diff --git a/.gitattributes b/.gitattributes
index bf06e35281da2896d012d3fb309c6e26fc947c0f..f8ff1f21526df13e8caa75577ddcc8bba7774757 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3568,3 +3568,6 @@ dataset/food/fruits/951402131b07520ba65ad8004cdbd199/mesh/orange_gs.ply filter=l
 dataset/food/fruits/8d9fed7dc3325c31a7d1b561f4a21245/8d9fed7dc3325c31a7d1b561f4a21245.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/8d9fed7dc3325c31a7d1b561f4a21245/mesh/orange.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/fruits/8d9fed7dc3325c31a7d1b561f4a21245/mesh/orange_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mesh/strawberry_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/strawberry_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/strawberry_001.usdc filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mesh/material.mtl b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3363414111b0659cf3a34ed5b30d05c2055bc65d
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl strawberry_001_looks_omni_pbr
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd strawberry_001_looks_omni_pbr.png
\ No newline at end of file
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mesh/strawberry_001.glb b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mesh/strawberry_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b8fbf3e8ec83c7a6723edbbc3ca8b1c053520c48
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mesh/strawberry_001.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b5a652e909f49d576cd91d2ecf3f41e80f004fc4e7eab4328d73c28c41793b2
+size 13009392
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mesh/strawberry_001.mtl b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mesh/strawberry_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ae4fbdc67be34e0c49109d9510ffa8ae90a21340
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mesh/strawberry_001.mtl
@@ -0,0 +1,6 @@
+newmtl strawberry_001_looks_omni_pbr
+Kd 0.800000 0.800000 0.800000
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd t_strawberry_basecolor.png
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mesh/strawberry_001.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mesh/strawberry_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dd40c447959c19e3420d87d53328b0c8bfefa6c
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mesh/strawberry_001.obj
@@ -0,0 +1,108782 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl strawberry_001_looks_omni_pbr
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diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mesh/strawberry_001_collision.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mesh/strawberry_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be706c2dc7022dcb944316d3f20a2c01a71e6cfb
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mesh/strawberry_001_collision.obj
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diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mesh/strawberry_001_looks_omni_pbr.png b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mesh/strawberry_001_looks_omni_pbr.png
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diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mesh/t_strawberry_basecolor.png b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mesh/t_strawberry_basecolor.png
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diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001.obj
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index 0000000000000000000000000000000000000000..1d005cf583b3d8357cf1f95ceeeeb6c00705ba3d
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diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..809bfe8c3e282e3e46cf2cd6d0f62fece8aaca4c
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision.obj
@@ -0,0 +1,23496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_0.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9419244d8972924d0430d0d4fc90f2b2c143fb3c
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_0.obj
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+
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_1.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c19ba986101a5eb740e777af745b4b04f1bff72
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_1.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v -0.01682503 0.01965420 0.02117704
+v -0.01740500 0.01929400 0.02152038
+v -0.01682503 0.01973657 0.02117704
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+v -0.01809224 0.01965844 0.02224168
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+v -0.01183564 0.02054517 0.02117705
+v -0.01603451 0.01812917 0.02351354
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+v -0.01933561 0.01964572 0.02402668
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+v -0.01944088 0.01986210 0.02425636
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+v -0.00609943 0.02083411 0.02568774
+v -0.01268574 0.01812916 0.02595576
+v -0.01757582 0.01855691 0.02486914
+v -0.01814388 0.01864484 0.02474845
+v -0.00240108 0.01835669 0.02117704
+v 0.00082852 0.01824703 0.02323428
+v 0.00082852 0.01812916 0.02595576
+v -0.00246663 0.01849733 0.02117704
+v -0.00273278 0.01895791 0.02117704
+v -0.00297709 0.01931837 0.02117704
+v -0.00305654 0.01941610 0.02117704
+v -0.00333659 0.01971406 0.02117704
+v -0.00376760 0.02007453 0.02117704
+v -0.01938725 0.01944099 0.02463198
+v -0.01900987 0.01927943 0.02478026
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+v -0.01657079 0.01873039 0.02533457
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+v 0.00082852 0.01985335 0.02593611
+v -0.00466339 0.02039950 0.02117704
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+
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_10.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..354aa3431aebe0b9bb6df678348ad28c2f8ffade
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_10.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00409961 0.01720805 0.00826936
+v 0.00409961 0.01720805 0.03319576
+v 0.00409961 0.01820806 0.00826936
+v 0.00409961 0.01820806 0.03319576
+v 0.01479916 0.01720805 0.00826936
+v 0.01479916 0.01720805 0.03319576
+v 0.01479916 0.01820806 0.00826936
+v 0.01479916 0.01820806 0.03319576
+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/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_11.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fb81e3cfe06c4b908220689df7c2765bbbd7157
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_11.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.00449865 0.01812960 0.03215364
+v 0.00449758 0.01812888 0.03215458
+v 0.00449865 0.01812888 0.03171082
+v 0.00449865 0.01982554 0.03169954
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+v 0.00364948 0.01812887 0.03583538
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+v 0.00083050 0.01812890 0.02728634
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+v 0.00449865 0.02057107 0.03003825
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+v 0.00083050 0.01992838 0.02786361
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+v 0.00083050 0.01990088 0.02811181
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+
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_12.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f24102b918b93e11ee93ddd3d1323a545d35191
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_12.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01524707 0.01720809 0.00793180
+v -0.01524707 0.01720809 0.01448535
+v -0.01524707 0.01820809 0.00793180
+v -0.01524707 0.01820809 0.01448535
+v -0.00509190 0.01720809 0.00793180
+v -0.00509190 0.01720809 0.01448535
+v -0.00509190 0.01820809 0.00793180
+v -0.00509190 0.01820809 0.01448535
+f 2 4 1
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+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/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_13.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b132d8ccedaa3ca901cdc7e9f8af09fa798f0fbb
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_13.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.00332340 0.01728706 0.03391762
+v 0.00327918 0.01728705 0.03511016
+v 0.00801476 0.01597529 0.03391762
+v -0.00125057 0.01728706 0.03391762
+v 0.00310232 0.01718000 0.03511016
+v 0.00724634 0.01572479 0.03423934
+v 0.00777692 0.01572479 0.03416556
+v 0.00805898 0.01572479 0.03411700
+v 0.00835781 0.01572479 0.03404428
+v 0.00876794 0.01572480 0.03391762
+v 0.00873745 0.01573826 0.03391762
+v 0.00848588 0.01583475 0.03391762
+v 0.00837763 0.01587038 0.03391762
+v -0.00099900 0.01728705 0.03511016
+v -0.00624839 0.01590280 0.03391762
+v -0.00125209 0.01728705 0.03411350
+v 0.00251076 0.01697830 0.03511016
+v 0.00035947 0.01572479 0.03498654
+v 0.00064000 0.01572479 0.03496004
+v 0.00638795 0.01572479 0.03434194
+v -0.00680794 0.01572480 0.03391762
+v -0.00121245 0.01728705 0.03492304
+v -0.00103559 0.01728628 0.03511016
+v -0.00677897 0.01573459 0.03391762
+v 0.00179264 0.01687798 0.03511016
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+v -0.00640695 0.01572479 0.03403984
+v -0.00107523 0.01572479 0.03497685
+v -0.00089685 0.01721640 0.03511016
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+v -0.00035864 0.01572479 0.03500183
+v -0.00035864 0.01705812 0.03511016
+v 0.00035947 0.01693150 0.03511016
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diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_14.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e56f10b80cfb6a0f49af3775617aa7ef028699ba
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_14.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_15.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1da6ecd4d4b7ffd196333f3f3f8d8ab2abd33d37
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_15.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_16.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..744b3eb4e650e3509bd20167c7bcee8e7375a1a5
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_16.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+f 75 79 76
+f 78 79 82
+
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_17.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bc1b0bb1c4d657821ffa14d7103d6658c6f0637
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_17.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.00394063 0.02096150 0.00865908
+v -0.00394597 0.02095707 0.00901499
+v -0.00352991 0.02093267 0.00901499
+v -0.00354896 0.02092934 0.00865908
+v -0.00460054 0.02095513 0.00865908
+v -0.00394597 0.02092102 0.00950104
+v -0.00354439 0.02092047 0.00950189
+v -0.00681496 0.02081427 0.00989245
+v -0.00624954 0.02083090 0.00989245
+v -0.00326473 0.02078543 0.00989245
+v -0.00269322 0.02040364 0.00989244
+v -0.00348190 0.02084977 0.00865908
+v -0.00896689 0.02066788 0.00865908
+v -0.00753201 0.02076990 0.00989245
+v -0.00696583 0.02080706 0.00989245
+v -0.00398026 0.02087582 0.00989245
+v -0.00394597 0.02087637 0.00989245
+v -0.00261168 0.02030493 0.00989244
+v -0.00283419 0.02027084 0.00931149
+v -0.00248137 0.01881326 0.00865907
+v -0.00971366 0.02054145 0.00865908
+v -0.00896689 0.02065124 0.00901499
+v -0.00824983 0.02072027 0.00973985
+v -0.00824983 0.02070835 0.00989245
+v -0.00248137 0.01989763 0.00989244
+v -0.00248137 0.01980974 0.00975626
+v -0.00248137 0.01812897 0.00865907
+v -0.01026384 0.02033849 0.00865907
+v -0.00896689 0.02058525 0.00973985
+v -0.00895927 0.02053617 0.00989245
+v -0.00248137 0.01812896 0.00989244
+v -0.00469808 0.01812897 0.00865907
+v -0.01026536 0.02009145 0.00865907
+v -0.01018078 0.02030411 0.00887542
+v -0.00952163 0.02032573 0.00973984
+v -0.00946372 0.02029218 0.00989244
+v -0.00815153 0.01812896 0.00989244
+v -0.00750610 0.01812896 0.00965207
+v -0.01002533 0.01947897 0.00865907
+v -0.01026536 0.01987795 0.00865907
+v -0.01018078 0.01994976 0.00887542
+v -0.00946372 0.02002572 0.00989244
+v -0.00811724 0.01812896 0.00987759
+f 1 2 3
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+f 1 12 20
+f 1 20 27
+f 1 27 32
+f 1 32 39
+f 1 39 40
+f 1 40 33
+f 1 33 28
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+f 1 5 2
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+f 18 25 26
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+f 20 25 31
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+f 21 24 22
+f 22 24 23
+f 24 29 30
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+f 33 40 41
+f 33 41 34
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+f 34 42 36
+f 34 36 35
+f 37 42 39
+f 37 39 43
+f 38 43 39
+f 39 42 41
+f 39 41 40
+
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_18.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6244c3973ffdfa55ce059e3f3acad8207f94494e
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_18.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.01363636 0.01889349 0.01410327
+v -0.01377156 0.01812894 0.01626384
+v -0.01378481 0.01812894 0.01634455
+v -0.01388687 0.01812894 0.01698896
+v -0.01362708 0.01910553 0.01410327
+v -0.01341633 0.01812895 0.01410327
+v -0.01386964 0.01812893 0.01842019
+v -0.01325728 0.01956999 0.01410327
+v -0.00034589 0.01812895 0.01410327
+v -0.01289410 0.01873509 0.01842019
+v -0.01155405 0.02023215 0.01600692
+v -0.00111996 0.01812893 0.01842019
+v -0.01161900 0.02024622 0.01553957
+v -0.01158851 0.02022069 0.01502742
+v -0.01255478 0.01977317 0.01410327
+v -0.00034589 0.02037282 0.01410327
+v -0.00034589 0.01812893 0.01810115
+v -0.01261575 0.01887394 0.01842019
+v -0.01259587 0.01888383 0.01842019
+v -0.01089927 0.02027070 0.01678824
+v -0.01043403 0.02040355 0.01701347
+v -0.01113122 0.02032671 0.01625497
+v -0.01040222 0.02055333 0.01626385
+v -0.00130553 0.01837796 0.01842019
+v -0.01111930 0.02038636 0.01553957
+v -0.01114183 0.02028087 0.01479712
+v -0.01139632 0.02016521 0.01454400
+v -0.01091915 0.02022695 0.01429976
+v -0.01080914 0.02020090 0.01410327
+v -0.00034589 0.02044524 0.01480136
+v -0.00251170 0.02059997 0.01410328
+v -0.00034589 0.01813414 0.01809862
+v -0.00190066 0.01905680 0.01842019
+v -0.00896673 0.02042386 0.01842020
+v -0.00969442 0.02042959 0.01772888
+v -0.01021533 0.02030378 0.01749731
+v -0.00896673 0.02068670 0.01771367
+v -0.00968381 0.02066717 0.01698897
+v -0.00968381 0.02067186 0.01626385
+v -0.01040222 0.02051400 0.01553958
+v -0.01040222 0.02041138 0.01481445
+v -0.01047909 0.02026133 0.01410327
+v -0.00034589 0.02044550 0.01481446
+v -0.00251170 0.02065779 0.01553958
+v -0.00322878 0.02062576 0.01410328
+v -0.00034589 0.01846106 0.01793889
+v -0.00221612 0.01937226 0.01842019
+v -0.00824966 0.02067992 0.01842020
+v -0.00824966 0.02078985 0.01771367
+v -0.00896673 0.02075496 0.01698897
+v -0.00968381 0.02059501 0.01553958
+v -0.00896673 0.02070833 0.01626385
+v -0.01040487 0.02027332 0.01410327
+v -0.00968381 0.02048431 0.01481446
+v -0.00968381 0.02034886 0.01410327
+v -0.00034589 0.02038011 0.01552647
+v -0.00394586 0.02060516 0.01771367
+v -0.00251170 0.02058954 0.01626385
+v -0.00753258 0.02078777 0.01771367
+v -0.00681550 0.02075156 0.01842020
+v -0.00896673 0.02061924 0.01553958
+v -0.00824966 0.02077606 0.01698897
+v -0.00034589 0.01903858 0.01757633
+v -0.00254086 0.01969344 0.01842019
+v -0.00252761 0.01968094 0.01842019
+v -0.00753258 0.02077318 0.01842020
+v -0.00034589 0.02037881 0.01553957
+v -0.00394586 0.02052545 0.01842020
+v -0.00034589 0.01939910 0.01729025
+v -0.00297959 0.02007506 0.01842019
+v -0.00034589 0.02024622 0.01605678
+v -0.00392465 0.02051972 0.01842020
+v -0.00034589 0.01972784 0.01692769
+v -0.00334807 0.02032800 0.01842019
+v -0.00298887 0.02008157 0.01842019
+v -0.00034589 0.02009201 0.01641216
+v -0.00034589 0.01973435 0.01691882
+v -0.00034589 0.02008836 0.01641892
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+
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_19.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73f48f82d1fe7bbc00da074c41a96a0a1f35ae8e
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_19.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.00083050 0.01812897 0.03689084
+v 0.00083050 0.01889850 0.03316928
+v 0.00036065 0.01812897 0.03728574
+v 0.00083050 0.01812901 0.02595576
+v 0.00083050 0.01903225 0.03245935
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+v 0.00035750 0.01812897 0.03728796
+v -0.00319296 0.01812901 0.02595576
+v 0.00083050 0.01928583 0.02595576
+v 0.00083050 0.01907664 0.03221199
+v -0.00311655 0.01928581 0.03371614
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+v 0.00083050 0.01928582 0.03101066
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+v -0.00319296 0.01928581 0.03366290
+v -0.00069366 0.01812897 0.03692967
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+v -0.00319296 0.01813001 0.03158636
+v -0.00156955 0.01812898 0.03571503
+v -0.00088349 0.01812897 0.03676217
+f 1 2 3
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+f 1 19 16
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+f 11 17 14
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+f 16 19 20
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+f 17 21 22
+f 17 22 18
+
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_2.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73026d030327a43fdd1b3e61cb7468d83a57b48f
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_2.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.00022827 0.01728701 0.00536738
+v 0.00020668 0.01705934 0.00538990
+v 0.00012701 0.01709639 0.00481322
+v 0.00012701 0.01728701 0.00481322
+v 0.00018612 0.01728701 0.00609345
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+v -0.00051243 0.01642350 0.00394051
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+v 0.00012084 0.01718537 0.00609345
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+v -0.00104958 0.01642078 0.00609345
+v -0.00107631 0.01618438 0.00466493
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+v -0.00322800 0.01588957 0.00489450
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+v -0.00394557 0.01582573 0.00264600
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+
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_20.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2a6fc4f11b6977d0904b1193d6455076e957623
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_20.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00509090 0.01720806 0.00047262
+v -0.00509090 0.01720806 0.03441521
+v -0.00509090 0.01820806 0.00047262
+v -0.00509090 0.01820806 0.03441521
+v -0.00201981 0.01720806 0.00047262
+v -0.00201981 0.01720806 0.03441521
+v -0.00201981 0.01820806 0.00047262
+v -0.00201981 0.01820806 0.03441521
+f 2 4 1
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+f 2 8 4
+f 6 2 5
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+f 4 8 3
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+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_21.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b89d3a3786c680a4c7d3f97d9681a46a6ecc6a7c
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_21.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.00537926 0.02076757 0.01217216
+v -0.00322715 0.02062577 0.01410309
+v -0.00466095 0.02076551 0.01217216
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+
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_22.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7ee57ee116802b139a0387c0ce35498d765a45c
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_22.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.00060881 0.01812893 0.01810552
+v 0.00230383 0.01812892 0.02117704
+v 0.00239160 0.01827849 0.02117704
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+v 0.00824932 0.02045045 0.01810553
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+
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_23.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a333f938d98635b1fe2395312eda229836fc4393
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_23.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.00107745 0.02041276 0.00989244
+v 0.00107745 0.02039330 0.00973984
+v 0.00035960 0.02039554 0.00973984
+v 0.00035960 0.02041141 0.00989244
+v 0.00394598 0.02033249 0.00989244
+v 0.00394598 0.02032020 0.00973984
+v 0.00380531 0.02020216 0.00865907
+v 0.00035960 0.02023927 0.00865907
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+v -0.00007257 0.02022027 0.00865907
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+v 0.00824877 0.01978743 0.00865907
+v 0.00440425 0.02021759 0.00915768
+v 0.00425052 0.02018271 0.00867440
+v 0.00398513 0.02023011 0.00895558
+v 0.00414756 0.02018584 0.00865907
+v -0.00248137 0.01881333 0.00865907
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+v -0.00248137 0.01812896 0.00989244
+v 0.00881580 0.01975881 0.00989244
+v 0.01160021 0.01939506 0.00865907
+v 0.00423892 0.02018047 0.00865907
+v -0.00248137 0.01812897 0.00865907
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+v 0.01233257 0.01889784 0.00865907
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+
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_24.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cb60c42719014f5a5ee0a19f8f191270f131bcd
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_24.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00103596 0.01648015 0.03511016
+v -0.00103596 0.01648015 0.04009717
+v -0.00103596 0.01748016 0.03511016
+v -0.00103596 0.01748016 0.04009717
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+v 0.00333545 0.01648015 0.04009717
+v 0.00333545 0.01748016 0.03511016
+v 0.00333545 0.01748016 0.04009717
+f 2 4 1
+f 5 2 1
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+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/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_25.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5257cab6afff41501243131a58fbd4b21718fb02
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_25.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.00083050 0.01928582 0.03100945
+v 0.00083050 0.01934473 0.03075978
+v -0.00193385 0.02044965 0.03221204
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+
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_26.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44f0795a9c3d9cfca849e4f1132c6e7cdf3eb336
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_26.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01603538 0.01720804 0.01448711
+v -0.01603538 0.01720804 0.03255206
+v -0.01603538 0.01820804 0.01448711
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+v -0.00509090 0.01720804 0.03255206
+v -0.00509090 0.01820804 0.01448711
+v -0.00509090 0.01820804 0.03255206
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+f 7 6 5
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+
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_27.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8996f0a80dacd5812944f14bfd2b1608d4c0fb27
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_27.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
+v 0.01676874 0.01572485 0.01840863
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+
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_28.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c98de3e3dd52699d03ba2d27c2addadcfa724f1b
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_28.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01539555 0.01761916 0.02478536
+v 0.01539555 0.01761916 0.02578536
+v 0.01539555 0.01861917 0.02478536
+v 0.01539555 0.01861917 0.02578536
+v 0.01656686 0.01761916 0.02478536
+v 0.01656686 0.01761916 0.02578536
+v 0.01656686 0.01861917 0.02478536
+v 0.01656686 0.01861917 0.02578536
+f 2 4 1
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+f 3 5 1
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+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/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_29.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09f73534a040514a12767182ab981d5d23749fc1
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_29.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01268635 0.01779299 0.02595576
+v -0.01268635 0.01779299 0.03163616
+v -0.01268635 0.01879299 0.02595576
+v -0.01268635 0.01879299 0.03163616
+v -0.00319296 0.01779299 0.02595576
+v -0.00319296 0.01779299 0.03163616
+v -0.00319296 0.01879299 0.02595576
+v -0.00319296 0.01879299 0.03163616
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+f 7 6 5
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+
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_3.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3937bd0f16f88a0e42df63421d55cac42c3e4e9
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_3.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.00230452 0.01812892 0.02117704
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+
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_30.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14078cea0eb2fd410d7ff3a15ec0f8a1539edbb7
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_30.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01475899 0.01720803 0.01443000
+v 0.01475899 0.01720803 0.02329795
+v 0.01475899 0.01820803 0.01443000
+v 0.01475899 0.01820803 0.02329795
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+f 7 6 5
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+
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_31.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0977a805cedbae202b97b715fecae01f0ae3433
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_31.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.01230585 0.01982958 0.03217854
+v -0.01248577 0.01982624 0.03293723
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+f 26 35 47
+f 26 47 58
+f 26 58 71
+f 26 71 70
+f 26 70 69
+f 26 69 64
+f 26 64 52
+f 26 52 42
+f 26 42 28
+f 26 28 41
+f 26 41 27
+f 30 43 38
+f 31 39 44
+f 31 44 32
+f 32 44 45
+f 32 45 33
+f 33 45 46
+f 33 46 47
+f 33 47 35
+f 33 35 34
+f 38 43 48
+f 38 48 49
+f 38 49 50
+f 38 50 40
+f 39 40 51
+f 39 51 44
+f 40 50 51
+f 42 52 53
+f 42 53 54
+f 44 51 55
+f 44 55 45
+f 45 55 56
+f 45 56 57
+f 45 57 47
+f 45 47 46
+f 47 57 58
+f 48 59 49
+f 49 59 60
+f 49 60 50
+f 50 60 61
+f 50 61 62
+f 50 62 51
+f 51 62 63
+f 51 63 55
+f 52 64 53
+f 53 65 66
+f 53 66 67
+f 53 67 68
+f 53 68 54
+f 53 64 69
+f 53 69 70
+f 53 70 65
+f 55 63 56
+f 56 63 71
+f 56 71 58
+f 56 58 57
+f 59 72 60
+f 60 72 67
+f 60 67 61
+f 61 67 66
+f 61 66 62
+f 62 66 65
+f 62 65 63
+f 63 65 70
+f 63 70 71
+f 67 72 68
+
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_32.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cbf1e76b4b1bc912759314ef5cb7e548f433f60
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_32.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.00946353 0.02002582 0.00989266
+v -0.00946353 0.02029225 0.00989266
+v -0.00938948 0.01996879 0.00989266
+v -0.01087913 0.01947915 0.01079598
+v -0.00895827 0.02053624 0.00989267
+v -0.01123847 0.01947915 0.01108563
+v -0.01155644 0.01947915 0.01145583
+v -0.01200507 0.01947915 0.01211636
+v -0.01203556 0.01947915 0.01217215
+v -0.00898658 0.01967487 0.00989266
+v -0.00887551 0.01959445 0.00989266
+v -0.00871653 0.01952825 0.00989266
+v -0.00858368 0.01947915 0.00989422
+v -0.00824829 0.02066371 0.01046483
+v -0.00824829 0.02070830 0.00989267
+v -0.01199201 0.01949023 0.01217215
+v 0.01019369 0.01947915 0.01217215
+v -0.00843123 0.01947915 0.00989266
+v -0.00753178 0.02072157 0.01118962
+v -0.00753178 0.02079337 0.01046483
+v -0.01040218 0.01988112 0.01217215
+v -0.00753178 0.02076998 0.00989267
+v 0.01021329 0.01947915 0.01191441
+v 0.01015231 0.01953358 0.01217215
+v 0.00990622 0.01947915 0.00989266
+v -0.00681527 0.02071828 0.01191442
+v -0.00681527 0.02082428 0.01118962
+v -0.00681527 0.02082838 0.01046483
+v -0.00681527 0.02081443 0.00989267
+v -0.00696554 0.02080705 0.00989267
+v -0.00681527 0.02063677 0.01217216
+v 0.01015449 0.01952702 0.01191441
+v 0.01012400 0.01947915 0.01132306
+v 0.00998680 0.01962330 0.01217215
+v 0.00949678 0.01959786 0.00989266
+v 0.00871276 0.02010884 0.01217215
+v 0.00895232 0.02003279 0.01217215
+v 0.00940096 0.01986963 0.01217215
+v 0.00968408 0.01975611 0.01217215
+v -0.00609658 0.02072444 0.01217216
+v -0.00609658 0.02077778 0.01191442
+v -0.00538007 0.02079898 0.01191442
+v -0.00609658 0.02083249 0.01118962
+v -0.00394487 0.02087639 0.00989267
+v -0.00397972 0.02087598 0.00989267
+v -0.00624685 0.02083112 0.00989267
+v 0.00881512 0.01975898 0.00989266
+v 0.00845795 0.02017079 0.01217215
+v -0.00538007 0.02076752 0.01217216
+v -0.00538007 0.02083030 0.01118962
+v -0.00466138 0.02076547 0.01217216
+v -0.00466138 0.02079050 0.01191442
+v -0.00394487 0.02082223 0.01118962
+v -0.00322618 0.02079323 0.01118962
+v 0.00107506 0.02056223 0.01217216
+v 0.00733854 0.02026024 0.01217215
+v 0.00800496 0.02021648 0.01217215
+v 0.00394546 0.02037896 0.01046482
+v 0.00394546 0.02033259 0.00989266
+v 0.00824888 0.01987017 0.00989266
+v 0.00828808 0.02015206 0.01188339
+v 0.00807465 0.02020444 0.01210431
+v 0.00821403 0.02019760 0.01217215
+v -0.00322618 0.02073442 0.01217216
+v -0.00394487 0.02077299 0.01191442
+v -0.00322618 0.02075152 0.01191442
+v 0.00810296 0.02020772 0.01217215
+f 1 2 5
+f 1 5 15
+f 1 15 22
+f 1 22 30
+f 1 30 29
+f 1 29 46
+f 1 46 45
+f 1 45 44
+f 1 44 59
+f 1 59 60
+f 1 60 47
+f 1 47 35
+f 1 35 25
+f 1 25 18
+f 1 18 12
+f 1 12 11
+f 1 11 10
+f 1 10 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 5
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 18
+f 4 18 25
+f 4 25 33
+f 4 33 23
+f 4 23 17
+f 4 17 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 5 9 14
+f 5 14 15
+f 9 16 14
+f 9 17 24
+f 9 24 34
+f 9 34 39
+f 9 39 38
+f 9 38 37
+f 9 37 36
+f 9 36 48
+f 9 48 63
+f 9 63 67
+f 9 67 57
+f 9 57 56
+f 9 56 55
+f 9 55 64
+f 9 64 51
+f 9 51 49
+f 9 49 40
+f 9 40 31
+f 9 31 21
+f 9 21 16
+f 12 18 13
+f 14 19 20
+f 14 20 15
+f 14 16 21
+f 14 21 19
+f 15 20 22
+f 17 23 24
+f 19 26 27
+f 19 27 20
+f 19 21 26
+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 20 30 22
+f 21 31 26
+f 23 32 24
+f 23 33 32
+f 24 32 34
+f 25 35 36
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 39 34
+f 25 34 32
+f 25 32 33
+f 26 31 40
+f 26 40 41
+f 26 41 27
+f 27 41 42
+f 27 42 43
+f 27 43 44
+f 27 44 45
+f 27 45 28
+f 28 45 46
+f 28 46 29
+f 35 47 48
+f 35 48 36
+f 40 49 41
+f 41 49 42
+f 42 50 43
+f 42 49 51
+f 42 51 52
+f 42 52 53
+f 42 53 50
+f 43 50 44
+f 44 50 53
+f 44 53 54
+f 44 54 55
+f 44 55 56
+f 44 56 57
+f 44 57 58
+f 44 58 59
+f 47 60 48
+f 48 60 61
+f 48 61 62
+f 48 62 63
+f 51 64 52
+f 52 65 53
+f 52 64 65
+f 53 65 64
+f 53 64 66
+f 53 66 54
+f 54 66 55
+f 55 66 64
+f 57 67 62
+f 57 62 59
+f 57 59 58
+f 59 62 61
+f 59 61 60
+f 62 67 63
+
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_33.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..040d751a112eb36ff5fb0859f5925df809d9d043
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_33.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01571905 0.01737545 0.01442813
+v 0.01571905 0.01737545 0.01745074
+v 0.01571905 0.01837545 0.01442813
+v 0.01571905 0.01837545 0.01745074
+v 0.01802860 0.01737545 0.01442813
+v 0.01802860 0.01737545 0.01745074
+v 0.01802860 0.01837545 0.01442813
+v 0.01802860 0.01837545 0.01745074
+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/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_34.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92b11a536995e580a744dce293e3e16be1fb600a
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_34.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.01166255 0.01845731 0.02595576
+v -0.01161280 0.01845731 0.02614555
+v -0.01050270 0.01982628 0.02836137
+v -0.01030373 0.02028756 0.02836137
+v -0.01017440 0.02028012 0.02800934
+v -0.00950121 0.02030176 0.02713784
+v -0.00933954 0.02020425 0.02675944
+v -0.00890678 0.02030735 0.02647592
+v -0.00840520 0.02032434 0.02595576
+v -0.00319296 0.01845731 0.02595576
+v -0.01157964 0.01845731 0.02623645
+v -0.01151912 0.01845731 0.02640222
+v -0.01050105 0.01967034 0.02836137
+v -0.01018269 0.02033132 0.02836137
+v -0.00974495 0.02040440 0.02780565
+v -0.00896730 0.02055172 0.02713785
+v -0.00824934 0.02061852 0.02641306
+v -0.00821784 0.02042139 0.02595577
+v -0.00319296 0.02033691 0.02595576
+v -0.00319296 0.01845731 0.02836137
+v -0.01060634 0.01845731 0.02806985
+v -0.01060385 0.01845731 0.02807362
+v -0.01039410 0.01845731 0.02836137
+v -0.00970184 0.02046794 0.02836138
+v -0.00896730 0.02062969 0.02786265
+v -0.00824934 0.02074280 0.02713785
+v -0.00753221 0.02080494 0.02641306
+v -0.00779751 0.02062992 0.02595577
+v -0.00319296 0.02051704 0.02713785
+v -0.00394574 0.02059641 0.02595577
+v -0.00319296 0.02068787 0.02836138
+v -0.00946059 0.02053613 0.02836138
+v -0.00896730 0.02059315 0.02836138
+v -0.00874346 0.02061642 0.02836138
+v -0.00753221 0.02077771 0.02786265
+v -0.00753221 0.02081681 0.02713785
+v -0.00681591 0.02083473 0.02641306
+v -0.00636325 0.02083427 0.02595577
+v -0.00708038 0.02079936 0.02595577
+v -0.00753221 0.02069881 0.02595577
+v -0.00319296 0.02062038 0.02786265
+v -0.00466369 0.02076794 0.02595577
+v -0.00538082 0.02083217 0.02595577
+v -0.00321783 0.02068950 0.02836138
+v -0.00753221 0.02073628 0.02836138
+v -0.00681591 0.02076863 0.02836138
+v -0.00681591 0.02080494 0.02786265
+v -0.00681591 0.02083054 0.02713785
+v -0.00538082 0.02082798 0.02641306
+v -0.00322861 0.02069020 0.02836138
+v -0.00466369 0.02073884 0.02836138
+v -0.00394574 0.02071464 0.02836138
+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 18
+f 1 18 28
+f 1 28 40
+f 1 40 39
+f 1 39 38
+f 1 38 43
+f 1 43 42
+f 1 42 30
+f 1 30 19
+f 1 19 10
+f 1 10 20
+f 1 20 23
+f 1 23 22
+f 1 22 21
+f 1 21 12
+f 1 12 11
+f 1 11 2
+f 2 11 3
+f 3 11 12
+f 3 12 13
+f 3 13 23
+f 3 23 20
+f 3 20 31
+f 3 31 44
+f 3 44 50
+f 3 50 52
+f 3 52 51
+f 3 51 46
+f 3 46 45
+f 3 45 34
+f 3 34 33
+f 3 33 32
+f 3 32 24
+f 3 24 14
+f 3 14 4
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 6 17 8
+f 6 8 7
+f 8 17 18
+f 8 18 9
+f 10 19 29
+f 10 29 41
+f 10 41 31
+f 10 31 20
+f 12 21 13
+f 13 21 22
+f 13 22 23
+f 14 24 15
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 16 26 17
+f 17 26 27
+f 17 27 28
+f 17 28 18
+f 19 30 29
+f 24 32 25
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 25 35 36
+f 25 36 26
+f 26 36 27
+f 27 36 37
+f 27 37 38
+f 27 38 39
+f 27 39 40
+f 27 40 28
+f 29 30 41
+f 30 31 41
+f 30 42 31
+f 31 42 43
+f 31 43 44
+f 34 45 35
+f 35 45 46
+f 35 46 47
+f 35 47 36
+f 36 47 48
+f 36 48 37
+f 37 48 43
+f 37 43 38
+f 43 48 49
+f 43 49 50
+f 43 50 44
+f 46 51 47
+f 47 51 49
+f 47 49 48
+f 49 51 52
+f 49 52 50
+
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_35.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69c6bca037a20e1ea08ef99f90efe8102ff9caa8
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_35.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00107022 0.01765760 0.03923154
+v 0.00107022 0.01765760 0.04064114
+v 0.00107022 0.01865760 0.03923154
+v 0.00107022 0.01865760 0.04064114
+v 0.00209533 0.01765760 0.03923154
+v 0.00209533 0.01765760 0.04064114
+v 0.00209533 0.01865760 0.03923154
+v 0.00209533 0.01865760 0.04064114
+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/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_36.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41129ab252cd8aeecc26ff90e8b61dd275634572
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_36.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00449942 0.01779299 0.02728458
+v 0.00449942 0.01779299 0.03215386
+v 0.00449942 0.01879299 0.02728458
+v 0.00449942 0.01879299 0.03215386
+v 0.01232172 0.01779299 0.02728458
+v 0.01232172 0.01779299 0.03215386
+v 0.01232172 0.01879299 0.02728458
+v 0.01232172 0.01879299 0.03215386
+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/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_37.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7153dcb5450d725896c1786bd999ebce78527bf6
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_37.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.00020147 0.01572485 0.01954448
+v 0.00020147 0.01618301 0.01924882
+v -0.00089302 0.01572484 0.02061339
+v 0.00020147 0.01572490 0.00673736
+v 0.00020147 0.01728711 0.01847556
+v -0.00205991 0.01728649 0.02061339
+v -0.00515815 0.01572484 0.02061339
+v -0.00046750 0.01572490 0.00665492
+v -0.00181541 0.01615461 0.00609345
+v -0.00179389 0.01615767 0.00609345
+v -0.00104937 0.01642085 0.00609345
+v -0.00042185 0.01682487 0.00609345
+v 0.00012119 0.01718531 0.00609345
+v 0.00013379 0.01719617 0.00609345
+v 0.00018625 0.01728716 0.00609345
+v 0.00019412 0.01728716 0.00611903
+v 0.00020147 0.01574952 0.00675015
+v 0.00020147 0.01728715 0.00807493
+v -0.00206043 0.01728710 0.02061339
+v -0.00515815 0.01728710 0.02061339
+v -0.00515815 0.01572490 0.00653267
+v -0.00107351 0.01572490 0.00663359
+v -0.00251061 0.01612540 0.00609345
+v -0.00477828 0.01728716 0.00609345
+v 0.00020147 0.01654639 0.00742391
+v -0.00515815 0.01728715 0.00796121
+v -0.00515815 0.01575976 0.00655684
+v -0.00468803 0.01697305 0.00609345
+v -0.00426672 0.01661078 0.00609345
+v -0.00394456 0.01642758 0.00609345
+v -0.00324988 0.01620446 0.00609345
+v -0.00322785 0.01619881 0.00609345
+v -0.00253212 0.01612693 0.00609345
+v -0.00466285 0.01572490 0.00654120
+v -0.00515815 0.01626425 0.00692925
+v -0.00515815 0.01690943 0.00742391
+f 1 2 3
+f 1 3 7
+f 1 7 21
+f 1 21 34
+f 1 34 22
+f 1 22 8
+f 1 8 4
+f 1 4 17
+f 1 17 25
+f 1 25 18
+f 1 18 5
+f 1 5 2
+f 2 5 3
+f 3 6 19
+f 3 19 20
+f 3 20 7
+f 3 5 6
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 5 18 16
+f 5 16 15
+f 5 15 24
+f 5 24 26
+f 5 26 20
+f 5 20 19
+f 5 19 6
+f 7 20 26
+f 7 26 36
+f 7 36 35
+f 7 35 27
+f 7 27 21
+f 8 22 23
+f 8 23 9
+f 9 23 33
+f 9 33 32
+f 9 32 31
+f 9 31 30
+f 9 30 29
+f 9 29 28
+f 9 28 24
+f 9 24 15
+f 9 15 14
+f 9 14 13
+f 9 13 12
+f 9 12 11
+f 9 11 10
+f 16 25 17
+f 16 18 25
+f 21 27 24
+f 21 24 28
+f 21 28 29
+f 21 29 30
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 21 33 23
+f 21 23 34
+f 22 34 23
+f 24 27 35
+f 24 35 36
+f 24 36 26
+
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_38.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f010e73f6f5115fc7af76002760ddb7e5ff9090
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_38.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.00319296 0.01978997 0.03513035
+v -0.00319296 0.01978444 0.03513035
+v -0.00319296 0.02040441 0.03510646
+v -0.00351668 0.02029020 0.03630485
+v -0.00319296 0.01976397 0.03509923
+v -0.00351668 0.02008889 0.03630485
+v -0.00340026 0.01994593 0.03583649
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diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_39.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..193a91ad2dd625d0181f695861a8159e189de21d
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_39.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_4.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1ee9fa13fc9c02a707246e67952f94fa5a581a4
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_4.obj
@@ -0,0 +1,1666 @@
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diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_40.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a9b486b429b55ce9ce14d743d826e5f5a7e3ba8
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_40.obj
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diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_41.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19c04fa827c9013f7cad726d8af0196591b327a7
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_41.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+v 0.01111952 0.02021448 0.03215740
+v 0.00470488 0.02056618 0.02999568
+v 0.01087247 0.01960080 0.02999567
+v 0.01151694 0.01941250 0.03104934
+v 0.01032324 0.01845707 0.03074460
+v 0.01161290 0.01933089 0.03148719
+v 0.01173105 0.01927110 0.03215740
+v 0.01169381 0.01924785 0.03215740
+v 0.00537585 0.02039801 0.03215740
+v 0.00538086 0.02054417 0.03148720
+v 0.00967590 0.01845706 0.03153226
+v 0.00971529 0.01845706 0.03151766
+v 0.01040487 0.01883637 0.03215740
+v 0.00609837 0.02051282 0.03215741
+v 0.01180838 0.01989269 0.03215740
+v 0.01111952 0.02016943 0.03192038
+v 0.00961933 0.02015408 0.02999567
+v 0.00954414 0.02016633 0.02999567
+v 0.00935653 0.02019186 0.02999567
+v 0.00901353 0.02022384 0.02999567
+v 0.01088393 0.01961388 0.03003757
+v 0.01151694 0.01954225 0.03104934
+v 0.01040129 0.01991470 0.02999567
+v 0.01181411 0.01988978 0.03215740
+v 0.01025736 0.01845707 0.03090840
+v 0.01111952 0.01897837 0.03215740
+v 0.01006760 0.01845707 0.03121716
+v 0.01106223 0.01895906 0.03215740
+v 0.01040201 0.01992861 0.03003757
+v 0.00965800 0.02014432 0.02999567
+f 1 2 9
+f 1 9 21
+f 1 21 20
+f 1 20 19
+f 1 19 25
+f 1 25 12
+f 1 12 3
+f 1 3 14
+f 1 14 29
+f 1 29 47
+f 1 47 46
+f 1 46 45
+f 1 45 44
+f 1 44 57
+f 1 57 50
+f 1 50 30
+f 1 30 15
+f 1 15 4
+f 1 4 16
+f 1 16 32
+f 1 32 52
+f 1 52 54
+f 1 54 39
+f 1 39 38
+f 1 38 22
+f 1 22 10
+f 1 10 2
+f 2 5 6
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+f 2 8 9
+f 2 10 11
+f 2 11 5
+f 3 12 13
+f 3 13 14
+f 4 15 16
+f 5 11 24
+f 5 24 23
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+f 5 41 36
+f 5 36 17
+f 5 17 7
+f 5 7 6
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 9
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 12 25 26
+f 12 26 13
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 14
+f 15 30 49
+f 15 49 31
+f 15 31 16
+f 16 31 33
+f 16 33 34
+f 16 34 35
+f 16 35 32
+f 17 36 18
+f 18 36 37
+f 18 37 26
+f 18 26 25
+f 18 25 19
+f 22 38 23
+f 23 38 39
+f 23 39 40
+f 26 37 41
+f 26 41 27
+f 28 42 43
+f 28 43 44
+f 28 44 45
+f 28 45 46
+f 28 46 47
+f 28 47 29
+f 30 48 49
+f 30 50 48
+f 31 49 51
+f 31 51 33
+f 32 35 53
+f 32 53 52
+f 33 51 34
+f 36 41 37
+f 39 54 55
+f 39 55 40
+f 42 51 43
+f 43 51 56
+f 43 56 57
+f 43 57 44
+f 48 51 49
+f 48 50 51
+f 50 56 51
+f 50 57 56
+f 52 53 55
+f 52 55 54
+
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_42.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d8596f98789a1441b44501203c9b9cfe488fea4
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_42.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00112534 0.01720807 0.00819729
+v 0.00112534 0.01720807 0.02052096
+v 0.00112534 0.01820808 0.00819729
+v 0.00112534 0.01820808 0.02052096
+v 0.00409961 0.01720807 0.00819729
+v 0.00409961 0.01720807 0.02052096
+v 0.00409961 0.01820808 0.00819729
+v 0.00409961 0.01820808 0.02052096
+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/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_43.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8776bbd5aceb637878da9275060f0ce6bf150e58
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_43.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00201981 0.01720808 0.00318757
+v -0.00201981 0.01720808 0.02049645
+v -0.00201981 0.01820808 0.00318757
+v -0.00201981 0.01820808 0.02049645
+v 0.00112534 0.01720808 0.00318757
+v 0.00112534 0.01720808 0.02049645
+v 0.00112534 0.01820808 0.00318757
+v 0.00112534 0.01820808 0.02049645
+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/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_44.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0107d7dd02031f3586c5e6d1b4c2252c704f577
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_44.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00088330 0.01720802 0.02052292
+v 0.00088330 0.01720802 0.04064115
+v 0.00088330 0.01820802 0.02052292
+v 0.00088330 0.01820802 0.04064115
+v 0.00409961 0.01720802 0.02052292
+v 0.00409961 0.01720802 0.04064115
+v 0.00409961 0.01820802 0.02052292
+v 0.00409961 0.01820802 0.04064115
+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/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_45.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b33b72d4ef443755eacd8c166850d73f15bd7453
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_45.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.01050311 0.01982619 0.02836137
+v -0.01050133 0.01967035 0.02836137
+v -0.01148255 0.01945964 0.02966652
+v -0.01148255 0.01947831 0.02966652
+v -0.01059142 0.01982619 0.02848841
+v -0.01076983 0.02019387 0.02893043
+v -0.01030330 0.02028748 0.02836137
+v -0.01039428 0.01845731 0.02836137
+v -0.01084297 0.01939463 0.02883740
+v -0.01156194 0.01935844 0.03003755
+v -0.01222740 0.01942113 0.03173876
+v -0.01222740 0.01959564 0.03173876
+v -0.01230590 0.01982963 0.03217816
+v -0.01208200 0.02018741 0.03217816
+v -0.01040856 0.02029346 0.02864833
+v -0.01018287 0.02033128 0.02836137
+v -0.01046743 0.01845730 0.02943373
+v -0.01134429 0.01879064 0.03148692
+v -0.01183937 0.01906981 0.03217816
+v -0.01226665 0.01938517 0.03217816
+v -0.00319296 0.01845731 0.02836137
+v -0.01183669 0.02023121 0.03217816
+v -0.00946033 0.02053622 0.02836138
+v -0.00970207 0.02046798 0.02836138
+v -0.01044691 0.01845730 0.03008799
+v -0.01131753 0.01878718 0.03217816
+v -0.00319296 0.02068790 0.02836138
+v -0.00319296 0.01845729 0.03163638
+v -0.00753356 0.02073608 0.02836138
+v -0.00874314 0.02061644 0.02836138
+v -0.00896704 0.02059316 0.02836138
+v -0.00753356 0.02063279 0.03217817
+v -0.01040766 0.01845730 0.03022325
+v -0.01095894 0.01869381 0.03217816
+v -0.01130058 0.01878188 0.03217816
+v -0.00319296 0.02072063 0.02858781
+v -0.00322864 0.02069021 0.02836138
+v -0.00319296 0.01884389 0.03217816
+v -0.00968423 0.01860691 0.03217816
+v -0.00826234 0.01845729 0.03149551
+v -0.00749966 0.02063532 0.03217817
+v -0.00681547 0.02076859 0.02836138
+v -0.01014541 0.01845730 0.03074561
+v -0.01040231 0.01862189 0.03217816
+v -0.00319296 0.02078794 0.02931268
+v -0.00394583 0.02071464 0.02836138
+v -0.00466391 0.02073885 0.02836138
+v -0.00319296 0.02063440 0.03217817
+v -0.00857455 0.01845729 0.03146338
+v -0.00681547 0.02066391 0.03217817
+v -0.00319296 0.02079439 0.03148693
+v -0.00319296 0.02079531 0.03145143
+v -0.00319296 0.02081192 0.03076206
+v -0.00319296 0.02081169 0.03072656
+v -0.00319296 0.02080546 0.03003756
+v -0.00967442 0.01845730 0.03127917
+v -0.00896704 0.01845729 0.03141070
+v -0.00319296 0.02074344 0.03217631
+v -0.00319563 0.02074321 0.03217817
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 16
+f 1 16 24
+f 1 24 23
+f 1 23 31
+f 1 31 30
+f 1 30 29
+f 1 29 42
+f 1 42 47
+f 1 47 46
+f 1 46 37
+f 1 37 27
+f 1 27 21
+f 1 21 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 3 9 8
+f 3 8 10
+f 4 12 13
+f 4 13 6
+f 4 6 5
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 11
+f 8 11 10
+f 8 21 28
+f 8 28 40
+f 8 40 49
+f 8 49 57
+f 8 57 56
+f 8 56 43
+f 8 43 33
+f 8 33 25
+f 8 25 17
+f 11 20 13
+f 11 13 12
+f 13 20 19
+f 13 19 26
+f 13 26 35
+f 13 35 34
+f 13 34 44
+f 13 44 39
+f 13 39 38
+f 13 38 48
+f 13 48 59
+f 13 59 50
+f 13 50 41
+f 13 41 32
+f 13 32 22
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 16
+f 14 16 15
+f 17 25 26
+f 17 26 18
+f 18 26 19
+f 21 27 36
+f 21 36 45
+f 21 45 55
+f 21 55 54
+f 21 54 53
+f 21 53 52
+f 21 52 51
+f 21 51 58
+f 21 58 48
+f 21 48 38
+f 21 38 28
+f 22 29 30
+f 22 30 31
+f 22 31 23
+f 22 32 29
+f 25 33 34
+f 25 34 35
+f 25 35 26
+f 27 37 36
+f 28 38 39
+f 28 39 40
+f 29 32 41
+f 29 41 42
+f 33 43 34
+f 34 43 44
+f 36 37 46
+f 36 46 47
+f 36 47 45
+f 39 44 49
+f 39 49 40
+f 41 50 42
+f 42 50 51
+f 42 51 52
+f 42 52 53
+f 42 53 54
+f 42 54 55
+f 42 55 45
+f 42 45 47
+f 43 56 44
+f 44 56 57
+f 44 57 49
+f 48 58 59
+f 50 59 58
+f 50 58 51
+
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_46.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..832a0380f875af865ad5cce3d0cc5a26b2b8ca76
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_46.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00201953 0.01720802 0.02076596
+v -0.00201953 0.01720802 0.03995813
+v -0.00201953 0.01820802 0.02076596
+v -0.00201953 0.01820802 0.03995813
+v 0.00088301 0.01720802 0.02076596
+v 0.00088301 0.01720802 0.03995813
+v 0.00088301 0.01820802 0.02076596
+v 0.00088301 0.01820802 0.03995813
+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/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_47.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb2b3ae315dd998a39ba733ffbe7ba8e6453f892
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_47.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.00449937 0.01845729 0.02728484
+v 0.00449937 0.01845728 0.02999567
+v 0.00449937 0.02036534 0.02728484
+v 0.01178137 0.01845729 0.02728484
+v 0.00449937 0.02056849 0.02999568
+v 0.01036832 0.01845728 0.02999567
+v 0.00449937 0.02036782 0.02730421
+v 0.00451790 0.02036679 0.02728484
+v 0.01104918 0.01887085 0.02728484
+v 0.00933455 0.02019111 0.02820809
+v 0.01040183 0.01991477 0.02999567
+v 0.01087237 0.01960083 0.02999567
+v 0.01087237 0.01934827 0.02999567
+v 0.00466334 0.02056829 0.02999568
+v 0.00681572 0.02045917 0.02728485
+v 0.00609850 0.02045917 0.02728485
+v 0.00449937 0.02052675 0.02931233
+v 0.00523584 0.02041205 0.02728484
+v 0.00850397 0.02024609 0.02728484
+v 0.00869860 0.02022067 0.02739152
+v 0.00894956 0.02023575 0.02792493
+v 0.00825016 0.02036327 0.02786283
+v 0.00896738 0.02026716 0.02858784
+v 0.00936663 0.02019627 0.02858784
+v 0.00976018 0.02010698 0.02931232
+v 0.00965823 0.02014439 0.02999567
+v 0.00470469 0.02056602 0.02999568
+v 0.00753294 0.02043086 0.02786284
+v 0.00753294 0.02040812 0.02728484
+v 0.00825016 0.02029548 0.02728484
+v 0.00825016 0.02036430 0.02858784
+v 0.00896738 0.02026158 0.02931232
+v 0.00940157 0.02019895 0.02931232
+v 0.00961973 0.02015411 0.02999567
+v 0.00825016 0.02032544 0.02931232
+v 0.00901373 0.02022396 0.02999567
+v 0.00935665 0.02019193 0.02999567
+v 0.00938089 0.02019462 0.02986298
+v 0.00954416 0.02016630 0.02999567
+f 1 2 5
+f 1 5 17
+f 1 17 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 16
+f 1 16 15
+f 1 15 29
+f 1 29 30
+f 1 30 19
+f 1 19 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 6 13
+f 2 13 12
+f 2 12 11
+f 2 11 26
+f 2 26 34
+f 2 34 39
+f 2 39 37
+f 2 37 36
+f 2 36 27
+f 2 27 14
+f 2 14 5
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 6
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 7 17 18
+f 7 18 8
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 11
+f 11 25 26
+f 14 27 28
+f 14 28 15
+f 15 28 29
+f 16 18 17
+f 19 21 20
+f 19 30 21
+f 21 30 22
+f 22 31 23
+f 22 30 29
+f 22 29 28
+f 22 28 31
+f 23 32 33
+f 23 33 24
+f 23 31 32
+f 24 33 26
+f 24 26 25
+f 26 33 34
+f 27 35 31
+f 27 31 28
+f 27 36 35
+f 31 35 36
+f 31 36 37
+f 31 37 32
+f 32 37 38
+f 32 38 33
+f 33 38 34
+f 34 38 39
+f 37 39 38
+
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_48.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67dee8f4cbc591982623e8f13146592b5a47b1cd
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_48.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.00020147 0.01728706 0.03391762
+v -0.00125137 0.01728706 0.03391762
+v 0.00020147 0.01572480 0.03391762
+v 0.00020147 0.01728710 0.02232324
+v -0.00515815 0.01639445 0.03361422
+v -0.00515815 0.01608417 0.03391762
+v -0.00512562 0.01728706 0.03255166
+v -0.00515815 0.01728583 0.03255036
+v -0.00515815 0.01700277 0.03291626
+v -0.00515815 0.01664356 0.03336290
+v -0.00515815 0.01572480 0.03391762
+v 0.00020147 0.01572484 0.02152632
+v 0.00020147 0.01704533 0.02218131
+v -0.00205991 0.01728649 0.02061481
+v -0.00206515 0.01728710 0.02061481
+v -0.00515815 0.01728706 0.03198783
+v -0.00515815 0.01572484 0.02061481
+v -0.00089302 0.01572484 0.02061481
+v -0.00515815 0.01728710 0.02061481
+f 1 2 6
+f 1 6 11
+f 1 11 3
+f 1 3 12
+f 1 12 13
+f 1 13 4
+f 1 4 15
+f 1 15 19
+f 1 19 16
+f 1 16 7
+f 1 7 2
+f 2 5 6
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 5
+f 3 11 17
+f 3 17 18
+f 3 18 12
+f 4 13 14
+f 4 14 15
+f 5 10 9
+f 5 9 8
+f 5 8 16
+f 5 16 19
+f 5 19 17
+f 5 17 11
+f 5 11 6
+f 7 16 8
+f 12 18 13
+f 13 18 14
+f 14 18 17
+f 14 17 19
+f 14 19 15
+
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_5.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efd60e8890af244d2d92609056e4936778717c3a
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_5.obj
@@ -0,0 +1,6085 @@
+# https://github.com/mikedh/trimesh
+v 0.01111863 -0.01581742 0.00603997
+v 0.01111863 -0.01549940 0.00596556
+v 0.01143397 -0.01581742 0.00605857
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diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_6.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67ade880035627e32a1dc664788413260d369ad7
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_6.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_7.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0844caf65b4778bb3ab87ae7c0c3c3b7c85b84a
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_7.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_8.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..897f92ad7a4505db659582375f1c7bb604879f9c
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_8.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_9.obj b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e58227ce12f9bcbb52e9e7a32f8ef2d676d67cd2
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_collision_9.obj
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diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_looks_omni_pbr.png b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_looks_omni_pbr.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0e91de25b1b7822a729cf858f3e4959580be4cb
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/mesh/strawberry_001_looks_omni_pbr.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:916b196d29ca200ee919cc755193933dd750c5511d2d57a09de3dfdfb049b515
+size 11908640
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/strawberry_001.xml b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/strawberry_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4090399d6a647a448122b3f1b3d7728f544e3440
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/mjcf/strawberry_001.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="strawberry_001">
+  <asset>
+    <material name="material_0" texture="texture_0_strawberry_001_looks_omni_pbr" reflectance="0.2" />
+    <texture name="texture_0_strawberry_001_looks_omni_pbr" type="2d" file="mesh/strawberry_001_looks_omni_pbr.png" />
+    <mesh name="visual_mesh_0" file="mesh/strawberry_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/strawberry_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/strawberry_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/strawberry_001_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/strawberry_001_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </asset>
+  <worldbody>
+    <body name="strawberry_001">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/strawberry_001.urdf b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/strawberry_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b5d1d3187ee757c2b0eebc7ecee3f579231145b5
--- /dev/null
+++ b/dataset/food/fruits/97eca6bb876e5a37855db54901ed2dc3/strawberry_001.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="strawberry_001">
+   <link name="strawberry_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/strawberry_001.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/strawberry_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>97eca6bb876e5a37855db54901ed2dc3</uuid>
+         <domain>food</domain>
+         <super_category>fruits</super_category>
+         <category>strawberry</category>
+         <name>ripe strawberry</name>
+         <color>red</color>
+         <shape>irregular</shape>
+         <material>organic</material>
+         <description>realistic red strawberry with green leaves and visible seeds</description>
+         <min_height>0.0406</min_height>
+         <max_height>0.0406</max_height>
+         <real_height>0.0406</real_height>
+         <min_mass>0.015</min_mass>
+         <max_mass>0.025</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260325142805</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
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