diff --git a/.gitattributes b/.gitattributes
index d2e3d8941280529149d21c3678e802d803aac3b9..f8a0b4fbd029d69096ca36632d4f2c4e0fcf743a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3630,11 +3630,6 @@ dataset/food/ingredients/31e3ede73fe656658616f2ed020e269f/carrot_001.usdc filter
 dataset/food/ingredients/31e3ede73fe656658616f2ed020e269f/mesh/carrot_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/41603c8814f9582290f1766548569b14/mesh/tomato_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/41603c8814f9582290f1766548569b14/tomato_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/3216a55b93cf5faba0e8238b96ce9c61/mesh/tomato_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/3216a55b93cf5faba0e8238b96ce9c61/tomato_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/52cf06c048f95a3786cc576f38d7449e/bread_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/52cf06c048f95a3786cc576f38d7449e/mesh/bread_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/4d0ccd2d65f9534f86ca60fef24f3f08/bread_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/4d0ccd2d65f9534f86ca60fef24f3f08/mesh/bread_005.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/4fd01769190b5f57b43609c69c175401/carrot_010.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/4fd01769190b5f57b43609c69c175401/mesh/carrot_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/44add9585fbc58b587c500cafddd7af0.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mesh/tomato.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mesh/tomato_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/44add9585fbc58b587c500cafddd7af0.urdf b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/44add9585fbc58b587c500cafddd7af0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bf5b3382638ec6cc28feb3be68ea38dc70ac3a41
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/44add9585fbc58b587c500cafddd7af0.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tomato">
+   <link name="tomato">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/tomato.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/tomato_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.111782</scale>
+         <version>v0.1.7</version>
+         <category>tomato</category>
+         <description>realistic yellow tomato with green stem and smooth surface</description>
+         <min_height>0.08</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.1</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.3</max_mass>
+         <generate_time>20260120010050</generate_time>
+         <gs_model>mesh/tomato_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.595797061920166</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/44add9585fbc58b587c500cafddd7af0.usd b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/44add9585fbc58b587c500cafddd7af0.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c31fb31425e39c4fee6b015b64cd852534d3f873
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/44add9585fbc58b587c500cafddd7af0.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6456a6a996fce9d2df9fc10146a24ea3345a8dace0fa8f4277bec851044f0acf
+size 371842
diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mesh/material.mtl b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mesh/material_0.png b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c4e7fe367eaa9dbea737d0affd98bc449f94749
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12975bd2c6f5b7896ce4d55dc73102613ca7cb704c88bfc124196fdaa2cf3d29
+size 1468679
diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mesh/tomato.glb b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mesh/tomato.glb
new file mode 100644
index 0000000000000000000000000000000000000000..26fc09e436bdbcbbb4e19db73429a8c4160c7b3e
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mesh/tomato.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63dd6c1b872234dc4242727beec8fb774c50c22b00f83b7c36eace71e566e8dc
+size 1725340
diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mesh/tomato.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mesh/tomato.obj
new file mode 100644
index 0000000000000000000000000000000000000000..454363184cc0c96f5dc5d40d4bc33c5561eacb9f
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mesh/tomato.obj
@@ -0,0 +1,23468 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mesh/tomato_collision.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mesh/tomato_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aad76a3ce94f39374b1e33743b46e0443761452b
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mesh/tomato_collision.obj
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mesh/tomato_gs.ply b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mesh/tomato_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..fe9b9139cf8ce0302cdb802de2abed60459f9af2
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mesh/tomato_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f35408b8c663bd67cb1c48b192e013edff58b6901df0f151cfa531249356f3a5
+size 4069769
diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/44add9585fbc58b587c500cafddd7af0.xml b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/44add9585fbc58b587c500cafddd7af0.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c8a6a26b7a81f89b5118d796f8c9a11a6c197634
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/44add9585fbc58b587c500cafddd7af0.xml
@@ -0,0 +1,92 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tomato">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/tomato.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tomato_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tomato_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tomato_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tomato_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tomato_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tomato_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tomato_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tomato_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tomato_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tomato_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tomato_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tomato_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tomato_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/tomato_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/tomato_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/tomato_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/tomato_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tomato_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tomato_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tomato_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/tomato_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/tomato_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/tomato_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/tomato_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/tomato_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/tomato_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/tomato_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/tomato_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_29" file="mesh/tomato_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/tomato_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/tomato_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_37" file="mesh/tomato_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/tomato_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tomato">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/material_0.png b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c4e7fe367eaa9dbea737d0affd98bc449f94749
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12975bd2c6f5b7896ce4d55dc73102613ca7cb704c88bfc124196fdaa2cf3d29
+size 1468679
diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dbfd8ddb96d100fb209b470afb33a07591c1a99
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato.obj
@@ -0,0 +1,23468 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b420424099bc4c97d52e6bcc989ed5f2504de083
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision.obj
@@ -0,0 +1,49358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_0.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2f982b709c9c0c297143317f5cb4d808309fdd4
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_0.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_1.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50ccb8698eddc852b6b8ea9e55ef9cf231c7758b
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_1.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_10.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b2bb3f2d4dd47000dc2aa9be46a275d792ba20e
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_10.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_11.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20baf4054413970f6cdff34abac4f45b44b772d8
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_11.obj
@@ -0,0 +1,2110 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_12.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3f2b4a1e79cd0b7b0f9f99267b07a1e265ea8d4
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_12.obj
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_13.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..330d5739e036a4ea6beb4f6a3bc9ab0ca0f47b85
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_13.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
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+f 3 10 7
+f 4 7 10
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+f 5 9 8
+f 5 8 10
+f 5 10 6
+
diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_14.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..975c52a4371f66d869c8ceac34f578c3ec2eadfe
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_14.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_15.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f58b600c91801c541c29a9e06ce304affe79cd2
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_15.obj
@@ -0,0 +1,5221 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_16.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..555bab1b03b71d0798dca036136bd62ff92210fc
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_16.obj
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_17.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f820717da22d84ce271462621ddbc98eee0b77bf
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_17.obj
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_18.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f11b33d7cb3a82ed298aa751677a69ecff3f52d3
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_18.obj
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_19.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a159aa2c0ba2c6e6faa35f4bbb3468b3883816b7
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_19.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_2.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28f4bce50316a6d5d58e18d08b270a749ddadcca
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_2.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_20.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8886a4269510b2b2c67a55c1cec6b67034371da8
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_20.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.00255012 -0.00806467 0.03112108
+v -0.00285224 -0.00806467 0.03112108
+v -0.00227208 -0.00806467 0.03099095
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+v -0.00623925 -0.00806467 0.02954325
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_21.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1bfe915bfd2c74b1b6c1c31e94106cfd9afa284
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_21.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_22.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2350df01fd454ddaa77b1f9414efa08cd8f687c
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_22.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_23.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4749f5351aabc1748205936685a6ae9bb2bd1a5c
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_23.obj
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_24.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78bef970bff18d24831f67b4792e300dcb6ae4ab
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_24.obj
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_25.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..651b3d9b9150e593c877647d65983a480d6e4814
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_25.obj
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_26.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25f9853dd114bdea3e4545c1dc5471a14cdfde51
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_26.obj
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_27.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5194611af5b2e0f730e214b049207c33e4071078
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_27.obj
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_28.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfc7b9ea2622f294fa1e50e95a62818b84f3b841
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_28.obj
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_29.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74a1061acb674a9cc043b0a8040ba3f8465d91d6
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_29.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.00653212 0.00957304 0.03270225
+v -0.00687477 0.00957304 0.03259675
+v -0.00301682 0.00546874 0.03084365
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+
diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_3.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66e0bb01c9a2ce726acf7b3226a34f649a1c7092
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_3.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_30.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6fb2e3172716bf88e407e6c7c829daab59c1f1a
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_30.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_31.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..810160af261c6e4ecb3f8ff0e205d0c159e17128
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_31.obj
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_32.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f7ecbb6c8a650f5cdeb9efce20e22a4e3763c62
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_32.obj
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_33.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d23abaa4596df6694f6ef90edd1f69bd1273bb4
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_33.obj
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_34.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c726c59de46bda361eb306c0eb9c2bdd6f86f2f6
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_34.obj
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_35.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4f78e61acbacc63eebc15bbb5874bc2036a5a40
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_35.obj
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_36.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d7a8fae862a6ecac570fdfaffc0fcf5614af127
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_36.obj
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_37.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c91bd8747f93602d7f1f90dc9edba68d0f630a3c
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_37.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_38.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42436154a823bd8402e4393c7ca16309d5e8268b
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_38.obj
@@ -0,0 +1,2191 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_4.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08284a2fc08d5d7fcb35e3c354aebf40c55d1668
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_4.obj
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_5.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0cdd8ea990fd94be02b34baea176548528f54e2
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_5.obj
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_6.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8628bca19c4533947bd3a16b43ae2ec388d741d2
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_6.obj
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_7.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8738ecf897ae3708261fe894ce3e3ac73876255d
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_7.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00227208 0.00957493 0.03039703
+v -0.00503461 0.01208413 0.03437117
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+v -0.00482118 0.00957492 0.03240263
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+
diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_8.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14b83cccd3b1fa31b69651e3ad3c7c2e7cab1c99
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_8.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.00417412 -0.00790738 0.03182436
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+v 0.00307816 -0.00090629 0.03617853
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+
diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_9.obj b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..977ecaac4ba73e72ff4933f1e43ae10d22b9a8d8
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/mjcf/mesh/tomato_collision_9.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.00589189 -0.00790738 0.03236137
+v 0.00503191 -0.00790738 0.03225683
+v 0.00646344 -0.00790738 0.03221662
+v 0.00535416 0.00710589 0.03179852
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diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/textures/material_0.png b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c4e7fe367eaa9dbea737d0affd98bc449f94749
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12975bd2c6f5b7896ce4d55dc73102613ca7cb704c88bfc124196fdaa2cf3d29
+size 1468679
diff --git a/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/video.mp4 b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..53339a2e81bc7ddbe30dada8ec0d7802b0088cef
--- /dev/null
+++ b/dataset/food/ingredients/44add9585fbc58b587c500cafddd7af0/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e826f3c4278d9bb8cd084bffa7893200bc23db3cd76e73193dd202dc47242485
+size 290506