diff --git a/.gitattributes b/.gitattributes
index 8f8b674bdd1197212d74e13145eaec9cb24edeb8..7dcfe7742d677675a9669c747fb145c70a19385d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5440,3 +5440,5 @@ dataset/food/ingredients/bbfd7934cc715b4d997091483e911911/mesh/egg_007.glb filte
 dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/bd731a77a4585a0c8829c93dfb6b40d0.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mesh/mushroom.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mesh/mushroom_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/garlic_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mesh/garlic_005.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/garlic_005.urdf b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/garlic_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9b5b57e684a2a4321321ad4f05a7859c5384ca89
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/garlic_005.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="garlic_005">
+   <link name="garlic_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/garlic_005.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/garlic_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1000" />
+         <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>bfc94a38c06c5a008cfda9cb3f82ba0c</uuid>
+         <domain>food</domain>
+         <super_category>ingredients</super_category>
+         <category>garlic</category>
+         <name>purple garlic</name>
+         <color>purple,white</color>
+         <shape>irregular</shape>
+         <material>organic</material>
+         <description>bulbous garlic with purple skin and visible cloves</description>
+         <min_height>0.0611</min_height>
+         <max_height>0.0611</max_height>
+         <real_height>0.0611</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.15</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428000930</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/garlic_005.usd b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/garlic_005.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/garlic_005.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af6a85fa8983ed321852441298ba057bbaef0ffd99659b65ac20db8b0b113927
+size 5005852
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mesh/garlic_005.glb b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mesh/garlic_005.glb
new file mode 100644
index 0000000000000000000000000000000000000000..622301a1e8a341f3ce10ac5d3dcf509c267147df
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mesh/garlic_005.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53cad5a03eaf5c9e8ae6a62cceafac8f4ae7e27e79a8cb0700baa96b9759835a
+size 17863432
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mesh/garlic_005.mtl b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mesh/garlic_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b87ef6353bb7f2d8e6517f6148550b531183371
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mesh/garlic_005.mtl
@@ -0,0 +1,6 @@
+newmtl garlic_005_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mesh/garlic_005.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mesh/garlic_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfbdac186fc706e3b7bedcdb11586ff01b89c198
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mesh/garlic_005.obj
@@ -0,0 +1,113476 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl garlic_005_geometry_Looks_material_0
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mesh/garlic_005_collision.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mesh/garlic_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cc1ab312dfa9ceac42e9c14a92c5d7bdcf76619
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mesh/garlic_005_collision.obj
@@ -0,0 +1,55814 @@
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mesh/garlic_005_geometry_Looks_material_0.png b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mesh/garlic_005_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..532e62d68069e59839b6c016ab67027922f2b148
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mesh/garlic_005_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
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+size 14363834
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mesh/material.mtl b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..be465e8048d3bcea59a4d2d605cc9873ba00cfa2
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mesh/material_0.png b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/garlic_005.xml b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/garlic_005.xml
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--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/garlic_005.xml
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+      <geom type="mesh" mesh="collision_mesh_0_80" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_81" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_82" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_86" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_87" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_88" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_89" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85b5c43951e6d86e74b0460d98b0e2082ff5b745
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005.obj
@@ -0,0 +1,113476 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl garlic_005_geometry_Looks_material_0
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5feb62944dafd4382c2c09ba780724471defb63c
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision.obj
@@ -0,0 +1,55814 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_0.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09911648d6d2590f060b9aaab10a39acfa6367aa
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_0.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_1.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f563bd51c23c818e81cabc57aa059b95bccb2651
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_1.obj
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_10.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f195092a55277836649db2df466f4d1bdc928de
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_10.obj
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_11.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2932d652e4fb2b55a456034df5fee7afbde27216
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_11.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_12.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f37529bf0e70a4c94f16dfb5190a05cfa8f50dd
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_12.obj
@@ -0,0 +1,550 @@
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_13.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42ee74548173a442784af84dee7c52a873d5fe4f
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_13.obj
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_14.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eebefa3f011960ce62a21911e431aa9d0ce61fd3
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_14.obj
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_15.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..471dbcabf20fd427ed8d11f3c105df13c45124e2
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_15.obj
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_16.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1218d6ff5ff5598948053b90ebe9f7d006e0b6f
--- /dev/null
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_17.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bf14b098b9c721172bc8c5b51df13872edebc08
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_17.obj
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_18.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33723612375a27a5434b71db3471e060780919d0
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_18.obj
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_19.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e26fab6c707de1d0dbc2e14440a6c64c04821e9
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_19.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_2.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c585573820ed497b285d0a95a42fc3fa29b94eac
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_2.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
+v 0.00064452 0.00300342 0.02772038
+v -0.00036027 0.00297101 0.02772038
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_20.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a49cc7ba932a3218580bb181e40712c8e0dfcfb5
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_20.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_21.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..093efbda486768ca66417a0cb1bcb622636b9f0c
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_21.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_22.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d00391069cb2482ed584aafbeb2052771c84cd30
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_22.obj
@@ -0,0 +1,127 @@
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_23.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a19d8ea7456d312c95a9c9449949ff257d1fe241
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_23.obj
@@ -0,0 +1,1639 @@
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_24.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a8af54c3a2445b25cd70f7341af88069e992248
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_24.obj
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_25.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aceffea0bc4c1c971c5f681eebeef0f8c2f0b4bc
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_25.obj
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_26.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80a018ccefd786ea175360badba96690283a732d
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_26.obj
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_27.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3d03fe228888c7758bc4ac6deeb5e02f7d5a737
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_27.obj
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_28.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41603b3ac9a72f3ac4f26d62e161ae95ac9d50da
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_28.obj
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_29.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a428328d2f263f0d514e9cbf38165e02a15dbd08
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_29.obj
@@ -0,0 +1,1108 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_3.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d9c3acbe82053aec3f6b3367bca1d0add25bbdf
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_3.obj
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+f 102 108 104
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+
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_30.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17a671bae5ed9cb356602b22a35d36b9cdedfaa9
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_30.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00454201 -0.02161392 -0.01874747
+v 0.00454201 -0.02161392 -0.00163144
+v 0.00454201 -0.01533600 -0.01874747
+v 0.00454201 -0.01533600 -0.00163144
+v 0.00554201 -0.02161392 -0.01874747
+v 0.00554201 -0.02161392 -0.00163144
+v 0.00554201 -0.01533600 -0.01874747
+v 0.00554201 -0.01533600 -0.00163144
+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/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_31.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d7dfe7a19e21e001e49f207b2d82b1d43b0b67b
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_31.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00454201 -0.02161001 -0.00163145
+v 0.00454201 -0.02161001 0.02005217
+v 0.00454201 -0.01533544 -0.00163145
+v 0.00454201 -0.01533544 0.02005217
+v 0.00554201 -0.02161001 -0.00163145
+v 0.00554201 -0.02161001 0.02005217
+v 0.00554201 -0.01533544 -0.00163145
+v 0.00554201 -0.01533544 0.02005217
+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/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_32.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11f1054c272b3fba19949e0817e16f8bfab9bd61
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_32.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00329282 -0.00965305 0.01812464
+v 0.00334280 -0.00981911 0.01812464
+v 0.00181334 -0.01080703 0.02329608
+v 0.00114508 -0.00988872 0.02523144
+v 0.00114508 -0.00987234 0.02523144
+v 0.00130662 -0.00965307 0.02501141
+v 0.01296348 -0.00965305 0.01812464
+v 0.00351131 -0.01034339 0.01812464
+v 0.00177150 -0.01080703 0.02371968
+v 0.00109162 -0.00997119 0.02577029
+v 0.00109394 -0.00996949 0.02574784
+v 0.00367518 -0.01080701 0.01812464
+v 0.00109394 -0.00970989 0.02574784
+v 0.00111021 -0.00965307 0.02576805
+v 0.00111486 -0.00965307 0.02574784
+v 0.00445502 -0.00965307 0.02577029
+v 0.01259506 -0.01038271 0.01812464
+v 0.00174361 -0.01080703 0.02430418
+v 0.00109278 -0.00970187 0.02577029
+v 0.00183194 -0.01080703 0.02466416
+v 0.00165180 -0.01036081 0.02577029
+v 0.01238006 -0.01080701 0.01812464
+v 0.00142749 -0.00965307 0.02577029
+v 0.00370191 -0.01012640 0.02577029
+v 0.01243352 -0.01070161 0.01812464
+v 0.00265710 -0.01080703 0.02513565
+v 0.00265710 -0.01053388 0.02577029
+v 0.00367635 -0.01014188 0.02577029
+v 0.00356361 -0.01080703 0.02459231
+v 0.00267221 -0.01052868 0.02577029
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 15
+f 1 15 14
+f 1 14 23
+f 1 23 16
+f 1 16 7
+f 1 7 17
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+f 1 25 22
+f 1 22 12
+f 1 12 8
+f 1 8 2
+f 2 8 3
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 3 8 12
+f 3 12 22
+f 3 22 29
+f 3 29 26
+f 3 26 20
+f 3 20 18
+f 3 18 9
+f 4 11 10
+f 4 10 5
+f 5 10 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 7 16 17
+f 9 18 10
+f 10 19 13
+f 10 18 20
+f 10 20 21
+f 10 21 27
+f 10 27 30
+f 10 30 28
+f 10 28 24
+f 10 24 16
+f 10 16 23
+f 10 23 19
+f 13 19 14
+f 14 19 23
+f 16 24 22
+f 16 22 25
+f 16 25 17
+f 20 26 21
+f 21 26 27
+f 22 24 28
+f 22 28 29
+f 26 29 27
+f 27 29 30
+f 28 30 29
+
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_33.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76f6eb4c9d68859acc4f04b603a7eec0157644a0
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_33.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.00355901 -0.01941714 -0.01668896
+v 0.00355901 -0.01837233 -0.01721712
+v 0.00472621 -0.01805270 -0.01740868
+v 0.00472621 -0.01847342 -0.01717249
+v 0.00472621 -0.01941714 -0.01660899
+v 0.00355901 -0.01941720 -0.00077345
+v 0.00355901 -0.01750652 -0.01756488
+v 0.00456110 -0.01533538 -0.01858029
+v 0.00472621 -0.01533818 -0.01859889
+v 0.00472621 -0.01749813 -0.01768018
+v 0.00472621 -0.01941719 -0.00295863
+v 0.00472621 -0.01706908 0.00039818
+v 0.00413261 -0.01533545 0.00039818
+v 0.00355901 -0.01558956 -0.00074555
+v 0.00355901 -0.01641575 -0.01790521
+v 0.00409330 -0.01533538 -0.01841849
+v 0.00469170 -0.01533538 -0.01859331
+v 0.00472621 -0.01533538 -0.01858401
+v 0.00472621 -0.01533545 0.00039818
+v 0.00379073 -0.01533545 -0.00040522
+v 0.00355901 -0.01543494 -0.00079390
+v 0.00355901 -0.01543247 -0.01818789
+v 0.00373223 -0.01533538 -0.01827715
+v 0.00355901 -0.01542448 -0.01818975
+v 0.00355901 -0.01533545 -0.00095942
+v 0.00355901 -0.01533538 -0.01820463
+v 0.00355901 -0.01536175 -0.01820091
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 6
+f 1 6 14
+f 1 14 21
+f 1 21 25
+f 1 25 26
+f 1 26 27
+f 1 27 24
+f 1 24 22
+f 1 22 15
+f 1 15 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 9
+f 3 9 18
+f 3 18 19
+f 3 19 12
+f 3 12 11
+f 3 11 5
+f 3 5 4
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+f 6 12 13
+f 6 13 14
+f 7 15 8
+f 8 15 16
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+f 8 23 26
+f 8 26 25
+f 8 25 20
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+f 8 13 19
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+f 8 18 17
+f 8 17 9
+f 9 17 18
+f 12 19 13
+f 13 20 21
+f 13 21 14
+f 15 22 16
+f 16 22 24
+f 16 24 23
+f 20 25 21
+f 23 24 27
+f 23 27 26
+
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_34.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d72f4f42eb4ca2a9fac63f13c093436cd6d00b92
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_34.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00454201 -0.02970717 -0.01520224
+v 0.00454201 -0.02970717 0.00126974
+v 0.00454201 -0.02161449 -0.01520224
+v 0.00454201 -0.02161449 0.00126974
+v 0.00554201 -0.02970717 -0.01520224
+v 0.00554201 -0.02970717 0.00126974
+v 0.00554201 -0.02161449 -0.01520224
+v 0.00554201 -0.02161449 0.00126974
+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/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_35.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c7302a0922187cd531e49d831d23907ad89e98b
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_35.obj
@@ -0,0 +1,988 @@
+# https://github.com/mikedh/trimesh
+v -0.01513265 0.00447513 0.01946121
+v -0.01513265 0.00449536 0.01945018
+v -0.01545391 0.00455403 0.01938397
+v -0.01545391 0.00447513 0.01942443
+v -0.01513265 0.00447527 -0.01811322
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+v -0.01645915 0.00546029 0.01842402
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+v -0.02151644 0.00476881 -0.01614182
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+v -0.02124107 0.00642456 -0.01544300
+v -0.02101011 0.00652067 -0.01548713
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+v -0.02143353 0.00652055 0.01543748
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_36.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3673afde7809346265635b396929cbd1f744ea17
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_36.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.01090025 -0.01080701 0.01812464
+v -0.00935827 -0.01080701 0.02034290
+v -0.00686678 -0.00965306 0.02237630
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+v -0.00113819 -0.00965305 0.01812464
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+v -0.00381058 -0.01080703 0.02577029
+v -0.00384886 -0.01074795 0.02577029
+v -0.00401158 -0.01030783 0.02577029
+v -0.00167516 -0.00965307 0.02577029
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+
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_37.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..811430c75d2d008adbad57f245d1dd7d36f0e837
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_37.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00454201 -0.02951074 0.00126973
+v 0.00454201 -0.02951074 0.01382254
+v 0.00454201 -0.02209324 0.00126973
+v 0.00454201 -0.02209324 0.01382254
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+v 0.00554201 -0.02951074 0.01382254
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+v 0.00554201 -0.02209324 0.01382254
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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/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_38.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e17fe666f1ca23a4bd4fbd2992d39b78a67018ed
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_38.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+v 0.01391471 0.00191427 0.02104714
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+
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_39.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..154e15ae42b7e8011851e11f501e8b3af6c389c5
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_39.obj
@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_4.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c5c35baaf940c158b3dbac21a88d717ce3804dd
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_4.obj
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_40.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8055c76bc001714af928fccfbd2201eac4e25c99
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_40.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_41.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaef356a1263f5d7d7e163fff628c3a95075d536
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_41.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_42.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50fe8b0ed1c5e7f2d8cbcbe14fdac9e5c02f32e6
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_42.obj
@@ -0,0 +1,571 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_43.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8f84adbcb39860e1cf51d9adb975b4a0958faed
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_43.obj
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_44.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f889f0cf88dc27a289873e7a62b647db17181ea4
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_44.obj
@@ -0,0 +1,97 @@
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_45.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0191b16f406696dd4d635f59f5f0a2d616bc7674
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_45.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_46.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa977863ee72a4d1a60073e321f011a724582842
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_46.obj
@@ -0,0 +1,676 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_47.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..264e540db775a44628940068f02479e80c33212a
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_47.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_48.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ceb5961dfe9f27470bd285e987ccc20076293b8
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_48.obj
@@ -0,0 +1,184 @@
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_49.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf81cb9bde5f529d98864a0945a27180ec94e60b
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_49.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_5.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ae8caced87e4de71351dc669d373c02ab58e40f
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_5.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_50.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51213e2dcd36d0ef5692ef64d90d105c5deb7d90
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_50.obj
@@ -0,0 +1,547 @@
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_51.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d17569dc14fceb54fcc0bef079c63fc267dd039e
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_51.obj
@@ -0,0 +1,1129 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_52.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41f0397e7ce0cfee5bff35a18b554aa001ceedb1
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_52.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_53.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc39f2a50f0dba90029d56b694020c08aa6f7366
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_53.obj
@@ -0,0 +1,1384 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_54.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a7d54de91144e867cfb37faf46012af11c610ad
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_54.obj
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_55.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bb4ed3444f8e325ecc6b0ae9eef739ff19a4cce
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_55.obj
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_56.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1a98933e9eb5523f7c330a51259de1d6553f582
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_56.obj
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_57.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67e196a53e1dee7877b7cacee43ca72eb9891c7b
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_57.obj
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_58.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bfe4ac341a0bcd9b127a24f2ddf7622d700335d
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_58.obj
@@ -0,0 +1,427 @@
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_59.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc64ea02f2d2da302d5ab6a953c1e9c5284cce17
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_59.obj
@@ -0,0 +1,730 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_6.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca66c580cf7913106772f54ec8c7714571a010b2
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_6.obj
@@ -0,0 +1,343 @@
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_60.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bfb34e465a6f25aaa6e0025919717236bbdd692
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_60.obj
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+
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_61.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76431c80f3ad3ec4975f636747cd262a1a68de6d
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_61.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.00758574 -0.00965216 0.02055280
+v -0.00757156 -0.00965293 0.02064015
+v -0.00757333 -0.00965293 0.02069633
+v -0.00748292 -0.00955805 0.02055280
+v -0.00748587 -0.00965293 0.02055280
+v -0.00609181 -0.00833791 0.02055281
+v -0.00729086 -0.00965293 0.02160243
+v -0.00547722 -0.00833792 0.02479576
+v -0.00578215 -0.00833791 0.02270672
+v -0.00179793 -0.00965293 0.02055280
+v -0.00163246 -0.00833791 0.02055281
+v -0.00686714 -0.00965293 0.02237726
+v -0.00512383 -0.00833792 0.02577030
+v -0.00513387 -0.00833792 0.02575089
+v -0.00167501 -0.00965294 0.02577029
+v -0.00154855 -0.00833792 0.02577030
+v -0.00422557 -0.00965294 0.02577029
+f 1 2 3
+f 1 3 4
+f 1 4 6
+f 1 6 11
+f 1 11 10
+f 1 10 5
+f 1 5 2
+f 2 5 10
+f 2 10 15
+f 2 15 17
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+f 7 13 14
+f 7 14 8
+f 10 11 15
+f 11 16 15
+f 12 17 13
+f 13 17 15
+f 13 15 16
+
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_62.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a6fe07aee10c7457288a471b25d25b9127c3bc6
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_62.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.01264192 0.00652056 0.01410932
+v -0.01315513 0.00652056 0.01410932
+v -0.01264192 0.00624244 0.01410932
+v -0.01264192 0.00652068 -0.01915506
+v -0.01513241 0.00479173 0.01410932
+v -0.01513241 0.00652058 0.00794840
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+v -0.01264192 0.00447516 0.01083839
+v -0.01264192 0.00447527 -0.01944077
+v -0.01451021 0.00652068 -0.01829792
+v -0.01513241 0.00447515 0.01410932
+v -0.01513241 0.00652068 -0.01798593
+v -0.01513241 0.00447527 -0.01811072
+v -0.01466089 0.00652068 -0.01822567
+f 1 2 5
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+f 5 13 11
+f 7 11 13
+f 7 13 9
+f 7 9 8
+f 9 13 12
+f 9 12 14
+f 9 14 10
+
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_63.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1a40aac1639b08553487b547c14afc86c1d523a
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_63.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.01421934 -0.01141090 0.01530669
+v -0.01421934 -0.01096363 0.01441480
+v -0.01432626 -0.01141090 0.01515389
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+v -0.01421934 -0.01084364 0.01416744
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+v -0.01605826 -0.01141088 0.01223987
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+v -0.01474495 -0.01103648 0.01376608
+v -0.01589913 -0.01141089 0.01256739
+v -0.01560051 -0.01116790 0.01256739
+v -0.01568151 -0.01110447 0.01223987
+v -0.01497806 -0.01053636 0.01223987
+v -0.01495934 -0.01087835 0.01309033
+v -0.01421934 -0.01001668 0.01239147
+v -0.01540070 -0.01141089 0.01350010
+v -0.01442454 -0.01067050 0.01348929
+v -0.01421934 -0.01042295 0.01328426
+v -0.01577079 -0.01141089 0.01282646
+v -0.01509758 -0.01076693 0.01256739
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+f 1 7 4
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+f 16 21 18
+
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_64.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff9dd7c7ec4c4f9b85eb4a087a7a5f41630dfe90
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_64.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.01266027 0.00672457 0.02065149
+v -0.01329762 0.00672458 0.02035729
+v -0.01327775 0.00652089 0.02035447
+v -0.01266027 0.00652088 0.02063927
+v -0.01266027 0.00773072 0.02048043
+v -0.01310565 0.00803634 0.02024732
+v -0.01316347 0.00773073 0.02027364
+v -0.01366666 0.00773073 0.02004336
+v -0.01444674 0.00773073 0.01962978
+v -0.01380081 0.00672458 0.02008188
+v -0.01376152 0.00652089 0.02001139
+v -0.01266027 0.00652092 0.01104903
+v -0.01266027 0.00803633 0.02042497
+v -0.01358626 0.00803634 0.02002738
+v -0.01447249 0.00803634 0.01957056
+v -0.01505744 0.00803634 0.01923312
+v -0.01508003 0.00773073 0.01925192
+v -0.01505112 0.00703420 0.01923688
+v -0.01450004 0.00670901 0.01953954
+v -0.01441558 0.00652089 0.01950946
+v -0.01329310 0.00652092 0.01104903
+v -0.01266027 0.00803637 0.01104904
+v -0.01552947 0.00803634 0.01884869
+v -0.01615823 0.00803634 0.01832702
+v -0.01558322 0.00773073 0.01882519
+v -0.01613836 0.00773073 0.01831856
+v -0.01601685 0.00715778 0.01822081
+v -0.01504163 0.00652089 0.01863155
+v -0.01589444 0.00803637 0.01104904
+v -0.01512203 0.00652089 0.01819636
+v -0.01545223 0.00674343 0.01763615
+v -0.01606067 0.00715126 0.01689267
+v -0.01724773 0.00803635 0.01564912
+v -0.01703317 0.00803635 0.01734384
+v -0.01718585 0.00803635 0.01691899
+v -0.01725315 0.00800371 0.01662290
+v -0.01608054 0.00711788 0.01763616
+v -0.01726987 0.00803635 0.01604202
+v -0.01727438 0.00803635 0.01662290
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+f 35 39 36
+f 36 39 38
+f 36 38 37
+
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_65.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34e090e9429447849d86182060162a235167f97b
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_65.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v -0.00035263 -0.00424845 0.02372273
+v -0.00035263 -0.00523019 0.02372273
+v -0.00035263 -0.00424844 0.02101946
+v -0.00326871 -0.00424845 0.02372273
+v -0.00035263 -0.00467103 0.02101946
+v -0.00147239 -0.00738333 0.02372272
+v -0.00147239 -0.00738333 0.02372007
+v -0.00148182 -0.00738332 0.02101945
+v -0.00379677 -0.00424844 0.02101946
+v -0.00378309 -0.00424844 0.02110149
+v -0.00486277 -0.00738333 0.02372272
+v -0.00516923 -0.00738332 0.02101945
+f 1 2 5
+f 1 5 3
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+f 1 9 10
+f 1 10 4
+f 1 4 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 5 8
+f 3 8 12
+f 3 12 9
+f 4 10 11
+f 6 11 12
+f 6 12 8
+f 6 8 7
+f 9 12 11
+f 9 11 10
+
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_66.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5f398772bd6cab4c546f39466d656dd49e650ab
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_66.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.01264192 0.00568415 0.02070574
+v -0.01264192 0.00538139 0.02061469
+v -0.01264192 0.00652053 0.02064826
+v -0.01327777 0.00652054 0.02035509
+v -0.01513241 0.00447513 0.01946072
+v -0.01264192 0.00494868 0.02046358
+v -0.01264192 0.00652056 0.01410932
+v -0.01376148 0.00652054 0.02001090
+v -0.01445438 0.00447513 0.01954983
+v -0.01441513 0.00652054 0.01950979
+v -0.01504171 0.00652054 0.01863221
+v -0.01513241 0.00449536 0.01945103
+v -0.01513241 0.00447515 0.01410932
+v -0.01414938 0.00447513 0.01947234
+v -0.01264192 0.00472603 0.01966413
+v -0.01264192 0.00624244 0.01410932
+v -0.01315513 0.00652056 0.01410932
+v -0.01512217 0.00652054 0.01819632
+v -0.01513241 0.00454922 0.01942391
+v -0.01513241 0.00479173 0.01410932
+v -0.01456263 0.00447515 0.01410932
+v -0.01392947 0.00447513 0.01865029
+v -0.01264192 0.00476768 0.01945232
+v -0.01493566 0.00652055 0.01760998
+v -0.01513241 0.00510348 0.01763645
+v -0.01513241 0.00501537 0.01867548
+f 1 2 6
+f 1 6 15
+f 1 15 23
+f 1 23 16
+f 1 16 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 17
+f 3 17 24
+f 3 24 18
+f 3 18 11
+f 3 11 10
+f 3 10 8
+f 3 8 4
+f 4 8 5
+f 5 9 6
+f 5 8 10
+f 5 10 11
+f 5 11 12
+f 5 12 19
+f 5 19 26
+f 5 26 25
+f 5 25 20
+f 5 20 13
+f 5 13 21
+f 5 21 22
+f 5 22 14
+f 5 14 9
+f 6 9 14
+f 6 14 15
+f 7 16 21
+f 7 21 13
+f 7 13 20
+f 7 20 17
+f 11 18 19
+f 11 19 12
+f 14 22 15
+f 15 22 21
+f 15 21 23
+f 16 23 21
+f 17 20 24
+f 18 25 26
+f 18 26 19
+f 18 24 20
+f 18 20 25
+
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_67.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74e88ef98782f2abeec2cbbef60a9a6fa2ceb11a
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_67.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.02149270 -0.00738360 0.01649585
+v -0.02136456 -0.00761452 0.01649585
+v -0.02142185 -0.00738360 0.01655849
+v -0.01344719 -0.00738360 0.01649585
+v -0.02107211 -0.00813595 0.01649585
+v -0.02081433 -0.00757024 0.01699609
+v -0.02122135 -0.00738360 0.01673280
+v -0.01487781 -0.00856789 0.01649585
+v -0.00609211 -0.00738363 0.02442795
+v -0.00609211 -0.00806318 0.02476114
+v -0.02091533 -0.00838843 0.01649585
+v -0.02048117 -0.00841869 0.01683448
+v -0.02014500 -0.00811578 0.01725392
+v -0.02059574 -0.00738360 0.01724212
+v -0.01243415 -0.00856790 0.01994668
+v -0.02079925 -0.00856789 0.01649585
+v -0.00609211 -0.00738363 0.02576979
+v -0.00609211 -0.00798551 0.02508162
+v -0.01459590 -0.00856791 0.02070930
+v -0.01360849 -0.00856791 0.02089723
+v -0.01213718 -0.00856791 0.02097621
+v -0.01205577 -0.00856791 0.02068297
+v -0.02064097 -0.00856789 0.01662477
+v -0.02025203 -0.00856789 0.01693617
+v -0.01968823 -0.00856789 0.01735379
+v -0.01945758 -0.00834531 0.01762706
+v -0.01899780 -0.00790423 0.01816180
+v -0.01965506 -0.00738361 0.01791939
+v -0.01967164 -0.00738361 0.01790759
+v -0.02044198 -0.00738360 0.01735651
+v -0.00609211 -0.00776189 0.02576979
+v -0.00669210 -0.00738363 0.02576979
+v -0.00609211 -0.00791967 0.02535217
+v -0.01523508 -0.00856790 0.02040516
+v -0.00609211 -0.00788628 0.02545294
+v -0.00609211 -0.00776444 0.02576344
+v -0.01877921 -0.00856790 0.01798839
+v -0.01915156 -0.00738361 0.01826076
+v -0.00636346 -0.00761027 0.02576979
+v -0.01848675 -0.00738361 0.01866658
+v -0.00638005 -0.00760088 0.02576979
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 30
+f 1 30 29
+f 1 29 28
+f 1 28 38
+f 1 38 40
+f 1 40 32
+f 1 32 17
+f 1 17 9
+f 1 9 4
+f 1 4 8
+f 1 8 16
+f 1 16 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 9 10
+f 4 10 8
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 8 10 15
+f 8 15 22
+f 8 22 21
+f 8 21 20
+f 8 20 19
+f 8 19 34
+f 8 34 37
+f 8 37 25
+f 8 25 24
+f 8 24 23
+f 8 23 16
+f 9 17 31
+f 9 31 36
+f 9 36 35
+f 9 35 33
+f 9 33 18
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 15
+f 11 16 12
+f 12 23 24
+f 12 24 13
+f 12 16 23
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 30
+f 13 30 14
+f 17 32 41
+f 17 41 39
+f 17 39 31
+f 18 33 19
+f 19 33 35
+f 19 35 36
+f 19 36 31
+f 19 31 34
+f 25 37 26
+f 26 37 27
+f 27 38 28
+f 27 37 34
+f 27 34 38
+f 31 39 34
+f 32 40 34
+f 32 34 41
+f 34 40 38
+f 34 39 41
+
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_68.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80aeaf007a2c4f849f74d0dd2dfc71cb8466ac7d
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_68.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00770782 -0.00424844 0.02101946
+v 0.00063422 -0.00424844 0.02101946
+v 0.00770782 -0.00738332 0.02101945
+v 0.00770782 -0.00424828 -0.02207617
+v 0.00059173 -0.00424844 0.02101512
+v 0.00059173 -0.00426409 0.02101946
+v 0.00260619 -0.00738332 0.02101945
+v 0.00770782 -0.00738316 -0.02145142
+v 0.00770782 -0.00425104 -0.02208485
+v 0.00767926 -0.00424828 -0.02209353
+v 0.00059173 -0.00424828 -0.02302199
+v 0.00059173 -0.00426747 0.02101946
+v 0.00059173 -0.00738329 0.01256346
+v 0.00470355 -0.00738316 -0.02216729
+v 0.00430024 -0.00696794 -0.02246232
+v 0.00466872 -0.00434495 -0.02299162
+v 0.00770782 -0.00723370 -0.02148613
+v 0.00761379 -0.00424828 -0.02211522
+v 0.00770782 -0.00436551 -0.02206749
+v 0.00165748 -0.00424827 -0.02316950
+v 0.00059173 -0.00434495 -0.02302199
+v 0.00059173 -0.00738316 -0.02266190
+v 0.00366358 -0.00738316 -0.02241026
+v 0.00366358 -0.00713212 -0.02249703
+v 0.00366358 -0.00635722 -0.02273998
+v 0.00360994 -0.00424827 -0.02329532
+v 0.00459140 -0.00424828 -0.02302199
+v 0.00466872 -0.00424828 -0.02300030
+v 0.00652645 -0.00424828 -0.02244495
+v 0.00770782 -0.00535124 -0.02188093
+v 0.00770782 -0.00537272 -0.02187659
+v 0.00770782 -0.00635845 -0.02167702
+v 0.00274620 -0.00424827 -0.02330400
+v 0.00059173 -0.00535124 -0.02295691
+v 0.00059173 -0.00738224 -0.02268359
+v 0.00064398 -0.00738316 -0.02267925
+v 0.00278312 -0.00738316 -0.02252306
+v 0.00265704 -0.00635722 -0.02282675
+v 0.00266819 -0.00738316 -0.02253608
+v 0.00265704 -0.00535124 -0.02308707
+v 0.00059173 -0.00736352 -0.02268793
+v 0.00059173 -0.00635722 -0.02286580
+v 0.00067184 -0.00738316 -0.02267925
+v 0.00165121 -0.00738316 -0.02262285
+f 1 2 6
+f 1 6 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 32
+f 1 32 31
+f 1 31 30
+f 1 30 19
+f 1 19 9
+f 1 9 4
+f 1 4 10
+f 1 10 18
+f 1 18 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 33
+f 1 33 20
+f 1 20 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 13
+f 3 13 22
+f 3 22 36
+f 3 36 43
+f 3 43 44
+f 3 44 39
+f 3 39 37
+f 3 37 23
+f 3 23 14
+f 3 14 8
+f 4 9 10
+f 5 11 21
+f 5 21 34
+f 5 34 42
+f 5 42 41
+f 5 41 35
+f 5 35 22
+f 5 22 13
+f 5 13 12
+f 5 12 6
+f 7 12 13
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 9 18 10
+f 9 19 18
+f 11 20 21
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 19
+f 16 19 30
+f 16 30 31
+f 16 31 32
+f 16 32 17
+f 18 19 29
+f 20 33 34
+f 20 34 21
+f 22 35 36
+f 23 37 24
+f 24 37 25
+f 25 38 26
+f 25 37 39
+f 25 39 38
+f 26 38 40
+f 26 40 33
+f 33 40 41
+f 33 41 42
+f 33 42 34
+f 35 43 36
+f 35 41 40
+f 35 40 43
+f 38 39 44
+f 38 44 40
+f 40 44 43
+
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_69.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1d0a31fd80622b3edfdf862f9818e072cc52604
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_69.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v -0.00035318 -0.00424845 0.02577011
+v -0.00035318 -0.00609347 0.02577011
+v -0.00035318 -0.00424845 0.02372273
+v -0.00597386 -0.00424845 0.02577011
+v -0.00035318 -0.00523019 0.02372273
+v -0.00114615 -0.00738333 0.02577010
+v -0.00147248 -0.00738333 0.02372272
+v -0.00326863 -0.00424845 0.02372273
+v -0.00597386 -0.00424845 0.02392436
+v -0.00597386 -0.00738333 0.02577010
+v -0.00486282 -0.00738333 0.02372272
+v -0.00597386 -0.00738333 0.02447052
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 11
+f 3 11 8
+f 4 9 12
+f 4 12 10
+f 6 10 12
+f 6 12 11
+f 6 11 7
+f 8 11 9
+f 9 11 12
+
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_7.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60285d4bce85b4321e67efbde432be9395a94266
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_7.obj
@@ -0,0 +1,2116 @@
+# https://github.com/mikedh/trimesh
+v 0.00079451 0.01261175 -0.02189724
+v 0.00164569 0.01261175 -0.02187639
+v -0.00020718 0.01261175 -0.02187639
+v 0.00064400 0.01276253 -0.02184720
+v 0.00164569 0.01276253 -0.02182217
+v 0.00336362 0.01332645 -0.02143848
+v 0.00265258 0.01261175 -0.02170123
+v -0.00035769 0.01276253 -0.02182634
+v -0.00136457 0.01261175 -0.02183468
+v -0.00136457 0.01276253 -0.02179298
+v -0.00035769 0.01344833 -0.02157194
+v 0.00668011 0.01517904 -0.01898202
+v 0.00768699 0.01517904 -0.01880686
+v 0.00869907 0.01517904 -0.01856080
+v 0.00930112 0.01517904 -0.01839398
+v 0.00948277 0.01517904 -0.01832725
+v 0.00977861 0.01517904 -0.01821464
+v 0.01070245 0.01517904 -0.01784763
+v 0.00420961 0.01261175 -0.02135090
+v 0.00368022 0.01261175 -0.02148019
+v 0.00064400 0.01389716 -0.02112986
+v 0.00064400 0.01448973 -0.02062523
+v -0.00237146 0.01261175 -0.02178464
+v -0.00237146 0.01276253 -0.02173876
+v -0.00136457 0.01343451 -0.02154275
+v 0.00567323 0.01517904 -0.01909880
+v 0.01121627 0.01517903 -0.01761408
+v 0.01149654 0.01517903 -0.01748480
+v 0.01155882 0.01477494 -0.01751817
+v 0.01163667 0.01376898 -0.01755571
+v 0.01214011 0.01376898 -0.01730130
+v 0.01163667 0.01276251 -0.01755988
+v 0.01162629 0.01261173 -0.01755571
+v -0.00035769 0.01449425 -0.02057518
+v -0.00331087 0.01517904 -0.01931150
+v 0.00465077 0.01517904 -0.01916136
+v -0.00332644 0.01261175 -0.02169706
+v -0.00331606 0.01280249 -0.02162199
+v -0.00237146 0.01334907 -0.02146351
+v -0.01140226 0.01517904 -0.01864421
+v -0.01042133 0.01517904 -0.01876098
+v 0.01179757 0.01517903 -0.01733466
+v 0.01206226 0.01477494 -0.01726377
+v 0.01213492 0.01276251 -0.01730130
+v 0.02071419 0.01261172 -0.01249684
+v 0.01212973 0.01261173 -0.01729713
+v -0.00337834 0.01517904 -0.01930733
+v -0.00941445 0.01517904 -0.01884440
+v -0.00387659 0.01261175 -0.02157194
+v -0.00293718 0.01328222 -0.02140929
+v -0.01283474 0.01517904 -0.01840232
+v -0.01239358 0.01517904 -0.01848573
+v -0.01190570 0.01517904 -0.01856497
+v 0.01199998 0.01517903 -0.01723039
+v 0.01238924 0.01517903 -0.01700936
+v 0.01271622 0.01477494 -0.01688842
+v 0.01285635 0.01261173 -0.01689259
+v 0.02176259 0.01261171 -0.01178368
+v 0.01275255 0.01517903 -0.01680083
+v 0.01337536 0.01517903 -0.01642965
+v 0.01363487 0.01517903 -0.01625866
+v -0.01450595 0.01261174 -0.01855664
+v -0.01452153 0.01281806 -0.01852744
+v -0.01419974 0.01376899 -0.01843986
+v -0.01399213 0.01432462 -0.01837313
+v -0.01316690 0.01517904 -0.01832308
+v 0.02226603 0.01261171 -0.01132909
+v 0.01383728 0.01517903 -0.01611686
+v 0.01458466 0.01517903 -0.01558720
+v 0.01508810 0.01517903 -0.01519934
+v 0.01619359 0.01517902 -0.01426097
+v -0.01489002 0.01261174 -0.01843569
+v -0.01490559 0.01319049 -0.01834394
+v -0.01470318 0.01376899 -0.01827721
+v -0.01437620 0.01470609 -0.01812290
+v -0.01343679 0.01506520 -0.01828554
+v -0.01343679 0.01517904 -0.01824384
+v 0.02263453 0.01261171 -0.01098710
+v 0.01721086 0.01517902 -0.01324753
+v -0.01516510 0.01261174 -0.01833560
+v -0.01541423 0.01281806 -0.01820214
+v -0.01545056 0.01376899 -0.01799361
+v -0.01554398 0.01486465 -0.01763078
+v -0.01484850 0.01517904 -0.01778091
+v -0.01443848 0.01517904 -0.01792687
+v 0.02273834 0.01273786 -0.01070768
+v 0.02299265 0.01261171 -0.01060341
+v 0.01814508 0.01517901 -0.01214233
+v 0.02330406 0.01328267 -0.00926050
+v 0.02300822 0.01306682 -0.00993613
+v -0.01546094 0.01261174 -0.01820631
+v -0.01645744 0.01276252 -0.01774338
+v -0.01648858 0.01372877 -0.01753485
+v -0.01617198 0.01458898 -0.01744727
+v -0.01542461 0.01517903 -0.01756404
+v -0.01585539 0.01517903 -0.01739722
+v 0.02329887 0.01261171 -0.01026977
+v 0.01852915 0.01517901 -0.01163353
+v 0.02349609 0.01340657 -0.00872250
+v 0.02421233 0.01320854 -0.00810526
+v 0.02399953 0.01302660 -0.00872250
+v 0.02386459 0.01261171 -0.00956495
+v 0.02370370 0.01269991 -0.00963585
+v 0.02362584 0.01261171 -0.00986523
+v 0.01883018 0.01517901 -0.01122064
+v -0.01633807 0.01261174 -0.01781428
+v -0.01645744 0.01261174 -0.01776006
+v -0.01699721 0.01261173 -0.01748481
+v -0.01709063 0.01276251 -0.01741808
+v -0.01700240 0.01336664 -0.01736803
+v -0.01684151 0.01403737 -0.01728045
+v -0.01605261 0.01517903 -0.01730546
+v -0.01648858 0.01486465 -0.01719704
+v 0.02441475 0.01337138 -0.00742963
+v 0.01903259 0.01517901 -0.01094122
+v 0.01924020 0.01517901 -0.01064094
+v 0.01938033 0.01517901 -0.01043658
+v 0.02482995 0.01280796 -0.00778413
+v 0.02464311 0.01261170 -0.00843056
+v 0.02451336 0.01261170 -0.00864326
+v 0.02446146 0.01261170 -0.00872250
+v 0.02421233 0.01261170 -0.00908951
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+v -0.01759407 0.01276251 -0.01711363
+v -0.01823246 0.01376898 -0.01650473
+v -0.01738647 0.01372877 -0.01704273
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_70.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b6d903ec67edcc252e0d280c0177ba645707804
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_70.obj
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_71.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7919664535f2ecf3b4c3f28e111d9a464c9ffe2b
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_71.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.01397087 -0.00424844 0.02101946
+v 0.00770782 -0.00424844 0.02101946
+v 0.01397087 -0.00497301 0.02101946
+v 0.01397087 -0.00424829 -0.01880823
+v 0.00770782 -0.00738332 0.02101945
+v 0.00770782 -0.00424828 -0.02207833
+v 0.01390955 -0.00502088 0.02101946
+v 0.01397087 -0.00534864 0.02082115
+v 0.01397087 -0.00738317 -0.01903609
+v 0.01150918 -0.00535124 -0.02155089
+v 0.01207571 -0.00424828 -0.02084624
+v 0.01065694 -0.00738332 0.02101945
+v 0.00770782 -0.00738316 -0.02145386
+v 0.01078692 -0.00424828 -0.02157199
+v 0.00770782 -0.00425104 -0.02208677
+v 0.01397087 -0.00601795 0.02034013
+v 0.01048772 -0.00738316 -0.02145808
+v 0.01119710 -0.00685561 -0.02138634
+v 0.01136326 -0.00618475 -0.02150448
+v 0.01397087 -0.00738330 0.01626832
+v 0.01145461 -0.00455609 -0.02149182
+v 0.01132647 -0.00424828 -0.02144119
+v 0.01079305 -0.00738332 0.02090553
+v 0.00770782 -0.00723370 -0.02148761
+v 0.00989667 -0.00738316 -0.02145808
+v 0.00770782 -0.00434495 -0.02206989
+v 0.01139330 -0.00738331 0.02035699
+v 0.01140250 -0.00738331 0.02034856
+v 0.01190648 -0.00738331 0.01987176
+v 0.01237430 -0.00738331 0.01936542
+v 0.01288687 -0.00738331 0.01861013
+v 0.01292611 -0.00738331 0.01854262
+v 0.00770782 -0.00635845 -0.02167748
+v 0.00770782 -0.00537272 -0.02187580
+v 0.00770782 -0.00535124 -0.02188002
+f 1 2 5
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+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 20
+f 1 20 9
+f 1 9 4
+f 1 4 11
+f 1 11 22
+f 1 22 14
+f 1 14 6
+f 1 6 2
+f 2 6 15
+f 2 15 26
+f 2 26 35
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+f 2 24 13
+f 2 13 5
+f 3 7 8
+f 4 9 10
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+f 14 21 15
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+f 16 30 31
+f 16 31 32
+f 16 32 20
+f 17 25 33
+f 17 33 34
+f 17 34 35
+f 17 35 26
+f 17 19 18
+f 24 33 25
+
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_72.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..492e7899919fb3303faa533b6f1b2901854d7457
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_72.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00330870 -0.01941725 0.00147888
+v 0.00330870 -0.01941725 0.01456707
+v 0.00330870 -0.01533546 0.00147888
+v 0.00330870 -0.01533546 0.01456707
+v 0.00430870 -0.01941725 0.00147888
+v 0.00430870 -0.01941725 0.01456707
+v 0.00430870 -0.01533546 0.00147888
+v 0.00430870 -0.01533546 0.01456707
+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/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_73.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a72ebe5f0ee827758c3051d9482ffa427dfca59
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_73.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00389239 -0.01941725 0.00039818
+v 0.00389239 -0.01941725 0.01589224
+v 0.00389239 -0.01533545 0.00039818
+v 0.00389239 -0.01533545 0.01589224
+v 0.00489239 -0.01941725 0.00039818
+v 0.00489239 -0.01941725 0.01589224
+v 0.00489239 -0.01533545 0.00039818
+v 0.00489239 -0.01533545 0.01589224
+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/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_74.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3c4021b162153def20fdc6e107bc5c5bbaa0348
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_74.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.00680189 -0.00738316 -0.02224710
+v -0.00939313 -0.00738316 -0.02154481
+v -0.00680189 -0.00738040 -0.02229074
+v -0.00680189 -0.00738331 0.01793833
+v -0.00952537 -0.00738316 -0.02147339
+v -0.00952537 -0.00724291 -0.02152497
+v -0.00942272 -0.00731257 -0.02154877
+v -0.00840985 -0.00635722 -0.02204076
+v -0.00680189 -0.00736352 -0.02229471
+v -0.00680189 -0.00424842 0.01722811
+v -0.00735272 -0.00424843 0.01795421
+v -0.00952537 -0.00517892 0.01795421
+v -0.00855596 -0.00738330 0.01569258
+v -0.00952537 -0.00738329 0.01440702
+v -0.00952537 -0.00715606 -0.02154084
+v -0.00941606 -0.00635722 -0.02171938
+v -0.00941606 -0.00535124 -0.02187412
+v -0.00840985 -0.00535124 -0.02212805
+v -0.00680189 -0.00424828 -0.02257641
+v -0.00680189 -0.00722787 -0.02231455
+v -0.00952537 -0.00424843 0.01795421
+v -0.00939500 -0.00738329 0.01458557
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+v -0.00941606 -0.00434495 -0.02189396
+v -0.00952537 -0.00535124 -0.02182254
+v -0.00952537 -0.00522388 -0.02183047
+v -0.00941606 -0.00424828 -0.02188602
+v -0.00952537 -0.00424828 -0.02184635
+v -0.00952537 -0.00434495 -0.02184635
+v -0.00950804 -0.00424828 -0.02185428
+f 1 2 3
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+f 1 13 22
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+f 2 6 7
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+f 17 23 25
+f 17 25 26
+f 17 26 24
+f 19 24 27
+f 24 26 29
+f 24 29 30
+f 24 30 27
+f 28 30 29
+
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_75.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b847c6f007725eba3bae475edb159b089455d89b
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_75.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00059173 -0.00426409 0.02101946
+v 0.00059173 -0.00426747 0.02101946
+v 0.00059173 -0.00424844 0.02101509
+v 0.00059101 -0.00424844 0.02101946
+v -0.00148175 -0.00738332 0.02101945
+v 0.00021539 -0.00738329 0.01436808
+v 0.00038837 -0.00738329 0.01358042
+v 0.00058667 -0.00738329 0.01258709
+v 0.00059173 -0.00738329 0.01256083
+v 0.00059173 -0.00424828 -0.02301964
+v -0.00379624 -0.00424844 0.02101946
+v -0.00516916 -0.00738332 0.02101945
+v 0.00059173 -0.00738316 -0.02266520
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+v -0.00229595 -0.00440079 -0.02362351
+v -0.00229305 -0.00424827 -0.02361914
+v -0.00680189 -0.00424842 0.01722555
+v -0.00680189 -0.00738331 0.01793882
+v -0.00134786 -0.00738316 -0.02281836
+v 0.00059173 -0.00738224 -0.02268270
+v 0.00059173 -0.00535124 -0.02295838
+v -0.00335115 -0.00539266 -0.02368478
+v -0.00346767 -0.00424827 -0.02366727
+v 0.00059173 -0.00635722 -0.02286648
+v -0.00680189 -0.00424828 -0.02257330
+v -0.00680189 -0.00738316 -0.02224949
+v -0.00235385 -0.00738316 -0.02284461
+v -0.00438536 -0.00670247 -0.02330407
+v -0.00438536 -0.00619917 -0.02359726
+v 0.00059173 -0.00736352 -0.02268708
+v -0.00440562 -0.00534509 -0.02364539
+v -0.00435351 -0.00424827 -0.02350974
+v -0.00663833 -0.00424828 -0.02266957
+v -0.00503527 -0.00615589 -0.02352287
+v -0.00680189 -0.00722787 -0.02231513
+v -0.00680189 -0.00738040 -0.02228887
+v -0.00670057 -0.00738316 -0.02232826
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+v -0.00545358 -0.00738316 -0.02274834
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+v -0.00487749 -0.00424827 -0.02339159
+v -0.00647549 -0.00424828 -0.02275271
+v -0.00556576 -0.00738316 -0.02272646
+v -0.00619758 -0.00738316 -0.02259081
+v -0.00620482 -0.00736352 -0.02259519
+v -0.00680189 -0.00736352 -0.02229325
+v -0.00540075 -0.00424827 -0.02319030
+f 1 2 9
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+f 1 30 24
+f 1 24 21
+f 1 21 14
+f 1 14 10
+f 1 10 3
+f 1 3 4
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+f 1 12 5
+f 1 5 2
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+f 25 34 35
+f 26 36 37
+f 27 38 28
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+f 29 34 31
+f 31 40 41
+f 31 41 32
+f 31 34 40
+f 33 42 40
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+f 34 43 44
+f 34 44 45
+f 34 45 36
+f 34 36 46
+f 34 46 35
+f 36 45 44
+f 36 44 37
+f 40 42 47
+f 40 47 41
+
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_76.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f013e30f78843c91b6df98faf5da8797e7dd76d
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_76.obj
@@ -0,0 +1,757 @@
+# https://github.com/mikedh/trimesh
+v -0.01404640 -0.00856813 0.02081026
+v -0.01459637 -0.00856813 0.02070890
+v -0.01516698 -0.00965305 0.02036349
+v -0.01404640 -0.00906221 0.02068262
+v -0.01404640 -0.00856799 -0.01754406
+v -0.01523628 -0.00856812 0.02040479
+v -0.01520826 -0.00937648 0.02041230
+v -0.01465092 -0.00965306 0.02043857
+v -0.01969058 -0.00856811 0.01735252
+v -0.02025382 -0.00856811 0.01693203
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+v -0.02101463 -0.00891244 0.01613987
+v -0.02044845 -0.00929925 0.01635762
+v -0.01961096 -0.00965304 0.01681188
+v -0.01449758 -0.00965306 0.02043857
+v -0.01404640 -0.00913773 0.02063756
+v -0.01404640 -0.00870755 -0.01750276
+v -0.01421154 -0.00856799 -0.01753280
+v -0.01878085 -0.00856812 0.01798700
+v -0.02064307 -0.00856811 0.01662042
+v -0.02112079 -0.00856811 0.01622997
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+v -0.01545302 -0.00856799 -0.01739389
+v -0.01404640 -0.00965292 -0.01709355
+v -0.02214259 -0.00856811 0.01525384
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+v -0.02281788 -0.00856810 0.01454427
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+v -0.02242125 -0.00926451 0.01451424
+v -0.02127119 -0.00965304 0.01538523
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+v -0.01575971 -0.00856799 -0.01734133
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+v -0.02397385 -0.00881100 0.01303127
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+v -0.01651610 -0.00946121 -0.01665053
+v -0.01646007 -0.00861398 -0.01719115
+v -0.02380871 -0.00937646 0.01282478
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_77.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..605c0f22841d3d7150b2ac248a2ae941272a0343
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_77.obj
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_78.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4076cd5a4e009d84af288d2e4fbfc4e127ff4f17
--- /dev/null
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_79.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d45f0c40d6d383dd9f3cbf109034299078bb75d3
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_79.obj
@@ -0,0 +1,508 @@
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_8.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdeeecd2f1c246c0c6b2610cf3f77bd1198e675d
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_8.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_80.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4372e5b5b42c7c0e72e0bb806e8429a3c8d3bc4b
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_80.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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+v -0.01086805 -0.00868270 0.01463282
+v -0.01139420 -0.00965304 0.01555033
+v -0.01086805 -0.00965291 -0.01854737
+v -0.01086805 -0.00857543 0.01444931
+v -0.01404640 -0.00856809 0.01042922
+v -0.01219695 -0.00965303 0.01459543
+v -0.01184847 -0.00965304 0.01503040
+v -0.01109892 -0.00965291 -0.01844203
+v -0.01404640 -0.00870755 -0.01750072
+v -0.01404640 -0.00856799 -0.01754149
+v -0.01086805 -0.00946619 -0.01855756
+v -0.01086805 -0.00856810 0.01443572
+v -0.01404640 -0.00965302 0.01185647
+v -0.01391323 -0.00965302 0.01209774
+v -0.01372343 -0.00965303 0.01241377
+v -0.01363320 -0.00965303 0.01256329
+v -0.01357626 -0.00965303 0.01265505
+v -0.01313163 -0.00965303 0.01333129
+v -0.01290637 -0.00965303 0.01366092
+v -0.01273990 -0.00965303 0.01389539
+v -0.01404640 -0.00965292 -0.01709634
+v -0.01086805 -0.00856798 -0.01858135
+v -0.01086805 -0.00937634 -0.01856096
+f 1 2 3
+f 1 3 8
+f 1 8 7
+f 1 7 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 22
+f 1 22 9
+f 1 9 4
+f 1 4 12
+f 1 12 24
+f 1 24 23
+f 1 23 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 6
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 7
+f 6 13 23
+f 6 23 11
+f 6 11 10
+f 6 10 22
+f 6 22 14
+f 9 22 10
+f 11 23 24
+f 11 24 12
+
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_81.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b883ff60ee2e7136bdfd3f866c0f3cb6f975e183
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_81.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.01086774 -0.00856788 0.01443528
+v -0.01086774 -0.00795690 0.01347268
+v -0.01248910 -0.00738358 0.01144883
+v -0.01285953 -0.00738358 0.01113250
+v -0.01103873 -0.00856788 0.01421759
+v -0.01086774 -0.00856776 -0.01857895
+v -0.01086774 -0.00738359 0.01245905
+v -0.01285953 -0.00856787 0.01153046
+v -0.01279520 -0.00856787 0.01165632
+v -0.01268855 -0.00856787 0.01183319
+v -0.01224207 -0.00856788 0.01253389
+v -0.01191492 -0.00856788 0.01301689
+v -0.01155851 -0.00856788 0.01353050
+v -0.01285953 -0.00738347 -0.01813676
+v -0.01285953 -0.00856777 -0.01769117
+v -0.01086774 -0.00738347 -0.02031027
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 8
+f 1 8 15
+f 1 15 6
+f 1 6 16
+f 1 16 7
+f 1 7 2
+f 2 7 3
+f 3 7 16
+f 3 16 14
+f 3 14 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 4 14 15
+f 4 15 8
+f 6 15 16
+f 14 16 15
+
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_82.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1201b851ccdaa713c13bb0aabe8e6e45f1efa3ad
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_82.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.01236261 -0.00738331 0.01940941
+v -0.01164413 -0.00738331 0.01991008
+v -0.01236261 -0.00738332 0.02101945
+v -0.01236261 -0.00666456 0.01690124
+v -0.01045796 -0.00738332 0.02092835
+v -0.01040631 -0.00738332 0.02101945
+v -0.01236261 -0.00424844 0.02101946
+v -0.01236261 -0.00424842 0.01690124
+v -0.00952564 -0.00519701 0.01690124
+v -0.01033354 -0.00734741 0.02101945
+v -0.00952564 -0.00424844 0.02101946
+v -0.00952564 -0.00424842 0.01690124
+v -0.00952564 -0.00603208 0.02101946
+v -0.01029244 -0.00728787 0.02101945
+f 1 2 5
+f 1 5 6
+f 1 6 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 10
+f 3 10 14
+f 3 14 13
+f 3 13 11
+f 3 11 7
+f 4 8 12
+f 4 12 9
+f 4 9 5
+f 5 10 6
+f 5 9 10
+f 7 11 12
+f 7 12 8
+f 9 12 11
+f 9 11 13
+f 9 13 14
+f 9 14 10
+
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_83.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6ab3f69665999b7dad6b63159913924f365014e
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_83.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.01644525 0.00652102 -0.01736258
+v -0.01790902 0.00652102 -0.01671104
+v -0.01644525 0.00776142 -0.01760128
+v -0.01644525 0.00652093 0.00795482
+v -0.01790902 0.00803647 -0.01671665
+v -0.01765195 0.00803647 -0.01689638
+v -0.01709281 0.00803647 -0.01728393
+v -0.01698677 0.00803647 -0.01735695
+v -0.01688675 0.00803647 -0.01741312
+v -0.01644525 0.00803647 -0.01764902
+v -0.01790902 0.00652092 0.01104121
+v -0.01644525 0.00803638 0.00809525
+v -0.01790902 0.00803639 0.00529812
+v -0.01742626 0.00803639 0.00678093
+f 1 2 3
+f 1 3 10
+f 1 10 12
+f 1 12 4
+f 1 4 11
+f 1 11 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 11 13
+f 2 13 5
+f 4 12 11
+f 5 13 14
+f 5 14 12
+f 5 12 10
+f 5 10 9
+f 5 9 8
+f 5 8 7
+f 5 7 6
+f 11 12 14
+f 11 14 13
+
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_84.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fdcfb42bcbea3763879c1c4f96f0645e1de1f48
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_84.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.01973765 -0.01376533 -0.00679555
+v -0.01973765 -0.01369486 -0.00681634
+v -0.02143539 -0.01276421 -0.00194048
+v -0.02143539 -0.01376532 -0.00705332
+v -0.01973765 -0.01376531 -0.01044075
+v -0.01973765 -0.01360214 -0.00684440
+v -0.01973765 -0.01276419 -0.00926103
+v -0.02143539 -0.01276418 -0.01137622
+v -0.02143539 -0.01376531 -0.01022248
+v -0.02058586 -0.01376531 -0.01057795
+v -0.01973765 -0.01369328 -0.01074946
+v -0.01973765 -0.01276417 -0.01255802
+v -0.02126322 -0.01276418 -0.01152693
+v -0.02143539 -0.01288934 -0.01124006
+v -0.02143539 -0.01335898 -0.01070372
+v -0.02119127 -0.01376531 -0.01045011
+v -0.01973765 -0.01296871 -0.01238756
+v -0.01973765 -0.01325294 -0.01175768
+v -0.02003645 -0.01293598 -0.01231376
+v -0.02012403 -0.01276417 -0.01241770
+v -0.02112579 -0.01301116 -0.01137726
+v -0.02050542 -0.01276418 -0.01213187
+v -0.02143539 -0.01289306 -0.01123590
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 10
+f 1 10 5
+f 1 5 11
+f 1 11 18
+f 1 18 17
+f 1 17 12
+f 1 12 7
+f 1 7 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 12
+f 3 12 20
+f 3 20 22
+f 3 22 13
+f 3 13 8
+f 3 8 14
+f 3 14 23
+f 3 23 15
+f 3 15 9
+f 3 9 4
+f 5 10 11
+f 8 13 14
+f 9 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 12 17 19
+f 12 19 20
+f 13 21 14
+f 13 22 21
+f 14 21 23
+f 15 23 21
+f 15 21 16
+f 16 21 19
+f 16 19 17
+f 19 21 22
+f 19 22 20
+
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_85.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1edb5f85db51df16d78248337f841a18357e22fe
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_85.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01404640 -0.00950019 0.01865390
+v -0.01404640 -0.00950019 0.02097654
+v -0.01404640 -0.00850019 0.01865390
+v -0.01404640 -0.00850019 0.02097654
+v -0.01205532 -0.00950019 0.01865390
+v -0.01205532 -0.00950019 0.02097654
+v -0.01205532 -0.00850019 0.01865390
+v -0.01205532 -0.00850019 0.02097654
+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/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_86.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc3fc4e69ea146c45e2f76708de2b69d9d781294
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_86.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00952564 -0.00738316 -0.02147469
+v -0.00983280 -0.00738316 -0.02133434
+v -0.00952564 -0.00724291 -0.02152779
+v -0.00952564 -0.00738329 0.01440909
+v -0.00996639 -0.00694338 -0.02143675
+v -0.01043297 -0.00738316 -0.02088674
+v -0.00952564 -0.00635722 -0.02168330
+v -0.00952564 -0.00519701 0.01690124
+v -0.01236261 -0.00666456 0.01690124
+v -0.01236261 -0.00738082 0.01146555
+v -0.01236261 -0.00738328 0.01138969
+v -0.01005054 -0.00635722 -0.02150123
+v -0.01103397 -0.00714808 -0.02049224
+v -0.01093593 -0.00738317 -0.02021913
+v -0.00952564 -0.00535124 -0.02182365
+v -0.00952564 -0.00424842 0.01690124
+v -0.01236261 -0.00424842 0.01690124
+v -0.01236261 -0.00738317 -0.01814045
+v -0.01078429 -0.00434495 -0.02130398
+v -0.01079346 -0.00424828 -0.02131156
+v -0.01013525 -0.00535124 -0.02153916
+v -0.01149833 -0.00433175 -0.02073121
+v -0.01236261 -0.00432716 -0.01990049
+v -0.01188076 -0.00465829 -0.02032154
+v -0.01193269 -0.00424829 -0.02037465
+v -0.01236261 -0.00694462 -0.01841736
+v -0.00952564 -0.00522388 -0.02183124
+v -0.00952564 -0.00424828 -0.02185020
+v -0.01236261 -0.00424829 -0.01992325
+v -0.01084623 -0.00424828 -0.02126984
+v -0.01154499 -0.00424828 -0.02070844
+v -0.01033882 -0.00424828 -0.02151261
+v -0.01161164 -0.00424828 -0.02065155
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 27
+f 1 27 28
+f 1 28 16
+f 1 16 8
+f 1 8 4
+f 1 4 11
+f 1 11 18
+f 1 18 14
+f 1 14 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 7
+f 5 6 13
+f 5 13 12
+f 6 14 13
+f 7 12 15
+f 8 16 17
+f 8 17 9
+f 9 17 29
+f 9 29 23
+f 9 23 26
+f 9 26 18
+f 9 18 11
+f 9 11 10
+f 12 19 20
+f 12 20 21
+f 12 21 15
+f 12 13 22
+f 12 22 19
+f 13 23 24
+f 13 24 25
+f 13 25 22
+f 13 14 18
+f 13 18 26
+f 13 26 23
+f 15 21 20
+f 15 20 27
+f 16 28 32
+f 16 32 20
+f 16 20 30
+f 16 30 31
+f 16 31 33
+f 16 33 25
+f 16 25 29
+f 16 29 17
+f 19 30 20
+f 19 22 31
+f 19 31 30
+f 20 32 27
+f 22 25 33
+f 22 33 31
+f 23 29 24
+f 24 29 25
+f 27 32 28
+
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_87.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49c495d836dde1e6e141d7cf3455f3b422a54500
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_87.obj
@@ -0,0 +1,16 @@
+# https://github.com/mikedh/trimesh
+v -0.00728517 -0.00424844 0.02101946
+v -0.00952564 -0.00424844 0.02101946
+v -0.00952564 -0.00603220 0.02101946
+v -0.00735250 -0.00424843 0.01795847
+v -0.00952564 -0.00424843 0.01795847
+v -0.00952564 -0.00517864 0.01795847
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 4
+f 4 6 5
+
diff --git a/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_88.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b98c853e8a25ba14e7792667bc933f33403d6ce8
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_88.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00609211 -0.00836072 0.02055281
+v -0.00609211 -0.00836072 0.02577030
+v -0.00609211 -0.00736072 0.02055281
+v -0.00609211 -0.00736072 0.02577030
+v -0.00114612 -0.00836072 0.02055281
+v -0.00114612 -0.00836072 0.02577030
+v -0.00114612 -0.00736072 0.02055281
+v -0.00114612 -0.00736072 0.02577030
+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/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_89.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b0d4f89be34620cc34c8cca38d2f6b194bf5069
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_89.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02143539 -0.01365174 0.00679165
+v -0.02143539 -0.01365174 0.01342643
+v -0.02143539 -0.01265174 0.00679165
+v -0.02143539 -0.01265174 0.01342643
+v -0.01973891 -0.01365174 0.00679165
+v -0.01973891 -0.01365174 0.01342643
+v -0.01973891 -0.01265174 0.00679165
+v -0.01973891 -0.01265174 0.01342643
+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/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_9.obj b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0727c965f2d522037851d3a1e49faecd40083196
--- /dev/null
+++ b/dataset/food/ingredients/bfc94a38c06c5a008cfda9cb3f82ba0c/mjcf/mesh/garlic_005_collision_9.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.01266064 0.00803637 0.01104904
+v -0.01589458 0.00803637 0.01104904
+v -0.01266064 0.00652092 0.01104903
+v -0.01266064 0.00803648 -0.01920112
+v -0.01329305 0.00652092 0.01104903
+v -0.01644511 0.00803638 0.00809391
+v -0.01644511 0.00652093 0.00795473
+v -0.01627098 0.00652093 0.00820345
+v -0.01266064 0.00652103 -0.01899090
+v -0.01266064 0.00777256 -0.01919816
+v -0.01287367 0.00803648 -0.01914190
+v -0.01644511 0.00803647 -0.01764657
+v -0.01644511 0.00652102 -0.01736232
+v -0.01328601 0.00652103 -0.01883100
+v -0.01266064 0.00652385 -0.01913599
+v -0.01448897 0.00803648 -0.01856746
+v -0.01571045 0.00803648 -0.01802854
+v -0.01644511 0.00802267 -0.01764657
+v -0.01644511 0.00776142 -0.01760215
+v -0.01623875 0.00652102 -0.01748076
+v -0.01406847 0.00652103 -0.01849344
+v -0.01500134 0.00803648 -0.01837795
+v -0.01495726 0.00803648 -0.01839572
+v -0.01451046 0.00652103 -0.01829801
+v -0.01472645 0.00672472 -0.01825063
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