.02473010 0.00885406
+v -0.00832216 -0.02400536 0.00957714
+v -0.00898492 -0.01966549 0.00885433
+v -0.00898492 0.01886378 0.00885447
+v -0.00896696 0.01887246 0.00885447
+v -0.00737628 0.01944966 0.00885447
+v -0.00737628 -0.02431349 0.01015623
+v -0.00760224 -0.02426575 0.01010286
+v -0.00832216 -0.02400536 0.00988226
+v -0.00898492 -0.01901452 0.00995837
+v -0.00898492 0.01731444 0.01134008
+v -0.00737628 0.01777012 0.01134009
+v -0.00737628 -0.02412687 0.01032474
+v -0.00737628 -0.02360175 0.01077514
+v -0.00760224 -0.02353665 0.01072408
+v -0.00829507 -0.02268604 0.01103661
+v -0.00846513 -0.02196562 0.01122478
+v -0.00898492 -0.01767784 0.01111425
+v -0.00898492 -0.01736971 0.01133996
+v -0.00737628 -0.02270774 0.01133994
+v -0.00737628 -0.02297681 0.01119772
+v -0.00760224 -0.02290737 0.01116631
+v -0.00760224 -0.02257320 0.01133994
+v -0.00795480 -0.02233017 0.01133994
+v -0.00835066 -0.02185279 0.01133994
+v -0.00848261 -0.02160975 0.01133994
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 15
+f 2 15 23
+f 2 23 24
+f 2 24 17
+f 2 17 16
+f 2 16 10
+f 2 10 3
+f 3 10 11
+f 3 11 12
+f 3 12 5
+f 3 5 4
+f 5 12 6
+f 6 13 21
+f 6 21 22
+f 6 22 14
+f 6 14 7
+f 6 12 13
+f 7 14 8
+f 8 14 9
+f 9 14 15
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 12 20 13
+f 13 20 21
+f 14 22 29
+f 14 29 28
+f 14 28 27
+f 14 27 26
+f 14 26 23
+f 14 23 15
+f 17 24 25
+f 17 25 19
+f 17 19 18
+f 19 26 27
+f 19 27 28
+f 19 28 20
+f 19 25 26
+f 20 28 29
+f 20 29 22
+f 20 22 21
+f 23 26 25
+f 23 25 24
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_88.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..473629fb35556d2a088400aaa88e1e41f61714b8
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_88.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.01740654 -0.01076906 0.00864193
+v 0.01740654 -0.01076907 0.01108221
+v 0.01964559 -0.01076906 0.00864193
+v 0.01740654 -0.01357279 0.00864192
+v 0.01910957 -0.01076906 0.00950316
+v 0.01740654 -0.01309403 0.01133653
+v 0.01772167 -0.01332094 0.01133970
+v 0.01815465 -0.01367260 0.01133970
+v 0.01899322 -0.01473112 0.01133970
+v 0.01938776 -0.01490755 0.01106953
+v 0.01939580 -0.01120269 0.00864193
+v 0.01997353 -0.01683451 0.00899818
+v 0.01997378 -0.01683688 0.00898973
+v 0.01865347 -0.01683688 0.00864534
+v 0.01742338 -0.01355794 0.00864192
+v 0.01859467 -0.01683688 0.00866489
+v 0.01744072 -0.01683688 0.00934125
+v 0.01740654 -0.01683688 0.00937663
+v 0.01740654 -0.01314393 0.01133970
+v 0.01893341 -0.01563877 0.01133969
+v 0.01938776 -0.01535305 0.01106952
+v 0.01966896 -0.01683689 0.01016471
+v 0.01996548 -0.01683688 0.00902934
+v 0.01997353 -0.01683688 0.00899844
+v 0.01924452 -0.01139218 0.00864193
+v 0.01767216 -0.01333162 0.00864192
+v 0.01740654 -0.01683689 0.01133969
+v 0.01887587 -0.01581282 0.01133969
+v 0.01927392 -0.01619417 0.01094592
+v 0.01903569 -0.01683689 0.01078429
+v 0.01816847 -0.01683689 0.01133969
+v 0.01864116 -0.01615913 0.01133969
+v 0.01840770 -0.01683689 0.01120368
+v 0.01841449 -0.01683689 0.01119919
+f 1 2 5
+f 1 5 3
+f 1 3 11
+f 1 11 25
+f 1 25 26
+f 1 26 15
+f 1 15 4
+f 1 4 18
+f 1 18 27
+f 1 27 19
+f 1 19 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 5
+f 3 5 10
+f 3 10 12
+f 3 12 13
+f 3 13 14
+f 3 14 11
+f 4 15 14
+f 4 14 16
+f 4 16 17
+f 4 17 18
+f 6 19 7
+f 7 19 27
+f 7 27 31
+f 7 31 32
+f 7 32 28
+f 7 28 20
+f 7 20 9
+f 7 9 8
+f 9 20 21
+f 9 21 10
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 12
+f 11 14 25
+f 12 24 13
+f 13 24 23
+f 13 23 22
+f 13 22 30
+f 13 30 34
+f 13 34 33
+f 13 33 31
+f 13 31 27
+f 13 27 18
+f 13 18 17
+f 13 17 16
+f 13 16 14
+f 14 15 26
+f 14 26 25
+f 20 28 21
+f 21 28 29
+f 21 29 22
+f 22 29 30
+f 28 32 29
+f 29 32 33
+f 29 33 34
+f 29 34 30
+f 31 33 32
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_89.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3978363c26efe6100071bf959e1e800d3c908ff
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_89.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.01059771 -0.01233069 0.01631656
+v -0.01272350 -0.00908966 0.01632036
+v -0.01422320 -0.01018862 0.01632035
+v -0.01531369 -0.01067199 0.01632035
+v -0.01612375 -0.01091139 0.01632035
+v -0.01629323 -0.01095015 0.01632035
+v -0.01486378 -0.01233068 0.01484935
+v -0.01059771 -0.01233068 0.01439101
+v -0.01059771 -0.00698863 0.01632036
+v -0.01629323 -0.01137651 0.01552168
+v -0.01590130 -0.01233068 0.01439101
+v -0.01563481 -0.01233068 0.01450942
+v -0.01629323 -0.00189850 0.01632038
+v -0.01059771 -0.00068666 0.01439106
+v -0.01059771 -0.00068667 0.01632039
+v -0.01629323 -0.01137765 0.01535323
+v -0.01625532 -0.01176866 0.01439102
+v -0.01443617 -0.00068667 0.01632039
+v -0.01490392 -0.00068667 0.01618932
+v -0.01629323 -0.00068667 0.01555024
+v -0.01629323 -0.00068666 0.01439106
+v -0.01629323 -0.01071417 0.01510658
+v -0.01629323 -0.00774900 0.01439103
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 11
+f 1 11 8
+f 1 8 14
+f 1 14 15
+f 1 15 9
+f 1 9 2
+f 2 9 15
+f 2 15 18
+f 2 18 13
+f 2 13 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 6 10 11
+f 6 11 12
+f 6 12 7
+f 6 13 20
+f 6 20 21
+f 6 21 23
+f 6 23 22
+f 6 22 16
+f 6 16 10
+f 8 11 17
+f 8 17 23
+f 8 23 21
+f 8 21 14
+f 10 16 17
+f 10 17 11
+f 13 18 19
+f 13 19 20
+f 14 21 20
+f 14 20 19
+f 14 19 18
+f 14 18 15
+f 16 22 17
+f 17 22 23
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_9.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab9652a17fb447c0e5cd41b87b33d49bfa99cbd1
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_9.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02111226 0.00471905 0.02391326
+v -0.02111226 0.00471905 0.02631293
+v -0.02111226 0.00571905 0.02391326
+v -0.02111226 0.00571905 0.02631293
+v -0.01860893 0.00471905 0.02391326
+v -0.01860893 0.00471905 0.02631293
+v -0.01860893 0.00571905 0.02391326
+v -0.01860893 0.00571905 0.02631293
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_90.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef6a42593132ebd363e21e756d4badf5a6b5b18d
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_90.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.01107554 0.00958801 0.01698697
+v 0.01091673 0.01046926 0.01698697
+v 0.01098182 0.00871072 0.01698696
+v 0.01541532 0.00871072 0.01600196
+v 0.01541532 0.00875944 0.01599477
+v 0.01541532 0.00894278 0.01595663
+v 0.01541532 0.01046927 0.01442110
+v -0.00839490 0.01046926 0.01698697
+v -0.01118048 0.00871072 0.01698696
+v 0.01541532 0.00871074 0.01134005
+v 0.01541532 0.01046928 0.01134006
+v -0.01118048 0.01046926 0.01550394
+v -0.01118048 0.00935973 0.01698696
+v -0.01118048 0.00871074 0.01134005
+v -0.01118048 0.01046928 0.01134006
+f 1 2 8
+f 1 8 13
+f 1 13 9
+f 1 9 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 11
+f 2 11 15
+f 2 15 12
+f 2 12 8
+f 3 9 14
+f 3 14 10
+f 3 10 4
+f 4 10 11
+f 4 11 7
+f 4 7 6
+f 4 6 5
+f 8 12 13
+f 9 13 12
+f 9 12 15
+f 9 15 14
+f 10 14 15
+f 10 15 11
+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_91.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3bcd7d57b2cc11f08dd45bf074c0713802d8475
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_91.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.01885767 -0.01320534 0.00683578
+v -0.02076671 -0.01500441 0.00971481
+v -0.01972459 -0.01355476 0.01080207
+v -0.01893352 -0.01322785 0.01133952
+v -0.01839913 -0.01320534 0.00766554
+v -0.01781743 -0.01320534 0.00683578
+v -0.01878934 -0.01332486 0.00683578
+v -0.02020569 -0.01953753 0.00684149
+v -0.02096949 -0.01846752 0.00698610
+v -0.02091151 -0.01692508 0.00824222
+v -0.02083535 -0.01579039 0.00922807
+v -0.02085729 -0.01566455 0.01000140
+v -0.02076671 -0.01500441 0.00992071
+v -0.01968604 -0.01358921 0.01133952
+v -0.01781743 -0.01325316 0.01133952
+v -0.01781743 -0.01320534 0.00844549
+v -0.01792368 -0.01320534 0.00831057
+v -0.01821171 -0.01320534 0.00794463
+v -0.01781743 -0.01474779 0.00683578
+v -0.01873982 -0.01340290 0.00683578
+v -0.01916858 -0.02027712 0.00697464
+v -0.01984557 -0.02027712 0.00697464
+v -0.02096949 -0.01917688 0.00698610
+v -0.01836685 -0.01399063 0.00683578
+v -0.01791020 -0.01463179 0.00683578
+v -0.02101932 -0.01810265 0.00779647
+v -0.02050939 -0.01566455 0.01062262
+v -0.01994398 -0.01434356 0.01133952
+v -0.02095507 -0.01698694 0.00920293
+v -0.02087390 -0.01660802 0.00990793
+v -0.01781743 -0.01839793 0.01133950
+v -0.01781743 -0.02023705 0.00822987
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+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_92.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..730a4da11ae4c15c16d720544b3ec7dffc1c63ef
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_92.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.01817434 0.01568492 0.01133966
+v 0.01620220 0.01568492 0.01133966
+v 0.01825013 0.01568492 0.01129443
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+v 0.01620220 0.01594728 0.00710118
+v 0.01648036 0.01568493 0.00710118
+v 0.01894783 0.01568493 0.00838040
+v 0.01894783 0.01691105 0.01013430
+v 0.01743526 0.01745012 0.01076457
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+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_93.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93ef78ff999bac363420b44d97f8cf2b52a52892
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_93.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.01603844 0.02122346 0.00822485
+v -0.01698052 0.02152959 0.00724561
+v -0.01698052 0.02156202 0.00724561
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+v -0.01781743 0.02168151 0.00822485
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+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_94.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c123bfeb141dac506ceabf13a7bbf16d592c76b9
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_94.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.01118048 0.00871072 0.01698696
+v -0.01118048 0.00871073 0.01228795
+v -0.01118048 0.00935973 0.01698696
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+v -0.02177476 0.01046927 0.01305794
+v -0.01510290 0.01046926 0.01643869
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+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_95.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ac01181d8b492d742805283bdaa4de9841d027c
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_95.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.01894813 0.01568461 0.01084586
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_96.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47f9b1e4d3896ac4733718cc57cf8e4d71a90d58
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_96.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_97.obj b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6195b95af5840884d7e4829796d8cce2662baa2
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/mjcf/mesh/strawberry_collision_97.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/textures/material_0.png b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9a67bd221a5c58c72f98b56cf2221c4b085e955
--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0e1baaadf8158d139093f1aff4e27427a19b6ec5ee3cb14c4c6c0954a4a3b75
+size 3299281
diff --git a/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/video.mp4 b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/food/fruits/a51de86cdf05592b844f3a6eb30122c2/video.mp4
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+version https://git-lfs.github.com/spec/v1
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