diff --git a/.gitattributes b/.gitattributes
index c956643da33df9cc5c778786c23629493390fbe7..bbd023b1c9c58b8c3ff4ab4910f7035b75f32080 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3634,5 +3634,6 @@ dataset/food/ingredients/2f31765704495c429ae7172cb7d1f511/chili_009.usd filter=l
dataset/food/ingredients/2f31765704495c429ae7172cb7d1f511/mesh/chili_009.glb filter=lfs diff=lfs merge=lfs -text
dataset/food/ingredients/55f0432e80305a688fe91bf0b790fa36/chili_004.usd filter=lfs diff=lfs merge=lfs -text
dataset/food/ingredients/55f0432e80305a688fe91bf0b790fa36/mesh/chili_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/618f3f5a1f5553a2ad85f94abe7926ad/bread_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/618f3f5a1f5553a2ad85f94abe7926ad/mesh/bread_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/6765535ef0c8544ebf7db217923ce868.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mesh/tomato.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mesh/tomato_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/6765535ef0c8544ebf7db217923ce868.urdf b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/6765535ef0c8544ebf7db217923ce868.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..497bfd3018ddd651916a639d2613c431ff4b4f3a
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/6765535ef0c8544ebf7db217923ce868.urdf
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+
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/6765535ef0c8544ebf7db217923ce868.usd b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/6765535ef0c8544ebf7db217923ce868.usd
new file mode 100644
index 0000000000000000000000000000000000000000..37e7ac97aa9eae45549b82e6e16f55f714d4e21b
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/6765535ef0c8544ebf7db217923ce868.usd
@@ -0,0 +1,3 @@
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+size 951231
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mesh/material.mtl b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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\ No newline at end of file
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mesh/material_0.png b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mesh/material_0.png
new file mode 100644
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--- /dev/null
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mesh/tomato.glb b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mesh/tomato.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8c164a6253696bea54edcdc95ec94674c900f38a
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mesh/tomato.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddba57f43759d32f9cd64e3de4820a4f34c598c09ca5a68f40458d6e6d7dcb86
+size 2927916
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mesh/tomato.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mesh/tomato.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74c959ed6f461302d801d85ad73e8694630fd259
--- /dev/null
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+# https://github.com/mikedh/trimesh
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+usemtl material_0
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mesh/tomato_collision.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mesh/tomato_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..288bf11465580b42fc9aebe8e2c108b05aff5353
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mesh/tomato_collision.obj
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mesh/tomato_gs.ply b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mesh/tomato_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..67c5044ca394b795684c818e3b67ddbf055ed366
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/6765535ef0c8544ebf7db217923ce868.xml b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/6765535ef0c8544ebf7db217923ce868.xml
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/material_0.png b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/material_0.png
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new file mode 100644
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18b75392a54af032f4d33e48f2a1c262023c8535
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision.obj
@@ -0,0 +1,33462 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_0.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9586c48b7a3a98a7fe9ce917391b826be5e5d53
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_0.obj
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_1.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c44ca8fdcd0c44d53cf5f93a35b9df6fc31e4ffa
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_1.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_10.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50919d7b97299641d65cabe23d28c064c5f54e4a
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_10.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_11.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9beb93904688e6deedf7852410c083238e8dec07
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_11.obj
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_12.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f27124c05af92a64bdfd3fd8d2a53b0ca722758
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_12.obj
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_13.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86e74acec86e35cb2dd07492bc52738fbae93fd7
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_13.obj
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_14.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b30fa2260ae55256c1448960fa3fe8e6ec65e752
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_14.obj
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_15.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23cb4dbca1d470c139615b1001e9bea901ad142a
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_15.obj
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_16.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9347327ea20b742e817b55cb3c42c7e755f0d64c
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_16.obj
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_17.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66b8dcda342059fa34f21d5c4a5b5eb62aa4b8b9
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_17.obj
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_18.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39fb4f29191a86ff5aa2701fbdef348cd5df3b62
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_18.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_19.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d15a01dea014fc5ecc00b34114f1d0e837ef6372
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_19.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_2.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bdce326a5cc66f37cc1d4a23fee475d9c2f3ca1
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_2.obj
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_20.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4cbd740ad6615ecefe80d12406384854a28e64f
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_20.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_21.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aed68bbdf4622129439bb3da28bed84c95d0ea3
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_21.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_22.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..995c00ff1c42e8a7dad2d9c4d6db54a9f7ad6479
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_22.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_23.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0705c04a9a3f9aaac170a291cc68db4b8e85102e
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_23.obj
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_24.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..194e576b7f50570e943e858b3985ca067a9837f9
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_24.obj
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_25.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0648c908bf009f0b1efb18fedf4ea2394ad28f7
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_25.obj
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_26.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..497adcfaf3650672e0c87c486cfa0a0f255467db
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_26.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_27.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20651d3ecb58b896440b5820d1177392fb40a0b9
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_27.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_28.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5be1b79c7fde934d52856acbb3f472da080d56e2
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_28.obj
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_29.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ece22375a86b327e93857315b461148ad68fedf
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_29.obj
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_3.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e79a98d24875d8cbad86826727a0dee4d0bfcdf
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_3.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_30.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2ee41b354410984628eebd6c2b3c08bc9a3c7e3
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_30.obj
@@ -0,0 +1,592 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_31.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d6bd2d1d6596cf79fc382b9d32699bbe3f03303
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_31.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_32.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e40fb2bacb09c6abbb33cbce33a6f3c20f967b9
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_32.obj
@@ -0,0 +1,787 @@
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_33.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f60737b526f31b6176078085f081252df893574
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_33.obj
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_34.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..934c93a598f2d8c4954b3512f7c4bf7bb24f85b5
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_34.obj
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_35.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51fb0fc03868aac65a15b8528a64a1aa14b98a1b
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_35.obj
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_36.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7098fee48d58865c6a17eb8f406d8fd4417d7685
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_36.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_37.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c7aa5d0d01b75859b9c75c04dbc663381c8f1ee
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_37.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_38.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0587618db76e9155b43c1aa50fd7f6095952450d
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_38.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_39.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b994a0c0de18493a3561c0b0f26812bdaee9c12f
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_39.obj
@@ -0,0 +1,517 @@
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_4.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be10bf2d95964bd1ce804d9099b6b6102c14d14e
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_4.obj
@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_40.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d02642db6ed7d6f4489d9d09143666396535836e
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_40.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_41.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80977e32b4981593517cb0231ee50c29b5b4982f
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_41.obj
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_42.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fad23adf1cc41e7c2f46d6be74d3ecd3a24a57b4
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_42.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_43.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bbc560d374b0acd047ad1231162fd026d34de3e
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_43.obj
@@ -0,0 +1,784 @@
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_44.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..308b2093f61b3c72e9039ad555a58ec444b63c00
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_44.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_45.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6dfe05a76ed1329f5a0cc1ae7252b4c1a40d2c5
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_45.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_46.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..096c6045aabe7ebad124573b16ef07fcf32831cc
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_46.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_47.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c32d941f5edf2c839966d38e434b2fb80756218
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_47.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_48.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dccbc6eb2f926c7e117472834988c4e4b9d4ac5
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_48.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_49.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f3cc12562315c2eed2f62d2381f7cb378baf94c
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_49.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.01131283 -0.02978711 0.02862207
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+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_5.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f0dfc5252a756e5bc3584bf9dc5daf850523f3f
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_5.obj
@@ -0,0 +1,643 @@
+# https://github.com/mikedh/trimesh
+v -0.02583606 -0.00009654 -0.01832859
+v -0.02637970 -0.00009655 -0.01769490
+v -0.03399058 -0.00009397 -0.00668859
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+v -0.03114535 -0.00009397 -0.00615239
+v -0.03674416 -0.00009402 0.00788130
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_50.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0497ffb9bc377788e4ddfbd68147364d7dd4dbbb
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_50.obj
@@ -0,0 +1,235 @@
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_51.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f681c4a8ed936ea6792cf9b350b0eb962f6e8ef1
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_51.obj
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_52.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..803ab687e86c0686655447d1e20a3c62758a3d28
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_52.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_53.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..019316d546c86c2b7182dbb5717ed3b7d2e8d27d
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_53.obj
@@ -0,0 +1,622 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_54.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6fef7dc69ca03f30135906d8f7db6f94c224dfb
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_54.obj
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_55.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02c13092e72c160866695aea36fad149279a0d41
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_55.obj
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_56.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dfbad39008f6e8d98dd84f4cadc73084745c12d
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_56.obj
@@ -0,0 +1,472 @@
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_57.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45233910958f797a1846c99708885c7775fc9874
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_57.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_58.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e294c73d382e720a0c6c6662f7781a08f9ade39c
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_58.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+f 38 54 55
+f 38 55 56
+f 38 56 49
+f 41 43 57
+f 42 58 43
+f 43 59 60
+f 43 60 61
+f 43 61 62
+f 43 62 57
+f 43 58 63
+f 43 63 64
+f 43 64 65
+f 43 65 66
+f 43 66 67
+f 43 67 59
+f 44 68 69
+f 44 69 70
+f 44 70 45
+f 45 70 54
+f 45 54 46
+f 46 54 53
+f 49 56 50
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+f 50 71 72
+f 50 72 51
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+f 59 69 73
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+f 66 71 67
+f 68 73 69
+f 71 74 72
+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_59.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b044f651c3787975d36f8c0c8822fd7c08e2f4a
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_59.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.01785214 -0.00684534 0.02862215
+v -0.01766021 -0.00915467 0.02738795
+v -0.01924433 -0.01021912 0.02685220
+v -0.02147429 -0.00773717 0.02862215
+v -0.01757187 -0.00688719 0.02862215
+v -0.01557649 -0.00750440 0.02855478
+v -0.01642643 -0.01037342 0.02697167
+v -0.01766021 -0.01019819 0.02686491
+v -0.02182767 -0.01583946 0.02459098
+v -0.02182767 -0.01479333 0.02501234
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+v -0.02306754 -0.00819747 0.02862215
+v -0.01571357 -0.00735533 0.02862215
+v -0.01505860 -0.00757502 0.02862215
+v -0.01766021 -0.01153986 0.02640987
+v -0.01350190 -0.00825239 0.02862215
+v -0.01214017 -0.01238200 0.02691193
+v -0.01350190 -0.01208123 0.02679945
+v -0.02264410 -0.02083997 0.02280703
+v -0.02391139 -0.02076674 0.02277907
+v -0.02515432 -0.02081644 0.02279623
+v -0.02533710 -0.01637299 0.02465834
+v -0.02525790 -0.01018513 0.02862214
+v -0.01149433 -0.00936653 0.02862215
+v -0.01609133 -0.02872521 0.02259283
+v -0.01143645 -0.01162617 0.02753539
+v -0.00604740 -0.02063600 0.02680894
+v -0.00725377 -0.02199859 0.02614037
+v -0.02391139 -0.02199857 0.02240602
+v -0.02590373 -0.02201949 0.02256935
+v -0.02654042 -0.02133427 0.02306506
+v -0.02715884 -0.02273086 0.02274157
+v -0.02711010 -0.01868756 0.02477018
+v -0.02702480 -0.01259647 0.02862213
+v -0.01136334 -0.00947899 0.02862215
+v -0.01546986 -0.03043041 0.02247907
+v -0.01774856 -0.03098224 0.02212953
+v -0.00993154 -0.01112403 0.02862214
+v 0.00014895 -0.02618313 0.02862208
+v -0.00149915 -0.03037028 0.02667482
+v -0.00130418 -0.03246255 0.02640280
+v -0.02599512 -0.02400453 0.02253883
+v -0.02715884 -0.02370638 0.02274156
+v -0.02757619 -0.02427915 0.02368405
+v -0.02971780 -0.02276489 0.02862210
+v -0.02970257 -0.02207706 0.02862210
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+v -0.01550033 -0.03098224 0.02241361
+v -0.01923519 -0.03098224 0.02246827
+v -0.00131941 -0.03356360 0.02632399
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+v 0.00140406 -0.03356360 0.02819943
+v -0.02743911 -0.02566528 0.02424204
+v -0.02928826 -0.02491470 0.02862209
+v -0.00423175 -0.03356360 0.02686483
+v -0.01941493 -0.03098224 0.02260364
+v 0.00039570 -0.02714558 0.02862208
+v 0.00140406 -0.03234486 0.02862078
+v 0.00140406 -0.03249916 0.02838755
+v 0.00140406 -0.03356361 0.02862078
+v -0.02782295 -0.02798772 0.02862208
+v -0.02865157 -0.02670882 0.02862208
+v -0.02899276 -0.02592160 0.02862208
+v -0.02018871 -0.03098225 0.02347049
+v -0.00526143 -0.03356361 0.02862078
+v -0.02371033 -0.03098227 0.02862207
+v -0.00920345 -0.03098227 0.02862207
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 23
+f 1 23 34
+f 1 34 48
+f 1 48 47
+f 1 47 46
+f 1 46 45
+f 1 45 57
+f 1 57 66
+f 1 66 65
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+f 1 69 70
+f 1 70 60
+f 1 60 53
+f 1 53 39
+f 1 39 38
+f 1 38 35
+f 1 35 24
+f 1 24 16
+f 1 16 14
+f 1 14 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 3 8 9
+f 5 13 6
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+f 7 15 8
+f 7 14 16
+f 7 16 17
+f 7 17 18
+f 7 18 15
+f 8 15 19
+f 8 19 9
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+f 19 29 20
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+f 21 31 22
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 22 34 23
+f 24 35 26
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+f 25 37 29
+f 26 35 38
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+f 27 39 40
+f 27 40 28
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+f 29 42 30
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+f 30 32 31
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+f 32 48 33
+f 33 48 34
+f 36 49 37
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+f 37 52 50
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+f 41 51 49
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+f 41 54 55
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+f 43 50 56
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+f 44 57 45
+f 50 52 58
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+f 50 59 56
+f 51 55 63
+f 51 63 68
+f 51 68 58
+f 51 58 52
+f 53 60 61
+f 53 61 62
+f 53 62 54
+f 54 62 61
+f 54 61 63
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+f 60 63 61
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+f 64 67 69
+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_6.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f04b3733545749105abfa9fe5636f54178ee0ff9
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_6.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.01132698 -0.01461055 0.02889045
+v -0.01000995 -0.01823109 0.02862211
+v -0.01066085 -0.01862575 0.02862211
+v -0.01074459 -0.01867879 0.02862211
+v -0.01132698 -0.01910776 0.02862211
+v -0.01132698 -0.01461056 0.03216993
+v 0.00140561 -0.01461055 0.03039084
+v 0.01760968 -0.01811566 0.02957662
+v -0.00736827 -0.01824513 0.02862211
+v -0.00922963 -0.01800023 0.02862211
+v -0.01132698 -0.02296230 0.02862210
+v -0.01132698 -0.01563698 0.03237213
+v -0.01030304 -0.01461056 0.03238982
+v 0.00140561 -0.01461056 0.03236753
+v 0.01755639 -0.01811566 0.03012711
+v 0.02559943 -0.02475775 0.02957660
+v -0.00577336 -0.01943534 0.02862211
+v -0.01131175 -0.02978533 0.02862207
+v -0.01132698 -0.02174089 0.03044079
+v -0.01132698 -0.01572433 0.03237328
+v -0.00932859 -0.01461056 0.03241981
+v 0.01358626 -0.01811567 0.03250936
+v 0.01579401 -0.01811567 0.03208304
+v 0.01702349 -0.01811567 0.03167401
+v 0.01748788 -0.01811566 0.03042465
+v 0.01735846 -0.01824826 0.03159021
+v 0.01945581 -0.02030110 0.03159598
+v 0.02154175 -0.02238358 0.03160289
+v 0.02563369 -0.02479363 0.02957660
+v 0.00015709 -0.02618507 0.02862208
+v -0.01106053 -0.02978533 0.02959926
+v -0.01132698 -0.02016227 0.03191043
+v -0.01132698 -0.02029018 0.03186238
+v 0.00057961 -0.02978533 0.02862207
+v 0.00140561 -0.03054501 0.02957658
+v 0.00140561 -0.03054502 0.03241629
+v -0.01132698 -0.01772881 0.03239518
+v -0.00932859 -0.01572433 0.03243364
+v 0.01566839 -0.01990956 0.03252704
+v -0.00724646 -0.01781617 0.03245977
+v -0.00099626 -0.02409168 0.03252010
+v 0.01793323 -0.01972549 0.03197540
+v 0.02002298 -0.02181109 0.03198615
+v 0.02210891 -0.02390137 0.03199076
+v 0.02344498 -0.02446762 0.03160326
+v 0.02755976 -0.03042179 0.03172126
+v 0.02755976 -0.02892738 0.02957658
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+v -0.01049717 -0.02978534 0.03131569
+v -0.01132698 -0.02007491 0.03193004
+v 0.00048445 -0.02810687 0.02862208
+v 0.02755976 -0.03054501 0.02957658
+v 0.02400072 -0.03054502 0.03249509
+v 0.02400072 -0.03037031 0.03249932
+v -0.00516052 -0.02978534 0.03239514
+v -0.00666027 -0.02978534 0.03236631
+v -0.00724646 -0.02978534 0.03235401
+v -0.00874621 -0.02978534 0.03210376
+v -0.00935143 -0.02978534 0.03190809
+v -0.01023072 -0.02978534 0.03148830
+v -0.01132698 -0.01781617 0.03239518
+v -0.00932859 -0.01781617 0.03243209
+v 0.01775052 -0.02200296 0.03253856
+v 0.01983265 -0.02409324 0.03254932
+v 0.02191859 -0.02618508 0.03252125
+v 0.02755976 -0.03054502 0.03175239
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 19
+f 1 19 33
+f 1 33 32
+f 1 32 50
+f 1 50 61
+f 1 61 37
+f 1 37 20
+f 1 20 12
+f 1 12 6
+f 1 6 13
+f 1 13 21
+f 1 21 14
+f 1 14 7
+f 1 7 8
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+f 1 10 2
+f 2 10 9
+f 2 9 17
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+f 2 5 4
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+f 41 64 63
+f 43 63 64
+f 43 64 44
+f 44 65 66
+f 44 66 46
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+f 46 52 47
+f 47 51 48
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+f 49 61 50
+f 53 66 54
+f 54 65 64
+f 54 66 65
+f 55 62 61
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+f 56 61 57
+f 57 61 58
+f 58 61 59
+f 59 61 60
+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_60.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5fbc2a7a68e22e098856951d88cd75a8ef2436b
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_60.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.01914231 0.03867489 0.02847468
+v 0.01681424 0.03958404 0.02447501
+v 0.01681424 0.03994745 0.02447501
+v 0.01906264 0.03905442 0.02847468
+v 0.01881176 0.03744948 0.02847468
+v 0.01517817 0.03940669 0.02265022
+v 0.01517817 0.04002931 0.02265023
+v 0.01569301 0.04068542 0.02392607
+v 0.01681661 0.04191826 0.02682613
+v 0.01874280 0.04039146 0.02847469
+v 0.01354923 0.03039964 0.02847465
+v 0.01101190 0.03707245 0.02257718
+v 0.01358728 0.03911274 0.02255283
+v 0.01350524 0.03034879 0.02847465
+v 0.01327814 0.03010073 0.02847465
+v 0.01172411 0.03010073 0.02753328
+v 0.01102379 0.03079901 0.02659364
+v 0.00961957 0.03010073 0.02636989
+v 0.00949116 0.03010073 0.02630844
+v 0.01358728 0.04013102 0.02255284
+v 0.01481790 0.04191579 0.02476426
+v 0.01557529 0.04211671 0.02606619
+v 0.01725298 0.04225935 0.02847470
+v 0.01822083 0.04108355 0.02847469
+v 0.00999768 0.03707245 0.02257718
+v 0.00699663 0.03010073 0.02847465
+v 0.01148512 0.03010073 0.02739416
+v 0.00789552 0.03010073 0.02645452
+v 0.00999768 0.03824701 0.02257718
+v 0.01197856 0.03996854 0.02265139
+v 0.01436727 0.04191579 0.02476426
+v 0.01567041 0.04277035 0.02847470
+v 0.00837825 0.03344829 0.02492480
+v 0.00836993 0.03450255 0.02489930
+v 0.00836874 0.03557788 0.02489235
+v 0.00700020 0.03031778 0.02847465
+v 0.00710483 0.03010073 0.02818540
+v 0.00784082 0.03010073 0.02657335
+v 0.00786936 0.03031778 0.02640409
+v 0.00990256 0.03884110 0.02394229
+v 0.01058980 0.03964233 0.02328554
+v 0.01297970 0.04167270 0.02542508
+v 0.01363841 0.04209935 0.02605749
+v 0.01358728 0.04266120 0.02847470
+v 0.01513180 0.04274554 0.02847470
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+v 0.00786341 0.03441324 0.02847467
+v 0.00816542 0.03517106 0.02847467
+v 0.00874922 0.03640392 0.02584763
+v 0.00981933 0.03872202 0.02847468
+v 0.01019148 0.03947488 0.02847468
+v 0.01043404 0.03976636 0.02467267
+v 0.01221636 0.04214276 0.02847469
+v 0.01246962 0.04188974 0.02681163
+v 0.01313070 0.04252477 0.02847470
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 24
+f 1 24 23
+f 1 23 32
+f 1 32 45
+f 1 45 44
+f 1 44 55
+f 1 55 53
+f 1 53 51
+f 1 51 50
+f 1 50 48
+f 1 48 47
+f 1 47 46
+f 1 46 36
+f 1 36 26
+f 1 26 15
+f 1 15 14
+f 1 14 11
+f 1 11 5
+f 1 5 2
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+f 3 10 4
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+f 6 12 13
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+f 20 31 21
+f 21 31 32
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+f 22 32 23
+f 25 28 33
+f 25 33 34
+f 25 34 35
+f 25 35 29
+f 26 36 35
+f 26 35 37
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+f 28 39 33
+f 29 40 41
+f 29 41 30
+f 29 35 40
+f 30 42 31
+f 30 41 42
+f 31 43 44
+f 31 44 45
+f 31 45 32
+f 31 42 43
+f 33 39 37
+f 33 37 34
+f 34 37 35
+f 35 36 46
+f 35 46 47
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+f 35 48 49
+f 35 49 40
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+f 41 54 42
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+f 43 55 44
+f 48 50 49
+f 51 53 52
+f 53 55 54
+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_61.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..765186cdc70b729975d89c5f1f2ef75ef6175a87
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_61.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.00061095 -0.02687233 -0.02790918
+v -0.01324230 -0.02687234 -0.02578769
+v -0.00061095 -0.02687232 -0.03017443
+v -0.00061095 -0.01384861 -0.03053474
+v -0.01324230 -0.01384862 -0.02830888
+v -0.01324230 -0.02687233 -0.02830959
+v -0.00099796 -0.02687232 -0.03019346
+v -0.00099796 -0.02374101 -0.03147672
+v -0.00061095 -0.02371041 -0.03146556
+v -0.00061095 -0.01384860 -0.03248164
+v -0.01324230 -0.01384861 -0.03055641
+v -0.01141363 -0.02687232 -0.02891348
+v -0.01324230 -0.02592248 -0.02868965
+v -0.01258576 -0.02526077 -0.02920360
+v -0.00239636 -0.02687232 -0.03016327
+v -0.00308134 -0.02368619 -0.03146425
+v -0.00308134 -0.02199942 -0.03196770
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_62.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b89ae0a6709b39ae9ff5c24c21bc83d25f427636
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_62.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_63.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9872fb5b529c0488726c29f3d08e53688627c785
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_63.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_64.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c986333a6ac67e2c454a25d091475e574841492
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_64.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_65.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbba8ef8f11ca1fa52adf485d959e87205aa2b8e
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_65.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_66.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a514562f78296eff96d870cfb942b76f8ef9484
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_66.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.04371441 -0.00009758 0.02195049
+v 0.04675383 0.01098993 0.02253618
+v 0.04616469 -0.00009758 0.02195049
+v 0.04336939 -0.00090261 0.02195049
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+v 0.04267480 -0.00317134 0.02195048
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+v 0.04706369 -0.02618391 0.02195039
+v 0.04706565 -0.02603754 0.02195039
+v 0.04708713 -0.02409001 0.02195040
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+v 0.04705783 -0.01781238 0.02195042
+v 0.04265071 -0.00331364 0.02195048
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+v 0.04661777 -0.03054654 0.02195038
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+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_67.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e17062ae1ed2b9c19ce60d4295b0568f049e36e
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_67.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.00919823 -0.03215322 0.02862190
+v -0.00919823 -0.03117861 0.02736874
+v -0.00919823 -0.03098392 0.02862191
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+v -0.00984368 -0.03420313 0.02862189
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+v -0.01160958 -0.03098392 0.02862191
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+v -0.00926789 -0.03098391 0.02703839
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+v -0.01676871 -0.03706764 0.02862188
+v -0.01328285 -0.04191827 0.02862187
+v -0.01445666 -0.04192833 0.02703835
+v -0.01438997 -0.04184777 0.02703835
+v -0.01368376 -0.04082617 0.02703835
+v -0.01255293 -0.03859499 0.02703836
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+v -0.01676871 -0.03642087 0.02703837
+v -0.01676871 -0.03643654 0.02707837
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+v -0.01462488 -0.04192833 0.02703835
+v -0.01676871 -0.04044573 0.02703835
+v -0.01575126 -0.04192051 0.02862187
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+v -0.01508729 -0.04238823 0.02862186
+v -0.01661532 -0.04055650 0.02703835
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+f 27 30 29
+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_68.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4a1a983214e895d4ac917710eb8857ed976ee61
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_68.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.04297078 -0.02687374 0.00788120
+v -0.04284002 -0.02827962 0.00788120
+v -0.04086226 -0.02687374 0.00788120
+v -0.04288224 -0.02687374 0.00724312
+v -0.04275284 -0.02892016 0.00788119
+v -0.04275148 -0.02827962 0.00724312
+v -0.03637280 -0.03988325 0.00788115
+v -0.02905564 -0.03988320 -0.00663693
+v -0.03528994 -0.02687369 -0.00663688
+v -0.04267248 -0.02687373 0.00584617
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+v -0.04254308 -0.02687373 0.00516403
+v -0.04235647 -0.02827961 0.00516403
+v -0.04241504 -0.03037189 0.00724311
+v -0.03902752 -0.03988325 0.00788115
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+v -0.03791333 -0.02687369 -0.00663688
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+v -0.03787383 -0.02708635 -0.00663688
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+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_69.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3fe21361efcb900518f6d7cde5067ffe4e165cd
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_69.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.01198135 0.01129858 -0.03015404
+v 0.01358824 0.01129858 -0.02969007
+v 0.01198135 0.00938943 -0.03011919
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_7.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1a50f0cce1bc36913fcd32115e53703e0f49ea0
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_7.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_70.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86559e42159fddde9d86f262f9a8249c99ac41c4
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_70.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_71.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8e49f36a892c826b58b3b7b9b1dad2fdad5de5e
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_71.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.01132698 -0.02296386 0.02862210
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_72.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4252688dc342d73f6b5a29ec23bfd4c9ebe1af7
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_72.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_73.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75a79de5b0a1591c88c3b3c6d36e30ccf0c0f176
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_73.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_74.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24fd739a798ff6c22a2a720d4266d6504d8ad248
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_74.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_75.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08a8ced093d58cc1d4604d24807e8b5f37df05df
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_75.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00491624 0.03070584 0.02858523
+v -0.00557542 0.03070584 0.02598903
+v -0.00495913 0.03102914 0.02858523
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+v -0.00621189 0.03070585 0.02469622
+v -0.01008498 0.03946576 0.02257705
+v -0.00935956 0.03946575 0.02388692
+v -0.00819764 0.03946574 0.02601788
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+v -0.00723441 0.03946574 0.02858526
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+v -0.00741797 0.03070585 0.02469798
+v -0.01039407 0.03761431 0.02283291
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+v -0.01061926 0.03868796 0.02266469
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+v -0.00940561 0.03659466 0.02858525
+v -0.01106776 0.03946574 0.02598082
+v -0.01121158 0.03946575 0.02505445
+v -0.01056627 0.03678762 0.02404690
+v -0.00961440 0.03814511 0.02858526
+f 1 2 3
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+f 1 12 4
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+f 25 37 27
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+f 27 29 28
+f 32 35 38
+f 34 38 35
+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_76.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d190f11bc9557dd08263fba5bb212ff68a522be
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_76.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.00573156 0.04516607 0.02847396
+v 0.00275694 0.04352908 0.02460790
+v 0.00383549 0.04496045 0.02578548
+v 0.00567750 0.04538772 0.02847396
+v -0.00025962 0.04707277 0.02930145
+v -0.00025962 0.03946462 0.02930142
+v 0.00366956 0.03437205 0.02847392
+v 0.00108646 0.04310982 0.02435372
+v 0.00108646 0.04496045 0.02411831
+v 0.00279423 0.04496045 0.02462009
+v 0.00321278 0.03270034 0.02847391
+v 0.00290143 0.03241460 0.02826538
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+v -0.00379169 0.01985540 0.02856062
+v -0.00379169 0.02210661 0.02803095
+v 0.00426802 0.04605533 0.02681592
+v 0.00540063 0.04613011 0.02847396
+v 0.00510420 0.04633039 0.02847396
+v 0.00316897 0.04684045 0.02847396
+v 0.00108646 0.04704073 0.02847396
+v -0.00016268 0.04614881 0.02470431
+v -0.00085716 0.04692322 0.02930145
+v -0.00379169 0.01979130 0.02858548
+v 0.00268889 0.03135443 0.02847391
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+v -0.00157681 0.03946462 0.02930142
+v -0.00025962 0.04321397 0.02446432
+v -0.00047869 0.04323266 0.02448259
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+v 0.00238686 0.04607671 0.02483724
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+v -0.00379169 0.02407474 0.02807154
+v -0.00110232 0.04496311 0.02596762
+v -0.00176791 0.04496310 0.02930145
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+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_77.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fcd0e0a9e929f025bec350f08d36cb57399ca29
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_77.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.00140406 -0.05757417 0.03237203
+v 0.00108597 -0.05757417 0.03237174
+v 0.00140406 -0.05757416 0.03040461
+v 0.00140406 -0.04502143 0.03243114
+v 0.00108597 -0.04502143 0.03243852
+v -0.00099814 -0.04711447 0.03244136
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+v -0.01207991 -0.05757416 0.03026205
+v -0.00291593 -0.04910993 0.02954048
+v -0.00157361 -0.04864405 0.02954048
+v -0.00079355 -0.04744704 0.02954049
+v 0.00018316 -0.04563161 0.02954049
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+v 0.00067680 -0.04414325 0.02954050
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+v -0.01207991 -0.04502143 0.03229312
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+f 1 8 3
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+f 1 4 5
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+f 24 29 25
+f 31 39 40
+f 31 40 41
+f 31 41 42
+f 31 42 32
+f 32 42 33
+f 38 40 39
+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_78.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b5563a74c4f923665369430556e401532d6c4ac
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_78.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.01880056 -0.01266767 0.02862213
+v -0.01880056 -0.01133320 0.02978143
+v -0.02417250 -0.01667920 0.02989287
+v -0.02356148 -0.01667920 0.02862212
+v -0.01880056 -0.00721452 0.02862215
+v -0.01880056 -0.01064648 0.03027117
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+v -0.02917162 -0.01667920 0.02862212
+v -0.02147987 -0.00773565 0.02862215
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+v -0.02183347 -0.00009572 0.02886186
+v -0.01974890 -0.00009572 0.02893927
+v -0.01880056 -0.00009572 0.02898077
+v -0.01880056 -0.00976333 0.03084470
+v -0.02599520 -0.01667920 0.03091836
+v -0.01880056 -0.00928766 0.03110487
+v -0.02702787 -0.01259461 0.02862213
+v -0.03391479 -0.01667920 0.02888068
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_79.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3b02b5e74ceae60900ba64b27f5196ea312924a
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_79.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_8.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c47d48e0882163073bfb8afe29a7cb4b08edf70d
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_8.obj
@@ -0,0 +1,649 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_80.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca956222e179e3ca3a04bf15d37b4c4989337189
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_80.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.02813820 -0.01811535 0.02957645
+v 0.02911607 -0.01936869 0.02860807
+v 0.02777843 -0.02409368 0.02860805
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+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_81.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e73556a0bed6a2c8066c52d5242b56ac5046b06
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_81.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01367978 -0.03054526 0.02859208
+v 0.01367978 -0.03054526 0.02959209
+v 0.01367978 -0.01936897 0.02859208
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+v 0.03200647 -0.01936897 0.02859208
+v 0.03200647 -0.01936897 0.02959209
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+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_82.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a683d8f32fb378f574b4405c1ffffcf219fcb03a
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_82.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.03391479 -0.04353582 0.02956966
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_83.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b499b8c49d582a96d242363331c393950fa3c06
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_83.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+v -0.02457746 -0.05825520 0.02940936
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+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_84.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2adc0d6caafc43396f8ec2330c1f41003756018
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_84.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_85.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b90eedeeb1eaacca9c735109b24eba9c0f799cb0
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_85.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_86.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4c24b43dd1ed018befb73b7b58c11601c205a15
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_86.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_87.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d71c497a5abd1a1ef3a88d1cb6b3679e739e0a72
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_87.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_88.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54f347392affd1e77b1f212dc00fce6fd242d62c
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_88.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_89.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f686e2e84ad123d6381675bcbdfa819306b81321
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_89.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_9.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31408c2ab759b6426fac2686dd6305cb488552e3
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_9.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_90.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5eddcb1ca7c811117092a35a934d19cbc3512096
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_90.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.01676871 -0.04092058 0.02862187
+v -0.01748371 -0.04053055 0.02862187
+v -0.01676871 -0.04044495 0.02703835
+v -0.01676871 -0.03706789 0.02862188
+v -0.02141799 -0.03825745 0.02862188
+v -0.01995442 -0.03834206 0.02703836
+v -0.01676871 -0.03642009 0.02703837
+v -0.01676871 -0.03643566 0.02707837
+v -0.01901299 -0.03098391 0.02703839
+v -0.01931871 -0.03098391 0.02816833
+v -0.01954942 -0.03098392 0.02862191
+v -0.02198656 -0.03783045 0.02862188
+v -0.02060942 -0.03787518 0.02703836
+v -0.02187013 -0.03098391 0.02703839
+v -0.02371298 -0.03098392 0.02862191
+v -0.02184584 -0.03690058 0.02703836
+v -0.02351298 -0.03625961 0.02862189
+v -0.02352370 -0.03098391 0.02844535
+v -0.02236727 -0.03246527 0.02703838
+v -0.02406512 -0.03455746 0.02862189
+v -0.02264727 -0.03455745 0.02703837
+v -0.02371798 -0.03455745 0.02819388
+v -0.02342655 -0.03617498 0.02847090
+v -0.02226870 -0.03599115 0.02703837
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 11
+f 1 11 15
+f 1 15 20
+f 1 20 17
+f 1 17 12
+f 1 12 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 13
+f 3 13 16
+f 3 16 24
+f 3 24 21
+f 3 21 19
+f 3 19 14
+f 3 14 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 6
+f 7 9 8
+f 9 14 18
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+f 9 11 10
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+f 15 22 20
+f 16 17 23
+f 16 23 24
+f 17 20 23
+f 20 22 23
+f 21 24 22
+f 22 24 23
+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_91.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e58802a02cea574dccc2011a733ec51653883cd
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_91.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.00026044 -0.00009024 0.03235712
+v -0.00099829 -0.00009024 0.03235598
+v -0.00026044 -0.00009023 0.03033847
+v -0.00026044 0.01985275 0.03244443
+v -0.00210566 -0.00009024 0.03235103
+v -0.00516420 -0.00009023 0.03006304
+v -0.00557561 0.01610813 0.02858577
+v -0.00427238 0.01785459 0.02858578
+v -0.00026044 0.02932471 0.02858582
+v -0.00308124 -0.00009024 0.03234608
+v -0.00026044 0.02403884 0.03244598
+v -0.00308124 0.03946658 0.03247764
+v -0.00308124 0.03659325 0.03247649
+v -0.00308124 0.03450213 0.03247306
+v -0.00308124 0.03031604 0.03246352
+v -0.01284440 -0.00009023 0.02964933
+v -0.01284440 0.00035510 0.02959295
+v -0.00723730 0.01571701 0.02858577
+v -0.00026044 0.03946659 0.02858585
+v -0.00418985 -0.00009024 0.03230417
+v -0.00516420 0.03240715 0.03243534
+v -0.00724715 0.03868435 0.03239193
+v -0.00026044 0.02612995 0.03243570
+v -0.00099829 0.03946658 0.03231231
+v -0.00724715 0.03946658 0.03239269
+v -0.00516420 0.03659325 0.03244145
+v -0.00516420 0.03450213 0.03244068
+v -0.00099829 0.03240715 0.03241782
+v -0.01284440 -0.00009024 0.03158722
+v -0.01284440 0.00809995 0.02907831
+v -0.00875240 0.01627077 0.02858577
+v -0.01284440 0.00879699 0.02903603
+v -0.00977601 0.03946659 0.02858585
+v -0.00026044 0.03946658 0.03195841
+v -0.00516420 -0.00009024 0.03226379
+v -0.00627281 -0.00009024 0.03216817
+v -0.00026044 0.02822106 0.03240027
+v -0.00026044 0.03031604 0.03232638
+v -0.00884109 0.03946658 0.03177365
+v -0.01257464 0.02949123 0.03120486
+v -0.01262145 0.02822107 0.03123342
+v -0.01284440 0.01632497 0.03139185
+v -0.01065182 0.01771518 0.02858578
+v -0.01284440 0.00952888 0.02900442
+v -0.01284440 0.03149327 0.02927192
+v -0.00965037 0.03946659 0.02930585
+v -0.01284440 0.03069942 0.02858582
+v -0.01284440 0.03149327 0.02890659
+v -0.00906897 0.03946659 0.03115460
+v -0.01284440 0.02974681 0.03097324
+v -0.01284440 0.02822107 0.03111075
+v -0.01284440 0.02168055 0.03128711
+v -0.01284440 0.01986051 0.02858578
+v -0.00944097 0.03946659 0.03012718
+f 1 2 5
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+f 1 36 29
+f 1 29 16
+f 1 16 6
+f 1 6 3
+f 1 3 9
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+f 43 44 53
+f 45 49 54
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+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_92.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70ec194295a67dc585b36e77a1e3a8a588c3d286
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_92.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.04467977 0.02402027 0.02253591
+v 0.04392666 0.01979032 0.03012328
+v 0.04335393 0.02402024 0.03012330
+v 0.04684158 0.02402027 0.02253591
+v 0.04675421 0.01098993 0.02253586
+v 0.04530887 0.01098990 0.03012325
+v 0.04718376 0.02402024 0.03012330
+v 0.04691374 0.02402026 0.02388640
+v 0.04796674 0.02090649 0.02696844
+v 0.04808456 0.01942297 0.02388638
+v 0.04802932 0.01914234 0.02253589
+v 0.04878524 0.01098993 0.02253586
+v 0.04909585 0.01098990 0.03012325
+v 0.04718319 0.02402024 0.03010547
+v 0.04801522 0.02111568 0.03012329
+v 0.04798422 0.02098303 0.02804630
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+v 0.04911276 0.01148357 0.02804626
+v 0.04911050 0.01148356 0.03012325
+v 0.04826720 0.01985283 0.03012328
+v 0.04859020 0.01775956 0.02804629
+v 0.04883316 0.01566884 0.02596707
+v 0.04869336 0.01566885 0.02388637
+v 0.04857498 0.01566886 0.02253588
+v 0.04893012 0.01148358 0.02388635
+v 0.04875650 0.01357559 0.02253587
+v 0.04904793 0.01098991 0.02596705
+v 0.04906428 0.01148357 0.02596705
+v 0.04908739 0.01357557 0.02804627
+v 0.04909077 0.01357556 0.03012326
+v 0.04863135 0.01775955 0.03012328
+v 0.04891321 0.01566884 0.02804628
+v 0.04902031 0.01357557 0.02596706
+v 0.04887826 0.01357558 0.02388636
+v 0.04893237 0.01566883 0.03012327
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 8
+f 1 8 4
+f 1 4 11
+f 1 11 21
+f 1 21 31
+f 1 31 33
+f 1 33 22
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+f 31 41 33
+f 32 35 34
+f 32 33 41
+f 32 41 40
+f 32 40 35
+f 35 40 36
+f 36 40 39
+f 36 39 42
+f 36 42 37
+f 38 42 39
+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_93.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..604715b7c3b5235386eee4f97db0c89763693487
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_93.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.00699681 0.03009982 0.02847465
+v 0.00710579 0.03009982 0.02818585
+v 0.00698664 0.02965168 0.02847465
+v 0.01327960 0.03009982 0.02847465
+v 0.00789477 0.03009982 0.02645478
+v 0.00727143 0.02823272 0.02847464
+v 0.01172489 0.03009982 0.02753320
+v 0.01991403 0.03009800 0.02847465
+v 0.00949162 0.03009982 0.02630847
+v 0.01426910 0.02265871 0.02677832
+v 0.00803280 0.02894447 0.02672279
+v 0.00750100 0.02756460 0.02847464
+v 0.01148514 0.03009982 0.02739453
+v 0.02093694 0.02999801 0.02847465
+v 0.02092532 0.02931535 0.02698084
+v 0.00961949 0.03009982 0.02637039
+v 0.01500723 0.02265871 0.02677832
+v 0.01993728 0.02841816 0.02689729
+v 0.01915120 0.02683831 0.02681375
+v 0.01358619 0.02081434 0.02847462
+v 0.00782793 0.02717191 0.02847464
+v 0.02160678 0.02987075 0.02847465
+v 0.02183054 0.02832908 0.02847464
+v 0.02092532 0.02918354 0.02698084
+v 0.01639630 0.02336591 0.02731499
+v 0.01622049 0.02194605 0.02847462
+v 0.01525424 0.02124066 0.02847462
+v 0.02054027 0.02778822 0.02734151
+v 0.02037318 0.02615383 0.02847464
+v 0.02103865 0.02703375 0.02847464
+v 0.01831572 0.02405130 0.02847463
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 21
+f 1 21 20
+f 1 20 27
+f 1 27 26
+f 1 26 31
+f 1 31 29
+f 1 29 30
+f 1 30 23
+f 1 23 22
+f 1 22 14
+f 1 14 8
+f 1 8 4
+f 1 4 7
+f 1 7 13
+f 1 13 16
+f 1 16 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 8 7
+f 5 9 10
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+f 6 11 12
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+f 8 9 16
+f 8 16 13
+f 9 17 10
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+f 9 19 17
+f 10 17 20
+f 10 20 11
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+f 11 20 21
+f 14 22 15
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+f 17 26 27
+f 17 27 20
+f 19 24 28
+f 19 28 29
+f 19 29 25
+f 23 30 28
+f 23 28 24
+f 25 29 31
+f 25 31 26
+f 28 30 29
+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_94.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c3bcd93b264e09aeac0ee54e3bab743da1a09d5
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_94.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.01880056 -0.04353583 0.03208233
+v -0.01974890 -0.04353583 0.03206438
+v -0.01880056 -0.04353582 0.02999043
+v -0.01880056 -0.02299377 0.03170474
+v -0.02183347 -0.04353583 0.03202001
+v -0.03016582 -0.02828045 0.03156484
+v -0.03391479 -0.04353582 0.02956974
+v -0.01880056 -0.03936116 0.02862204
+v -0.01880056 -0.02200269 0.03157976
+v -0.02728530 -0.01667920 0.03120076
+v -0.02801911 -0.01667920 0.03122108
+v -0.03016582 -0.01667920 0.03122582
+v -0.03304634 -0.01667920 0.03117942
+v -0.03016582 -0.02618786 0.03152351
+v -0.03224891 -0.04353583 0.03178799
+v -0.03224891 -0.02828045 0.03150996
+v -0.03391479 -0.04353583 0.03174497
+v -0.02351414 -0.03625908 0.02862205
+v -0.02198733 -0.03782852 0.02862204
+v -0.02141921 -0.03825703 0.02862204
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+v -0.01880056 -0.02138227 0.03148932
+v -0.02691543 -0.01667920 0.03118517
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+v -0.03224891 -0.02618786 0.03146830
+v -0.03391479 -0.02618786 0.03141682
+v -0.03391479 -0.02828045 0.03145645
+v -0.03391479 -0.01781750 0.02889918
+v -0.02972050 -0.02277031 0.02862210
+v -0.02356148 -0.01667920 0.02862212
+v -0.02417250 -0.01667920 0.02989298
+v -0.02478204 -0.01667920 0.03037497
+v -0.01880056 -0.02049896 0.03119430
+v -0.01880056 -0.02066196 0.03132233
+v -0.02599520 -0.01667920 0.03091827
+v -0.03342952 -0.01667920 0.03116790
+v -0.03391479 -0.01736533 0.03117637
+v -0.03391479 -0.01667920 0.02888056
+v -0.02970571 -0.02208154 0.02862210
+v -0.02917162 -0.01667920 0.02862212
+v -0.03391479 -0.01667920 0.03112691
+v -0.02919825 -0.01669497 0.02862212
+v -0.02954001 -0.01837219 0.02862211
+f 1 2 5
+f 1 5 15
+f 1 15 17
+f 1 17 7
+f 1 7 3
+f 1 3 8
+f 1 8 26
+f 1 26 39
+f 1 39 40
+f 1 40 27
+f 1 27 9
+f 1 9 4
+f 1 4 2
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+f 10 42 29
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+f 10 13 12
+f 10 12 11
+f 13 29 30
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+f 14 30 31
+f 16 31 32
+f 16 32 33
+f 16 33 17
+f 22 34 23
+f 23 34 35
+f 26 36 37
+f 26 37 38
+f 26 38 39
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+f 29 42 30
+f 30 32 31
+f 30 42 43
+f 34 44 35
+f 35 44 45
+f 38 41 39
+f 39 41 40
+f 42 47 43
+f 44 46 48
+f 44 48 49
+f 44 49 45
+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_95.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3da3d2e2d7697580c3d6737df262c6078c7f5d66
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_95.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.02093333 -0.03054657 0.03038471
+v 0.02093333 -0.03565727 0.03028843
+v 0.02093333 -0.03054658 0.03241622
+v 0.02654698 -0.03054656 0.02639977
+v 0.02093333 -0.03664961 0.03028170
+v 0.02093333 -0.03136414 0.03242968
+v 0.02400606 -0.03054658 0.03249498
+v 0.02817198 -0.03054655 0.02568962
+v 0.02093333 -0.04030284 0.03035842
+v 0.02093333 -0.03774988 0.03029381
+v 0.02093333 -0.04030285 0.03239061
+v 0.03868843 -0.04030285 0.03256629
+v 0.03233789 -0.03246536 0.03254478
+v 0.03233789 -0.03054658 0.03254210
+v 0.02826930 -0.03054655 0.02569029
+v 0.03868843 -0.04030284 0.03005955
+v 0.03868843 -0.03054658 0.03242296
+v 0.02971182 -0.03054656 0.02610898
+v 0.03868843 -0.03054657 0.03056107
+f 1 2 5
+f 1 5 10
+f 1 10 9
+f 1 9 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 14
+f 1 14 17
+f 1 17 19
+f 1 19 18
+f 1 18 15
+f 1 15 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 8 15 16
+f 8 16 9
+f 9 16 12
+f 9 12 11
+f 12 16 19
+f 12 19 17
+f 12 17 14
+f 12 14 13
+f 15 18 16
+f 16 18 19
+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_96.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4ee9ebe238562a2506202ce311be6e473247119
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_96.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.01452226 -0.04292713 0.02948941
+v 0.01435277 -0.04325189 0.02948941
+v 0.01069441 -0.04440678 0.02467765
+v 0.01068799 -0.04292711 0.02467712
+v 0.01432452 -0.04083261 0.02948942
+v 0.00729544 -0.03054246 0.02957604
+v 0.01317012 -0.04489941 0.02948941
+v 0.00941803 -0.04292711 0.02411593
+v 0.01091142 -0.04681513 0.02948940
+v 0.00941803 -0.04751756 0.02948940
+v 0.00935896 -0.04572590 0.02611748
+v 0.00941803 -0.04465491 0.02448257
+v 0.00949122 -0.04092382 0.02443288
+v 0.01053005 -0.04168098 0.02484335
+v 0.01023471 -0.04028707 0.02531688
+v 0.01341538 -0.03909752 0.02948943
+v 0.00723765 -0.03048955 0.02957604
+v 0.00727361 -0.03054794 0.02957604
+v 0.01333063 -0.03896798 0.02948943
+v 0.00921258 -0.03284862 0.02948945
+v 0.00729672 -0.03054794 0.02957176
+v 0.00664569 -0.03294896 0.02650127
+v 0.00795417 -0.04444691 0.02458359
+v 0.00756766 -0.04292711 0.02436553
+v 0.00579306 -0.03665085 0.02465417
+v 0.00589193 -0.03516754 0.02474396
+v 0.00655452 -0.03516754 0.02474396
+v 0.00140534 -0.03054794 0.02957604
+v 0.00721711 -0.04720192 0.02948940
+v 0.00833683 -0.04609627 0.02691009
+v 0.00875544 -0.03874354 0.02464935
+v 0.00841259 -0.03764155 0.02489146
+v 0.00140534 -0.02888035 0.02957604
+v 0.00525374 -0.03174844 0.02735000
+v 0.00525374 -0.03279570 0.02642538
+v 0.00140406 -0.04191271 0.02948942
+v 0.00140406 -0.03890593 0.02836278
+v 0.00633366 -0.04158793 0.02497108
+v 0.00606400 -0.03874354 0.02476105
+v 0.00475167 -0.03665085 0.02544731
+v 0.00140406 -0.03455999 0.02804639
+v 0.00140406 -0.03286321 0.02830829
+v 0.00140406 -0.03250378 0.02838792
+v 0.00140406 -0.03054794 0.02936707
+v 0.00140406 -0.03054794 0.02948946
+v 0.00140406 -0.03703036 0.02807952
+v 0.00140406 -0.03665086 0.02802662
+v 0.00140406 -0.03494496 0.02804051
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 4
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+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 8
+f 4 8 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 17 33
+f 6 33 28
+f 6 28 18
+f 6 18 10
+f 6 10 9
+f 6 9 7
+f 6 16 19
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 17
+f 8 12 23
+f 8 23 24
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 8 27 13
+f 10 18 28
+f 10 28 29
+f 10 29 30
+f 10 30 11
+f 11 30 12
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+f 13 31 14
+f 13 27 31
+f 14 31 32
+f 14 32 15
+f 15 32 16
+f 16 32 19
+f 17 22 34
+f 17 34 33
+f 19 32 20
+f 20 22 21
+f 20 32 22
+f 22 32 27
+f 22 27 35
+f 22 35 34
+f 23 30 29
+f 23 29 36
+f 23 36 37
+f 23 37 24
+f 24 37 38
+f 24 38 39
+f 24 39 25
+f 25 39 38
+f 25 38 40
+f 25 40 41
+f 25 41 26
+f 26 41 42
+f 26 42 43
+f 26 43 33
+f 26 33 35
+f 26 35 27
+f 27 32 31
+f 28 33 45
+f 28 45 36
+f 28 36 29
+f 33 44 45
+f 33 34 35
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+f 36 44 43
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+f 36 42 41
+f 36 41 48
+f 36 48 47
+f 36 47 46
+f 36 46 37
+f 37 46 38
+f 38 46 40
+f 40 47 48
+f 40 48 41
+f 40 46 47
+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_97.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8707a77e5b69e42be72021c821561f8e59dd4b0
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_97.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.01284440 -0.00009411 0.03158743
+v -0.01284440 -0.00009410 0.02964826
+v -0.01284440 0.01632368 0.03139084
+v -0.02724455 0.01566767 0.03070889
+v -0.02111434 -0.00009410 0.03117897
+v -0.01646558 -0.00009410 0.02907904
+v -0.01449923 0.00200238 0.02908310
+v -0.01284440 0.00035713 0.02959164
+v -0.01284440 0.02167943 0.03128621
+v -0.02724455 0.01775027 0.02997034
+v -0.02724455 -0.00009063 0.03053999
+v -0.01284440 0.02822225 0.03111082
+v -0.02224904 0.03536555 0.02964232
+v -0.02224763 -0.00009410 0.03097727
+v -0.01766935 -0.00009410 0.02902192
+v -0.02182899 0.01410574 0.02643523
+v -0.01433150 0.02713236 0.02697214
+v -0.01284440 0.02528233 0.02761818
+v -0.02526834 0.02547323 0.02804788
+v -0.02537265 0.02559472 0.02672948
+v -0.02724455 0.01775027 0.02934906
+v -0.02724455 -0.00009063 0.02872164
+v -0.01284440 0.02974601 0.03097282
+v -0.02186282 0.03536555 0.02952555
+v -0.02224904 0.03536556 0.02667493
+v -0.02224763 -0.00009410 0.02884752
+v -0.01974847 -0.00009410 0.02894002
+v -0.02182899 -0.00009410 0.02886268
+v -0.02391515 -0.00009063 0.02878584
+v -0.02599708 -0.00009063 0.02873377
+v -0.02321741 0.01421681 0.02642310
+v -0.02194175 0.03536556 0.02666836
+v -0.01433150 0.02734757 0.02697214
+v -0.01284440 0.02744475 0.02749434
+v -0.02537265 0.02465408 0.02672948
+v -0.02724455 0.01695542 0.02785979
+v -0.02724455 0.01768433 0.02799173
+v -0.01284440 0.03149539 0.02927126
+v -0.01349844 0.03170018 0.02949672
+v -0.02159500 0.03536556 0.02804741
+v -0.01284440 0.03149539 0.02890627
+v -0.01349844 0.03170018 0.02862420
+v -0.01349844 0.03031526 0.02793415
+v -0.01568891 0.03044369 0.02715919
+v -0.01358301 0.02811466 0.02734218
+v -0.01284440 0.02948917 0.02810249
+v -0.01284440 0.03031526 0.02839418
+f 1 2 8
+f 1 8 18
+f 1 18 34
+f 1 34 46
+f 1 46 47
+f 1 47 41
+f 1 41 38
+f 1 38 23
+f 1 23 12
+f 1 12 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 26
+f 1 26 28
+f 1 28 27
+f 1 27 15
+f 1 15 6
+f 1 6 2
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+f 2 7 8
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+f 4 22 11
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+f 4 13 10
+f 5 11 14
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+f 7 17 8
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+f 16 22 31
+f 16 31 32
+f 16 32 33
+f 16 33 17
+f 17 33 34
+f 17 34 18
+f 20 31 35
+f 20 35 36
+f 20 36 37
+f 20 37 21
+f 20 25 31
+f 22 30 26
+f 22 36 35
+f 22 35 31
+f 23 38 39
+f 23 39 24
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+f 24 38 40
+f 25 32 31
+f 26 30 29
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+f 33 44 45
+f 34 45 43
+f 34 43 46
+f 38 41 40
+f 41 47 43
+f 41 43 42
+f 43 47 46
+f 43 45 44
+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_98.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e72f01955c8613a0c50aa78fae717da1c0912249
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_98.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.00379292 0.01979202 0.02858540
+v -0.00427230 0.01785224 0.02858540
+v -0.00429268 0.01985364 0.02744113
+v -0.00379292 0.01985364 0.02856095
+v -0.00379292 0.02579917 0.02858542
+v -0.00557575 0.01610761 0.02858539
+v -0.00605424 0.01659035 0.02677405
+v -0.00569183 0.01776126 0.02635991
+v -0.00533473 0.01985364 0.02608291
+v -0.00418812 0.02152784 0.02715498
+v -0.00411724 0.02292325 0.02699031
+v -0.00379292 0.02210449 0.02803104
+v -0.00597095 0.03031701 0.02471671
+v -0.00547562 0.03031700 0.02596681
+v -0.00491650 0.03070437 0.02858544
+v -0.00379292 0.02407215 0.02807155
+v -0.00411724 0.02308318 0.02699031
+v -0.00723895 0.01571584 0.02858539
+v -0.00652742 0.01659035 0.02677405
+v -0.00723275 0.01768350 0.02623267
+v -0.00724781 0.01985365 0.02553542
+v -0.00618095 0.02502884 0.02491880
+v -0.00603829 0.02613079 0.02483781
+v -0.00586550 0.02822317 0.02468270
+v -0.00379292 0.02389460 0.02805703
+v -0.00621197 0.03070438 0.02469608
+v -0.00602943 0.03070438 0.02476409
+v -0.00557575 0.03070437 0.02598973
+v -0.00741972 0.03070437 0.02858544
+v -0.00875329 0.01627048 0.02858539
+v -0.00791682 0.01693517 0.02722488
+v -0.00862747 0.01832911 0.02657959
+v -0.01067967 0.02194749 0.02672555
+v -0.00759428 0.03070438 0.02475988
+v -0.00741795 0.03070438 0.02469799
+v -0.00655312 0.02822317 0.02468270
+v -0.00621551 0.02502884 0.02491880
+v -0.00794783 0.03070438 0.02565925
+v -0.01284440 0.03070144 0.02858544
+v -0.01065220 0.01771578 0.02858540
+v -0.01284440 0.01986391 0.02858540
+v -0.01284440 0.01990060 0.02857318
+v -0.01093132 0.02403840 0.02670111
+v -0.01284440 0.02528708 0.02761728
+v -0.01284440 0.02744548 0.02749351
+v -0.01284440 0.02948798 0.02810175
+v -0.01284440 0.03031700 0.02839326
+v -0.00794783 0.03070438 0.02556144
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 25
+f 1 25 16
+f 1 16 5
+f 1 5 15
+f 1 15 29
+f 1 29 39
+f 1 39 41
+f 1 41 40
+f 1 40 30
+f 1 30 18
+f 1 18 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 5 13 14
+f 5 14 15
+f 5 16 17
+f 5 17 13
+f 6 18 7
+f 7 18 19
+f 7 19 20
+f 7 20 8
+f 8 20 21
+f 8 21 9
+f 9 11 10
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 11
+f 11 17 12
+f 11 24 17
+f 12 17 25
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+f 13 17 24
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+f 15 35 34
+f 15 34 48
+f 15 48 38
+f 15 38 29
+f 16 25 17
+f 18 30 19
+f 19 31 20
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+f 20 32 21
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+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 22 37 36
+f 22 36 24
+f 22 24 23
+f 24 36 26
+f 26 36 35
+f 29 38 39
+f 30 40 31
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+f 38 48 39
+f 39 47 46
+f 39 46 45
+f 39 45 44
+f 39 44 42
+f 39 42 41
+f 43 44 45
+
diff --git a/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_99.obj b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24bb5b22ca3099ea7dfc3f0e766b505a73cff474
--- /dev/null
+++ b/dataset/food/ingredients/6765535ef0c8544ebf7db217923ce868/mjcf/mesh/tomato_collision_99.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.01292854 -0.00890923 0.02860811
+v 0.01121614 -0.00918036 0.02860811
+v 0.01348288 -0.00893253 0.02860811
+v 0.01707823 -0.01042797 0.02694937
+v 0.01638699 -0.01042797 0.02694937
+v 0.01499777 -0.01074358 0.02708332
+v 0.01007828 -0.01013355 0.02860810
+v 0.01496860 -0.00902361 0.02860811
+v 0.02400188 -0.01426612 0.02466641
+v 0.01846521 -0.01057624 0.02726148
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