diff --git a/.gitattributes b/.gitattributes
index ae7ce7d62b6d69d143fad916548043916b1b59ea..0e7787b5f8b112aca89f54a793faa294b5f4e27e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3637,3 +3637,6 @@ dataset/food/ingredients/55f0432e80305a688fe91bf0b790fa36/mesh/chili_004.glb fil
 dataset/food/ingredients/6e3ef278f57451cca2db50a1b6e6c06a/6e3ef278f57451cca2db50a1b6e6c06a.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/6e3ef278f57451cca2db50a1b6e6c06a/mesh/onion.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/6e3ef278f57451cca2db50a1b6e6c06a/mesh/onion_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/7d518f26b4ee5d5cb9ac75525a4850e6.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mesh/tomato.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mesh/tomato_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/7d518f26b4ee5d5cb9ac75525a4850e6.urdf b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/7d518f26b4ee5d5cb9ac75525a4850e6.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..844c8f546b0ffd695aa0ae6bca55a3abc1c786cf
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/7d518f26b4ee5d5cb9ac75525a4850e6.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tomato">
+   <link name="tomato">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/tomato.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/tomato_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.112277</scale>
+         <version>v0.1.7</version>
+         <category>tomato</category>
+         <description>realistic red tomato with green stem and smooth surface</description>
+         <min_height>0.08</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.1</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.25</max_mass>
+         <generate_time>20260120011415</generate_time>
+         <gs_model>mesh/tomato_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.511025428771973</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/7d518f26b4ee5d5cb9ac75525a4850e6.usd b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/7d518f26b4ee5d5cb9ac75525a4850e6.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a87f97f6cbc15784da7ad3316c9a1a32593f5f9d
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/7d518f26b4ee5d5cb9ac75525a4850e6.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4383a12dd97c28466e92e78e38329ef4238714e70ec579ae837a665dbf91f50c
+size 616185
diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mesh/material.mtl b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mesh/material_0.png b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f08d20116707621b76e38375b695b97aec4551d
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e81a200c6d0546db24fb89f6c4f782515167f14f6dad9e65976a6d74a480609b
+size 2030967
diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mesh/tomato.glb b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mesh/tomato.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cdfce84e9d222c2900d44c20833a666ded61e762
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mesh/tomato.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e19ecfb8893cee8927efa968aa60eca48367243351b458ae1704f96038449e80
+size 2450352
diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mesh/tomato.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mesh/tomato.obj
new file mode 100644
index 0000000000000000000000000000000000000000..043773e7b31cdabd8f5ad75a618b37e09956919e
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mesh/tomato.obj
@@ -0,0 +1,38330 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mesh/tomato_collision.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mesh/tomato_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18380c4824d1aee72ec153326a1098a847ac4ac6
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mesh/tomato_collision.obj
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mesh/tomato_gs.ply b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mesh/tomato_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1ec51a0305b3e408ac53f63beaab9bf3128ddd48
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/7d518f26b4ee5d5cb9ac75525a4850e6.xml b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/7d518f26b4ee5d5cb9ac75525a4850e6.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8cb9e30bc618e30e744d985bb3fde41d4909b893
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+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/7d518f26b4ee5d5cb9ac75525a4850e6.xml
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/material_0.png b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9445996aef2cca12fff2851f8058e56a76796b95
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+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato.obj
@@ -0,0 +1,38330 @@
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41cb47b9d71bc95d5acb1e93cd12533179dc74c1
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision.obj
@@ -0,0 +1,50785 @@
+# https://github.com/mikedh/trimesh
+
+o tomato_collision.obj
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+
+o tomato_collision.obj_1
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_0.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1740f455731e1b286e6c819a81928daff937273f
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_0.obj
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_1.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afa058ad47ac65d52e5154fe09056c27b2b108af
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_1.obj
@@ -0,0 +1,3841 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_10.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..223d0a9f3a671b76ac2bb8c4ecd0b6a510e7f003
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_10.obj
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_11.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ddf249c9e4854de3096e8cb7aef60725c01c4de
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_11.obj
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_12.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70c8797e946ebf88fadea976249b3198d876cef2
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_12.obj
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_13.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36f09706187aab949f43da2b6b5ea1d0753e4368
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_13.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_14.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..975e19d2a3d1efa926d357fe5459a2ee5b8640ec
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_14.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_15.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0a106749bd0de52955b8bb9feeabf326e9a8af4
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_15.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_16.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf1e5b5a998faae67d291ba1c772904a0a29b84c
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_16.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_17.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7fee998699ab9b7d28d6ea39c34193ae5ab1220
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_17.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.00286900 0.03986701 0.03117681
+v -0.00324860 0.03984216 0.03117681
+v -0.00470137 0.03905739 0.03162757
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_18.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06180eda92416aad8693a748ad3fd757a33c3cec
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_18.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_19.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b32fdb0051b5c400832472da7e65a764038e3330
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_19.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+v -0.00286946 -0.01941389 0.03423833
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+
diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_2.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dc00939859a5e8f720e90e162e49594f2e26740
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_2.obj
@@ -0,0 +1,5959 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_20.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eee856f7222bf9b3e9d836d8e6611f0ca58ba89e
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_20.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_21.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..246c4fdaee61b84380a1c7ab51ef92d94b71ebb3
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_21.obj
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_22.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58f284b5a9ebc449dc0b053d317ac039eeb5eb8d
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_22.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_23.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0682094063f20f1ea67698ff566c2d559525b869
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_23.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_24.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b37cea3118a09ff34ee75de2a41ca44cc9712e7
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_24.obj
@@ -0,0 +1,844 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_25.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77f7776e254a932cb802f65e9144483321520b02
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_25.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.03393364 -0.02077976 0.02995216
+v -0.03393364 -0.02077976 0.03437799
+v -0.03393364 -0.01775403 0.02995216
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+v -0.03293364 -0.01775403 0.02995216
+v -0.03293364 -0.01775403 0.03437799
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+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_26.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15f52d8f09bfd659817b3fd43c6e3f2f8e3f3333
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_26.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_27.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53b41c3405802cf0a994712cc6b9b64ee2681195
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_27.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00997604 0.00149452 0.03117667
+v -0.00997604 0.00149451 0.03275428
+v -0.00528044 0.00149452 0.03117667
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+v -0.00997604 -0.00486400 0.03565684
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+v -0.00528044 -0.01155197 0.03117662
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+v -0.00528044 -0.01155198 0.03264543
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+v -0.00968510 -0.01155198 0.03317758
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+v -0.00997604 -0.01001951 0.03618520
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+f 17 22 18
+f 18 20 19
+
diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_28.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90fa7c8c1e4950a1ae9d0c65fd95ba5fdcb6fc52
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_28.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.01381662 0.00283534 0.03267251
+v 0.01381662 0.00355013 0.03356071
+v 0.00785347 -0.00276603 0.03267356
+v 0.00785464 -0.00276459 0.03267249
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+v 0.01381662 0.01198612 0.03273568
+v 0.00785347 0.00413207 0.03309877
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+v 0.01381662 0.01023884 0.03439832
+v 0.01316047 0.00835439 0.03500784
+v 0.00785347 0.00463170 0.03304149
+v 0.01187677 0.01055509 0.03267254
+v 0.01381662 0.01028505 0.03437114
+v 0.01381662 0.01027638 0.03437673
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+
diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_29.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5857c6157a3ee6f0e319d1407aa48cbf0f9a2a0
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_29.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.01919923 -0.00643172 0.02778760
+v 0.01919923 -0.00351750 0.02951998
+v 0.01847290 -0.00717748 0.03267247
+v 0.01686366 -0.00717746 0.02778759
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+v 0.01919923 -0.00252155 0.03008804
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+v 0.00785458 -0.00717746 0.02778759
+v 0.01478908 0.03904804 0.02778776
+v 0.01471912 0.03897445 0.02787909
+v 0.01919923 0.03534392 0.02789199
+v 0.00785458 -0.00645137 0.03265049
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+v 0.00785458 -0.00717748 0.03253619
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+
diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_3.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6e89a0d760a9ec1b16aa14cbfd4fc90a7d55084
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_3.obj
@@ -0,0 +1,8386 @@
+# https://github.com/mikedh/trimesh
+v -0.02316319 0.00229895 0.03555260
+v -0.02365068 0.00229895 0.03555260
+v -0.02180399 0.00229895 0.03551935
+v -0.01015782 0.00419459 0.03605141
+v -0.02500575 0.00229895 0.03551104
+v -0.01195494 0.00454873 0.03605141
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_30.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9da55b0cac1fcf9f5762faa5b337db8ece578574
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_30.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_31.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1933761d392d114b0ddb06f3195c662a1ba8fd5
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_31.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_32.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c68b33168c5be523e40baa257a168437934b3554
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_32.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.02684489 -0.01775417 0.03939990
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+v -0.02684489 -0.01869586 0.03907347
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+
diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_33.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7f23aa66d981ef09d5cc71db4563b1dc26d9587
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_33.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_34.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a140e18d0e7b4c100b0dd418482feccc1f0919ff
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_34.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.04091515 0.03245352 0.03390118
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_35.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ba65a84603edf45786e0af6c9b022516ee73cb4
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_35.obj
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_36.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a781749d6539736c385d3f343ce137ba83681457
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_36.obj
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+
diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_37.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca7e2c09f04d016829610ab265678da5ff9ab9f5
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_37.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.00997604 -0.01048617 0.03434494
+v -0.00997604 -0.01023678 0.03556597
+v -0.01086277 -0.01175966 0.03434494
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+v -0.01208249 -0.01273445 0.03434493
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+v -0.01684015 -0.01017041 0.03434494
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+f 34 39 37
+
diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_38.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f220528a4c3a64d25344ef22e3db784a4c958b4f
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_38.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01980837 0.00741786 0.03355919
+v 0.01980837 0.00743849 0.03407568
+v 0.01956500 0.00697748 0.03355919
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+
diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_39.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38970d4bde6d6045159b52c7c730990955ac0c82
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_39.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01381779 0.00283746 0.03261587
+v 0.01381779 0.00283746 0.03361587
+v 0.01381779 0.02853877 0.03261587
+v 0.01381779 0.02853877 0.03361587
+v 0.01980837 0.00283746 0.03261587
+v 0.01980837 0.00283746 0.03361587
+v 0.01980837 0.02853877 0.03261587
+v 0.01980837 0.02853877 0.03361587
+f 2 4 1
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+
diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_4.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afba97c1d69c5d15b9894dae3b12396283166ae3
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_4.obj
@@ -0,0 +1,10432 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_40.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc257f3cf1f7da72051e4d33ca380bddfc2c3cd2
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_40.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+f 39 41 40
+
diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_41.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16a9b7f323c3e4adcc4eabbebec86841b2a3ec9c
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_41.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+v -0.01762176 0.00229895 0.03498014
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+
diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_42.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90fa0f319d06952bd1de07af66d667a9d162d3ea
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_42.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.01381662 0.01198612 0.03273551
+v 0.00785347 0.01726195 0.03397000
+v 0.00785347 0.01563811 0.03368635
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_43.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dd37c892fce34ee307885ae4e9d1e0782120b71
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_43.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.03030355 0.02297366 0.03535480
+v -0.03030355 0.02297366 0.03635480
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+
diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_5.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4b0e0006e19a56f265ed471d0c360be88915a10
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_5.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_6.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88b371722f80305cf225a63aafe0e7cdac2beee0
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_6.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_7.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c5e39a5dcfa6bec8e39ad6328e08c0a5d7b159c
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_7.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_8.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0469a2a913e0d0e5fb24b0a41724fe44e8a34e5c
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_8.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_9.obj b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2173ab68c1575127ca11ead9b6f1182b1dde73fa
--- /dev/null
+++ b/dataset/food/ingredients/7d518f26b4ee5d5cb9ac75525a4850e6/mjcf/mesh/tomato_collision_9.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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