diff --git a/.gitattributes b/.gitattributes
index 317c86b49b2f16341d96cac9ac5a4c57b3352f9f..7ef7e030b69eabf6a2dd33c72d4ccf623031bf64 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3623,3 +3623,5 @@ dataset/food/fruits/ff4522ae215158ee887fee6c295e5c87/mjcf/mesh/banana_003.obj fi
dataset/food/ingredients/2baa38c381495b1d925c580b32002523/2baa38c381495b1d925c580b32002523.usd filter=lfs diff=lfs merge=lfs -text
dataset/food/ingredients/2baa38c381495b1d925c580b32002523/mesh/onion.glb filter=lfs diff=lfs merge=lfs -text
dataset/food/ingredients/2baa38c381495b1d925c580b32002523/mesh/onion_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/garlic_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mesh/garlic_004.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/garlic_004.urdf b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/garlic_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..458f4ac1de82c43de89630cf789049e4531c69b4
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/garlic_004.urdf
@@ -0,0 +1,63 @@
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+ food
+ ingredients
+ garlic
+ garlic bulb
+ white,pink
+ irregular
+ organic
+ segmented garlic bulb with visible cloves and stem
+ 0.0594
+ 0.0594
+ 0.0594
+ 0.04
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+ v0.1.0
+ 20260428000836
+ ""
+ is_graspable
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+ 3
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+ affordance/affordance_annot.json
+
+
+ Error when calling GPT api, check config in `embodied_gen/utils/gpt_config.yaml` or net connection.
+
+
+
\ No newline at end of file
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/garlic_004.usd b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/garlic_004.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f8b959239601eee1fa65aa21072269601f489e5a
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/garlic_004.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 5018612
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mesh/garlic_004.glb b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mesh/garlic_004.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mesh/garlic_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 15077500
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mesh/garlic_004.mtl b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mesh/garlic_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ffc7c4c2480fd394487f4e0d1f8b943efbc780b8
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mesh/garlic_004.mtl
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+newmtl garlic_004_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mesh/garlic_004.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mesh/garlic_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..274fb67ba80996f39e17c06c76ad2263c104d310
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mesh/garlic_004.obj
@@ -0,0 +1,118520 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mesh/garlic_004_collision.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mesh/garlic_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a94ff80aca0c5de8a07944ed6ce55478a984e3cb
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mesh/garlic_004_collision.obj
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mesh/garlic_004_geometry_Looks_material_0.png b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mesh/garlic_004_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd76ef27df2dae2735d3d78f1a8f48f4c65f39f5
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mesh/garlic_004_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cc7a2bae45c2befc44804501ca93e4d5df448da70897586cc477f72d4058a68
+size 11560724
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mesh/material.mtl b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3b2ed00273c7b0ba423ce08fa1364b3dd96d1b72
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl garlic_004_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd garlic_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mesh/material_0.png b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd76ef27df2dae2735d3d78f1a8f48f4c65f39f5
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cc7a2bae45c2befc44804501ca93e4d5df448da70897586cc477f72d4058a68
+size 11560724
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/garlic_004.xml b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/garlic_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0dbf4d8c6a2814cc5015e4d19c43500ec7bc0b6a
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/garlic_004.xml
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\ No newline at end of file
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8a807ddeba31a4e9654a832cb2aaaee0c157b1b
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004.obj
@@ -0,0 +1,118520 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl garlic_004_geometry_Looks_material_0
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2da685cf1378991777d96d6f0285bccc6e4ecb64
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision.obj
@@ -0,0 +1,53906 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_0.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e66860a56de970765a6c1baef7bd02b99e7d797
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_0.obj
@@ -0,0 +1,577 @@
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_1.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88028c2b8a15ed67f4de0b5301a930875c10f59a
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_1.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_10.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3061ab2e9ebff23134a00c9b180b7536d776e3cc
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_10.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_11.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6e738cec575e60de49cd5572715fbd610c8c8bd
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_11.obj
@@ -0,0 +1,1216 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_12.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55df9dc9b23c163158e436216fd1bca647561f16
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_12.obj
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_13.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7d1a56a5fb348dab497bbf9fa52497ef6a8faf9
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_13.obj
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_14.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2b7302b2523d345ed9cc68aa65cabd0c63806b6
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_14.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_15.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..041773b6a2a10846de1e883846181283c91a6e63
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_15.obj
@@ -0,0 +1,697 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_16.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99ce9728df77b862c4dbe1d9e88e83e9dc7ca851
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_16.obj
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_17.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fd0784e6db69f2bf65e1ddd7c1f318da61c5374
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_17.obj
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_18.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2cb2ddb3c48f74559b8aabed993813895f108e7
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_18.obj
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_19.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be7bcaf762a91223cc52bcb568a0328087d50a1d
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_19.obj
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_2.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e3be99742125318df7685fd8df2dd8268b66b26
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_2.obj
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_20.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4954648e6000b9455548dbb9a678bcab3bb83955
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_20.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_21.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c47803b078fda2e55a68ecbe90c07fae6c2ac64
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_21.obj
@@ -0,0 +1,964 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_22.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f7079894312fd447a56c42df842619e74196ea3
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_22.obj
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_23.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdaccfb0b098882e855f34670ba7e3c45716a696
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_23.obj
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_24.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1551e000bb73c2bd72eb9b4960115b66595bb840
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_24.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_25.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49c57ddc69e778331275a7f99adba52dc01cfb95
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_25.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_26.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7521741677d333e994f609f64943439abdd35455
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_26.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_27.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a66f3520e2695c38668c1ac2745b968bed4c8889
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_27.obj
@@ -0,0 +1,1282 @@
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_28.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60c65593785a1bac3a47fd4026dbd82cf8d0f88e
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_28.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.00048196 0.00630043 0.02272496
+v 0.00191997 0.01743980 0.01963688
+v 0.00162100 0.01745394 0.01964084
+v 0.00085667 0.01686691 0.01975927
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+v 0.00048196 -0.00855204 0.02272491
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+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_29.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d55d761b55c2d3353e012d967a7a409ff82e2cf6
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_29.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.00968557 -0.01339367 -0.01887171
+v 0.00968557 -0.01338320 -0.01887539
+v 0.00969607 -0.01339367 -0.01887171
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+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_3.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8740f16ee2c3ad9a71073657ed7c81057fb3da6b
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_3.obj
@@ -0,0 +1,1504 @@
+# https://github.com/mikedh/trimesh
+v 0.00192017 0.00563831 0.02272546
+v 0.00192017 -0.00828550 0.02272541
+v 0.00211500 0.00545795 0.02272546
+v 0.00393862 0.01658017 0.01967111
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+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_30.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e0e1ed2bcdbf12b26df266c219302ae83716306
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_30.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.01314272 -0.00121150 0.02015061
+v 0.01314272 -0.00223790 0.02005520
+v 0.01394608 -0.00121150 0.02005050
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+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_31.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a7d22582a36d8a301ff71695b67fac48f1745d0
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_31.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.00563865 -0.00984143 0.01935649
+v 0.00758981 -0.00984143 0.01906156
+v 0.00563865 -0.00984143 0.01852404
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+v 0.00563865 -0.01559103 0.01896894
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+v 0.00721604 -0.01308706 0.01611675
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+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_32.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1df2e590d234a9cae7125f1a0c64130dbb38588a
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_32.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.00146003 0.00643988 0.02272546
+v -0.00154639 0.00641754 0.02272546
+v -0.00043314 0.00643669 0.02272546
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+v -0.00154639 0.01893892 0.01875808
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+v 0.00048196 0.00629944 0.02272546
+v 0.00048196 0.01830375 0.01930019
+v -0.00043314 0.01919107 0.01886324
+v -0.00146003 0.01896126 0.01876844
+v -0.00154639 0.01936662 0.01857339
+v -0.00154639 -0.00979353 0.02017398
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+v -0.00146003 -0.00857108 0.02272541
+v 0.00048196 -0.00855193 0.02272541
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+v 0.00048196 0.01951982 0.01884035
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+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_33.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2caa797a87d4f051ee1494bae01adf78f0394c48
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_33.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_34.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96c6093e7ab7cd5d632e870e6a77c9ad41a467f0
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_34.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_35.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e59094c320fed2eddcf21ca1c002b2ba97b01164
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_35.obj
@@ -0,0 +1,811 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_36.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c60ec024ed80a72f0d76da3ecf5e9970e2ce88c
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_36.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
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+v -0.00689163 -0.00674078 -0.02008581
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_37.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f128fc9a50eec286126442c23272f3fbda0235a
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_37.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_38.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfdc4a68a11771aa2db715a21d72cd39b53997c3
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_38.obj
@@ -0,0 +1,3022 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_39.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7980cb62870d0ec88964fe47505fcb2968e321f2
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_39.obj
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_4.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cb9c60abadc1101a9d497af8a48458a4c6997e8
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_4.obj
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_40.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3145a129741888ef80c984795af0987442404075
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_40.obj
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_41.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2c6e00a52f7aa7f08804dd789455e28d4e2e137
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_41.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_42.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cbf76bf5f44383291448d2b310615ed88b44f7e
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_42.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_43.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1b44158985aefb0604ab76bcbbc0872657069c4
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_43.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_44.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc9a905db77b65566639b70fa2d6cc5905f333f4
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_44.obj
@@ -0,0 +1,808 @@
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_45.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af942131c64eb2da073b70f1d49bf913340681e7
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_45.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_46.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d89918a25094539368746c57b043e7c02bda42bf
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_46.obj
@@ -0,0 +1,619 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_47.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64ef059e035b59e85a1726a7cbd71f099af9e2f1
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_47.obj
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_48.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7c8031a4be47553ae8ec94f7cc6b84ef635e8d2
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_48.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_49.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a3a900babeceba22d76f047687c413fc1ee1052
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_49.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_5.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1db2fd988e04b0680d99f5bebcfcb6e9908ceb75
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_5.obj
@@ -0,0 +1,2695 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_50.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daaf83a31f271475f0962985159af96a69803c43
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_50.obj
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_51.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ba9e52950af752478e5fb5854fd0479dce0dd38
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_51.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_52.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b129799a2cb44c05d05a38e6ea18f0853b617751
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_52.obj
@@ -0,0 +1,649 @@
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_53.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b77a9832e1082dc9cb872b6a72b06f6686d1dab
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_53.obj
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_54.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1913301e27852e08c0124482951f29fcdc80b36b
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_54.obj
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_55.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e7ebab8b969077b56b68b5daff9cf6f01475c8b
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_55.obj
@@ -0,0 +1,787 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_56.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71fc78394a253f90c3749287d9eb3ac87ac83472
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_56.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.02735520 0.00473459 0.01088399
+v -0.02722933 0.00473459 0.01107023
+v -0.02729400 0.00485192 0.01088399
+v -0.02304406 0.00473459 0.01088399
+v -0.02680382 0.00473459 0.01169980
+v -0.02678592 0.00473459 0.01172618
+v -0.02714677 0.00496912 0.01100349
+v -0.02697992 0.00539443 0.01088399
+v -0.02444935 0.00604173 0.01130871
+v -0.02412719 0.00604173 0.01195742
+v -0.02243437 0.00556472 0.01447829
+v -0.02145748 0.00473457 0.01533134
+v -0.02470801 0.00604173 0.01088399
+v -0.02677495 0.00473459 0.01174170
+v -0.02658904 0.00540902 0.01145407
+v -0.02668431 0.00589817 0.01088399
+v -0.02411217 0.00604173 0.01201794
+v -0.02243437 0.00556472 0.01475505
+v -0.02399324 0.00604172 0.01290410
+v -0.02187145 0.00473457 0.01614766
+v -0.02659944 0.00604173 0.01088399
+v -0.02643604 0.00473459 0.01219176
+v -0.02637484 0.00502158 0.01205105
+v -0.02564910 0.00555372 0.01259682
+v -0.02587196 0.00592990 0.01199311
+v -0.02630441 0.00604173 0.01130146
+v -0.02646145 0.00604173 0.01108471
+v -0.02302905 0.00558865 0.01477109
+v -0.02194246 0.00473457 0.01616835
+v -0.02400132 0.00604172 0.01294549
+v -0.02605441 0.00473458 0.01267493
+v -0.02545569 0.00604172 0.01239920
+v -0.02584194 0.00604173 0.01193155
+v -0.02582462 0.00495363 0.01279857
+v -0.02538698 0.00495363 0.01331330
+v -0.02467914 0.00560656 0.01368162
+v -0.02491644 0.00604172 0.01293928
+v -0.02400998 0.00573080 0.01404478
+v -0.02363701 0.00553146 0.01466555
+v -0.02282120 0.00473457 0.01573484
+v -0.02555557 0.00473458 0.01326053
+v -0.02516008 0.00604172 0.01272408
+v -0.02544703 0.00473458 0.01338520
+v -0.02512313 0.00473458 0.01374370
+v -0.02487371 0.00495363 0.01388079
+v -0.02496840 0.00604172 0.01291341
+v -0.02435409 0.00495363 0.01439500
+v -0.02384082 0.00495363 0.01484972
+v -0.02389971 0.00473458 0.01491748
+v -0.02493722 0.00473458 0.01394131
+v -0.02442048 0.00473458 0.01445449
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 21
+f 1 21 13
+f 1 13 4
+f 1 4 12
+f 1 12 20
+f 1 20 29
+f 1 29 40
+f 1 40 49
+f 1 49 51
+f 1 51 50
+f 1 50 44
+f 1 44 43
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+f 1 22 14
+f 1 14 6
+f 1 6 5
+f 1 5 2
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+f 3 7 8
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+f 39 48 40
+f 40 48 49
+f 44 50 45
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+f 47 51 49
+f 47 49 48
+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_57.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e11052f7fe4e90f7590174e5dc166f056d82d13e
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_57.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.00154659 0.01004674 -0.02082235
+v -0.00354314 0.01004674 -0.02073867
+v -0.00154659 0.01009297 -0.02080713
+v -0.00154659 0.01004660 0.01640135
+v -0.00354314 0.01012632 -0.02070444
+v -0.00354314 0.01004661 0.01442360
+v -0.00354314 0.01458864 -0.01852129
+v -0.00157356 0.01458864 -0.01826266
+v -0.00154659 0.01458864 -0.01825885
+v -0.00154659 0.01458852 0.01443502
+v -0.00324663 0.01458850 0.01803302
+v -0.00322044 0.01419771 0.01803302
+v -0.00314949 0.01309069 0.01803302
+v -0.00314324 0.01214416 0.01803301
+v -0.00315731 0.01204279 0.01803301
+v -0.00334944 0.01115984 0.01803301
+v -0.00336703 0.01111271 0.01803301
+v -0.00354314 0.01071836 0.01803301
+v -0.00354314 0.01458850 0.01803302
+f 1 2 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
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+f 2 6 18
+f 2 18 19
+f 2 19 7
+f 2 7 5
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+f 4 17 18
+f 4 18 6
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+f 7 9 8
+f 11 19 18
+f 11 18 17
+f 11 17 16
+f 11 16 15
+f 11 15 14
+f 11 14 13
+f 11 13 12
+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_58.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9efd8c188205d31e4a0ab236c4f246c1b58f0d07
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_58.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.00847560 -0.00920524 0.01613695
+v 0.00828869 -0.00892742 0.01613695
+v 0.01082630 -0.00920524 0.01613695
+v 0.00759013 -0.00920525 0.01784589
+v 0.00828742 -0.00892303 0.01613695
+v 0.01082630 -0.00649480 0.01613696
+v 0.01082630 -0.00920525 0.01926529
+v 0.00759013 -0.00839949 0.01757923
+v 0.00814644 -0.00839949 0.01613695
+v 0.00759013 -0.00920525 0.01957185
+v 0.00983755 -0.00641392 0.01613696
+v 0.00773111 -0.00471452 0.01900594
+v 0.00826493 -0.00471452 0.01913441
+v 0.00878987 -0.00471452 0.01931980
+v 0.01047782 -0.00576951 0.01861910
+v 0.01082630 -0.00618139 0.01825366
+v 0.01082630 -0.00839950 0.01933147
+v 0.00759013 -0.00471453 0.02110756
+v 0.00759013 -0.00622492 0.02071536
+v 0.00759013 -0.00651680 0.02061269
+v 0.00759013 -0.00738012 0.02029931
+v 0.00759013 -0.00866369 0.01982877
+v 0.00759013 -0.00890897 0.01973826
+v 0.00759013 -0.00918151 0.01959569
+v 0.00761167 -0.00920525 0.01957720
+v 0.00759013 -0.00745749 0.01782107
+v 0.00815500 -0.00751110 0.01613695
+v 0.00983280 -0.00641480 0.01613696
+v 0.00759013 -0.00471452 0.01901178
+v 0.00765508 -0.00471452 0.01900886
+v 0.00880191 -0.00471452 0.02017475
+v 0.01047782 -0.00576951 0.01881179
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+v 0.00767377 -0.00471453 0.02104576
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+v 0.00893212 -0.00664074 0.01613696
+v 0.00842111 -0.00699680 0.01613695
+v 0.01082630 -0.00631239 0.01907164
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+f 27 29 37
+f 28 38 29
+f 29 38 39
+f 29 39 37
+f 31 35 34
+f 31 34 40
+f 31 40 33
+f 31 33 32
+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_59.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03ef2108ea5f0f3e6328513175e46150d7b0df98
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_59.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.00965653 -0.00121010 0.02160732
+v -0.00965653 -0.00109717 0.02159422
+v -0.01260427 -0.00018292 0.02037794
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+v -0.01260427 -0.00223245 0.02032512
+v -0.00965653 -0.00229012 0.02152963
+v -0.00965653 -0.00024661 0.02140744
+v -0.01260427 0.00085565 0.02014926
+v -0.01260427 -0.00311064 0.02018853
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+v -0.00965653 -0.00326322 0.02132364
+v -0.00965653 0.00055771 0.02097714
+v -0.01260427 0.00143591 0.01981803
+v -0.01260427 -0.00397082 0.01998123
+v -0.01260427 -0.00409816 0.01993059
+v -0.00965653 -0.00398284 0.02101160
+v -0.00965653 0.00056251 0.02095051
+v -0.01208917 0.00138846 0.01977439
+v -0.01260427 0.00143591 0.01979097
+v -0.00965653 -0.00401648 0.02099502
+v -0.01260427 -0.00447298 0.01933315
+v -0.00965653 -0.00470064 0.02023609
+v -0.00965653 0.00068086 0.02024571
+v -0.01208917 0.00138846 0.01965699
+v -0.01260427 0.00141969 0.01939951
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+v -0.01193941 -0.00297127 0.01714934
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+v -0.01106129 -0.00198856 0.01714934
+v -0.01105898 -0.00197955 0.01714934
+v -0.01104859 -0.00189485 0.01714934
+v -0.00965653 -0.00223605 0.01916819
+v -0.00965653 0.00045981 0.01959109
+v -0.01210187 0.00044240 0.01714935
+v -0.01104859 -0.00084606 0.01714935
+v -0.00965653 -0.00121009 0.01914900
+v -0.01158966 -0.00003094 0.01714935
+v -0.01159399 -0.00002674 0.01714935
+v -0.00965653 -0.00018292 0.01934233
+v -0.01111987 -0.00054332 0.01714935
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+f 1 16 20
+f 1 20 22
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+f 43 48 44
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+f 45 50 49
+f 45 49 46
+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_6.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e30394f7012d2aebee65e77468973e10278b24e0
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_6.obj
@@ -0,0 +1,2098 @@
+# https://github.com/mikedh/trimesh
+v 0.01651699 -0.02682700 -0.00135136
+v 0.01676380 -0.02660949 -0.00135136
+v 0.01651699 -0.02680887 -0.00032622
+v 0.01651699 -0.02675811 -0.00238007
+v 0.01673009 -0.02657504 -0.00238007
+v 0.02484577 -0.01929767 -0.00135133
+v 0.02485901 -0.01930854 -0.00032619
+v 0.01675296 -0.02660043 -0.00032622
+v 0.01669879 -0.02654968 0.00070248
+v 0.01651699 -0.02670918 0.00070248
+v 0.01651699 -0.02659861 -0.00341589
+v 0.01664461 -0.02649348 -0.00340877
+v 0.02474946 -0.01920340 -0.00297804
+v 0.02479400 -0.01924691 -0.00238004
+v 0.02535985 -0.01875028 -0.00135133
+v 0.02537309 -0.01876659 -0.00032619
+v 0.02482651 -0.01927773 0.00070251
+v 0.02477715 -0.01922880 0.00147137
+v 0.02471334 -0.01916717 0.00215836
+v 0.01659886 -0.02645544 0.00173118
+v 0.01651699 -0.02652612 0.00173118
+v 0.01651699 -0.02644997 -0.00412779
+v 0.01656395 -0.02641915 -0.00409220
+v 0.02509137 -0.01873395 -0.00335890
+v 0.02574390 -0.01813944 -0.00280362
+v 0.02538874 -0.01859076 -0.00242631
+v 0.02466157 -0.01911821 -0.00366502
+v 0.02579085 -0.01819744 -0.00211663
+v 0.02582336 -0.01823733 -0.00135133
+v 0.02583781 -0.01825364 -0.00032619
+v 0.02581012 -0.01822101 0.00070251
+v 0.02534058 -0.01873396 0.00070251
+v 0.02577520 -0.01817932 0.00132187
+v 0.02524547 -0.01867416 0.00173833
+v 0.01653024 -0.02639018 0.00229359
+v 0.01651699 -0.02640468 0.00228291
+v 0.02571260 -0.01810139 0.00200530
+v 0.02511064 -0.01857266 0.00275992
+v 0.02462666 -0.01908561 0.00275992
+v 0.01651699 -0.02637747 -0.00439832
+v 0.02568009 -0.01805969 -0.00340874
+v 0.02502636 -0.01848381 -0.00443744
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_60.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66e9a1f26f96893bdedb337f9491a888c8d2566f
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_60.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01032887 0.00350637 0.01876055
+v 0.01032887 0.00350637 0.01976055
+v 0.01032887 0.00450637 0.01876055
+v 0.01032887 0.00450637 0.01976055
+v 0.01132887 0.00350637 0.01876055
+v 0.01132887 0.00350637 0.01976055
+v 0.01132887 0.00450637 0.01876055
+v 0.01132887 0.00450637 0.01976055
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_61.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d31a2ce8a157ae372b763c1918ec6e6251f13eac
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_61.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.00689163 0.00226700 0.02272545
+v -0.00689163 0.00293000 0.02245717
+v -0.00796676 0.00633216 0.02082256
+v -0.00697014 0.00213884 0.02272545
+v -0.00689163 -0.00538999 0.02272542
+v -0.00689163 0.00388350 0.02204885
+v -0.00796676 0.00496515 0.02122271
+v -0.00726344 0.00155273 0.02272545
+v -0.00698119 0.00211834 0.02272545
+v -0.00697519 0.00213030 0.02272545
+v -0.00689163 0.00422696 0.02190067
+v -0.00689163 0.00442005 0.02179327
+v -0.00689163 0.00493781 0.02148783
+v -0.00689163 0.00581270 0.02096123
+v -0.00796676 0.00760520 0.01991757
+v -0.00796676 -0.00862639 0.02021389
+v -0.00796676 -0.00914244 0.01989666
+v -0.00689163 -0.00638279 0.02207465
+v -0.00746887 -0.00440403 0.02272542
+v -0.00796676 0.00261730 0.02190157
+v -0.00796676 -0.00088397 0.02272544
+v -0.00689163 0.00633559 0.02006575
+v -0.00705181 0.00656969 0.01992163
+v -0.00796676 0.00762913 0.01953146
+v -0.00753317 -0.00427758 0.02272542
+v -0.00796497 -0.00326428 0.02272543
+v -0.00796676 -0.00326428 0.02272316
+v -0.00796676 -0.00931503 0.01978337
+v -0.00689163 -0.00764557 0.02120318
+v -0.00796676 -0.00324891 0.02272543
+v -0.00689163 0.00633559 0.01991665
+v -0.00705181 0.00656969 0.01967239
+v -0.00796676 0.00737281 0.01933115
+v -0.00693267 -0.00904162 0.01987944
+v -0.00762252 -0.00915611 0.01992929
+v -0.00689163 -0.00815307 0.02080121
+v -0.00796676 -0.00982766 0.01889648
+v -0.00689163 0.00582638 0.01956090
+v -0.00796676 0.00697809 0.01912360
+v -0.00689163 0.00514287 0.01924277
+v -0.00693267 -0.00904162 0.01949469
+v -0.00689163 -0.00897840 0.01992204
+v -0.00796676 -0.00960381 0.01857155
+v -0.00796676 0.00653039 0.01900485
+v -0.00689163 0.00356567 0.01893505
+v -0.00689163 -0.00896131 0.01947973
+v -0.00796676 -0.00943122 0.01848591
+v -0.00790941 -0.00942609 0.01853032
+v -0.00689163 -0.00838033 0.01910677
+v -0.00796676 0.00597846 0.01895455
+v -0.00689163 -0.00314637 0.01893503
+v -0.00796676 -0.00839913 0.01809572
+v -0.00796676 -0.00795314 0.01810252
+v -0.00796676 -0.00737216 0.01813016
+v -0.00796676 -0.00936800 0.01845917
+v -0.00796676 -0.00925864 0.01841386
+v -0.00689163 -0.00737045 0.01902293
+v -0.00689205 -0.00454927 0.01893502
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 9
+f 1 9 8
+f 1 8 21
+f 1 21 30
+f 1 30 26
+f 1 26 25
+f 1 25 19
+f 1 19 5
+f 1 5 18
+f 1 18 29
+f 1 29 36
+f 1 36 42
+f 1 42 46
+f 1 46 49
+f 1 49 57
+f 1 57 51
+f 1 51 45
+f 1 45 40
+f 1 40 38
+f 1 38 31
+f 1 31 22
+f 1 22 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 3 6 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 24
+f 3 24 33
+f 3 33 39
+f 3 39 44
+f 3 44 50
+f 3 50 54
+f 3 54 53
+f 3 53 52
+f 3 52 56
+f 3 56 55
+f 3 55 47
+f 3 47 43
+f 3 43 37
+f 3 37 28
+f 3 28 17
+f 3 17 16
+f 3 16 27
+f 3 27 30
+f 3 30 21
+f 3 21 20
+f 3 20 7
+f 5 16 17
+f 5 17 18
+f 5 19 16
+f 7 20 8
+f 8 20 21
+f 14 22 15
+f 15 22 23
+f 15 23 24
+f 16 19 25
+f 16 25 26
+f 16 26 27
+f 17 28 18
+f 18 28 29
+f 22 31 32
+f 22 32 23
+f 23 32 24
+f 24 32 33
+f 26 30 27
+f 28 34 35
+f 28 35 36
+f 28 36 29
+f 28 37 34
+f 31 38 32
+f 32 39 33
+f 32 38 40
+f 32 40 39
+f 34 41 42
+f 34 42 36
+f 34 36 35
+f 34 37 41
+f 37 43 41
+f 39 40 44
+f 40 45 44
+f 41 46 42
+f 41 43 46
+f 43 47 48
+f 43 48 49
+f 43 49 46
+f 44 45 50
+f 45 51 52
+f 45 52 53
+f 45 53 54
+f 45 54 50
+f 47 55 48
+f 48 55 56
+f 48 56 49
+f 49 52 57
+f 49 56 52
+f 51 58 52
+f 51 57 58
+f 52 58 57
+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_62.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d4b299e821bc1094ed3fdb7daf5765249295f51
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_62.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.01780611 0.00604184 0.01798029
+v -0.01780667 0.00763399 0.01833037
+v -0.01780667 0.00700766 0.01828615
+v -0.01780611 0.00598690 0.01796678
+v -0.01780611 0.00604185 0.01542909
+v -0.01789411 0.00763399 0.01828492
+v -0.01789411 0.00700766 0.01824193
+v -0.01780667 0.00763404 0.00578195
+v -0.01854710 0.00633428 0.01776533
+v -0.01780611 0.00591056 0.01791150
+v -0.01780667 0.00604189 0.00578194
+v -0.01780611 0.00566458 0.01726173
+v -0.01818894 0.00763399 0.01812278
+v -0.01864912 0.00700766 0.01782553
+v -0.02170952 0.00763404 0.00578195
+v -0.01916255 0.00700767 0.01748652
+v -0.01985086 0.00700767 0.01697186
+v -0.01967654 0.00630364 0.01684287
+v -0.01944505 0.00604189 0.00578194
+v -0.02067201 0.00636784 0.01584057
+v -0.02157107 0.00642568 0.01471667
+v -0.02157107 0.00642568 0.01449066
+v -0.01946242 0.00604189 0.00583598
+v -0.01868667 0.00763399 0.01784518
+v -0.01920010 0.00763400 0.01751723
+v -0.02353230 0.00721685 0.01099613
+v -0.02353230 0.00763383 0.01031810
+v -0.02244827 0.00763403 0.00882939
+v -0.01995511 0.00763400 0.01695957
+v -0.02041754 0.00763400 0.01660459
+v -0.02036373 0.00700767 0.01653703
+v -0.02099823 0.00709654 0.01594745
+v -0.02135695 0.00681354 0.01540207
+v -0.02353230 0.00694908 0.01201808
+v -0.02353230 0.00706724 0.01290369
+v -0.02353230 0.00695312 0.01248975
+v -0.02353230 0.00763382 0.01319234
+v -0.02244827 0.00763401 0.01460613
+v -0.02135583 0.00763400 0.01576566
+v -0.02149540 0.00749790 0.01562440
+v -0.02250657 0.00762244 0.01457419
+v -0.02251722 0.00763382 0.01456314
+v -0.02249479 0.00763382 0.01458771
+v -0.02150269 0.00763400 0.01563177
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 12
+f 1 12 5
+f 1 5 8
+f 1 8 2
+f 2 6 7
+f 2 7 3
+f 2 8 15
+f 2 15 28
+f 2 28 38
+f 2 38 44
+f 2 44 39
+f 2 39 30
+f 2 30 29
+f 2 29 25
+f 2 25 24
+f 2 24 13
+f 2 13 6
+f 3 7 9
+f 3 9 4
+f 4 9 10
+f 5 11 8
+f 5 12 11
+f 6 13 7
+f 7 13 14
+f 7 14 9
+f 8 11 19
+f 8 19 15
+f 9 14 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 18 12
+f 11 12 19
+f 12 18 20
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 19
+f 13 24 14
+f 14 24 25
+f 14 25 16
+f 15 19 26
+f 15 26 27
+f 15 27 28
+f 16 25 29
+f 16 29 17
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 20
+f 19 23 34
+f 19 34 26
+f 20 33 35
+f 20 35 21
+f 21 35 36
+f 21 36 34
+f 21 34 22
+f 22 34 23
+f 26 34 36
+f 26 36 35
+f 26 35 37
+f 26 37 27
+f 27 37 38
+f 27 38 28
+f 30 39 40
+f 30 40 31
+f 31 40 32
+f 32 40 33
+f 33 40 41
+f 33 41 35
+f 35 41 37
+f 37 41 42
+f 37 42 38
+f 38 43 44
+f 38 42 43
+f 39 44 40
+f 40 44 41
+f 41 44 43
+f 41 43 42
+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_63.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d32e3687e1a8503cfd89b4dd70d56d4355866d12
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_63.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00947156 -0.00452546 0.01942507
+v -0.00796676 -0.00452546 0.01948606
+v -0.00965594 -0.00452546 0.01945285
+v -0.00796676 -0.00381090 0.01655705
+v -0.00796676 -0.00452547 0.02200690
+v -0.00965594 0.00052165 0.01655706
+v -0.00884765 -0.00223739 0.01655705
+v -0.00844119 -0.00317988 0.01655705
+v -0.00830195 -0.00339220 0.01655705
+v -0.00806730 -0.00369343 0.01655705
+v -0.00799405 -0.00377911 0.01655705
+v -0.00965594 -0.00452546 0.02027039
+v -0.00796676 0.00097969 0.01655706
+v -0.00796676 -0.00440207 0.02213491
+v -0.00965594 -0.00401677 0.02099495
+v -0.00878514 -0.00452547 0.02124914
+v -0.00965594 0.00097969 0.01655706
+v -0.00796676 0.00097967 0.02212829
+v -0.00796676 -0.00425765 0.02224238
+v -0.00965594 -0.00398336 0.02101186
+v -0.00965594 0.00097969 0.01694712
+v -0.00824623 0.00097967 0.02187107
+v -0.00965594 0.00055827 0.02097685
+v -0.00965594 -0.00024627 0.02140735
+v -0.00796676 0.00054103 0.02228406
+v -0.00796676 -0.00326558 0.02272301
+v -0.00965594 -0.00326343 0.02132402
+v -0.00965594 0.00068115 0.02024626
+v -0.00876910 0.00097967 0.02128478
+v -0.00965594 0.00056312 0.02095028
+v -0.00965594 -0.00109715 0.02159453
+v -0.00920169 -0.00063749 0.02181371
+v -0.00808086 -0.00120977 0.02272544
+v -0.00796676 -0.00088322 0.02272544
+v -0.00796676 -0.00324941 0.02272543
+v -0.00965594 -0.00229022 0.02152991
+v -0.00965594 -0.00120977 0.02160721
+v -0.00810517 -0.00223902 0.02272543
+f 1 2 5
+f 1 5 16
+f 1 16 12
+f 1 12 3
+f 1 3 4
+f 1 4 2
+f 2 4 13
+f 2 13 18
+f 2 18 25
+f 2 25 34
+f 2 34 35
+f 2 35 26
+f 2 26 19
+f 2 19 14
+f 2 14 5
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 3 12 15
+f 3 15 20
+f 3 20 27
+f 3 27 36
+f 3 36 37
+f 3 37 31
+f 3 31 24
+f 3 24 23
+f 3 23 30
+f 3 30 28
+f 3 28 21
+f 3 21 17
+f 3 17 6
+f 4 11 10
+f 4 10 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 6 17
+f 4 17 13
+f 5 14 15
+f 5 15 16
+f 12 16 15
+f 13 17 21
+f 13 21 29
+f 13 29 22
+f 13 22 18
+f 14 19 15
+f 15 19 20
+f 18 22 23
+f 18 23 24
+f 18 24 25
+f 19 26 20
+f 20 26 27
+f 21 28 29
+f 22 29 23
+f 23 29 30
+f 24 31 32
+f 24 32 33
+f 24 33 34
+f 24 34 25
+f 26 35 36
+f 26 36 27
+f 28 30 29
+f 31 37 33
+f 31 33 32
+f 33 38 35
+f 33 35 34
+f 33 37 38
+f 35 38 36
+f 36 38 37
+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_64.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f578bae14b42fc1b76ee4d93fadaed26253c943
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_64.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00354314 0.01050959 0.01511248
+v -0.00417080 0.01050959 0.01736461
+v -0.00354314 0.00811645 0.01379147
+v -0.00354314 0.01050972 -0.02038424
+v -0.00550248 0.01050959 0.01736461
+v -0.00421144 0.01048452 0.01736461
+v -0.00425896 0.01045571 0.01736461
+v -0.00446938 0.01037466 0.01736461
+v -0.00520815 0.01038028 0.01736461
+v -0.00557098 0.00811645 0.01304580
+v -0.00354314 0.00811658 -0.02130403
+v -0.00354314 0.01012602 -0.02070218
+v -0.00382698 0.01050973 -0.02050536
+v -0.00546839 0.01047656 0.01736461
+v -0.00636940 0.01050959 0.01530552
+v -0.00689120 0.00811646 0.01173994
+v -0.00541071 0.01042174 0.01736461
+v -0.00454149 0.00811658 -0.02121697
+v -0.00354314 0.00900628 -0.02119426
+v -0.00354314 0.01011149 -0.02070976
+v -0.00393940 0.01050973 -0.02050536
+v -0.00671355 0.01050960 0.01441602
+v -0.00682073 0.01050960 0.01411699
+v -0.00689120 0.01050960 0.01390881
+v -0.00689120 0.00811658 -0.02053565
+v -0.00556836 0.00811658 -0.02108449
+v -0.00556836 0.00906250 -0.02080818
+v -0.00354314 0.01000139 -0.02075896
+v -0.00614817 0.00965353 -0.02044858
+v -0.00416260 0.01050973 -0.02045994
+v -0.00689120 0.01050972 -0.01948717
+v -0.00689120 0.00906694 -0.02015335
+v -0.00630484 0.00906250 -0.02056972
+v -0.00661490 0.00811658 -0.02066056
+v -0.00562670 0.00811658 -0.02106557
+v -0.00650116 0.01050972 -0.01968021
+v -0.00689120 0.01013585 -0.01970292
+v -0.00689120 0.01038744 -0.01956665
+f 1 2 3
+f 1 3 11
+f 1 11 19
+f 1 19 28
+f 1 28 20
+f 1 20 12
+f 1 12 4
+f 1 4 13
+f 1 13 21
+f 1 21 30
+f 1 30 36
+f 1 36 31
+f 1 31 24
+f 1 24 23
+f 1 23 22
+f 1 22 15
+f 1 15 5
+f 1 5 2
+f 2 5 14
+f 2 14 17
+f 2 17 9
+f 2 9 8
+f 2 8 7
+f 2 7 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 16
+f 3 16 25
+f 3 25 34
+f 3 34 35
+f 3 35 26
+f 3 26 18
+f 3 18 11
+f 4 12 13
+f 5 15 16
+f 5 16 14
+f 9 17 10
+f 10 17 16
+f 11 18 19
+f 12 20 13
+f 13 20 21
+f 14 16 17
+f 15 22 16
+f 16 22 23
+f 16 23 24
+f 16 24 31
+f 16 31 38
+f 16 38 37
+f 16 37 32
+f 16 32 25
+f 18 26 19
+f 19 26 27
+f 19 27 21
+f 19 21 28
+f 20 28 21
+f 21 29 30
+f 21 27 29
+f 25 32 29
+f 25 29 33
+f 25 33 34
+f 26 35 29
+f 26 29 27
+f 29 36 30
+f 29 35 33
+f 29 32 37
+f 29 37 38
+f 29 38 31
+f 29 31 36
+f 33 35 34
+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_65.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..333bfbf3468c320a74993d995f3e740ef690bf10
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_65.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00248730 0.01004658 0.02091153
+v -0.00351421 0.01004658 0.02082757
+v -0.00154659 0.01004658 0.02085236
+v -0.00354314 0.01458850 0.01990057
+v -0.00354314 0.01004658 0.02082362
+v -0.00154659 0.01004659 0.01921474
+v -0.00154659 0.01216016 0.02003665
+v -0.00312350 0.01458850 0.01977997
+v -0.00351284 0.01458850 0.01989690
+v -0.00354314 0.01458850 0.01803302
+v -0.00354314 0.01004659 0.01856526
+v -0.00154659 0.01111671 0.01914655
+v -0.00354314 0.01034935 0.01832210
+v -0.00354314 0.01071836 0.01803301
+v -0.00336703 0.01111271 0.01803301
+v -0.00334944 0.01115984 0.01803301
+v -0.00315731 0.01204279 0.01803301
+v -0.00314324 0.01214416 0.01803301
+v -0.00154659 0.01219662 0.02002256
+v -0.00295561 0.01458850 0.01960527
+v -0.00324663 0.01458850 0.01803302
+v -0.00314949 0.01309069 0.01803302
+v -0.00322044 0.01419771 0.01803302
+v -0.00154659 0.01219662 0.01933477
+v -0.00281449 0.01458850 0.01922573
+v -0.00284185 0.01458850 0.01856274
+v -0.00281449 0.01458850 0.01908372
+f 1 2 5
+f 1 5 11
+f 1 11 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 12
+f 3 12 24
+f 3 24 19
+f 3 19 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 8
+f 4 8 20
+f 4 20 25
+f 4 25 27
+f 4 27 26
+f 4 26 21
+f 4 21 10
+f 4 10 14
+f 4 14 13
+f 4 13 11
+f 4 11 5
+f 6 11 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 12
+f 7 19 8
+f 8 19 20
+f 10 21 23
+f 10 23 22
+f 10 22 18
+f 10 18 17
+f 10 17 16
+f 10 16 15
+f 10 15 14
+f 12 18 22
+f 12 22 23
+f 12 23 21
+f 12 21 24
+f 19 24 27
+f 19 27 25
+f 19 25 20
+f 21 26 24
+f 24 26 27
+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_66.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b76e4afc5fe7f5ef8e2c34ef07fff1ab10a56f91
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_66.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.00427561 -0.00863456 -0.02010310
+v -0.00426971 -0.00863456 -0.02010310
+v -0.00448339 -0.00863456 -0.02009540
+v -0.00533646 -0.00810001 -0.02055002
+v -0.00476097 -0.00810001 -0.02055002
+v -0.00354314 -0.00863456 -0.02009155
+v -0.00540725 -0.00863456 -0.02005302
+v -0.00562093 -0.00863456 -0.02002220
+v -0.00635995 -0.00863456 -0.01957914
+v -0.00689120 -0.00863456 -0.01924010
+v -0.00689120 -0.00613565 -0.02071568
+v -0.00660771 -0.00530105 -0.02125120
+v -0.00627343 -0.00494851 -0.02147851
+v -0.00429199 -0.00607990 -0.02151704
+v -0.00354314 -0.00623239 -0.02162106
+v -0.00354314 -0.00674234 -0.02134367
+v -0.00354314 -0.00863468 0.01303409
+v -0.00689120 -0.00863468 0.01276055
+v -0.00689120 -0.00530597 -0.02110865
+v -0.00689120 -0.00220366 -0.02164802
+v -0.00666408 -0.00229549 -0.02169040
+v -0.00556816 -0.00223482 -0.02194853
+v -0.00556816 -0.00326291 -0.02182525
+v -0.00354314 -0.00529121 -0.02188305
+v -0.00354314 -0.00531581 -0.02187920
+v -0.00354314 -0.00819853 0.01612782
+v -0.00354314 -0.00815098 0.01645530
+v -0.00407373 -0.00792142 0.01645530
+v -0.00598175 -0.00680479 0.01645531
+v -0.00641730 -0.00634731 0.01645531
+v -0.00689120 -0.00550287 0.01645531
+v -0.00689120 -0.00119361 -0.02168269
+v -0.00556816 -0.00120837 -0.02192926
+v -0.00454172 -0.00120837 -0.02201017
+v -0.00454172 -0.00223482 -0.02198321
+v -0.00354314 -0.00426148 -0.02195240
+v -0.00659493 -0.00120837 -0.02174818
+v -0.00354314 0.00641607 0.01734918
+v -0.00541315 0.00641607 0.01692538
+v -0.00689120 0.00559295 0.01645535
+v -0.00689120 0.00343197 -0.02142069
+v -0.00454172 0.00803459 -0.02123574
+v -0.00354314 -0.00120837 -0.02197935
+v -0.00354314 -0.00220530 -0.02199477
+v -0.00354314 -0.00223482 -0.02199477
+v -0.00354314 0.00803459 -0.02130894
+v -0.00354314 0.00653085 0.01715654
+v -0.00526731 0.00655053 0.01676357
+v -0.00595193 0.00645051 0.01656323
+v -0.00588933 0.00641607 0.01665954
+v -0.00658543 0.00596188 0.01645535
+v -0.00689120 0.00679648 0.01498747
+v -0.00556816 0.00803459 -0.02110475
+v -0.00689120 0.00796081 -0.02060775
+v -0.00454172 0.00811658 -0.02121648
+v -0.00354314 0.00811658 -0.02130124
+v -0.00354314 0.00701784 0.01617411
+v -0.00354314 0.00811645 0.01379314
+v -0.00557078 0.00811645 0.01304186
+v -0.00597323 0.00641607 0.01659405
+v -0.00689120 0.00811646 0.01173579
+v -0.00562650 0.00811658 -0.02106622
+v -0.00556816 0.00811658 -0.02108163
+v -0.00689120 0.00806575 -0.02056152
+v -0.00661460 0.00811658 -0.02065783
+v -0.00689120 0.00811658 -0.02053455
+f 1 2 6
+f 1 6 17
+f 1 17 18
+f 1 18 10
+f 1 10 9
+f 1 9 8
+f 1 8 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 5 16 6
+f 6 16 15
+f 6 15 25
+f 6 25 24
+f 6 24 36
+f 6 36 45
+f 6 45 44
+f 6 44 43
+f 6 43 46
+f 6 46 56
+f 6 56 58
+f 6 58 57
+f 6 57 47
+f 6 47 38
+f 6 38 27
+f 6 27 26
+f 6 26 17
+f 10 18 31
+f 10 31 40
+f 10 40 52
+f 10 52 61
+f 10 61 66
+f 10 66 64
+f 10 64 54
+f 10 54 41
+f 10 41 32
+f 10 32 20
+f 10 20 19
+f 10 19 11
+f 11 19 12
+f 12 19 20
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 15
+f 13 15 14
+f 17 26 18
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 20 32 22
+f 20 22 21
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 24
+f 22 24 23
+f 22 32 37
+f 22 37 33
+f 27 38 28
+f 28 38 29
+f 29 38 30
+f 30 38 31
+f 31 38 39
+f 31 39 40
+f 32 41 37
+f 33 37 41
+f 33 41 42
+f 33 42 34
+f 34 43 44
+f 34 44 45
+f 34 45 36
+f 34 36 35
+f 34 42 46
+f 34 46 43
+f 38 47 48
+f 38 48 39
+f 39 48 49
+f 39 49 50
+f 39 50 40
+f 40 50 51
+f 40 51 52
+f 41 53 42
+f 41 54 53
+f 42 53 55
+f 42 55 56
+f 42 56 46
+f 47 57 48
+f 48 57 58
+f 48 58 59
+f 48 59 49
+f 49 60 50
+f 49 59 52
+f 49 52 60
+f 50 60 51
+f 51 60 52
+f 52 59 61
+f 53 62 63
+f 53 63 55
+f 53 54 62
+f 54 64 65
+f 54 65 62
+f 55 63 62
+f 55 62 65
+f 55 65 66
+f 55 66 61
+f 55 61 59
+f 55 59 58
+f 55 58 56
+f 64 66 65
+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_67.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..992db9b5ac117dd8b2914c86f7d2c36e1bbd6d1e
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_67.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.00758981 0.01329358 -0.01787748
+v 0.00758981 0.01336491 -0.01785958
+v 0.00870614 0.01329358 -0.01785242
+v 0.00758981 0.01329346 0.01346896
+v 0.00758981 0.01523142 -0.01732985
+v 0.00879984 0.01329358 -0.01784884
+v 0.00879984 0.01329346 0.01267796
+v 0.00758981 0.01388627 0.01849413
+v 0.00879984 0.01523142 -0.01706141
+v 0.00879984 0.01418197 -0.01749451
+v 0.00879984 0.01417324 -0.01749809
+v 0.00758981 0.01523129 0.01862299
+v 0.00879984 0.01419950 0.01273523
+v 0.00879676 0.01523130 0.01717700
+v 0.00839744 0.01460109 0.01782482
+v 0.00854871 0.01522522 0.01792147
+v 0.00758981 0.01421143 0.01859434
+v 0.00879984 0.01523132 0.01172233
+v 0.00758981 0.01518538 0.01864446
+v 0.00764857 0.01523129 0.01859435
+v 0.00879984 0.01420993 0.01272807
+v 0.00855179 0.01523129 0.01791789
+v 0.00758981 0.01468645 0.01868740
+f 1 2 3
+f 1 3 6
+f 1 6 7
+f 1 7 4
+f 1 4 8
+f 1 8 17
+f 1 17 23
+f 1 23 19
+f 1 19 12
+f 1 12 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 8
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 5 12 20
+f 5 20 22
+f 5 22 14
+f 5 14 18
+f 5 18 9
+f 6 11 10
+f 6 10 9
+f 6 9 18
+f 6 18 21
+f 6 21 13
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 12 19 20
+f 13 21 14
+f 14 22 15
+f 14 21 18
+f 15 22 16
+f 16 22 20
+f 16 20 19
+f 16 19 23
+f 16 23 17
+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_68.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0b450e2463fba557954b9ece72c333016268ea0
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_68.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.00248730 -0.00906074 0.02149207
+v -0.00193476 -0.00906074 0.02144531
+v -0.00303516 -0.00906074 0.02138751
+v -0.00354314 -0.01854389 0.01780804
+v -0.00354314 -0.01904189 0.01762045
+v -0.00351421 -0.01904313 0.01762045
+v -0.00154659 -0.00906074 0.02131604
+v -0.00248730 -0.01890876 0.01757368
+v -0.00154659 -0.01866469 0.01754373
+v -0.00351421 -0.00906074 0.02128136
+v -0.00353278 -0.00906074 0.02127296
+v -0.00354314 -0.00906074 0.02126823
+v -0.00354314 -0.01969769 0.01731568
+v -0.00351421 -0.01969769 0.01731568
+v -0.00248730 -0.01969769 0.01722688
+v -0.00154659 -0.00906073 0.01906970
+v -0.00154659 -0.01969769 0.01709236
+v -0.00354314 -0.00906073 0.01864566
+v -0.00354314 -0.02056304 0.01685590
+v -0.00351421 -0.02056304 0.01685642
+v -0.00248730 -0.02049648 0.01681386
+v -0.00154659 -0.01976549 0.01705768
+v -0.00189430 -0.01188237 0.01612450
+v -0.00225393 -0.01147558 0.01612450
+v -0.00228735 -0.01143860 0.01612450
+v -0.00288192 -0.01090977 0.01612450
+v -0.00241733 -0.00906073 0.01874024
+v -0.00154659 -0.01285744 0.01612449
+v -0.00166073 -0.01243832 0.01612449
+v -0.00351421 -0.00906073 0.01864618
+v -0.00313992 -0.01090977 0.01612450
+v -0.00354314 -0.01110331 0.01612450
+v -0.00354314 -0.02057784 0.01684696
+v -0.00351421 -0.02107708 0.01654220
+v -0.00248730 -0.02100928 0.01650016
+v -0.00154659 -0.02041266 0.01671351
+v -0.00154659 -0.02036951 0.01673978
+v -0.00248730 -0.00906073 0.01871555
+v -0.00154659 -0.02131129 0.01612446
+v -0.00354314 -0.02165152 0.01612446
+v -0.00354314 -0.02107708 0.01654167
+v -0.00351421 -0.02165275 0.01612446
+v -0.00251369 -0.02154181 0.01612446
+v -0.00154659 -0.02088355 0.01641924
+f 1 2 7
+f 1 7 16
+f 1 16 27
+f 1 27 38
+f 1 38 30
+f 1 30 18
+f 1 18 12
+f 1 12 11
+f 1 11 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 9
+f 2 9 7
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 18
+f 4 18 32
+f 4 32 40
+f 4 40 41
+f 4 41 33
+f 4 33 19
+f 4 19 13
+f 4 13 5
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 8
+f 7 9 17
+f 7 17 22
+f 7 22 37
+f 7 37 36
+f 7 36 44
+f 7 44 39
+f 7 39 28
+f 7 28 16
+f 8 15 17
+f 8 17 9
+f 13 19 20
+f 13 20 14
+f 14 20 21
+f 14 21 15
+f 15 21 22
+f 15 22 17
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 28 29
+f 16 29 23
+f 18 30 26
+f 18 26 31
+f 18 31 32
+f 19 33 20
+f 20 33 34
+f 20 34 21
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 23 29 28
+f 23 28 39
+f 23 39 43
+f 23 43 42
+f 23 42 40
+f 23 40 32
+f 23 32 31
+f 23 31 26
+f 23 26 25
+f 23 25 24
+f 26 30 38
+f 26 38 27
+f 33 41 34
+f 34 41 42
+f 34 42 43
+f 34 43 35
+f 35 43 39
+f 35 39 44
+f 35 44 36
+f 40 42 41
+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_69.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c443a7f4b444eee373f7e563694fc74462d47db
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_69.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.00965624 0.00392689 0.02073974
+v -0.01104837 0.00598072 0.02020720
+v -0.01104837 0.00495381 0.02021707
+v -0.01104837 0.00393937 0.02016525
+v -0.00965624 0.00286159 0.02067876
+v -0.00965624 0.00563617 0.02055013
+v -0.01104837 0.00906145 0.01998340
+v -0.01104837 0.00871691 0.02002112
+v -0.01104837 0.00700859 0.02018254
+v -0.01104837 0.00323493 0.01989175
+v -0.00965624 0.00237309 0.02026640
+v -0.00965624 0.00598071 0.02051171
+v -0.01070385 0.00906145 0.02001372
+v -0.01104837 0.01055671 0.01976772
+v -0.01104837 0.00323493 0.01944590
+v -0.00965624 0.00246331 0.01987307
+v -0.00965624 0.00803454 0.02020474
+v -0.00967682 0.00803454 0.02020827
+v -0.01104837 0.01217770 0.01889224
+v -0.01075032 0.01011812 0.01983680
+v -0.00999899 0.00979469 0.01981953
+v -0.01104837 0.00331171 0.01929823
+v -0.01070385 0.00310921 0.01935426
+v -0.00965624 0.00260919 0.01945929
+v -0.00965624 0.00908353 0.01994534
+v -0.00966469 0.00908737 0.01994640
+v -0.01015136 0.01068244 0.01884007
+v -0.01104837 0.01217770 0.01844991
+v -0.00965624 0.00971887 0.01920662
+v -0.01104837 0.00371480 0.01871528
+v -0.00965624 0.00271188 0.01934968
+v -0.01104837 0.00497301 0.01713914
+v -0.01015136 0.01068244 0.01863706
+v -0.01068232 0.01109897 0.01713916
+v -0.01069663 0.01112200 0.01713916
+v -0.01104837 0.01167193 0.01713916
+v -0.01002284 0.01002887 0.01713916
+v -0.00965624 0.00928988 0.01713915
+v -0.01070385 0.00495862 0.01713914
+v -0.00973201 0.00522350 0.01713914
+v -0.00965624 0.00526957 0.01713914
+v -0.01072511 0.00495862 0.01713914
+v -0.01000703 0.00999816 0.01713916
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 16
+f 1 16 24
+f 1 24 31
+f 1 31 41
+f 1 41 38
+f 1 38 29
+f 1 29 25
+f 1 25 17
+f 1 17 12
+f 1 12 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 8
+f 2 8 7
+f 2 7 14
+f 2 14 19
+f 2 19 28
+f 2 28 36
+f 2 36 32
+f 2 32 30
+f 2 30 22
+f 2 22 15
+f 2 15 10
+f 2 10 4
+f 2 4 3
+f 4 10 5
+f 5 10 11
+f 6 12 7
+f 7 13 14
+f 7 12 13
+f 10 15 11
+f 11 15 16
+f 12 17 18
+f 12 18 13
+f 13 18 14
+f 14 18 20
+f 14 20 21
+f 14 21 19
+f 15 22 23
+f 15 23 16
+f 16 23 24
+f 17 25 26
+f 17 26 18
+f 18 26 21
+f 18 21 20
+f 19 27 33
+f 19 33 28
+f 19 21 29
+f 19 29 27
+f 21 26 25
+f 21 25 29
+f 22 30 23
+f 23 30 24
+f 24 30 32
+f 24 32 31
+f 27 29 33
+f 28 34 35
+f 28 35 36
+f 28 33 37
+f 28 37 34
+f 29 38 33
+f 31 39 40
+f 31 40 41
+f 31 32 42
+f 31 42 39
+f 32 36 35
+f 32 35 34
+f 32 34 37
+f 32 37 43
+f 32 43 38
+f 32 38 41
+f 32 41 40
+f 32 40 39
+f 32 39 42
+f 33 38 43
+f 33 43 37
+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_7.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd5618542f5b6cb67b56da95d64d2e5d51c721d0
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_7.obj
@@ -0,0 +1,1669 @@
+# https://github.com/mikedh/trimesh
+v -0.01260427 0.02158214 0.01467528
+v -0.01260427 0.02177094 0.01455568
+v -0.01273541 0.02138761 0.01467528
+v -0.01260427 -0.01336981 0.01467515
+v -0.01260427 0.02225726 0.01422679
+v -0.01336106 0.02203985 0.01365539
+v -0.01498389 0.01804060 0.01467527
+v -0.01294156 -0.01402777 0.01467515
+v -0.01260427 -0.01866781 0.01467180
+v -0.01260427 0.02301248 0.01364210
+v -0.01311416 0.02272069 0.01340623
+v -0.01344189 0.02314407 0.01271856
+v -0.01412624 0.02263487 0.01231657
+v -0.01438922 0.02306971 0.01163222
+v -0.01498389 0.02348165 0.01028677
+v -0.01498389 -0.01655090 0.01467514
+v -0.01423036 -0.01616757 0.01467514
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_70.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..541bc8235b36f0dbd4a7dd345b7ba069872fbabb
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_70.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_71.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57129177e99380912ea315499a596d91e0427ac1
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_71.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.00796676 0.01317206 0.01964529
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_72.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..831c5be4b600865b1ef43da8869bd627cf2da4ad
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_72.obj
@@ -0,0 +1,1357 @@
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+f 425 442 429
+f 425 429 443
+f 425 443 426
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+f 426 429 428
+f 427 439 444
+f 427 444 441
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+f 429 442 445
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+f 438 447 444
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+f 442 448 449
+f 442 449 445
+f 444 447 450
+f 445 449 451
+f 445 451 446
+f 446 451 453
+f 446 453 452
+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_73.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a80f7f6887e608740c77340b80b2164732895ee
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_73.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.01173098 -0.00574468 -0.01924126
+v -0.01104852 -0.00574468 -0.01920886
+v -0.01260427 -0.00574468 -0.01921966
+v -0.01173098 -0.00531792 -0.01929164
+v -0.01104852 -0.00531792 -0.01927725
+v -0.01104852 -0.00574481 0.01498586
+v -0.01260427 -0.00531792 -0.01926285
+v -0.01260427 -0.00574480 0.01452877
+v -0.01104852 -0.00020030 -0.01961914
+v -0.01104852 -0.00189520 0.01714890
+v -0.01105888 -0.00197933 0.01714890
+v -0.01106116 -0.00198897 0.01714890
+v -0.01143186 -0.00250248 0.01714890
+v -0.01193948 -0.00297130 0.01714890
+v -0.01194527 -0.00297656 0.01714890
+v -0.01195380 -0.00298182 0.01714890
+v -0.01260427 -0.00338141 0.01714890
+v -0.01173098 -0.00574480 0.01480590
+v -0.01226921 -0.00061655 -0.01936000
+v -0.01226921 -0.00070856 -0.01936000
+v -0.01260427 -0.00030020 -0.01920884
+v -0.01178992 -0.00574480 0.01478791
+v -0.01104852 0.00084425 -0.01959754
+v -0.01104852 -0.00084627 0.01714891
+v -0.01260427 0.00073371 0.01714891
+v -0.01174423 -0.00574480 0.01480230
+v -0.01218194 0.00006785 -0.01933121
+v -0.01260427 -0.00019680 -0.01919805
+v -0.01104852 0.00289918 -0.01929161
+v -0.01111965 -0.00054307 0.01714891
+v -0.01104852 0.00074685 0.01583166
+v -0.01260427 0.00223483 0.01385938
+v -0.01210214 0.00044277 0.01714891
+v -0.01104852 0.00178441 0.01406093
+v -0.01104852 0.00275448 0.01196627
+v -0.01260427 0.00289918 -0.01872296
+v -0.01104852 0.00320764 -0.01924483
+v -0.01158980 -0.00003043 0.01714891
+v -0.01159422 -0.00002605 0.01714891
+v -0.01260427 0.00251787 0.01317915
+v -0.01104852 0.00305155 0.01097293
+v -0.01260427 0.00320753 0.01145520
+v -0.01260427 0.00320764 -0.01866178
+v -0.01104852 0.00320753 0.01021712
+v -0.01179632 0.00320753 0.01084336
+f 1 2 6
+f 1 6 18
+f 1 18 26
+f 1 26 22
+f 1 22 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
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+f 2 23 29
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+f 2 37 44
+f 2 44 41
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+f 2 24 10
+f 2 10 6
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+f 3 25 32
+f 3 32 40
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+f 3 28 21
+f 3 21 7
+f 4 7 9
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+f 10 24 30
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+f 10 25 17
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+f 10 15 14
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+f 10 13 12
+f 10 12 11
+f 17 22 26
+f 17 26 18
+f 19 21 27
+f 19 27 23
+f 21 28 27
+f 23 27 29
+f 24 31 30
+f 25 33 31
+f 25 31 34
+f 25 34 35
+f 25 35 32
+f 27 28 36
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+f 27 37 29
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+f 37 45 44
+f 41 44 45
+f 41 45 42
+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_74.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e707edb25fd63b3a2782f0d476e90deca5c45c7
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_74.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.00563865 0.00203128 0.02272451
+v 0.00571944 0.00187106 0.02272451
+v 0.00758981 0.00679764 0.02036350
+v 0.00758981 0.00781183 0.01997714
+v 0.00563865 0.00281482 0.02241320
+v 0.00563865 -0.00506277 0.02272448
+v 0.00582334 0.00160518 0.02272451
+v 0.00758981 0.00578520 0.02060378
+v 0.00657374 -0.00035629 0.02272450
+v 0.00689365 -0.00120849 0.02272450
+v 0.00758981 0.00791924 0.01991921
+v 0.00563865 0.00485200 0.02141883
+v 0.00563865 0.00384485 0.02193062
+v 0.00563865 -0.00527758 0.02259401
+v 0.00758981 -0.00917763 0.01959676
+v 0.00758981 -0.00890823 0.01973932
+v 0.00603209 -0.00429156 0.02272448
+v 0.00758981 0.00363885 0.02110348
+v 0.00687341 -0.00148317 0.02272449
+v 0.00758981 -0.00120849 0.02218701
+v 0.00758981 0.00814637 0.01915907
+v 0.00711768 0.00768506 0.01985222
+v 0.00563865 0.00563730 0.02088688
+v 0.00563865 0.00558800 0.02092617
+v 0.00563865 -0.00935194 0.01985064
+v 0.00758981 -0.00984143 0.01906228
+v 0.00758981 -0.00737990 0.02029947
+v 0.00630502 -0.00365593 0.02272449
+v 0.00758981 -0.00651363 0.02061231
+v 0.00680198 -0.00223149 0.02272449
+v 0.00758981 -0.00137576 0.02217390
+v 0.00758981 0.00803192 0.01898377
+v 0.00612243 0.00663917 0.01959429
+v 0.00711768 0.00768506 0.01944822
+v 0.00612243 0.00663917 0.01991719
+v 0.00563865 0.00589966 0.02026326
+v 0.00563865 -0.00984143 0.01935747
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+v 0.00651606 -0.00315060 0.02272449
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+v 0.00758981 -0.00223149 0.02208323
+v 0.00670438 -0.00258011 0.02272449
+v 0.00758981 0.00704062 0.01804430
+v 0.00729416 0.00742270 0.01876263
+v 0.00591864 0.00598065 0.01948297
+v 0.00563865 0.00588029 0.02017006
+v 0.00563865 0.00589966 0.02023555
+v 0.00563865 -0.00984143 0.01852480
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+v 0.00563865 0.00501928 0.01941496
+v 0.00758981 -0.00839937 0.01757879
+v 0.00563865 -0.00472294 0.01825884
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 12
+f 1 12 24
+f 1 24 23
+f 1 23 36
+f 1 36 47
+f 1 47 46
+f 1 46 54
+f 1 54 53
+f 1 53 56
+f 1 56 48
+f 1 48 37
+f 1 37 25
+f 1 25 14
+f 1 14 6
+f 1 6 17
+f 1 17 28
+f 1 28 39
+f 1 39 42
+f 1 42 30
+f 1 30 19
+f 1 19 10
+f 1 10 9
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+f 1 7 2
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+f 3 15 26
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+f 3 38 49
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+f 3 32 21
+f 3 21 11
+f 3 11 4
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+f 43 53 45
+f 45 53 54
+f 45 54 46
+f 48 55 49
+f 48 56 55
+f 52 55 53
+f 53 55 56
+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_75.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..327e8bc63d35688f226518c9ffcec76c5084fb9f
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_75.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00759013 -0.00920511 -0.01930869
+v 0.00759013 -0.00471437 -0.02065937
+v 0.00781475 -0.00471437 -0.02061614
+v 0.01082630 -0.00839936 -0.01887287
+v 0.01082630 -0.00920511 -0.01862074
+v 0.00759013 -0.00920522 0.01156983
+v 0.00759013 -0.00471450 0.01329512
+v 0.01082630 -0.00471438 -0.01949958
+v 0.01082630 -0.00527968 -0.01945275
+v 0.01082630 -0.00599267 -0.01938432
+v 0.01082630 -0.00651313 -0.01931228
+v 0.01082630 -0.00653247 -0.01930868
+v 0.01082630 -0.00734086 -0.01915381
+v 0.01082630 -0.00737207 -0.01914661
+v 0.01082630 -0.00836068 -0.01888367
+v 0.01082630 -0.00920524 0.01613695
+v 0.00847560 -0.00920524 0.01613695
+v 0.00828869 -0.00892742 0.01613695
+v 0.00759013 -0.00837442 0.01325189
+v 0.00759013 -0.00737219 0.01402628
+v 0.00815500 -0.00751110 0.01613695
+v 0.00841763 -0.00699988 0.01613695
+v 0.00842111 -0.00699680 0.01613695
+v 0.00893212 -0.00664074 0.01613696
+v 0.00983280 -0.00641480 0.01613696
+v 0.00983755 -0.00641392 0.01613696
+v 0.00983565 -0.00471450 0.01313304
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+v 0.01082630 -0.00649480 0.01613696
+v 0.00828742 -0.00892303 0.01613695
+v 0.00814644 -0.00839949 0.01613695
+v 0.01025954 -0.00471450 0.01306100
+v 0.01077973 -0.00471450 0.01296015
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 16
+f 1 16 17
+f 1 17 6
+f 1 6 19
+f 1 19 20
+f 1 20 7
+f 1 7 2
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+f 2 28 8
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+f 26 29 27
+f 27 29 32
+f 28 33 29
+f 29 33 32
+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_76.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7716804a3c859a0773c09e94471aeb0f6a2dad7
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_76.obj
@@ -0,0 +1,1024 @@
+# https://github.com/mikedh/trimesh
+v 0.00563865 0.01158439 -0.01913111
+v 0.00563865 0.01785953 -0.01731477
+v 0.00609970 0.01765679 -0.01725766
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+v 0.00563865 0.01158426 0.01566050
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+v 0.00574599 0.01830516 -0.01714342
+v 0.00675633 0.01830898 -0.01682737
+v 0.00674907 0.01730106 -0.01713581
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+v 0.00758981 0.01158427 0.01229824
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+v 0.00563865 0.01834914 -0.01715865
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+v 0.00675805 0.01934559 -0.01645802
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_77.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab313159e439fc736db24adc260c2788d676083f
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_77.obj
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_78.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cedbacc105e254154864a69e6078425e12a1d3aa
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_78.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.00759013 -0.00471394 0.01901224
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+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_79.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27e0ecfef105540e06ddf9c21caebe15761ec938
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_79.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00393879 0.00356095 0.02272545
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_8.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89f664ded1e24e39d5377c8b536dfddb3e292a92
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_8.obj
@@ -0,0 +1,1564 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_80.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aff5d84c0b17906f344fbbb7f77859aa3dcb6efd
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_80.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00354314 -0.01099686 0.01646227
+v -0.00659523 -0.01107398 0.01548150
+v -0.00357853 -0.01101357 0.01646227
+v -0.00354314 -0.01107398 0.01646227
+v -0.00354314 -0.00863468 0.01303317
+v -0.00689120 -0.00863468 0.01276471
+v -0.00689120 -0.01107398 0.01532759
+v -0.00363917 -0.01107398 0.01646227
+v -0.00359558 -0.01103053 0.01646227
+v -0.00354314 -0.01107385 -0.01974388
+v -0.00354314 -0.00863456 -0.02009108
+v -0.00689120 -0.00863456 -0.01924275
+v -0.00689120 -0.01107385 -0.01919622
+v -0.00454149 -0.01107385 -0.01969019
+v -0.00540743 -0.00863456 -0.02005529
+v -0.00426945 -0.00863456 -0.02010540
+v -0.00636023 -0.00863456 -0.01958280
+v -0.00562113 -0.00863456 -0.02002307
+v -0.00682761 -0.01107385 -0.01921770
+v -0.00556836 -0.01107385 -0.01953627
+v -0.00622847 -0.01107385 -0.01939310
+v -0.00674207 -0.01107385 -0.01924634
+f 1 2 3
+f 1 3 9
+f 1 9 8
+f 1 8 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 7 13
+f 2 13 19
+f 2 19 22
+f 2 22 21
+f 2 21 20
+f 2 20 14
+f 2 14 10
+f 2 10 4
+f 2 4 8
+f 2 8 9
+f 2 9 3
+f 2 6 7
+f 5 11 16
+f 5 16 15
+f 5 15 18
+f 5 18 17
+f 5 17 12
+f 5 12 6
+f 6 12 13
+f 6 13 7
+f 10 14 15
+f 10 15 16
+f 10 16 11
+f 12 17 13
+f 13 17 18
+f 13 18 19
+f 14 20 15
+f 15 20 18
+f 18 20 21
+f 18 21 22
+f 18 22 19
+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_81.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6db8a8a4e204221c2ac767fad4a0fa92d875dd41
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_81.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.00651094 -0.00984129 -0.01955207
+v 0.00651094 -0.00540368 -0.02126497
+v 0.00675658 -0.00984129 -0.01951409
+v 0.00651094 -0.00984140 0.01177810
+v 0.00651094 -0.00221832 -0.02217270
+v 0.00675658 -0.00223741 -0.02212712
+v 0.00746647 -0.00326441 -0.02162578
+v 0.00758981 -0.00984129 -0.01935457
+v 0.00742813 -0.00984129 -0.01939255
+v 0.00705693 -0.00984129 -0.01946091
+v 0.00758981 -0.00984140 0.01107546
+v 0.00758981 -0.00837409 0.01325175
+v 0.00651094 -0.00456516 0.01662444
+v 0.00651094 -0.00123078 -0.02216889
+v 0.00675658 -0.00121041 -0.02213091
+v 0.00758981 -0.00018341 -0.02191442
+v 0.00758981 -0.00223741 -0.02170174
+v 0.00758981 -0.00245121 -0.02167515
+v 0.00758981 -0.00326441 -0.02151943
+v 0.00758981 -0.00419356 0.01662444
+v 0.00651094 0.00216315 0.01662447
+v 0.00651094 -0.00018341 -0.02209293
+v 0.00675658 -0.00018341 -0.02208153
+v 0.00758981 0.00084486 -0.02185745
+v 0.00758981 0.00161719 0.01662447
+v 0.00651094 0.00315960 0.01552303
+v 0.00651094 0.00006220 -0.02205115
+v 0.00651094 0.00084486 -0.02191062
+v 0.00732992 0.00315974 -0.02141306
+v 0.00747080 0.00315974 -0.02140167
+v 0.00758981 0.00315974 -0.02139028
+v 0.00758981 0.00180172 0.01614591
+v 0.00672163 0.00315960 0.01503308
+v 0.00651094 0.00315974 -0.02145105
+v 0.00651496 0.00315974 -0.02145105
+v 0.00758981 0.00315962 0.01206300
+f 1 2 3
+f 1 3 10
+f 1 10 9
+f 1 9 8
+f 1 8 11
+f 1 11 4
+f 1 4 13
+f 1 13 21
+f 1 21 26
+f 1 26 34
+f 1 34 28
+f 1 28 27
+f 1 27 22
+f 1 22 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 4 11 12
+f 4 12 13
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 18 19
+f 7 19 8
+f 8 19 18
+f 8 18 17
+f 8 17 16
+f 8 16 24
+f 8 24 31
+f 8 31 36
+f 8 36 32
+f 8 32 25
+f 8 25 20
+f 8 20 12
+f 8 12 11
+f 12 20 13
+f 13 20 25
+f 13 25 21
+f 14 22 23
+f 14 23 15
+f 15 23 16
+f 16 23 24
+f 21 25 26
+f 22 27 23
+f 23 27 24
+f 24 27 28
+f 24 28 29
+f 24 29 30
+f 24 30 31
+f 25 32 33
+f 25 33 26
+f 26 33 36
+f 26 36 31
+f 26 31 30
+f 26 30 29
+f 26 29 35
+f 26 35 34
+f 28 34 35
+f 28 35 29
+f 32 36 33
+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_82.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70768a1c9748b87c490e588e981ffe17a139140d
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_82.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.00354314 0.00517817 0.02272485
+v -0.00354314 0.00641624 0.02216327
+v -0.00592922 0.00345108 0.02272484
+v -0.00354314 -0.00818981 0.02272480
+v -0.00354314 0.00641626 0.01646233
+v -0.00408918 0.00641624 0.02186164
+v -0.00689120 0.00581423 0.02096104
+v -0.00689120 0.00493985 0.02148767
+v -0.00689120 0.00442141 0.02179298
+v -0.00689120 0.00422796 0.02190088
+v -0.00620356 0.00322049 0.02272484
+v -0.00389089 -0.00802422 0.02272480
+v -0.00689120 -0.00897906 0.01992123
+v -0.00459721 -0.00939382 0.02050242
+v -0.00457722 -0.00939382 0.02051100
+v -0.00446938 -0.00939382 0.02055453
+v -0.00354314 -0.00939382 0.02091869
+v -0.00602460 0.00641626 0.01646233
+v -0.00354314 -0.00815110 0.01646228
+v -0.00601313 0.00641626 0.01653651
+v -0.00689120 0.00633577 0.02006535
+v -0.00689120 0.00388440 0.02204862
+v -0.00652083 0.00287073 0.02272484
+v -0.00689120 -0.00815421 0.02080098
+v -0.00513408 -0.00727519 0.02272480
+v -0.00689120 -0.00896204 0.01947982
+v -0.00564145 -0.00939381 0.01914814
+v -0.00564932 -0.00939381 0.01929589
+v -0.00529534 -0.00939381 0.02002790
+v -0.00526420 -0.00939381 0.02005610
+v -0.00354314 -0.00939381 0.01842227
+v -0.00616029 0.00632959 0.01646233
+v -0.00689120 0.00633577 0.01991576
+v -0.00447954 -0.00939381 0.01838794
+v -0.00454772 -0.00939381 0.01838916
+v -0.00539399 -0.00939381 0.01857676
+v -0.00407345 -0.00792206 0.01646228
+v -0.00689120 0.00293109 0.02245692
+v -0.00689120 0.00226718 0.02272484
+v -0.00591447 -0.00672425 0.02272481
+v -0.00626124 -0.00640390 0.02272481
+v -0.00689120 -0.00764506 0.02120316
+v -0.00548150 -0.00939381 0.01864359
+v -0.00689120 -0.00550319 0.01646229
+v -0.00641759 -0.00634817 0.01646229
+v -0.00598199 -0.00680625 0.01646228
+v -0.00658573 0.00596281 0.01646233
+v -0.00684793 0.00564556 0.01646233
+v -0.00689120 0.00559294 0.01646233
+v -0.00689120 -0.00539024 0.02272481
+v -0.00643168 -0.00621510 0.02272481
+v -0.00657196 -0.00600927 0.02272481
+v -0.00689120 -0.00638224 0.02207495
+f 1 2 3
+f 1 3 11
+f 1 11 23
+f 1 23 39
+f 1 39 50
+f 1 50 52
+f 1 52 51
+f 1 51 41
+f 1 41 40
+f 1 40 25
+f 1 25 12
+f 1 12 4
+f 1 4 17
+f 1 17 31
+f 1 31 19
+f 1 19 5
+f 1 5 2
+f 2 5 18
+f 2 18 20
+f 2 20 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 11
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 5 19 37
+f 5 37 46
+f 5 46 45
+f 5 45 44
+f 5 44 49
+f 5 49 48
+f 5 48 47
+f 5 47 32
+f 5 32 18
+f 6 20 21
+f 6 21 7
+f 7 21 33
+f 7 33 49
+f 7 49 44
+f 7 44 26
+f 7 26 13
+f 7 13 24
+f 7 24 42
+f 7 42 53
+f 7 53 50
+f 7 50 39
+f 7 39 38
+f 7 38 22
+f 7 22 10
+f 7 10 9
+f 7 9 8
+f 10 22 23
+f 10 23 11
+f 12 24 13
+f 12 25 24
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 30
+f 13 30 14
+f 14 30 29
+f 14 29 28
+f 14 28 27
+f 14 27 43
+f 14 43 36
+f 14 36 35
+f 14 35 34
+f 14 34 31
+f 14 31 17
+f 14 17 16
+f 14 16 15
+f 18 32 33
+f 18 33 21
+f 18 21 20
+f 19 31 34
+f 19 34 35
+f 19 35 36
+f 19 36 37
+f 22 38 23
+f 23 38 39
+f 24 25 40
+f 24 40 41
+f 24 41 42
+f 26 43 27
+f 26 44 45
+f 26 45 46
+f 26 46 43
+f 32 47 33
+f 33 47 48
+f 33 48 49
+f 36 43 46
+f 36 46 37
+f 41 51 42
+f 42 51 52
+f 42 52 53
+f 50 53 52
+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_83.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2473f7f9d23f92958c8b7b7b977939504e77cbad
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_83.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.00354345 0.00641625 0.02026984
+v -0.00354345 0.00641624 0.02216330
+v -0.00389262 0.00641625 0.02038352
+v -0.00541075 0.01042144 0.01736461
+v -0.00520793 0.01038017 0.01736461
+v -0.00446921 0.01037456 0.01736461
+v -0.00425883 0.01045550 0.01736461
+v -0.00421151 0.01048435 0.01736461
+v -0.00417083 0.01050959 0.01736461
+v -0.00387212 0.01050958 0.01770282
+v -0.00364376 0.01050958 0.01801424
+v -0.00354345 0.01034891 0.01832238
+v -0.00354345 0.01050957 0.02071939
+v -0.00456384 0.01050957 0.02057143
+v -0.00556846 0.01050958 0.02033562
+v -0.00648917 0.01050958 0.01996313
+v -0.00407651 0.00663981 0.02183872
+v -0.00408913 0.00641624 0.02186174
+v -0.00423296 0.00641624 0.02052162
+v -0.00550254 0.01050959 0.01736461
+v -0.00354345 0.01050958 0.01824911
+v -0.00676548 0.01050958 0.01922003
+v -0.00636395 0.01008927 0.01995562
+v -0.00426829 0.00641624 0.02130324
+v -0.00617722 0.00942775 0.01984569
+v -0.00617722 0.00942775 0.01956996
+v -0.00524894 0.00830745 0.01957278
+v -0.00635512 0.01050958 0.01845156
+f 1 2 18
+f 1 18 24
+f 1 24 19
+f 1 19 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 21
+f 1 21 13
+f 1 13 2
+f 2 13 14
+f 2 14 15
+f 2 15 16
+f 2 16 17
+f 2 17 18
+f 3 19 4
+f 4 20 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 4 19 20
+f 9 20 28
+f 9 28 22
+f 9 22 16
+f 9 16 15
+f 9 15 14
+f 9 14 13
+f 9 13 21
+f 9 21 11
+f 9 11 10
+f 11 21 12
+f 16 22 23
+f 16 23 18
+f 16 18 17
+f 18 23 25
+f 18 25 24
+f 19 24 26
+f 19 26 27
+f 19 27 20
+f 20 27 28
+f 22 28 26
+f 22 26 25
+f 22 25 23
+f 24 25 26
+f 26 28 27
+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_84.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0069dadb1197d143a939eb7c56a33be83d1b1851
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_84.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.01082630 -0.00920525 0.01926487
+v 0.00761167 -0.00920525 0.01957693
+v 0.01082630 -0.00942695 0.01924772
+v 0.01082630 -0.00920523 0.01392504
+v 0.00759013 -0.00920525 0.01957195
+v 0.00910731 -0.01108760 0.01878461
+v 0.00983755 -0.01125281 0.01883994
+v 0.01082630 -0.01132480 0.01880950
+v 0.01082630 -0.01045395 0.01903525
+v 0.01082630 -0.01164066 0.01392503
+v 0.00817749 -0.00920523 0.01392504
+v 0.00759013 -0.01012807 0.01887203
+v 0.00778370 -0.01019267 0.01891684
+v 0.00759013 -0.00920525 0.01784512
+v 0.00971178 -0.01164068 0.01824680
+v 0.00981379 -0.01164068 0.01834197
+v 0.01082630 -0.01164068 0.01868999
+v 0.01019681 -0.01164066 0.01392503
+v 0.00847655 -0.00967415 0.01392503
+v 0.00759013 -0.01012092 0.01838457
+v 0.00759013 -0.00999862 0.01829494
+v 0.00759013 -0.00942171 0.01790599
+v 0.00759013 -0.01012807 0.01881725
+v 0.00904522 -0.01118391 0.01818871
+v 0.00998772 -0.01143230 0.01392503
+v 0.00900055 -0.01035476 0.01392503
+v 0.00937216 -0.01079531 0.01392503
+v 0.00942444 -0.01085586 0.01392503
+v 0.00993798 -0.01138248 0.01392503
+f 1 2 3
+f 1 3 9
+f 1 9 8
+f 1 8 17
+f 1 17 10
+f 1 10 4
+f 1 4 11
+f 1 11 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 4 10 18
+f 4 18 25
+f 4 25 29
+f 4 29 28
+f 4 28 27
+f 4 27 26
+f 4 26 19
+f 4 19 11
+f 5 12 13
+f 5 13 6
+f 5 14 22
+f 5 22 21
+f 5 21 20
+f 5 20 23
+f 5 23 12
+f 6 13 12
+f 6 12 15
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 8
+f 10 17 16
+f 10 16 15
+f 10 15 18
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 14
+f 12 23 24
+f 12 24 15
+f 15 24 18
+f 18 24 20
+f 18 20 25
+f 19 26 20
+f 20 24 23
+f 20 26 27
+f 20 27 28
+f 20 28 29
+f 20 29 25
+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_85.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f6b46ecfbe8971da11003193fd40c758594a213
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_85.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00557480 0.00801271 -0.02067488
+v 0.00557480 0.00801271 0.01566426
+v 0.00557480 0.01158248 -0.02067488
+v 0.00557480 0.01158248 0.01566426
+v 0.00657479 0.00801271 -0.02067488
+v 0.00657479 0.00801271 0.01566426
+v 0.00657479 0.01158248 -0.02067488
+v 0.00657479 0.01158248 0.01566426
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_86.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..246250b8192bcd78b6256dd38627f469d97fdefa
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_86.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.00965679 0.00120135 -0.02007709
+v -0.00965624 0.00121247 -0.02008074
+v -0.00965624 0.00120135 -0.02000766
+v -0.01070535 0.00120135 -0.01965687
+v -0.00965624 0.00290007 -0.02019035
+v -0.01103338 0.00120135 -0.01952533
+v -0.00965624 0.00120122 0.01687603
+v -0.01104837 0.00120135 -0.01951802
+v -0.01104837 0.01011622 -0.01852774
+v -0.01104837 0.01040902 -0.01849486
+v -0.01104837 0.01105639 -0.01839620
+v -0.01104837 0.01155427 -0.01831581
+v -0.00965624 0.01111569 -0.01850947
+v -0.00965624 0.00526949 0.01713914
+v -0.00973201 0.00522378 0.01713914
+v -0.00975450 0.00521761 0.01713914
+v -0.01070385 0.00495940 0.01713914
+v -0.01072511 0.00495940 0.01713914
+v -0.01104837 0.00497299 0.01713914
+v -0.01044382 0.00120122 0.01584194
+v -0.01104837 0.00120123 0.01454476
+v -0.01104837 0.01157156 -0.01831215
+v -0.01036995 0.01167905 -0.01833773
+v -0.00965624 0.01173093 -0.01836331
+v -0.00965624 0.00928959 0.01713915
+v -0.01080811 0.00120122 0.01511114
+v -0.01104837 0.01167274 0.01713916
+v -0.01104837 0.01209415 -0.01818061
+v -0.01070889 0.01206944 -0.01821350
+v -0.00965624 0.01174452 -0.01835966
+v -0.00999995 0.00998390 0.01713916
+v -0.00965624 0.01382240 0.01496868
+v -0.01104837 0.01382239 0.01515869
+v -0.01069663 0.01112174 0.01713916
+v -0.01104837 0.01243513 -0.01808559
+v -0.01070385 0.01317021 -0.01788828
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+v -0.01002284 0.01002838 0.01713916
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+v -0.01104837 0.01382251 -0.01762153
+v -0.01104837 0.01317021 -0.01786635
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+v -0.01064525 0.01382251 -0.01763980
+v -0.00967682 0.01382251 -0.01767269
+v -0.00965624 0.01317021 -0.01791020
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+f 1 6 4
+f 1 4 2
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+f 36 45 37
+f 39 45 44
+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_87.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f151fa6af7a3fa0feeecb575116fe406daf6015a
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_87.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00689163 -0.00674078 -0.02008202
+v -0.00735984 -0.00674078 -0.01988717
+v -0.00733216 -0.00608004 -0.02066655
+v -0.00689163 -0.00644281 -0.02040013
+v -0.00689163 -0.00674090 0.01346309
+v -0.00740015 -0.00674078 -0.01985934
+v -0.00750686 -0.00531728 -0.02079777
+v -0.00689163 -0.00530756 -0.02110793
+v -0.00689163 -0.00613672 -0.02071427
+v -0.00751970 -0.00674078 -0.01977583
+v -0.00796676 -0.00629544 -0.01979969
+v -0.00796676 -0.00537721 -0.02028481
+v -0.00689163 -0.00662430 0.01407148
+v -0.00788310 -0.00674091 0.01506956
+v -0.00796676 -0.00229539 -0.02123119
+v -0.00796676 -0.00175450 -0.02138627
+v -0.00796676 -0.00531729 -0.02030867
+v -0.00796676 -0.00156988 -0.02142604
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+v -0.00689163 -0.00220470 -0.02164872
+v -0.00796350 -0.00674078 -0.01926287
+v -0.00796676 -0.00674078 -0.01925890
+v -0.00689163 -0.00639758 0.01492243
+v -0.00796676 -0.00674091 0.01509342
+v -0.00689163 -0.00632472 0.01514114
+v -0.00689205 -0.00454981 0.01893464
+v -0.00796676 -0.00093182 -0.02144989
+v -0.00770840 -0.00115368 -0.02150953
+v -0.00689163 -0.00119417 -0.02168847
+v -0.00753833 -0.00420973 0.01893464
+v -0.00796676 -0.00311336 0.01893465
+v -0.00689163 -0.00456601 0.01818708
+v -0.00689163 -0.00314737 0.01893465
+v -0.00796676 -0.00087838 -0.02144989
+v -0.00796676 0.00342449 -0.02141806
+v -0.00762252 0.00343259 -0.02142204
+v -0.00689163 0.00343097 -0.02141806
+v -0.00796676 0.00294660 0.01893467
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+v -0.00689163 0.00795894 -0.02061083
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+v -0.00796676 0.00837351 -0.01996267
+v -0.00770840 0.00806420 -0.02024898
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+v -0.00796676 0.00980348 -0.01923895
+v -0.00689163 0.00679604 0.01498610
+v -0.00689163 0.00980337 0.01025815
+v -0.00796676 0.00897918 -0.01966047
+v -0.00768135 0.00980348 -0.01940199
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+f 1 4 9
+f 1 9 8
+f 1 8 20
+f 1 20 29
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+f 1 37 40
+f 1 40 47
+f 1 47 50
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+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_88.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6201d41b75744f8f38856f6466d145e9da7acd56
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_88.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.01104852 -0.01430606 -0.01728487
+v -0.01196766 -0.01430606 -0.01669252
+v -0.01260427 -0.00920911 -0.01838164
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+v -0.01260427 -0.00840041 -0.01867208
+v -0.01260427 -0.00737298 -0.01897399
+v -0.01173098 -0.00737298 -0.01893577
+v -0.01104852 -0.00634555 -0.01912302
+v -0.01104852 -0.01430617 0.01401769
+v -0.01260427 -0.01430606 -0.01624922
+v -0.01260427 -0.00634555 -0.01917270
+v -0.01173098 -0.00634555 -0.01916505
+v -0.01104852 -0.00574468 -0.01920709
+v -0.01104852 -0.01195382 0.01861506
+v -0.01116854 -0.01202086 0.01872207
+v -0.01208127 -0.01317400 0.01784309
+v -0.01260427 -0.01331395 0.01791570
+v -0.01260427 -0.01352932 0.01727368
+v -0.01145121 -0.01430617 0.01376547
+v -0.01260427 -0.01430617 0.01270307
+v -0.01260427 -0.00574468 -0.01922238
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+v -0.01104852 -0.00574481 0.01498458
+v -0.01104852 -0.01185828 0.01877557
+v -0.01173098 -0.01207534 0.01874500
+v -0.01260427 -0.01323434 0.01797303
+v -0.01260427 -0.00574480 0.01452981
+v -0.01173098 -0.00574480 0.01480497
+v -0.01104852 -0.00576577 0.01888259
+v -0.01104852 -0.01165632 0.01884818
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+v -0.01104852 -0.01079817 0.01913862
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+v -0.01124149 -0.00581521 0.01873737
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+v -0.01104852 -0.01045374 0.01922269
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+v -0.01260427 -0.00927378 0.01931824
+v -0.01260427 -0.00840055 0.01937557
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+f 1 5 6
+f 1 6 7
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+f 1 13 23
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+f 52 56 55
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+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_89.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b168c463a76c9cf5e62f551ca236928e752deac8
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_89.obj
@@ -0,0 +1,1069 @@
+# https://github.com/mikedh/trimesh
+v 0.01082653 -0.02991297 -0.00032754
+v 0.01082653 -0.02990325 -0.00135295
+v 0.01086485 -0.02990325 -0.00032754
+v 0.01082653 -0.02985883 0.00070128
+v 0.01086485 -0.02989354 -0.00135295
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+v 0.01179603 -0.02960479 -0.00135295
+v 0.01179603 -0.02960756 -0.00032754
+v 0.01171894 -0.02957980 0.00070128
+v 0.01086485 -0.02984911 0.00070128
+v 0.01086485 -0.02973112 0.00173011
+v 0.01082653 -0.02974501 0.00169251
+v 0.01086485 -0.02981995 -0.00238178
+v 0.01168901 -0.02956868 -0.00238178
+v 0.01082653 -0.02969501 -0.00341060
+v 0.01086485 -0.02968668 -0.00341060
+v 0.01230935 -0.02942015 -0.00135295
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+v 0.01223226 -0.02939100 0.00070128
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+v 0.01291880 -0.02908836 0.00070128
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_9.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cdeb1e987e5d4b439c1f43b507ec97ae714e52e
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_9.obj
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_90.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27f6f950b5e8e382de38bd05d44b944a22660411
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_90.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_91.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa71efd09230beb1cd149a67ee0330d35fcc81d6
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_91.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.00563895 -0.00554782 0.01662823
+v 0.00758962 -0.00419413 0.01662823
+v 0.00758962 -0.00388568 0.01825871
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+v 0.00563895 0.00390609 0.01768449
+v 0.00758962 0.00141236 0.01714776
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+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_92.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba6ccf3660b12251430085a7e448eeedd72c9e0f
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_92.obj
@@ -0,0 +1,895 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_93.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb325ebe438c9a6e1f17561f10d34be7c6d219c6
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_93.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.00354341 -0.00939399 0.02091864
+v -0.00446941 -0.00939399 0.02055480
+v -0.00554987 -0.01107399 0.01925562
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+v -0.00354341 -0.00939398 0.01842194
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+v -0.00598818 -0.01107399 0.01906759
+v -0.00354341 -0.01107398 0.01646227
+v -0.00354341 -0.01099685 0.01646227
+v -0.00447934 -0.00939398 0.01838792
+v -0.00526438 -0.00939398 0.02005616
+v -0.00624940 -0.01107399 0.01884074
+v -0.00363913 -0.01107398 0.01646227
+v -0.00357844 -0.01101379 0.01646227
+v -0.00539402 -0.00939398 0.01857681
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+v -0.00529527 -0.00939398 0.02002780
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+v -0.00609135 -0.00993013 0.01869241
+v -0.00564173 -0.00939398 0.01914787
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+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_94.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2aee6a20d0fcd0995e92f82b1155c3590a3ffe79
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_94.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00796676 -0.00445353 -0.02033979
+v -0.00965594 -0.00445353 -0.01943188
+v -0.00847591 -0.00297020 -0.02072303
+v -0.00796676 -0.00229688 -0.02123281
+v -0.00796676 -0.00445365 0.01358401
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+v -0.00916035 -0.00268141 -0.02038071
+v -0.00875091 -0.00229794 -0.02079001
+v -0.00965594 -0.00445364 0.01218494
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+v -0.00796676 -0.00381119 0.01655705
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+v -0.00796676 0.00097969 0.01655706
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+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_95.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a949a8594fc3dc5059b039fb633f3f71a0073be
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_95.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01071314 0.01797529 0.01170085
+v 0.01071314 0.01797529 0.01507900
+v 0.01071314 0.01913916 0.01170085
+v 0.01071314 0.01913916 0.01507900
+v 0.01171314 0.01797529 0.01170085
+v 0.01171314 0.01797529 0.01507900
+v 0.01171314 0.01913916 0.01170085
+v 0.01171314 0.01913916 0.01507900
+f 2 4 1
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+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_96.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c27c239e9388dd99a2524a0c370224bf5a76db86
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_96.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.00796676 -0.00452621 0.02200675
+v -0.00796676 -0.00671766 0.02104875
+v -0.00796676 -0.00452620 0.01948494
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+v -0.01086980 -0.01131790 0.01611808
+v -0.01035640 -0.01079444 0.01611808
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+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_97.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72ea19bbc02a9d8022ed242c6f7d7ab8bc40efdd
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_97.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_98.obj b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91692aa4951ee23b07ab7be1408c1044d47b5f9c
--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_collision_98.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00965624 -0.00300032 -0.01985132
+v -0.01104837 -0.00300032 -0.01932639
+v -0.00965624 -0.00229333 -0.02005754
+v -0.00965624 -0.00300043 0.01204554
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+
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_geometry_Looks_material_0.png b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_geometry_Looks_material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/mjcf/mesh/garlic_004_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cc7a2bae45c2befc44804501ca93e4d5df448da70897586cc477f72d4058a68
+size 11560724
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/textures/material_0.png b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cc7a2bae45c2befc44804501ca93e4d5df448da70897586cc477f72d4058a68
+size 11560724
diff --git a/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/video.mp4 b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/video.mp4
new file mode 100644
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+++ b/dataset/food/ingredients/2a1b692578b257b4bf8b0c1167c40033/video.mp4
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+version https://git-lfs.github.com/spec/v1
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+size 343270