diff --git a/.gitattributes b/.gitattributes
index b4c7e24bb3ffd9dcc5e1c9806fd2a77efdd53fc1..7862ead520d2cc3c01a53e675093147afb6fd936 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3618,5 +3618,5 @@ dataset/food/ingredients/1d4600807a04582f8b19e3f07a8dca9b/mesh/onion_gs.ply filt
 dataset/food/ingredients/1a617a85f7d55318a48c205edfaa2f96/1a617a85f7d55318a48c205edfaa2f96.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/1a617a85f7d55318a48c205edfaa2f96/mesh/onion.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/1a617a85f7d55318a48c205edfaa2f96/mesh/onion_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/1d55bd8a2f145d468f998ba75da10365/chili_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/1d55bd8a2f145d468f998ba75da10365/mesh/chili_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/garlic_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mesh/garlic_010.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/garlic_010.urdf b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/garlic_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4682b98819978ddbabd85fc76af86acaac74fac5
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/garlic_010.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="garlic_010">
+   <link name="garlic_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/garlic_010.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_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0600" />
+         <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>22f37dfd4aed546a880aefc229a2f030</uuid>
+         <domain>food</domain>
+         <super_category>ingredients</super_category>
+         <category>garlic</category>
+         <name>garlic bulb</name>
+         <color>beige</color>
+         <shape>irregular</shape>
+         <material>organic</material>
+         <description>bulbous garlic with multiple cloves and a central stem</description>
+         <min_height>0.0400</min_height>
+         <max_height>0.0400</max_height>
+         <real_height>0.0400</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506220620</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>13</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/22f37dfd4aed546a880aefc229a2f030/garlic_010.usd b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/garlic_010.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d36fc258f55d60c66ef1ed111fa5a340d9b54465
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/garlic_010.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46d571dd7f749066e236ff60f9514a0ae43393fd582b1eb6643ef09d11b2c20b
+size 5033450
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mesh/garlic_010.glb b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mesh/garlic_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..10ecd5ae918b28589b81d3e42157fafc25f0edfc
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mesh/garlic_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ae1e80a5bb235be78db970aa7af03c86fd9df212c71fbdc5d7c1769c3480380
+size 14046424
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mesh/garlic_010.mtl b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mesh/garlic_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..66b46c8df29d75e7b0997d1cf94c535db0206d4a
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mesh/garlic_010.mtl
@@ -0,0 +1,6 @@
+newmtl garlic_010_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/22f37dfd4aed546a880aefc229a2f030/mesh/garlic_010.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mesh/garlic_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a56790fe926327d4074f7054ed7885fb0799cd4d
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mesh/garlic_010.obj
@@ -0,0 +1,117548 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl garlic_010_geometry_Looks_material_0
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mesh/garlic_010_collision.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mesh/garlic_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3408675083bc0cc513a0d88da99a91a9a08a7731
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mesh/garlic_010_collision.obj
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mesh/garlic_010_geometry_Looks_material_0.png b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mesh/garlic_010_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2b65dbe29c4d891541cd0021bb8c6fe0b1a6085
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mesh/garlic_010_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mesh/material.mtl b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bb522d2bf64466b7281454818cc03bcabaab3366
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mesh/material_0.png b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mesh/material_0.png
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/garlic_010.xml b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/garlic_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..64c1e811b14b59665114307623aafb90a74c1846
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/garlic_010.xml
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+    <mesh name="collision_mesh_0_89" file="mesh/garlic_010_collision_89.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_90" file="mesh/garlic_010_collision_90.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_91" file="mesh/garlic_010_collision_91.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_92" file="mesh/garlic_010_collision_92.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_93" file="mesh/garlic_010_collision_93.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_94" file="mesh/garlic_010_collision_94.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_95" file="mesh/garlic_010_collision_95.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_96" file="mesh/garlic_010_collision_96.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_97" file="mesh/garlic_010_collision_97.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_98" file="mesh/garlic_010_collision_98.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_99" file="mesh/garlic_010_collision_99.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="garlic_010">
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+      <geom type="mesh" mesh="collision_mesh_0_99" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98da3f0ccb65ace2abb5c3e46d13f2bca1f2b391
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010.obj
@@ -0,0 +1,117548 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl garlic_010_geometry_Looks_material_0
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c29cd911c6e0128e9da69766dbdc48fe878464a
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision.obj
@@ -0,0 +1,43449 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_0.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..988e8e74e29a4fc9cf8940888c47b08539fed85b
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_0.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_1.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8613d2eddbcc15caf68703305e75a6013be93e7
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_1.obj
@@ -0,0 +1,2452 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_10.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07802d9e676c0a4118793a353b2ce04796b2af85
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_10.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_11.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6d2ec7d68c1c6fe54036fb7fcd6635679738a1d
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_11.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_12.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdccd45866bfa9e8f97e6b1ecc8e79d06336ecc0
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_12.obj
@@ -0,0 +1,2962 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_13.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0c9a30eb55df8c1a1c617f66d867b6b8f0aa40b
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_13.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_14.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..958160585bc6ed507be14b5f82cc99deb1ad737a
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_14.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_15.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb0c16bbff02aa62cee0a1b8e5d37e27e89de2c7
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_15.obj
@@ -0,0 +1,2020 @@
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_16.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc971d9314ccea6c7e9627e13e902c7edf962389
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_16.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_17.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f66883b93aefcb0caacf217e83a80d2d30a4bae
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_17.obj
@@ -0,0 +1,3343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_18.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28aa4be737e4f52b4466044c7cb1c9f29b7afdf9
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_18.obj
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_19.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d599e5aa66e4dcd340484275eecb9ca20f0e51f7
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_19.obj
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_2.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e710d3af6a5c4913ce4185951e6e49181767373
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_2.obj
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_20.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..652346b72d3e4b800a5ed41bfb71dd5523ab8496
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_20.obj
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_21.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6947307742b32b95b3b6ee20ceee2e2bc42d2c3
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_21.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00068172 0.00705822 -0.01450746
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+f 2 8 4
+f 6 2 5
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+f 4 8 3
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+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_22.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6c74c8134498d7ad389dfd28ea9419c0199c20b
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_22.obj
@@ -0,0 +1,901 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_23.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11355396cc2c0c2cf4cf8305c78f1eaa5aba6bc5
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_23.obj
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_24.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..103afaa222da471b4b3b91af09776480f9d57814
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_24.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_25.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf75ffd9eaf3684f3fff069035ddb4140716992f
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_25.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
+v 0.00325698 0.01399523 0.00631308
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+v 0.00136767 0.01476248 0.00898142
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_26.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4b706d14b05c19dfead5535ecaa21f585385778
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_26.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.01369735 0.01399525 -0.00064105
+v 0.01369735 0.01265685 -0.00397593
+v 0.01369735 0.01399526 -0.00228683
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_27.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e557f53477c483ca7b449f6b0064c35feea84d70
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_27.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.01173324 -0.00641655 -0.00869437
+v -0.01211906 -0.00641655 -0.00835728
+v -0.01173324 -0.00570084 -0.01005903
+v -0.01173324 -0.00641662 0.00956008
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_28.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdf35ae0ab14b388d169d2a79ee72cad5f854c77
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_28.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_29.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eca14fa9da5fae99c4ffa684182ca26454ca6014
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_29.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_3.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4755993f0266717a4fb26c74fe4ba2aadf926ba
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_3.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_30.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fac9955e6a14a72fc394cab5af87fbc065d4626f
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_30.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_31.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e6324d638b73faedd96560b129da54c6bfab611
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_31.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_32.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a6b227bb01055f3c064ff97a1d63fabfed411d9
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_32.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_33.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccd83b6b2a7bb82748155c36a242784616905d07
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_33.obj
@@ -0,0 +1,1573 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_34.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35c52626fc46eaadbbb7fd8dee3e1760e25ff3c9
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_34.obj
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_35.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32ec832a4b8783038986d0cfb43a36a1ac611a91
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_35.obj
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_36.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92bc093db1f1608e6ad8cfc47b32a6b4e2f5a070
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_36.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_37.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b8eb45feb5cae99e36d9cd12d1e0bdbda77bac8
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_37.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v 0.01335600 0.01481039 0.00631235
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_38.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39921ecd7c594f5edda859e98e8d3a5adc91e88d
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_38.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.00210411 -0.00842226 0.01355652
+v 0.00182489 -0.00842226 0.01419216
+v -0.00437326 -0.00887189 0.01267075
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+v 0.00160844 -0.00720458 0.01466888
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_39.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7313bac25dc40ad351a3b0e1c15b6921b7d943f
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_39.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_4.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..516730d1f929328ed389b2f6152130f2994decc2
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_4.obj
@@ -0,0 +1,1624 @@
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_40.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..239110e1e5aae56c76c47c1e8d607193d40dbb5e
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_40.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_41.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3785378ab3e32dc263b092638390fb82ca2e19ac
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_41.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00098863 0.00534969 -0.01450867
+v 0.00098863 0.00534969 0.00743973
+v 0.00098863 0.00634970 -0.01450867
+v 0.00098863 0.00634970 0.00743973
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+v 0.02260628 0.00534969 0.00743973
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_42.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0280a5fdfe1579c6407e4a0305c1b6361f314bc
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_42.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_43.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e8ba7d6ac9568b8b3c84ce4f71d2c318756f5ee
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_43.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_44.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..134c2599d838398566404b01afb8905f46ad759f
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_44.obj
@@ -0,0 +1,712 @@
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_45.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7363fb2c1a78b3c4520ad74250a58d90caf4a923
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_45.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+v -0.00567462 0.00797595 -0.01454484
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_46.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6abec98443759cb48b0c75f4307d4fff57d1795e
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_46.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_47.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a31f170397243816b71863975587118a396df9a
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_47.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.00116809 0.00852519 0.00399979
+v 0.00116809 0.00842200 0.00398673
+v 0.00116809 0.00975548 0.00157204
+v 0.00091003 0.00975546 0.00875341
+v 0.00116809 0.00797593 0.00333863
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+v 0.00116809 0.00975554 -0.01416268
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_48.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e1434a0a30dafc61fad428af101b24956658c2b
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_48.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_49.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21dad4b68bfe43a5860113df8f782d34e98fb553
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_49.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_5.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6d7db5e0265f5b27e95c7b1925d620eac81cdc6
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_5.obj
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_50.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80c4683d4b65a553f5e2d9001de95b425fa8d2dc
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_50.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.01295983 0.00975635 -0.00905321
+v 0.01369735 0.00975635 -0.00904585
+v 0.01217512 0.00975635 -0.00895259
+v 0.01052525 0.01399527 -0.00662260
+v 0.01295983 0.00985470 -0.00900167
+v 0.01369735 0.00986134 -0.00899725
+v 0.01369735 0.00976216 -0.00904388
+v 0.01369735 0.00975634 -0.00664273
+v 0.01214003 0.00975635 -0.00894523
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+v 0.01369735 0.01119464 -0.00806664
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+v 0.01369735 0.01025348 -0.00876165
+v 0.01167795 0.00975635 -0.00880632
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+v 0.01052525 0.01399526 -0.00403935
+v 0.01081560 0.01399527 -0.00635362
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+v 0.01369735 0.01271550 -0.00633153
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+v 0.01369735 0.01263540 -0.00403935
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+v 0.01158759 0.01399527 -0.00549614
+v 0.01369735 0.01330351 -0.00403886
+v 0.01369611 0.01263540 -0.00403886
+v 0.01153635 0.01094107 -0.00403887
+v 0.01270178 0.01399526 -0.00403886
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_51.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b04a60727efde1a645990aac3e3c11546ba26d4
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_51.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.00262350 0.00280579 0.01637853
+v 0.00280962 0.00261724 0.01637853
+v 0.00487076 0.00144028 0.01595417
+v 0.00487076 0.00334523 0.01481583
+v 0.00309231 0.00334522 0.01572290
+v 0.00262350 0.00334522 0.01592623
+v 0.00262350 -0.00324134 0.01637851
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+v 0.00382380 0.00025656 0.01637852
+v 0.00382732 -0.00014422 0.01637852
+v 0.00373536 -0.00092886 0.01637852
+v 0.00363746 -0.00174732 0.01637851
+v 0.00487076 0.00115196 0.01593224
+v 0.00487076 0.00334523 0.01276583
+v 0.00262350 0.00334523 0.01276583
+v 0.00262350 -0.00384927 0.01567832
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+v 0.00444309 -0.00243218 0.01276581
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+v 0.00298209 -0.00454174 0.01449117
+v 0.00487076 -0.00521900 0.01402084
+v 0.00432935 -0.00243725 0.01276581
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_52.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1224a5f72fd70aeab1638fa0101cacbf0c9d2210
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_52.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.01052484 0.01399526 -0.00403886
+v 0.01052484 0.01399527 -0.00662283
+v 0.00883352 0.01399526 -0.00403886
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_53.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41c3bc5a48c7ff13e850d2222ba828eb0ef2ee16
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_53.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.00837569 0.00632130 0.00527684
+v 0.00270007 0.00440867 0.00572774
+v 0.00244266 0.00519410 0.00572774
+v 0.00238735 0.00537809 0.00572774
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_54.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad780031ccf3e9ac546f65634018dad535303c57
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_54.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_55.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b048b44efc8c03104cb8f59861f18fc9e4adab5
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_55.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_56.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20abc16262861903bc830d1a7adbbb9823b62134
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_56.obj
@@ -0,0 +1,691 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_57.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45bdeef5b118543d18443c3c5d1f6b6d414e4b93
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_57.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00118960 0.01319218 -0.01316142
+v 0.00118960 0.01387866 -0.01306916
+v 0.00170207 0.01373303 -0.01293419
+v 0.00206017 0.01222204 -0.01292085
+v 0.00192731 0.01222204 -0.01295593
+v 0.00137687 0.01222204 -0.01305697
+v 0.00118960 0.01222204 -0.01306764
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+v -0.00016814 0.01222204 -0.01293229
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+v -0.00508536 0.01385046 -0.01084443
+v 0.00118960 0.01398901 -0.01241222
+v 0.00510211 0.01302905 -0.00926672
+v 0.00514766 0.01301176 -0.00926672
+v 0.00590182 0.01256569 -0.00926672
+v 0.00560446 0.01222220 -0.01057564
+v 0.00533747 0.01222220 -0.01080059
+v 0.00516411 0.01222220 -0.01092603
+v 0.00507554 0.01222220 -0.01098894
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+v -0.00562947 0.01222220 -0.01113421
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_58.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87a9e4e67b65c7563a29d31f4e9cd78a03e7dc61
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_58.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00196937 0.00439316 -0.00001204
+v 0.00196937 0.00439316 0.00572708
+v 0.00196937 0.00539317 -0.00001204
+v 0.00196937 0.00539317 0.00572708
+v 0.00575967 0.00439316 -0.00001204
+v 0.00575967 0.00439316 0.00572708
+v 0.00575967 0.00539317 -0.00001204
+v 0.00575967 0.00539317 0.00572708
+f 2 4 1
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+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/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_59.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb42fc0bbdacfe3395e31d8589c035d46358598b
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_59.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.00687732 -0.00641659 0.00138299
+v -0.00420387 -0.00641659 0.00138299
+v -0.00687732 -0.00641660 0.00448385
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+v -0.00420387 -0.00641660 0.00448385
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+v -0.00424313 -0.00367542 0.01276581
+v -0.00420387 -0.00405763 0.00448386
+v -0.00424313 -0.00641626 0.01276580
+v -0.00687732 -0.00265501 0.01276581
+v -0.00634342 -0.00265498 0.00448386
+f 1 2 6
+f 1 6 3
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+f 1 14 9
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+f 8 15 10
+f 9 14 10
+f 9 10 15
+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_6.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72f612904ceea655666e9b12d79385ee9191eb19
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_6.obj
@@ -0,0 +1,1777 @@
+# https://github.com/mikedh/trimesh
+v 0.02394196 0.00142459 0.00013629
+v 0.02385443 0.00064043 0.00013628
+v 0.02383445 0.00064043 -0.00064916
+v 0.02391341 0.00142459 -0.00064915
+v 0.02392293 0.00220933 0.00013629
+v 0.02391532 0.00220933 0.00091941
+v 0.02392959 0.00142459 0.00091941
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_60.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..540bec5826e5a77dae4c820cc9b037287d8b5b88
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_60.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.00883336 0.01399523 0.00635761
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+v 0.00883336 0.01222197 0.00635760
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_61.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4214075bf407dc456eddd923787a02f87f0d6ee0
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_61.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00690087 0.00714025 0.00527581
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_62.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c45c87cdb2f7840db2e0b2e42e614175f597c26
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_62.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
+v 0.00992254 0.00714067 -0.01161283
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_63.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb5dbc4788a453cb828b6792b0606c29a64528ff
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_63.obj
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_64.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaad96b0f1d9b4fdd32589ba21e0167b29a618b9
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_64.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_65.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c86d8f998c62795c64463a1510e8ac1e93f9d56
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_65.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00116320 0.00623097 -0.01450806
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_66.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c66bd3924b11654d5de1dce52d0d4115cc39a96b
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_66.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_67.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f1097c5c662bcb838651d50df6a81f9959a66af
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_67.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00324535 -0.00349114 -0.01467520
+v 0.00324535 0.00329381 -0.01454894
+v 0.00354511 0.00334533 -0.01453819
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+v 0.00324535 0.00334533 -0.01454625
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+v 0.00487060 -0.00349114 -0.01392310
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_68.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adfc238a35f1c6934940f58058c63173bdfe74d5
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_68.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.00883336 0.00975586 0.01199630
+v 0.00883336 0.00975588 0.00653171
+v 0.00883336 0.01399521 0.01185282
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+v 0.00114494 0.01031281 0.01099529
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+v 0.00883336 0.01222189 0.00561440
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_69.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb2106f803092bdcd4dfa49a6b76cb44752d2c9e
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_69.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.00186553 0.00975545 0.01112573
+v 0.00672777 0.00975545 0.01112573
+v 0.00203085 0.00928182 0.01112572
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_7.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bc16dbb1e406de5783bd69f8cbf75ea84d91d9b
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_7.obj
@@ -0,0 +1,199 @@
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_70.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2da9c7b94fce31dac97359bd92f7dcf110af7fa
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_70.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_71.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e54b8896bcd0960f823553c6d79034d15b69124
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_71.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_72.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9b39a7c0a40c92ef5233f23120d843d5f2376ca
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_72.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_73.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..952209ca0abd32468fbc82212fa53d9d381399c1
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_73.obj
@@ -0,0 +1,535 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_74.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f53873ec2cf7d1da1f6763790b37d11449b9eb62
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_74.obj
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_75.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e684cb9651263c03c46140fa1426f9358f1a8ca7
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_75.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.00889286 -0.00408361 -0.01400330
+v -0.00899072 -0.00408361 -0.01399753
+v -0.00979336 -0.00328082 -0.01417048
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+v -0.01057710 -0.00249685 -0.01406959
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+v -0.00999548 -0.00408361 -0.01382457
+v -0.00979336 0.00212011 -0.01426846
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_76.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0953c3d83cc8f9f7c9c82a95f148282dc6fd3762
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_76.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00296500 0.00334523 0.01276583
+v -0.00483752 0.00334523 0.01276583
+v 0.00296500 -0.00166557 0.01276581
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+v -0.00483752 0.00334526 0.00448296
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_77.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c30f1e6eca2d50000959d2880ae2d3088f88ee8
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_77.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+v -0.00797398 0.00244285 0.00933468
+v -0.00797398 0.00334423 0.00875877
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_78.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef41979be6abc607000bf45b6103a97602d51e3a
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_78.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.00437388 -0.00806333 0.01408114
+v -0.00440721 -0.00806333 0.01424813
+v -0.00437388 -0.01101758 0.01135090
+v -0.00437388 -0.00806333 0.01307087
+v -0.00487076 -0.00806333 0.01463220
+v -0.00537339 -0.01101759 0.01322950
+v -0.00531370 -0.01101759 0.01311818
+v -0.00437388 -0.01101758 0.01008180
+v -0.00437388 -0.00826430 0.01008181
+v -0.00437418 -0.00806323 -0.01353844
+v -0.00508556 -0.00806333 0.01466003
+v -0.00650257 -0.01101759 0.01374716
+v -0.00587026 -0.01101759 0.01356904
+v -0.00437418 -0.01101750 -0.01164872
+v -0.00437418 -0.01069854 -0.01199661
+v -0.00437418 -0.00953458 -0.01304584
+v -0.00437418 -0.00881452 -0.01351896
+v -0.00437418 -0.00849555 -0.01362472
+v -0.00437570 -0.00806323 -0.01377222
+v -0.00589329 -0.00806333 0.01453757
+v -0.00726333 -0.01101759 0.01369985
+v -0.00665436 -0.01101759 0.01376664
+v -0.00497468 -0.01101750 -0.01135093
+v -0.00746844 -0.01048628 -0.01083327
+v -0.00746844 -0.01012451 -0.01132031
+v -0.00494771 -0.00933388 -0.01298739
+v -0.00671828 -0.00806323 -0.01304583
+v -0.00490257 -0.00806323 -0.01363028
+v -0.00702520 -0.00836976 -0.01279257
+v -0.00726030 -0.00806323 -0.01287049
+v -0.00672192 -0.00806333 0.01425091
+v -0.00746905 -0.00873365 0.01392529
+v -0.00742997 -0.01101759 0.01366645
+v -0.00637077 -0.01101750 -0.01045198
+v -0.00710397 -0.01075001 -0.01047981
+v -0.00746844 -0.01101751 -0.00885448
+v -0.00746905 -0.01101758 0.01008180
+v -0.00746844 -0.00818642 -0.01270073
+v -0.00745057 -0.00806323 -0.01278422
+v -0.00746905 -0.00806333 0.01398930
+v -0.00746905 -0.01101759 0.01364975
+v -0.00745633 -0.01101759 0.01365532
+v -0.00671344 -0.01101750 -0.01005122
+v -0.00746905 -0.00806332 0.01008181
+v -0.00746844 -0.00806323 -0.01277309
+f 1 2 3
+f 1 3 8
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+f 1 10 19
+f 1 19 28
+f 1 28 27
+f 1 27 30
+f 1 30 39
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+f 1 45 44
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+f 1 5 2
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+f 3 12 22
+f 3 22 21
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+f 3 14 8
+f 4 9 10
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+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
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+f 11 20 21
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+f 15 25 16
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+f 16 26 17
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+f 17 19 18
+f 17 26 29
+f 17 29 30
+f 17 30 27
+f 20 31 32
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+f 20 33 21
+f 23 34 24
+f 24 34 35
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_79.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40202f293f1ec47dc82de535387d643f119fbbbb
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_79.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00684146 0.00439319 -0.01430639
+v 0.00684146 0.00439319 0.00189463
+v 0.00684146 0.00539319 -0.01430639
+v 0.00684146 0.00539319 0.00189463
+v 0.01187369 0.00439319 -0.01430639
+v 0.01187369 0.00439319 0.00189463
+v 0.01187369 0.00539319 -0.01430639
+v 0.01187369 0.00539319 0.00189463
+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/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_8.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3db55fbd4984f6c5b5853f5dfcbde5165c8ca9e
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_8.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.01422214 0.00220928 0.01317513
+v 0.01422214 0.00270249 0.01314699
+v 0.00787475 0.00223014 0.01439932
+v 0.00787475 0.00171548 0.01439369
+v 0.01422214 0.00159320 0.01311603
+v 0.01422214 0.00287462 0.01313010
+v 0.00787475 0.00252746 0.01427549
+v 0.01407364 0.00334523 0.01306256
+v 0.00787475 0.00141005 0.01433177
+v 0.01422214 0.00147265 0.01309352
+v 0.01422214 0.00326178 0.01304849
+v 0.00787475 0.00284159 0.01407286
+v 0.01341815 0.00334523 0.01314136
+v 0.01408483 0.00334523 0.01305974
+v 0.00787475 0.00098639 0.01398843
+v 0.01422214 -0.00046427 0.01222391
+v 0.01422214 -0.00007249 0.01248000
+v 0.01422214 0.00066125 0.01284304
+v 0.01400468 0.00111041 0.01305411
+v 0.01422214 0.00122111 0.01303441
+v 0.01422214 0.00334523 0.01302035
+v 0.00787475 0.00304502 0.01389557
+v 0.01270364 0.00334523 0.01320890
+v 0.00787475 -0.00107743 0.00563581
+v 0.00827426 -0.00137185 0.00566394
+v 0.01137774 -0.00257563 0.00786467
+v 0.01151133 -0.00257563 0.00792376
+v 0.01422214 -0.00086243 0.01179615
+v 0.01374434 -0.00049614 0.01221828
+v 0.01422214 0.00334532 -0.00975236
+v 0.00857125 0.00334523 0.01349876
+v 0.00825313 0.00334523 0.01351565
+v 0.00787475 0.00334523 0.01345374
+v 0.01187480 0.00334523 0.01326800
+v 0.00787475 -0.00137185 0.00439473
+v 0.01137774 -0.00257555 -0.01247092
+v 0.01200590 -0.00257563 0.00788718
+v 0.01422214 -0.00257563 0.00728212
+v 0.01422214 0.00299353 -0.00995499
+v 0.01360082 -0.00034826 -0.01289586
+v 0.01025564 0.00334475 -0.01362755
+v 0.01137774 0.00334532 -0.01210787
+v 0.00787475 0.00334524 0.01220141
+v 0.00787475 -0.00137178 -0.01411162
+v 0.00825313 -0.00137178 -0.01412850
+v 0.00903786 -0.00137178 -0.01404689
+v 0.00948148 -0.00137178 -0.01393713
+v 0.01137774 -0.00246833 -0.01255816
+v 0.01360082 -0.00070064 -0.01289586
+v 0.01343120 -0.00257556 -0.01136493
+v 0.01422214 -0.00257557 -0.00921768
+v 0.01422214 0.00217054 -0.01032084
+v 0.01422214 0.00188481 -0.01043059
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+v 0.01422214 0.00076450 -0.01048970
+v 0.00982134 0.00220880 -0.01404124
+v 0.00982134 0.00299296 -0.01402436
+v 0.00982693 0.00334475 -0.01391179
+v 0.01034449 0.00299296 -0.01372323
+v 0.01009721 0.00334475 -0.01375419
+v 0.00947092 0.00334475 -0.01407783
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+v 0.00868619 0.00334475 -0.01424386
+v 0.00825313 0.00334475 -0.01428608
+v 0.00787475 0.00334475 -0.01431703
+v 0.00787475 0.00142406 -0.01431422
+v 0.00825313 -0.00092783 -0.01416226
+v 0.00903786 -0.00092783 -0.01408065
+v 0.00982134 -0.00137178 -0.01384989
+v 0.01011460 -0.00137178 -0.01375140
+v 0.01036624 -0.00137178 -0.01365853
+v 0.01422214 0.00059295 -0.01047563
+v 0.01422214 0.00037097 -0.01043623
+v 0.01422214 0.00017972 -0.01038839
+v 0.01422214 -0.00013325 -0.01027582
+v 0.00982134 -0.00092783 -0.01387803
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+v 0.00787475 0.00299296 -0.01433674
+v 0.00787475 0.00201174 -0.01434236
+v 0.00825313 0.00142406 -0.01428045
+v 0.00825313 0.00220880 -0.01431141
+v 0.00787475 0.00220880 -0.01435081
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_80.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e800d003ffea29ea95ffa4601a09730c7d41e0f
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_80.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00966134 0.00797585 0.01323673
+v 0.00966134 0.00834062 0.01319197
+v 0.00930523 0.00797585 0.01326052
+v 0.00966134 0.00797588 0.00612303
+v 0.00966134 0.00840211 0.01317588
+v 0.00853013 0.00797585 0.01322274
+v 0.00775474 0.00797588 0.00611463
+v 0.00785238 0.00806141 0.00611463
+v 0.00786932 0.00807691 0.00611463
+v 0.00787363 0.00808092 0.00611463
+v 0.00789115 0.00809764 0.00611463
+v 0.00867544 0.00884756 0.00611463
+v 0.00882191 0.00899353 0.00611463
+v 0.00945313 0.00963684 0.00611464
+v 0.00950655 0.00969520 0.00611464
+v 0.00955968 0.00975547 0.00611464
+v 0.00966134 0.00975545 0.01004362
+v 0.00966134 0.00847509 0.01315629
+v 0.00966134 0.00882558 0.01305207
+v 0.00959299 0.00881269 0.01304717
+v 0.00781964 0.00797585 0.01310873
+v 0.00672777 0.00797588 0.00611463
+v 0.00672777 0.00975547 0.00611464
+v 0.00966134 0.00975544 0.01248340
+v 0.00966134 0.00892243 0.01300031
+v 0.00672777 0.00975545 0.01189304
+v 0.00741442 0.00797585 0.01299471
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+v 0.00672777 0.00845821 0.01038216
+v 0.00672777 0.00845385 0.01037446
+v 0.00672777 0.00814709 0.00982257
+f 1 2 3
+f 1 3 6
+f 1 6 21
+f 1 21 27
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+f 1 22 7
+f 1 7 4
+f 1 4 17
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+f 1 19 18
+f 1 18 5
+f 1 5 2
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+f 28 31 32
+f 30 33 31
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+f 31 34 35
+f 31 35 36
+f 31 36 37
+f 31 37 32
+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_81.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6643cf539804685ff8ad8d052c0497a6cb44e80
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_81.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.01773394 0.00440830 0.00647389
+v 0.02176525 0.00440830 0.00647389
+v 0.01824551 0.00334526 0.00647388
+v 0.01362883 0.00440829 0.00912699
+v 0.02130148 0.00440829 0.00733398
+v 0.02179292 0.00435991 0.00647389
+v 0.02219631 0.00334526 0.00647388
+v 0.01362883 0.00334524 0.01004299
+v 0.01362883 0.00440827 0.01255634
+v 0.02123020 0.00422909 0.00763369
+v 0.02194472 0.00407175 0.00647388
+v 0.02099287 0.00440829 0.00781637
+v 0.02210322 0.00368847 0.00647388
+v 0.02200761 0.00345317 0.00684574
+v 0.02202019 0.00334525 0.00686784
+v 0.01362883 0.00334523 0.01311542
+v 0.01362883 0.00438662 0.01257129
+v 0.01365986 0.00440827 0.01255504
+v 0.02132245 0.00377848 0.00777280
+v 0.02171912 0.00374019 0.00714089
+v 0.02190027 0.00397601 0.00664421
+v 0.02052827 0.00435730 0.00851784
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+v 0.02205122 0.00381679 0.00647388
+v 0.02059787 0.00440829 0.00837546
+v 0.02196736 0.00334525 0.00696016
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+v 0.01362883 0.00337479 0.01310502
+v 0.01407499 0.00334523 0.01306536
+v 0.01407834 0.00334940 0.01306406
+v 0.01362883 0.00377066 0.01293079
+v 0.01378817 0.00373808 0.01293014
+v 0.01374876 0.00440827 0.01254398
+v 0.02113292 0.00334525 0.00827599
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+v 0.01452952 0.00439568 0.01244192
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+v 0.02044440 0.00334525 0.00918940
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+v 0.01526920 0.00440828 0.01224753
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_82.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d194651e139572be56e8286d6648ed4590df048
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_82.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01443462 0.00439322 -0.01477771
+v -0.01443462 0.00439322 -0.00780266
+v -0.01443462 0.00539321 -0.01477771
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_83.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1259c5a95f59fd22354a0e5d29576a15c61a335
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_83.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_84.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8091da2875e1a3c1e653f52633f9ae91994a88bb
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_84.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_85.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52d1a78359f8584e5442352b17c64d0e8a7aaa9b
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_85.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.01301213 -0.00905268 -0.00032831
+v -0.01549495 -0.00840643 -0.00457122
+v -0.01316111 -0.00914121 -0.00032831
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_86.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a99654440338844835a81b5fa3207a95eb9e7542
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_86.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.00995154 -0.01302961 -0.00712994
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_87.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a83ee6d7cd5a411db3eadf1b6fe8ef9d22baf0cc
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_87.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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+v -0.01301213 -0.01470152 0.00640638
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_88.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1bc72dbdf68de7e5bd8501e442bcc62a5c68822
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_88.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02098154 0.00439319 -0.00780266
+v -0.02098154 0.00439319 -0.00001204
+v -0.02098154 0.00539319 -0.00780266
+v -0.02098154 0.00539319 -0.00001204
+v 0.00683825 0.00439319 -0.00780266
+v 0.00683825 0.00439319 -0.00001204
+v 0.00683825 0.00539319 -0.00780266
+v 0.00683825 0.00539319 -0.00001204
+f 2 4 1
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+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/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_89.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9d9dd88e987d3a8081f40f70f807395fb9af740
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_89.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.00687758 -0.00641663 0.01276580
+v 0.00081443 -0.00641663 0.01276580
+v -0.00687758 -0.00641663 0.01279586
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+v 0.00106832 -0.00625419 0.01276580
+v 0.00124037 -0.00641663 0.01422736
+v -0.00592898 -0.00641663 0.01426661
+v -0.00687758 -0.00393221 0.01409122
+v -0.00687758 0.00034863 0.01501987
+v -0.00676877 0.00219189 0.01276583
+v 0.00142172 -0.00597230 0.01276580
+v 0.00116318 -0.00641664 0.01501560
+v 0.00179279 -0.00551842 0.01276580
+v 0.00262328 -0.00425042 0.01502091
+v -0.00560069 -0.00641663 0.01473093
+v -0.00687758 -0.00134078 0.01543680
+v -0.00687758 0.00019192 0.01537385
+v -0.00672227 0.00231420 0.01276583
+v -0.00640514 0.00334523 0.01489505
+v -0.00640514 0.00334523 0.01451631
+v 0.00115202 -0.00641664 0.01503046
+v 0.00262328 -0.00384909 0.01567832
+v 0.00262328 -0.00324136 0.01637851
+v 0.00217409 -0.00482756 0.01276580
+v 0.00262328 -0.00410708 0.01426060
+v -0.00557465 -0.00641663 0.01475180
+v -0.00687758 -0.00114967 0.01550045
+v -0.00687758 -0.00017788 0.01554218
+v -0.00646745 0.00278242 0.01276583
+v -0.00635771 0.00334523 0.01497249
+v -0.00560534 0.00334523 0.01276583
+v 0.00058658 -0.00641664 0.01539929
+v 0.00262328 0.00280630 0.01637853
+v 0.00240008 -0.00341049 0.01637851
+v 0.00229034 -0.00406790 0.01276581
+v 0.00262328 -0.00167139 0.01276581
+v -0.00506130 -0.00641664 0.01511993
+v -0.00687758 -0.00091174 0.01555809
+v -0.00390996 -0.00524419 0.01620982
+v -0.00490320 -0.00014348 0.01637852
+v -0.00473394 0.00047667 0.01637852
+v -0.00581180 0.00334522 0.01553795
+v -0.00615497 0.00334522 0.01527980
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+v 0.00040616 -0.00641664 0.01545446
+v 0.00040616 -0.00475781 0.01637850
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+v -0.00037875 -0.00487917 0.01637850
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+v -0.00369792 -0.00440808 0.01637850
+v -0.00452655 -0.00272154 0.01637851
+v -0.00460002 0.00082354 0.01637852
+v -0.00508454 0.00334522 0.01575402
+v -0.00434706 0.00143126 0.01637853
+v -0.00404016 0.00209728 0.01637853
+v -0.00396948 0.00221195 0.01637853
+v -0.00351657 0.00274036 0.01637853
+v 0.00203831 0.00334522 0.01632831
+v 0.00203831 0.00329745 0.01637853
+v 0.00235544 0.00303945 0.01637853
+v -0.00274095 0.00334522 0.01637853
+v -0.00348030 0.00277190 0.01637853
+v 0.00188300 0.00334522 0.01637853
+f 1 2 6
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+f 1 12 21
+f 1 21 32
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+f 1 37 26
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_9.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b072723ce98257c5b5e68f344da4a20322a71c54
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_9.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.01116081 -0.00642031 0.01317987
+v 0.01060875 -0.00641706 0.01334273
+v 0.01116081 -0.00720465 0.01317986
+v 0.01116081 -0.00641749 0.01317716
+v 0.00982092 -0.00641706 0.01351374
+v 0.00982092 -0.00642031 0.01351374
+v 0.01116081 -0.00641706 0.01310116
+v 0.01060586 -0.00720465 0.01329387
+v 0.01116081 -0.00780081 0.01311472
+v 0.00904032 -0.00641706 0.01362503
+v 0.01116081 -0.00641697 -0.01042124
+v 0.00903694 -0.00642031 0.01362503
+v 0.01116081 -0.00781640 0.01311201
+v 0.00890772 -0.00641706 0.01363588
+v 0.01116081 -0.00862902 -0.00978609
+v 0.00900319 -0.00641696 -0.01256827
+v 0.01060586 -0.00791731 0.01315272
+v 0.01060586 -0.00830948 0.01305229
+v 0.01116081 -0.00862911 0.01289215
+v 0.00831709 -0.00641706 0.01367388
+v 0.00797380 -0.00862902 -0.01214756
+v 0.00797380 -0.00859004 -0.01220185
+v 0.00802973 -0.00857315 -0.01217742
+v 0.00797380 -0.00851943 -0.01225342
+v 0.00797380 -0.00772340 -0.01275014
+v 0.00791112 -0.00766623 -0.01283157
+v 0.00827659 -0.00641696 -0.01320885
+v 0.00831227 -0.00641696 -0.01317900
+v 0.01060586 -0.00862911 0.01294100
+v 0.00749117 -0.00641706 0.01360874
+v 0.00623565 -0.00855473 -0.01321972
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+v 0.00667778 -0.00855473 -0.01301072
+v 0.00690439 -0.00855473 -0.01288314
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+v 0.00727516 -0.00641706 0.01345945
+v 0.00877031 -0.00862911 0.01246871
+v 0.00902874 -0.00862911 0.01261528
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+v 0.00855093 -0.00851022 0.01240357
+v 0.00623565 -0.00641703 0.00504231
+v 0.00623565 -0.00798830 0.00403800
+v 0.00623565 -0.00642908 -0.01405573
+v 0.00623565 -0.00641696 -0.01405573
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+f 1 7 4
+f 1 4 2
+f 2 5 6
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_90.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb0d21fb79a039faf0f383ea219b13c20d23873e
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_90.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.00324408 -0.00641659 0.00138140
+v 0.00283188 -0.00406664 0.00138300
+v 0.00270109 -0.00453163 0.00138299
+v 0.00258714 -0.00487295 0.00138299
+v 0.00245635 -0.00512528 0.00138299
+v 0.00238401 -0.00526467 0.00138299
+v 0.00168050 -0.00641659 0.00138299
+v 0.00324408 -0.00641653 -0.01466102
+v 0.00324408 -0.00276566 -0.00361070
+v 0.00273973 -0.00372889 0.00138300
+v -0.00687659 -0.00641659 0.00138299
+v 0.00275658 -0.00641653 -0.01464354
+v 0.00275955 -0.00563524 -0.01473887
+v 0.00324408 -0.00611988 -0.01469598
+v 0.00324408 -0.00276562 -0.01461335
+v 0.00253066 -0.00276567 0.00089205
+v 0.00260002 -0.00326927 0.00138300
+v -0.00687659 -0.00276568 0.00138300
+v -0.00687659 -0.00641653 -0.01377445
+v 0.00197182 -0.00641653 -0.01460065
+v 0.00197578 -0.00563524 -0.01469915
+v 0.00197578 -0.00485073 -0.01476906
+v 0.00275955 -0.00485073 -0.01478336
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+v 0.00324408 -0.00563524 -0.01473252
+v 0.00324408 -0.00298221 -0.01463400
+v 0.00302808 -0.00276562 -0.01465942
+v 0.00241176 -0.00276568 0.00138300
+v -0.00687659 -0.00276562 -0.01434007
+v -0.00687659 -0.00641332 -0.01377604
+v -0.00676859 -0.00641653 -0.01379511
+v 0.00118705 -0.00641653 -0.01454663
+v -0.00636530 -0.00276562 -0.01438297
+v -0.00043400 -0.00641653 -0.01442746
+v -0.00687659 -0.00485073 -0.01411605
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+v -0.00687659 -0.00563524 -0.01398577
+v -0.00587285 -0.00641653 -0.01395399
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_91.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a89cd3560c740170b1eb50e56f40518b730efd86
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_91.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.00746929 -0.01102638 -0.00885409
+v -0.00995130 -0.01102638 -0.00829922
+v -0.00746929 -0.01048669 -0.01083540
+v -0.00746929 -0.01102646 0.01364947
+v -0.00995130 -0.01101465 -0.00831005
+v -0.00873423 -0.01011487 -0.01133885
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+v -0.00995130 -0.01102646 0.01258303
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+v -0.00995106 -0.00955679 0.01324888
+v -0.00995106 -0.00969938 0.01322181
+v -0.00995106 -0.01003510 0.01311354
+v -0.00995130 -0.01008473 0.01308918
+v -0.00995130 -0.01041549 0.01291595
+v -0.00995130 -0.01056846 0.01283475
+v -0.00995130 -0.01048715 -0.00871335
+v -0.00995106 -0.00641654 -0.01198032
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+v -0.00746929 -0.00818673 -0.01270302
+v -0.00746929 -0.00795760 0.01400406
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+v -0.00746929 -0.00711424 0.01355204
+v -0.00746929 -0.00678439 0.01313251
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+f 1 10 4
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_92.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ee3ffdd4777cc6496d7ad5e66ab7f6bfb82497e
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_92.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00504937 0.00518262 0.00744022
+v -0.00504937 0.00518262 0.01237709
+v -0.00504937 0.00618263 0.00744022
+v -0.00504937 0.00618263 0.01237709
+v -0.00241844 0.00518262 0.00744022
+v -0.00241844 0.00518262 0.01237709
+v -0.00241844 0.00618263 0.00744022
+v -0.00241844 0.00618263 0.01237709
+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/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_93.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..330d12dc0e771bda800e095568ec1d11c4c9a1e6
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_93.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00116425 0.00623094 -0.00624507
+v 0.00116425 0.00623094 0.00527493
+v 0.00116425 0.00723094 -0.00624507
+v 0.00116425 0.00723094 0.00527493
+v 0.02170548 0.00623094 -0.00624507
+v 0.02170548 0.00623094 0.00527493
+v 0.02170548 0.00723094 -0.00624507
+v 0.02170548 0.00723094 0.00527493
+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/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_94.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdac00db534c6cf8ca62b30a537793cd64dd1305
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_94.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00692365 0.00439316 0.00189501
+v 0.00692365 0.00439316 0.00572670
+v 0.00692365 0.00539316 0.00189501
+v 0.00692365 0.00539316 0.00572670
+v 0.01514034 0.00439316 0.00189501
+v 0.01514034 0.00439316 0.00572670
+v 0.01514034 0.00539316 0.00189501
+v 0.01514034 0.00539316 0.00572670
+f 2 4 1
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+f 1 4 3
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+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/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_95.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9afd05352f9380e31d15626b2352e0f6affb2df
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_95.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.00324408 0.00334467 0.00448296
+v -0.00687659 0.00334467 0.00448296
+v 0.00324408 -0.00149907 0.00448294
+v 0.00324408 0.00334474 -0.01454931
+v -0.00687659 -0.00276473 0.00448294
+v -0.00687659 0.00334474 -0.01463295
+v 0.00261489 -0.00247942 0.00448294
+v 0.00324408 -0.00276470 -0.00361129
+v 0.00324408 0.00312821 -0.01455311
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+v -0.00687659 -0.00276466 -0.01434022
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+v -0.00636530 -0.00276466 -0.01438204
+v 0.00067379 -0.00276466 -0.01483447
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_96.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..177a00c808f99e3618883aeb48bb0e6ca5ee0809
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_96.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.00149549 0.01104567 0.01352124
+v 0.00149549 0.01111399 0.01350961
+v -0.00096905 0.00975543 0.01533822
+v 0.00114284 0.00975544 0.01381196
+v 0.00149549 0.01104577 -0.01363172
+v 0.00149549 0.01196819 0.01326250
+v -0.00133984 0.00975543 0.01550393
+v -0.00083806 0.01189262 0.01460271
+v -0.00094285 0.01222194 0.01455910
+v 0.00114284 0.00975554 -0.01416373
+v 0.00114284 0.00977365 -0.01416082
+v 0.00114284 0.01005468 -0.01408523
+v 0.00114284 0.01010345 -0.01406488
+v 0.00146728 0.01104577 -0.01363462
+v 0.00137660 0.01222204 -0.01305319
+v 0.00149549 0.01222204 -0.01303284
+v 0.00149549 0.01222194 0.01316657
+v -0.00138518 0.00986335 0.01548649
+v -0.00178922 0.00986335 0.01548649
+v -0.00183355 0.00975543 0.01550102
+v -0.00132976 0.01222194 0.01473062
+v 0.00070454 0.00975554 -0.01418989
+v 0.00040529 0.01005468 -0.01412593
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+v -0.00152523 0.01222194 0.01477423
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+v -0.00263659 0.01222194 0.01472772
+v -0.00201189 0.00975543 0.01545451
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+v -0.00037861 0.01005468 -0.01411140
+v -0.00031714 0.01088714 -0.01375091
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+v -0.00222248 0.00975543 0.01539637
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diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_97.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38445039a1f4d1d475b57a7453081918388fb4fd
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_97.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01302366 -0.01573578 -0.00094205
+v -0.01302366 -0.01573578 0.00710313
+v -0.01302366 -0.01473577 -0.00094205
+v -0.01302366 -0.01473577 0.00710313
+v -0.01202365 -0.01573578 -0.00094205
+v -0.01202365 -0.01573578 0.00710313
+v -0.01202365 -0.01473577 -0.00094205
+v -0.01202365 -0.01473577 0.00710313
+f 2 4 1
+f 5 2 1
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+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_98.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abfbdeec860baaf1f7d30d1a9ea32aff6d826808
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_98.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00703034 -0.01193069 -0.01276170
+v 0.00703034 -0.01193069 0.00878875
+v 0.00703034 -0.00855484 -0.01276170
+v 0.00703034 -0.00855484 0.00878875
+v 0.00803033 -0.01193069 -0.01276170
+v 0.00803033 -0.01193069 0.00878875
+v 0.00803033 -0.00855484 -0.01276170
+v 0.00803033 -0.00855484 0.00878875
+f 2 4 1
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_99.obj b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57171634348b8a7c315ebba4b72d4242aafdce92
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_collision_99.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.00354185 -0.00641653 -0.01467012
+v 0.00324523 -0.00611987 -0.01469562
+v 0.00354504 -0.00641653 -0.01467012
+v 0.00324523 -0.00641653 -0.01465992
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+v 0.00354504 -0.00563507 -0.01472793
+v 0.00432940 -0.00641653 -0.01462932
+v 0.00324523 -0.00641659 0.00138140
+v 0.00324523 -0.00533526 -0.01475003
+v 0.00354504 -0.00485104 -0.01472453
+v 0.00487060 -0.00640221 -0.01452050
+v 0.00487060 -0.00641653 -0.01452050
+v 0.00432940 -0.00563507 -0.01462422
+v 0.00487060 -0.00563507 -0.01451710
+v 0.00352069 -0.00641659 0.00210568
+v 0.00324523 -0.00411658 -0.00230632
+v 0.00324523 -0.00455122 -0.01474493
+v 0.00324523 -0.00376661 -0.01469901
+v 0.00354504 -0.00406643 -0.01467181
+v 0.00432940 -0.00485104 -0.01458681
+v 0.00487060 -0.00641659 0.00238792
+v 0.00487060 -0.00488139 -0.01448310
+v 0.00420989 -0.00641659 0.00261744
+v 0.00487060 -0.00349119 0.00033749
+v 0.00324523 -0.00349118 -0.00349644
+v 0.00324523 -0.00349114 -0.01467351
+v 0.00341550 -0.00349114 -0.01464291
+v 0.00354504 -0.00349114 -0.01461911
+v 0.00487060 -0.00406643 -0.01442698
+v 0.00434085 -0.00641659 0.00261914
+v 0.00487060 -0.00349114 -0.01392543
+v 0.00487012 -0.00349114 -0.01437258
+v 0.00481761 -0.00354097 -0.01438788
+v 0.00487060 -0.00359366 -0.01438278
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+
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_geometry_Looks_material_0.png b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2b65dbe29c4d891541cd0021bb8c6fe0b1a6085
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/mjcf/mesh/garlic_010_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91af9a0ed3f83152b3171892de293b5c49e75b75a801232639ded12eefb3ef95
+size 10501586
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/textures/material_0.png b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2b65dbe29c4d891541cd0021bb8c6fe0b1a6085
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91af9a0ed3f83152b3171892de293b5c49e75b75a801232639ded12eefb3ef95
+size 10501586
diff --git a/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/video.mp4 b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6b43706f60bc21068011886594448dc0636b25f4
--- /dev/null
+++ b/dataset/food/ingredients/22f37dfd4aed546a880aefc229a2f030/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2f31d379dfd2d34d2580adf687264c186d2d460100f335b955a1f19c4addf2c
+size 335310