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Best to let them fall if you can keep an eye on it. I was told they are sometimes grown with nets to catch them so ants do not infest them on the ground. I was also told that they can be picked if they have a strong odor.
Raul , the shell is very hard , so not a problem when they fall but I am not sure if they drop when ripe , Mocambo doesn’t .When are you home this week ?