diff --git a/.gitattributes b/.gitattributes
index 280194a51c6f84b09741066ff2480f339cb19000..e9e6497cb56048ed3526bcb386a8868910caf38f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3609,3 +3609,6 @@ dataset/food/fruits/fc6543dd9dfd5ed69eda6ac2047b04ef/lemon_009.usd filter=lfs di
 dataset/food/fruits/fc6543dd9dfd5ed69eda6ac2047b04ef/mesh/lemon_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/garlic_008.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mesh/garlic_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/20e6e6d0a512585b83fdea02a7a73207.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mesh/carrot.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mesh/carrot_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/20e6e6d0a512585b83fdea02a7a73207.urdf b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/20e6e6d0a512585b83fdea02a7a73207.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7155fdfccb5f30554920036639b8644f8d4b11a0
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/20e6e6d0a512585b83fdea02a7a73207.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="carrot">
+   <link name="carrot">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/carrot.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/carrot_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.225000</scale>
+         <version>v0.1.5</version>
+         <category>carrot</category>
+         <description>orange carrot with green leafy top, tapered cylindrical shape</description>
+         <min_height>0.2</min_height>
+         <max_height>0.25</max_height>
+         <real_height>0.225</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20251009021311</generate_time>
+         <gs_model>mesh/carrot_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.363234519958496</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/20e6e6d0a512585b83fdea02a7a73207.usd b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/20e6e6d0a512585b83fdea02a7a73207.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e5d4fac890a008c31fc786a65b726391a5db6ccc
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/20e6e6d0a512585b83fdea02a7a73207.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f035346dc278c6fbfdb3c8b6d5b34f7ec11820812688e12f33307ce1faf3ee6
+size 766548
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mesh/carrot.glb b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mesh/carrot.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1149c27112e21992600ca6ba396b8d78f3c1d6b9
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mesh/carrot.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:091b6fe9327be288a8162f8b96a604a4ca6469e8a7345e20526a70e457c401ea
+size 3199384
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mesh/carrot.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mesh/carrot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5ca80bd2965fb1c24ebc3494c865e65937da9b5
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mesh/carrot.obj
@@ -0,0 +1,50608 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mesh/carrot_collision.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mesh/carrot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4ee6089bd4215ca450a1d138df78aaca5a8d96c
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mesh/carrot_collision.obj
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diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mesh/carrot_gs.ply b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mesh/carrot_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d84ce144d6162fc007930c1e17739fb971950ad9
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mesh/carrot_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f39583892417477171a9fa2615df822cfa2ed5eb2dd6468550dad3d223c71010
+size 10417258
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mesh/material.mtl b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mesh/material_0.png b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..193c6aea50b2b5b26042be5e7fce55233fd84498
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61cc3340cc42fb0235590a99871c008cea5eff9c0f876b839ee3b1db4bf2d735
+size 2650120
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/20e6e6d0a512585b83fdea02a7a73207.xml b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/20e6e6d0a512585b83fdea02a7a73207.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fc84a6d22d90e0257f481f133b97bbe1c089e20e
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/20e6e6d0a512585b83fdea02a7a73207.xml
@@ -0,0 +1,112 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="carrot">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/carrot.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/carrot_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/carrot_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/carrot_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/carrot_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/carrot_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/carrot_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/carrot_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/carrot_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/carrot_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/carrot_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/carrot_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/carrot_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/carrot_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/carrot_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/carrot_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/carrot_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/carrot_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/carrot_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/carrot_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/carrot_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/carrot_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/carrot_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/carrot_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/carrot_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/carrot_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/carrot_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/carrot_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/carrot_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/carrot_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/carrot_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/carrot_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/carrot_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/carrot_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/carrot_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/carrot_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/carrot_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/carrot_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/carrot_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/carrot_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/carrot_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/carrot_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/carrot_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/carrot_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/carrot_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/carrot_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/carrot_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/carrot_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/carrot_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/carrot_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="carrot">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68a8fc64277cf835ae00866d2d2f46b2b6237f45
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot.obj
@@ -0,0 +1,50608 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.005778 0.010594 0.070529
+v -0.004213 0.009127 0.068938
+v -0.005410 0.010129 0.070062
+v -0.009917 -0.016413 0.068488
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+v -0.009519 -0.017152 0.067783
+v -0.009421 -0.015963 0.067205
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diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76a817b977d17b946a2ea3138f991b8bb45f2cd8
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision.obj
@@ -0,0 +1,11505 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_0.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7381c533fe3c5842566b7a0588e17e1caa7f971
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_0.obj
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+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_1.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4181ee036ce447b028576f8dde1038ad096056f6
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_1.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v -0.00547615 0.01937310 0.05258252
+v -0.00484470 0.01936219 0.05258252
+v -0.00939643 0.01776997 0.03588900
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+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_10.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ccc0cd565ac0f0015e44eb0c21222f465d4571a
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_10.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.02552220 0.04050535 0.08234175
+v 0.02721185 0.03996237 0.08234175
+v 0.02728969 0.04050535 0.08053317
+v 0.01292600 0.03948326 0.08233945
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+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_11.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be6d23120f0de0071ca147148360e8a25e1fc121
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_11.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.02353162 0.02037464 0.07060314
+v -0.02367711 0.02414080 0.07790527
+v -0.02118612 0.02031955 0.07060314
+v -0.02555417 0.02003309 0.07060314
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+v -0.02560376 0.01935546 0.08234167
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+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_12.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f84819d10e9020bc29bdf94468b30326c47f21f
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_12.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.02332578 0.00639474 0.11316636
+v -0.02367518 0.00997500 0.11296270
+v -0.02752827 0.00676978 0.11292298
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+v -0.02584872 -0.00133508 0.10399037
+v -0.02292818 -0.00079300 0.09553419
+v -0.02428965 -0.00133507 0.09963541
+v -0.02262938 -0.00133505 0.09580001
+v -0.02281733 -0.00094028 0.09553419
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 3 12 13
+f 3 13 14
+f 3 14 4
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+f 28 35 34
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+f 49 51 50
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_13.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1fd359d4ca9d22e86fdd916c1b57601c4d7aaab
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_13.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.00490030 0.00712440 0.09553421
+v -0.00490030 -0.00133505 0.09553418
+v -0.00490030 0.00712438 0.10159373
+v 0.00993556 0.00712440 0.09553421
+v -0.00490030 -0.00133508 0.10243948
+v 0.02980814 -0.00133505 0.09553418
+v -0.00490030 0.00663002 0.10232571
+v 0.00525885 0.00712438 0.10176444
+v 0.00992184 0.00712440 0.09580256
+v 0.02364682 0.00401669 0.09914841
+v 0.02364682 0.00396701 0.09553419
+v -0.00258938 -0.00133508 0.10264320
+v -0.00490030 0.00299484 0.10271065
+v 0.03012015 -0.00067260 0.09553418
+v 0.02592003 0.00069119 0.10142722
+v 0.02364682 0.00029207 0.10179040
+v 0.02364682 -0.00094752 0.09914840
+v 0.02364682 -0.00133506 0.09813193
+v 0.02364682 0.00252286 0.10179041
+v 0.00822808 0.00712438 0.10177778
+v 0.00974355 0.00712439 0.09916037
+v 0.02592003 0.00198379 0.10142723
+v 0.02642747 0.00254274 0.09914841
+v 0.02737378 0.00246409 0.09553419
+v 0.02724692 0.00253033 0.09553419
+v -0.00179736 -0.00133508 0.10257857
+v 0.01998842 -0.00133506 0.09899526
+v 0.02017700 -0.00133506 0.09896084
+v 0.02286508 -0.00133506 0.09846138
+f 1 2 5
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+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 20
+f 1 20 21
+f 1 21 9
+f 1 9 4
+f 1 4 11
+f 1 11 25
+f 1 25 24
+f 1 24 14
+f 1 14 6
+f 1 6 2
+f 2 6 18
+f 2 18 29
+f 2 29 28
+f 2 28 27
+f 2 27 26
+f 2 26 12
+f 2 12 5
+f 3 7 8
+f 4 9 10
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+f 5 12 13
+f 6 14 15
+f 6 15 16
+f 6 16 17
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+f 7 13 19
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+f 7 20 8
+f 9 21 10
+f 10 19 22
+f 10 22 23
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+f 10 25 11
+f 10 21 20
+f 10 20 19
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+f 14 24 23
+f 14 23 22
+f 14 22 15
+f 15 22 19
+f 15 19 16
+f 16 27 28
+f 16 28 17
+f 16 26 27
+f 17 28 29
+f 17 29 18
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_14.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a16760837eb3a3d1889e0ed3ad427c9b01287713
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_14.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.01951805 -0.01654421 0.08924892
+v -0.01967806 -0.01679178 0.08924892
+v -0.01936947 -0.02283527 0.09553410
+v -0.01866658 -0.02048098 0.09423522
+v -0.01895802 -0.01654421 0.08988082
+v 0.03809636 -0.01654421 0.08924892
+v -0.01938662 -0.02279643 0.09545596
+v -0.02027238 -0.02042999 0.08924890
+v -0.01989522 -0.02658998 0.09542517
+v -0.01983807 -0.02658998 0.09553408
+v -0.01226053 -0.01654423 0.09553412
+v 0.03766777 -0.01654422 0.09154210
+v 0.03769062 -0.02658996 0.08924888
+v -0.02012380 -0.02288623 0.09170268
+v -0.01997522 -0.02658997 0.09170266
+v -0.01948377 -0.02658996 0.08924888
+v -0.01885516 -0.02896610 0.09170265
+v -0.01876373 -0.02889330 0.09542516
+v -0.01873516 -0.02887145 0.09553407
+v -0.01979807 -0.02669678 0.09553408
+v 0.01163213 -0.01654423 0.09553412
+v 0.03724489 -0.02658997 0.09156176
+v 0.03690201 -0.01654422 0.09219985
+v 0.03628484 -0.02288623 0.09343165
+v 0.03622769 -0.02658997 0.09342240
+v 0.03715346 -0.03003887 0.08924887
+v 0.03705059 -0.02945879 0.09090893
+v -0.01860943 -0.02877192 0.08924887
+v -0.00479729 -0.03650709 0.09170263
+v -0.00481443 -0.03657749 0.09438715
+v -0.00401439 -0.03602653 0.09553405
+v 0.01403226 -0.02655115 0.09553408
+v 0.03092456 -0.02658998 0.09488064
+v 0.03446189 -0.02288624 0.09429798
+v 0.03383328 -0.01994944 0.09391036
+v 0.03456475 -0.01654422 0.09324093
+v 0.03463904 -0.01654422 0.09322924
+v 0.03440474 -0.02658998 0.09444071
+v 0.03375899 -0.02925979 0.09410106
+v 0.03628484 -0.03159464 0.08924886
+v 0.03496477 -0.03059468 0.09205029
+v 0.03374185 -0.03294653 0.09070894
+v -0.00401439 -0.03599982 0.08972077
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+v 0.00999205 -0.04039531 0.09444066
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+v -0.00188857 -0.03701436 0.09553404
+v 0.01498088 -0.03791724 0.09553404
+v 0.02570715 -0.03599740 0.09369064
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+v 0.03606197 -0.03181550 0.08924886
+v 0.02967307 -0.03613331 0.09031638
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+v 0.01272362 -0.04016714 0.08937681
+v 0.01272362 -0.04133701 0.09170261
+v 0.01272362 -0.04072054 0.09478953
+v 0.00544896 -0.03862110 0.09553404
+v 0.01566663 -0.04026667 0.09432190
+v 0.00894628 -0.03909681 0.09553404
+v 0.03427902 -0.03310672 0.08924886
+v 0.02980450 -0.03616000 0.08924885
+v 0.03269037 -0.03422561 0.08924885
+v 0.02858158 -0.03644155 0.08924885
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 21
+f 1 21 36
+f 1 36 37
+f 1 37 23
+f 1 23 12
+f 1 12 6
+f 1 6 13
+f 1 13 26
+f 1 26 40
+f 1 40 53
+f 1 53 62
+f 1 62 64
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+f 1 63 65
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+f 53 54 62
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+f 54 64 62
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+f 55 65 56
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+f 57 63 60
+f 58 61 59
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_15.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71eed2bc440fb934f1f9b1a9b810a4bcaab07da9
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_15.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.04497285 -0.01177565 0.08425687
+v 0.04424083 -0.01177566 0.08677796
+v 0.04390297 -0.01385339 0.08642909
+v 0.03724517 -0.03053052 0.08783999
+v 0.04404540 -0.01399620 0.08425686
+v 0.04409177 -0.01357696 0.08234155
+v 0.04457206 -0.01177564 0.08234156
+v 0.04460187 0.00710360 0.08234163
+v 0.04491323 0.00710359 0.08425694
+v 0.04415471 0.00710358 0.08697882
+v 0.04290596 0.00710357 0.08884005
+v 0.04231636 -0.01177567 0.08863918
+v 0.03715574 -0.03003758 0.08924825
+v 0.03628791 -0.03159473 0.08924824
+v 0.03616866 -0.03192643 0.08898796
+v 0.03645684 -0.03221205 0.08650609
+v 0.03645684 -0.03221205 0.08603554
+v 0.04395265 -0.01390866 0.08234155
+v 0.02855691 0.00710360 0.08234163
+v 0.04247535 0.00710357 0.08924839
+v 0.04164396 -0.01177567 0.08924832
+v 0.03606598 -0.03181586 0.08924824
+v 0.03428063 -0.03310580 0.08924824
+v 0.03269071 -0.03422529 0.08924823
+v 0.03177650 -0.03533555 0.08797924
+v 0.03480067 -0.03325782 0.08783998
+v 0.02966986 -0.03602198 0.08499100
+v 0.02896102 -0.03581465 0.08250914
+v 0.03030251 -0.03367243 0.08234148
+v 0.02414488 0.00710357 0.08896039
+v 0.01113402 0.00271318 0.08234161
+v 0.02414488 0.00710357 0.08924839
+v 0.02980235 -0.03616021 0.08924823
+v 0.02995472 -0.03619244 0.08797924
+v 0.02728829 -0.03680517 0.08797923
+v 0.01272725 -0.03995632 0.08924821
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+v 0.02876228 -0.03560734 0.08234147
+v 0.01113402 0.00329364 0.08786986
+v 0.01113402 0.00333509 0.08924837
+v 0.01113402 -0.03071477 0.08234149
+v 0.02858341 -0.03644123 0.08924823
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+v 0.02172687 -0.03588376 0.08234147
+v 0.02364803 -0.03599433 0.08234147
+v 0.02663907 -0.03598972 0.08234147
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+f 1 4 5
+f 1 5 6
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+f 1 10 2
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+f 19 31 30
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+f 36 43 44
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+f 36 45 46
+f 36 46 37
+f 41 44 43
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_16.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e78b4a1c008c769bc23051a1039239300564f3f
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_16.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.02664210 -0.00133509 0.10639186
+v -0.02664210 -0.00133509 0.10660053
+v -0.02660283 -0.00133509 0.10620502
+v -0.02573162 -0.00690391 0.10732060
+v -0.02618508 -0.00133510 0.10976597
+v -0.02573162 -0.00690392 0.10880172
+v -0.02584945 -0.00133508 0.10399153
+v -0.02428914 -0.00133507 0.09963547
+v -0.02217896 -0.01405576 0.10782792
+v -0.02388924 -0.00133511 0.11098660
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+v -0.02225394 -0.00806822 0.11248541
+v -0.02216111 -0.00584917 0.11239269
+v -0.02278238 -0.01178018 0.11043966
+v -0.02155412 -0.01302221 0.11176120
+v -0.02217896 -0.01405576 0.10927904
+v -0.02411061 -0.00133506 0.09935452
+v -0.01852633 -0.01753627 0.10786338
+v -0.01268497 -0.01917578 0.09935445
+v -0.01254929 -0.01938426 0.09935445
+v -0.02003666 -0.00584741 0.11238723
+v -0.02003666 -0.00133511 0.11062655
+v -0.01912617 -0.01445859 0.11266541
+v -0.02021875 -0.01178018 0.11294638
+v -0.02003666 -0.00806823 0.11298320
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+v -0.00114507 -0.01938426 0.09935445
+v -0.01805502 -0.00609299 0.11224266
+v -0.01635546 -0.00133510 0.10937729
+v -0.01639473 -0.01661580 0.11138341
+v -0.01639473 -0.01476247 0.11276634
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+v -0.01238505 -0.01938428 0.10314725
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+v 0.00119718 -0.00133507 0.09986596
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+v -0.00104153 -0.01938428 0.10274356
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+v -0.01407033 -0.01430841 0.11247585
+v -0.01409532 -0.01177135 0.11247313
+v -0.01444166 -0.00970071 0.11227264
+v -0.00934654 -0.01938429 0.10648590
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+v 0.00790260 -0.01345679 0.10110154
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+v -0.00261612 -0.01938429 0.10555031
+v -0.00308029 -0.00549404 0.10502802
+v 0.00051164 -0.01413878 0.10498980
+v 0.00051164 -0.01292502 0.10498980
+v 0.00790260 -0.01383135 0.10110154
+f 1 2 5
+f 1 5 10
+f 1 10 22
+f 1 22 32
+f 1 32 43
+f 1 43 49
+f 1 49 39
+f 1 39 28
+f 1 28 17
+f 1 17 8
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+f 1 3 4
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+f 1 6 2
+f 2 6 5
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+f 4 7 8
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+f 4 16 6
+f 5 6 11
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+f 5 12 13
+f 5 13 10
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+f 27 38 33
+f 28 39 40
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+f 34 44 45
+f 34 45 35
+f 35 45 46
+f 35 46 47
+f 35 47 36
+f 36 47 43
+f 37 48 38
+f 38 48 44
+f 39 49 40
+f 40 49 43
+f 40 43 50
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+f 41 53 42
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+f 50 57 52
+f 50 52 51
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+f 50 55 57
+f 52 57 53
+f 53 57 55
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_17.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ab0722e7738bb34948f2c3b9ab62ce8cc4c2bb5
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_17.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.00249757 0.00527949 0.07059915
+v -0.00367175 0.00530728 0.07060309
+v -0.00959924 -0.00337397 0.07060306
+v -0.00903369 -0.00337395 0.06657685
+v -0.00249757 0.00535978 0.06657688
+v -0.00249757 0.02569525 0.07060316
+v -0.03001016 -0.00337397 0.07060306
+v -0.02706662 -0.00337395 0.06657685
+v -0.00249757 0.02521058 0.06657695
+v -0.00249757 0.02659054 0.07060317
+v -0.02989436 -0.00142594 0.07060306
+v -0.02974624 -0.00065722 0.06995200
+v -0.02988359 -0.00337397 0.06980696
+v -0.02870940 -0.00337396 0.06794598
+v -0.02608903 0.01415217 0.06657691
+v -0.00275610 0.02530937 0.06657695
+v -0.00573197 0.02806932 0.07060317
+v -0.02945808 0.00139886 0.07060308
+v -0.02943384 0.00152544 0.07046238
+v -0.02863399 -0.00065721 0.06809102
+v -0.02607556 0.01782904 0.06942160
+v -0.02582780 0.01581927 0.06657692
+v -0.00638369 0.02642077 0.06657696
+v -0.00727241 0.02713082 0.06748813
+v -0.00883979 0.02778531 0.06910438
+v -0.00890981 0.02816502 0.07060317
+v -0.02943384 0.00152544 0.07060308
+v -0.02576047 0.01984807 0.07060314
+v -0.02575239 0.01657254 0.06697379
+v -0.02563389 0.01638423 0.06657692
+v -0.00830117 0.02653191 0.06657696
+v -0.00744208 0.02713082 0.06748813
+v -0.01127434 0.02755067 0.07017162
+v -0.00987124 0.02701968 0.06769032
+v -0.01127434 0.02755067 0.07060317
+v -0.02567968 0.01997773 0.07060314
+v -0.02439238 0.01904231 0.06821878
+v -0.02373257 0.01815629 0.06657693
+v -0.00918989 0.02644855 0.06657696
+v -0.02166159 0.01951467 0.06657693
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 10
+f 1 10 6
+f 1 6 2
+f 2 6 10
+f 2 10 17
+f 2 17 26
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+f 26 33 35
+f 28 36 29
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+f 31 39 34
+f 31 34 32
+f 33 34 36
+f 33 36 35
+f 34 39 40
+f 34 40 36
+f 36 40 37
+f 37 40 38
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_18.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85aeb8b413fe93c135754f9cd816f6a6fa1fd28f
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_18.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.00228303 0.02466235 0.06657695
+v 0.00228303 0.02402217 0.06506221
+v 0.00228303 0.00599702 0.06657688
+v 0.00544727 0.02441360 0.06657695
+v 0.00345578 0.02339744 0.06381341
+v 0.00228303 0.02282668 0.06239026
+v 0.00228303 0.00499628 0.06053917
+v 0.01303972 0.00496541 0.06561531
+v 0.01505728 0.00496541 0.06657688
+v 0.00684805 0.02072298 0.06053923
+v 0.00544727 0.02112020 0.06053923
+v 0.01877532 0.02026211 0.06657693
+v 0.00228303 0.02188571 0.06053923
+v 0.01252501 0.00496543 0.06053917
+v 0.01266835 0.00496542 0.06312245
+v 0.02441753 0.00496541 0.06657688
+v 0.00838565 0.02022742 0.06053922
+v 0.01910325 0.01956602 0.06657693
+v 0.01985033 0.00666806 0.06053917
+v 0.01470762 0.01640566 0.06053921
+v 0.01268572 0.01811408 0.06053922
+v 0.01033371 0.01943492 0.06053922
+v 0.01026422 0.01946770 0.06053922
+v 0.01998281 0.00496543 0.06053917
+v 0.02214153 0.00496542 0.06327198
+v 0.02446748 0.00574056 0.06657688
+v 0.02446748 0.00580226 0.06657688
+v 0.02214153 0.00571165 0.06327198
+v 0.01995458 0.00547448 0.06053917
+f 1 2 6
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+f 1 13 7
+f 1 7 3
+f 1 3 9
+f 1 9 16
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+f 1 26 27
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+f 1 18 12
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+f 18 27 19
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+f 25 28 27
+f 25 27 26
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_19.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af9c7baa5b585ec3bd127bcff018cbc11526de2a
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_19.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.01851428 0.04200639 0.08863193
+v 0.01851428 0.04166816 0.08654692
+v 0.01851428 0.04200639 0.08924851
+v 0.02552094 0.04050735 0.08234175
+v 0.01851428 0.04150005 0.08570454
+v 0.01851428 0.03312807 0.08924848
+v 0.01903488 0.04151004 0.08924851
+v 0.02985533 0.03888619 0.08305635
+v 0.02999145 0.03898227 0.08234174
+v 0.02721171 0.03996297 0.08234175
+v 0.02140626 0.03987690 0.08234175
+v 0.01851428 0.04007704 0.08395892
+v 0.01919489 0.03358640 0.08924848
+v 0.01851428 0.02930936 0.08712561
+v 0.03128102 0.02155985 0.08642922
+v 0.03456226 0.02155985 0.08673007
+v 0.03787216 0.02155985 0.08657998
+v 0.01953400 0.04036122 0.08924851
+v 0.03793425 0.02155985 0.08656038
+v 0.03885605 0.02283677 0.08570650
+v 0.04188416 0.02155986 0.08463965
+v 0.02580752 0.03848389 0.08636167
+v 0.04203938 0.02155986 0.08452810
+v 0.04219222 0.02155986 0.08435908
+v 0.03050728 0.03844589 0.08234174
+v 0.02040326 0.03932251 0.08234174
+v 0.01870533 0.03818370 0.08234174
+v 0.01851428 0.03811365 0.08242219
+v 0.01957459 0.03411477 0.08924849
+v 0.01851428 0.02536256 0.08405013
+v 0.02743619 0.02155986 0.08476946
+v 0.01851428 0.02333713 0.08246136
+v 0.02114835 0.03638239 0.08924849
+v 0.04290864 0.02155987 0.08234168
+v 0.04247640 0.02215629 0.08234168
+v 0.04150684 0.02348924 0.08234169
+v 0.01851428 0.03797155 0.08234174
+v 0.02394958 0.02155986 0.08325235
+v 0.01851428 0.02329510 0.08242147
+v 0.02196269 0.02155987 0.08234168
+v 0.01851428 0.02321505 0.08234169
+f 1 2 5
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+f 19 21 20
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+f 24 36 25
+f 27 37 28
+f 31 32 38
+f 32 39 38
+f 38 39 40
+f 39 41 40
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_2.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7da03fd8a2c39f394345700fede4b9d80482401f
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_2.obj
@@ -0,0 +1,4210 @@
+# https://github.com/mikedh/trimesh
+v -0.04651625 -0.00065676 -0.00137080
+v -0.04610116 -0.00435709 -0.00137082
+v -0.04643886 -0.00065678 0.00234998
+v -0.04639665 0.00304355 0.00234999
+v -0.04641775 0.00304357 -0.00137079
+v -0.04622780 0.00304358 -0.00509157
+v -0.04629815 -0.00065675 -0.00509158
+v -0.04592527 -0.00435708 -0.00509160
+v -0.04525689 -0.00806442 -0.00137083
+v -0.04599562 -0.00435711 0.00234996
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+v -0.04570717 -0.00435712 0.00607074
+v -0.04614337 -0.00065679 0.00607076
+v -0.04612930 0.00304354 0.00607077
+v -0.04567199 0.00674387 0.00607078
+v -0.04591120 0.00674388 0.00235000
+v -0.04591823 0.00674390 -0.00137078
+v -0.04573531 0.00674391 -0.00509156
+v -0.04596748 0.00304359 -0.00881234
+v -0.04602377 -0.00065674 -0.00881235
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+v -0.04484180 -0.00806440 -0.00881238
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+v -0.04417342 -0.01119118 0.00234994
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+v -0.04414528 -0.01112120 -0.00509162
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+v -0.04533428 -0.00435714 0.00979151
+v -0.04573531 -0.00065681 0.00979153
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+v -0.04524282 0.00674385 0.00979155
+v -0.04479255 0.01045120 0.00607080
+v -0.04503879 0.01045121 0.00235002
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+v -0.04382164 0.01259864 0.00867904
+v -0.04397642 0.01296239 0.00607081
+v -0.04411010 0.01327017 0.00235003
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+v -0.04515839 0.00674394 -0.01253311
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+v -0.04074008 -0.01848689 -0.00509165
+v -0.04077526 -0.01853588 0.00234991
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+v -0.04192909 0.00674381 0.02096126
+v -0.04027573 0.00918504 0.02327478
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+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_20.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3944c7b3b411c50a769726e0b72cfe2f21b29475
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_20.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.02441899 0.00496348 0.06657688
+v 0.02214146 0.00496349 0.06327198
+v 0.01505536 0.00496348 0.06657688
+v 0.02435398 0.00394915 0.06657687
+v 0.02214146 0.00394628 0.06327197
+v 0.01998313 0.00496350 0.06053917
+v 0.02008931 0.00307028 0.06053916
+v 0.01304004 0.00496348 0.06561531
+v 0.00835497 0.00017713 0.06657686
+v 0.01726787 -0.02007768 0.06657679
+v 0.01252646 0.00496350 0.06053917
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+v 0.01266948 0.00496349 0.06312245
+v 0.00228303 -0.01243276 0.06053910
+v 0.00228303 -0.01395139 0.06657681
+v 0.00674706 -0.02444620 0.06657677
+v 0.00463856 -0.02134269 0.06053907
+v 0.00579791 -0.02082976 0.06053907
+v 0.00648485 -0.02042922 0.06053907
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+v 0.01198471 -0.01471499 0.06053910
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+v 0.01458295 -0.01015341 0.06053911
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+v 0.00313466 -0.02137439 0.06053907
+v 0.00241088 -0.02090757 0.06053907
+v 0.00274243 -0.02397650 0.06657677
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+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_21.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4a1bac0db57431034b414e303499ccdf66685eb
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_21.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.02234766 -0.01799291 0.08234153
+v -0.01658269 -0.01799287 0.07060300
+v -0.01663270 -0.01918157 0.07060300
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+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_22.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e49c3f08678abfcfd9d516434c91f4c6d923e94b
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_22.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.03000766 -0.00337397 0.07060306
+v -0.02998154 -0.00337397 0.07042886
+v -0.03006859 -0.00436402 0.07060305
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+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_23.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..310f0eb47b79f6e2fd867c14130b69edfaa523ec
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_23.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.02351973 0.00661305 0.07060309
+v -0.02943443 0.00152325 0.07060308
+v -0.02943443 0.00152325 0.07162802
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+v -0.02553806 -0.01736421 0.08234154
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+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_24.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0569922a33872a6ddad3f631b4d20a0cec75e231
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_24.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.03780747 -0.00347615 0.07988647
+v 0.03770030 -0.00753070 0.07988645
+v 0.03194512 -0.00347614 0.07578726
+v 0.01553690 -0.00347615 0.07988647
+v 0.02858165 -0.01177133 0.07988644
+v 0.02858652 -0.01177701 0.07988553
+v 0.01948735 -0.01177698 0.07060303
+v 0.02008649 -0.00347612 0.07060306
+v 0.01292844 -0.00347615 0.07835893
+v 0.01549550 -0.00433582 0.07988646
+v 0.01625539 -0.01177701 0.07988644
+v 0.01292844 -0.01177698 0.07060303
+v 0.01292844 -0.00347612 0.07060306
+v 0.01292844 -0.01177700 0.07722754
+v 0.01583891 -0.01177701 0.07988644
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 9
+f 1 9 4
+f 1 4 10
+f 1 10 15
+f 1 15 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 10
+f 5 11 6
+f 6 11 15
+f 6 15 14
+f 6 14 12
+f 6 12 7
+f 7 12 13
+f 7 13 8
+f 9 13 12
+f 9 12 14
+f 9 14 15
+f 9 15 10
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_25.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..680a84b83f1d9486e460d41fcb1524f0f84232b8
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_25.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.01292601 -0.02969010 0.08234149
+v 0.01260813 -0.02998468 0.08234149
+v 0.01292601 -0.02561775 0.07597701
+v 0.01292601 -0.01481006 0.08234155
+v 0.01206525 -0.03036175 0.08234149
+v 0.00780788 -0.02551875 0.07060298
+v 0.01292601 -0.02209450 0.07060299
+v 0.01292601 -0.00742658 0.07380310
+v 0.00969548 -0.00742661 0.08234157
+v 0.00911509 -0.03148824 0.08234148
+v -0.00531782 -0.03051254 0.07060296
+v 0.01292601 -0.00742657 0.07060304
+v -0.00531782 -0.00742661 0.08234157
+v 0.00834540 -0.03150238 0.08234148
+v -0.00531782 -0.03117241 0.07337213
+v -0.00531782 -0.03053374 0.07068684
+v -0.00531782 -0.01116896 0.07060303
+v 0.01154557 -0.00742657 0.07060304
+v -0.00531782 -0.02134040 0.08234152
+v -0.00531782 -0.00742660 0.07914611
+v 0.00547025 -0.03080009 0.08234149
+v -0.00531782 -0.03117006 0.07346750
+v -0.00136047 -0.00742659 0.07695835
+v 0.00180577 -0.00742659 0.07528535
+v -0.00531782 -0.02946619 0.07543350
+v -0.00145154 -0.02675132 0.08234150
+v 0.00368087 -0.03019914 0.08234149
+v 0.00157897 -0.02916927 0.08234149
+v 0.00065750 -0.02863666 0.08234149
+v 0.00021283 -0.02825017 0.08234150
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 19
+f 1 19 26
+f 1 26 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 21
+f 1 21 14
+f 1 14 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 5 6
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 6 11 17
+f 6 17 18
+f 6 18 12
+f 6 12 7
+f 8 12 18
+f 8 18 24
+f 8 24 23
+f 8 23 20
+f 8 20 13
+f 8 13 9
+f 10 14 15
+f 10 15 16
+f 10 16 11
+f 11 16 15
+f 11 15 22
+f 11 22 25
+f 11 25 19
+f 11 19 13
+f 11 13 20
+f 11 20 17
+f 14 21 22
+f 14 22 15
+f 17 20 23
+f 17 23 24
+f 17 24 18
+f 19 25 26
+f 21 27 22
+f 22 27 28
+f 22 28 29
+f 22 29 25
+f 25 29 30
+f 25 30 26
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_26.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5156b6feb5275802133b10727fe989adac2c5745
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_26.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.00791963 -0.00337622 0.06657685
+v -0.00042706 -0.01349135 0.06657681
+v -0.00042706 -0.01239519 0.06932098
+v -0.00042706 -0.01200485 0.07060303
+v 0.00833089 -0.00337624 0.06967769
+v 0.01854962 -0.00337622 0.06657685
+v -0.00042706 -0.02331598 0.06657677
+v -0.00042706 -0.02655910 0.07060297
+v 0.00851293 -0.00337624 0.07060306
+v 0.02012727 -0.00337624 0.07060306
+v 0.02253194 -0.01917871 0.07060181
+v 0.02245328 -0.02210409 0.07060299
+v 0.01850243 -0.01917870 0.06722391
+v 0.01770462 -0.01739487 0.06657680
+v -0.00042706 -0.02611881 0.06938951
+v 0.00274171 -0.02397640 0.06657677
+v -0.00042706 -0.02627768 0.06982697
+v 0.00738026 -0.02488194 0.06719827
+v 0.00544753 -0.02574888 0.06936508
+v 0.00544753 -0.02617102 0.07060297
+v 0.02252969 -0.01917418 0.07060300
+v 0.02252969 -0.01923318 0.07060300
+v 0.02240384 -0.02218806 0.07060299
+v 0.01834062 -0.02115089 0.06741268
+v 0.01726863 -0.02007741 0.06657679
+v 0.01750685 -0.01905614 0.06657679
+v 0.00544753 -0.02447342 0.06657677
+v 0.00544753 -0.02489782 0.06716399
+v 0.00674650 -0.02444618 0.06657677
+v 0.01988905 -0.02371316 0.07060298
+v 0.01973398 -0.02250805 0.06939071
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 10
+f 1 10 6
+f 1 6 14
+f 1 14 26
+f 1 26 25
+f 1 25 29
+f 1 29 27
+f 1 27 16
+f 1 16 7
+f 1 7 2
+f 2 7 15
+f 2 15 17
+f 2 17 8
+f 2 8 4
+f 2 4 3
+f 4 8 20
+f 4 20 30
+f 4 30 23
+f 4 23 12
+f 4 12 22
+f 4 22 21
+f 4 21 10
+f 4 10 9
+f 4 9 5
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 7 16 15
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 10 21 11
+f 11 21 22
+f 11 22 12
+f 12 23 24
+f 12 24 13
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 15 16 27
+f 15 27 28
+f 15 28 18
+f 15 18 17
+f 18 20 19
+f 18 28 29
+f 18 29 24
+f 18 24 30
+f 18 30 20
+f 23 30 31
+f 23 31 24
+f 24 31 30
+f 24 29 25
+f 27 29 28
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_27.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e681d2b3c823d84bc4ecd10fa03c8c20ca7d5757
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_27.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.02411362 -0.00133506 0.09935452
+v -0.02262735 -0.00133505 0.09579932
+v -0.01345485 -0.01938425 0.09553411
+v -0.01268299 -0.01938426 0.09914990
+v -0.01255016 -0.01938426 0.09935445
+v -0.00054872 -0.00133506 0.09935452
+v -0.02245503 -0.00133505 0.09553418
+v -0.00165445 -0.01938425 0.09553411
+v -0.00114467 -0.01938426 0.09935445
+v 0.00883200 -0.01189497 0.09935448
+v 0.01256203 -0.00445692 0.09878646
+v 0.00896842 -0.00133506 0.09861296
+v 0.01256203 -0.00133505 0.09553418
+v -0.00113390 -0.01938426 0.09872097
+v 0.01132347 -0.01776236 0.09553411
+v -0.00113390 -0.01938426 0.09873630
+v 0.01111884 -0.01750973 0.09777038
+v 0.00910125 -0.01576594 0.09935446
+v 0.00977617 -0.01422709 0.09935447
+v 0.00983361 -0.01531011 0.09935446
+v 0.01256203 -0.00462476 0.09878347
+v 0.01256203 -0.00133506 0.09789422
+v 0.01256203 -0.01016884 0.09553414
+v 0.01190506 -0.01547618 0.09553412
+v 0.01133424 -0.01547619 0.09840685
+v 0.01256203 -0.00798160 0.09835640
+v 0.01256203 -0.00807171 0.09834443
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 18
+f 1 18 20
+f 1 20 19
+f 1 19 10
+f 1 10 6
+f 1 6 12
+f 1 12 22
+f 1 22 13
+f 1 13 7
+f 1 7 2
+f 2 7 3
+f 3 7 13
+f 3 13 23
+f 3 23 24
+f 3 24 15
+f 3 15 8
+f 3 8 14
+f 3 14 16
+f 3 16 9
+f 3 9 5
+f 3 5 4
+f 6 10 11
+f 6 11 12
+f 8 15 14
+f 9 16 15
+f 9 15 17
+f 9 17 18
+f 10 19 11
+f 11 19 20
+f 11 20 21
+f 11 21 26
+f 11 26 27
+f 11 27 23
+f 11 23 13
+f 11 13 22
+f 11 22 12
+f 14 15 16
+f 15 24 17
+f 17 24 25
+f 17 25 20
+f 17 20 18
+f 20 25 21
+f 21 25 26
+f 23 27 24
+f 24 27 25
+f 25 27 26
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_28.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c378705c05cc7be939b797ff15cc41941ef53ea
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_28.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00490373 0.03575846 0.09553432
+v -0.00490373 0.03579955 0.09554867
+v 0.00015396 0.03474055 0.09553432
+v -0.00490373 0.00712440 0.09553422
+v -0.00490373 0.03586278 0.09557261
+v -0.00490373 0.03639385 0.09577841
+v -0.00490373 0.03864777 0.09680744
+v 0.00015396 0.03631799 0.09627458
+v 0.00015396 0.02273435 0.09553427
+v -0.00208972 0.00712440 0.09553422
+v -0.00490373 0.00712438 0.10159347
+v -0.00490373 0.03931162 0.09862298
+v -0.00331553 0.03835062 0.09716161
+v 0.00015396 0.03713356 0.09791384
+v 0.00015396 0.02570902 0.09911989
+v 0.00011931 0.01544781 0.09553425
+v -0.00362990 0.00712439 0.09914935
+v -0.00013219 0.01410114 0.09553424
+v -0.00490373 0.01786293 0.10290491
+v -0.00488888 0.00712438 0.10156555
+v -0.00269421 0.01786293 0.10233695
+v -0.00490373 0.03941910 0.09914946
+v 0.00015396 0.03769625 0.09915105
+v 0.00015396 0.02716632 0.10040258
+v 0.00015396 0.02851615 0.10125292
+v 0.00015396 0.02934754 0.10164220
+v -0.00490373 0.03246130 0.10352317
+v 0.00015396 0.03267627 0.10274462
+v -0.00490373 0.03889433 0.10233224
+v -0.00293333 0.03854028 0.10138538
+v 0.00015396 0.03717781 0.10059886
+v -0.00490373 0.03639066 0.10368272
+v 0.00015396 0.03634325 0.10211765
+f 1 2 3
+f 1 3 9
+f 1 9 16
+f 1 16 18
+f 1 18 10
+f 1 10 4
+f 1 4 11
+f 1 11 19
+f 1 19 27
+f 1 27 32
+f 1 32 29
+f 1 29 22
+f 1 22 12
+f 1 12 7
+f 1 7 6
+f 1 6 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 3 8 14
+f 3 14 23
+f 3 23 31
+f 3 31 33
+f 3 33 28
+f 3 28 26
+f 3 26 25
+f 3 25 24
+f 3 24 15
+f 3 15 9
+f 4 10 17
+f 4 17 20
+f 4 20 11
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 9 15 16
+f 10 18 17
+f 11 20 21
+f 11 21 19
+f 12 22 23
+f 12 23 13
+f 13 23 14
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 16 26 18
+f 17 18 21
+f 17 21 20
+f 18 26 21
+f 19 21 28
+f 19 28 27
+f 21 26 28
+f 22 29 30
+f 22 30 23
+f 23 30 31
+f 27 28 32
+f 28 33 32
+f 29 32 33
+f 29 33 30
+f 30 33 31
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_29.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8983052ea6facab48ab86715cb0c43e5cc480423
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_29.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.04291884 0.01044973 0.08924902
+v 0.04245888 0.00674741 0.08924900
+v 0.04282844 0.01075081 0.08924902
+v 0.04077592 0.01345393 0.09031559
+v 0.04123322 0.01044973 0.09066449
+v 0.03683308 -0.01176750 0.09391363
+v 0.03865429 -0.01176750 0.09215066
+v 0.04164266 -0.01176749 0.08924964
+v 0.04127576 0.00303517 0.08924899
+v 0.04165861 0.01423145 0.08924903
+v 0.03991451 0.01592215 0.08980036
+v 0.03850274 0.01447629 0.09061850
+v 0.03092811 -0.00436287 0.09647920
+v 0.03377824 -0.00436287 0.09553367
+v 0.03456521 -0.00436287 0.09527251
+v 0.03456521 -0.00806850 0.09544377
+v 0.03667356 -0.01414307 0.09374872
+v 0.04035851 -0.01394123 0.09019871
+v 0.04088227 -0.01408019 0.08924963
+v 0.04029470 0.00067614 0.08924898
+v 0.04116941 0.01502221 0.08924904
+v 0.04032661 0.01631587 0.08924904
+v 0.03915944 0.01688164 0.08924904
+v 0.03815179 0.01725882 0.08924904
+v 0.03748712 0.01638535 0.09016060
+v 0.02365126 0.00396486 0.09553370
+v 0.02725114 0.00252893 0.09553370
+v 0.02737876 0.00246276 0.09553370
+v 0.02573036 -0.00133551 0.09637872
+v 0.03092811 -0.00806519 0.09632915
+v 0.03419831 -0.00806519 0.09553366
+v 0.03456521 -0.01476839 0.09387399
+v 0.03463700 -0.01654180 0.09322923
+v 0.03690221 -0.01654180 0.09220018
+v 0.03766791 -0.01654180 0.09154269
+v 0.03809596 -0.01654179 0.08924962
+v 0.03918337 -0.00099470 0.08924898
+v 0.03752700 0.01725882 0.08924904
+v 0.03567920 0.01638535 0.09016060
+v 0.02001151 0.00367371 0.09553370
+v 0.01575759 0.00248592 0.09553370
+v 0.01575759 -0.00099472 0.09553369
+v 0.03021027 -0.01654180 0.09239410
+v 0.03244357 -0.01462943 0.09379260
+v 0.03456521 -0.01654180 0.09324056
+v 0.02087027 -0.01654179 0.08924962
+v 0.01575759 -0.00099470 0.08924898
+v 0.03505707 0.01709008 0.08924904
+v 0.01575759 0.00292928 0.09170342
+v 0.02092610 -0.01654179 0.08930129
+v 0.02103511 -0.01654179 0.08939967
+v 0.02189386 -0.01654179 0.08989933
+v 0.01575759 0.00235029 0.08924899
+v 0.01575759 0.00242639 0.08957101
+f 1 2 9
+f 1 9 20
+f 1 20 37
+f 1 37 47
+f 1 47 53
+f 1 53 48
+f 1 48 38
+f 1 38 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 17
+f 6 17 7
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 10 21 11
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 12
+f 11 21 22
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 13
+f 13 29 30
+f 13 30 31
+f 13 31 16
+f 13 16 14
+f 13 28 27
+f 13 27 29
+f 14 16 15
+f 16 31 30
+f 16 30 17
+f 17 30 32
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 18
+f 18 35 19
+f 19 35 36
+f 19 36 37
+f 19 37 20
+f 24 38 39
+f 24 39 25
+f 25 39 26
+f 26 40 29
+f 26 29 27
+f 26 39 40
+f 29 40 41
+f 29 41 42
+f 29 42 30
+f 30 43 44
+f 30 44 45
+f 30 45 32
+f 30 42 43
+f 32 45 33
+f 33 45 43
+f 33 43 52
+f 33 52 51
+f 33 51 50
+f 33 50 46
+f 33 46 36
+f 33 36 35
+f 33 35 34
+f 36 46 47
+f 36 47 37
+f 38 48 39
+f 39 48 41
+f 39 41 40
+f 41 48 49
+f 41 49 54
+f 41 54 53
+f 41 53 47
+f 41 47 42
+f 42 46 50
+f 42 50 51
+f 42 51 52
+f 42 52 43
+f 42 47 46
+f 43 45 44
+f 48 53 54
+f 48 54 49
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_3.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d0e1ba334212a1a44a5f5e00a03367c8a3a99e0
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_3.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.00490457 0.01417628 0.10164201
+v -0.00490457 0.01417630 0.09553423
+v -0.00490457 0.01449230 0.10220789
+v -0.00543230 0.01417627 0.10235507
+v -0.01344788 0.01417630 0.09553423
+v -0.00490457 0.02558374 0.09553427
+v -0.00490457 0.01489656 0.10235139
+v -0.00544401 0.01417627 0.10236096
+v -0.01344788 0.01417628 0.09961467
+v -0.01344788 0.02558374 0.09553427
+v -0.00490457 0.02558372 0.10002091
+v -0.00490457 0.01786261 0.10290479
+v -0.00547579 0.01786261 0.10305196
+v -0.00926195 0.01417627 0.10270535
+v -0.00986245 0.01417627 0.10253462
+v -0.01344788 0.02558373 0.09860435
+v -0.00559205 0.02558372 0.10025198
+v -0.00490457 0.02058187 0.10208724
+v -0.00490457 0.01843996 0.10283783
+v -0.00945180 0.01417627 0.10265604
+v -0.00547579 0.02058520 0.10209754
+f 1 2 6
+f 1 6 11
+f 1 11 18
+f 1 18 19
+f 1 19 12
+f 1 12 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 20
+f 1 20 15
+f 1 15 9
+f 1 9 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 3 7 8
+f 3 8 4
+f 5 9 16
+f 5 16 10
+f 6 10 16
+f 6 16 17
+f 6 17 11
+f 7 12 8
+f 8 12 13
+f 8 13 14
+f 9 15 16
+f 11 17 18
+f 12 19 13
+f 13 15 20
+f 13 20 14
+f 13 19 18
+f 13 18 21
+f 13 21 16
+f 13 16 15
+f 16 21 17
+f 17 21 18
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_30.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35a951ed81e96daaa3dc74ca1db6bcfeeb236b49
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_30.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.00902828 0.03787354 0.09553432
+v -0.01275451 0.03502692 0.09321097
+v -0.01302817 0.03723043 0.09553432
+v 0.00483293 0.03631314 0.09553431
+v 0.00483293 0.03190812 0.08924910
+v -0.01261450 0.02917438 0.08924909
+v -0.01469877 0.03467411 0.09344294
+v -0.01309181 0.03713769 0.09545310
+v -0.01315545 0.03718406 0.09553432
+v 0.00483293 0.02472095 0.09553427
+v 0.00483293 0.01727778 0.08924904
+v -0.01468604 0.02748697 0.08924908
+v -0.01530019 0.03554906 0.09542540
+v -0.02454735 0.01727778 0.08924904
+v -0.02600793 0.01727778 0.09106046
+v -0.02573109 0.01994498 0.09325090
+v -0.02626250 0.02121709 0.09553426
+v -0.01533837 0.03558736 0.09553431
+v 0.00483293 0.01727777 0.09180311
+v -0.00106667 0.01727776 0.09553424
+v 0.00054665 0.01727776 0.09542657
+v -0.02745897 0.01727776 0.09542533
+v -0.02767535 0.01786241 0.09553425
+v -0.02748761 0.01727776 0.09553424
+f 1 2 3
+f 1 3 9
+f 1 9 18
+f 1 18 17
+f 1 17 23
+f 1 23 24
+f 1 24 20
+f 1 20 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 5 6
+f 3 8 9
+f 4 10 19
+f 4 19 11
+f 4 11 5
+f 5 11 14
+f 5 14 12
+f 5 12 6
+f 6 12 7
+f 7 13 9
+f 7 9 8
+f 7 12 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 13
+f 9 13 18
+f 10 20 21
+f 10 21 19
+f 11 19 21
+f 11 21 20
+f 11 20 24
+f 11 24 22
+f 11 22 15
+f 11 15 14
+f 13 17 18
+f 15 22 23
+f 15 23 17
+f 15 17 16
+f 22 24 23
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_31.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5eeb8f87e3236e50dfe77ba870ae3724332201f
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_31.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.02748948 0.01727776 0.09553424
+v -0.02746408 0.01727776 0.09544441
+v -0.02571997 0.01551405 0.08940471
+v -0.02444999 0.00304629 0.09553419
+v 0.01568562 0.01727776 0.09553424
+v -0.02600784 0.01727778 0.09106046
+v -0.02571997 0.01639055 0.08940471
+v -0.02558451 0.01536201 0.08924904
+v -0.02149940 -0.00081028 0.08924898
+v -0.02292602 -0.00079242 0.09553418
+v 0.01575759 0.00248640 0.09553419
+v 0.01568986 0.01727776 0.09550778
+v -0.02548291 0.01648535 0.08924904
+v -0.02454736 0.01727778 0.08924904
+v -0.02558451 0.01613475 0.08924904
+v -0.02138511 -0.00099631 0.08924898
+v -0.02281595 -0.00093909 0.09553418
+v 0.01575759 0.00293182 0.09170277
+v 0.01569832 0.01727776 0.09542533
+v 0.01575759 -0.00099633 0.09553418
+v 0.01347163 0.01727778 0.08924904
+v -0.02276515 -0.00099633 0.09553418
+v 0.01575759 -0.00099631 0.08924898
+v 0.01575759 0.00242739 0.08957078
+v 0.01567292 0.01727776 0.09467529
+v 0.01575759 0.00235048 0.08924899
+v 0.01394998 0.01727778 0.08993016
+v 0.01505910 0.01727777 0.09222213
+v 0.01441988 0.01727778 0.09081741
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 17
+f 1 17 22
+f 1 22 20
+f 1 20 11
+f 1 11 5
+f 1 5 12
+f 1 12 19
+f 1 19 25
+f 1 25 28
+f 1 28 29
+f 1 29 27
+f 1 27 21
+f 1 21 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 15
+f 3 15 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 5 11 12
+f 6 13 7
+f 6 14 13
+f 7 13 15
+f 8 15 13
+f 8 13 14
+f 8 14 21
+f 8 21 26
+f 8 26 23
+f 8 23 16
+f 8 16 9
+f 9 16 10
+f 10 16 17
+f 11 18 19
+f 11 19 12
+f 11 20 23
+f 11 23 26
+f 11 26 24
+f 11 24 18
+f 16 22 17
+f 16 23 20
+f 16 20 22
+f 18 24 19
+f 19 24 26
+f 19 26 25
+f 21 27 26
+f 25 26 28
+f 26 27 29
+f 26 29 28
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_32.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..129b25e92d5538631a2befd0b81f9843fe1a9abc
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_32.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.01851263 0.02321334 0.08234169
+v 0.01851263 0.02333563 0.08246136
+v 0.01275701 0.01399849 0.08924841
+v 0.00918183 0.00710716 0.08924839
+v 0.00929902 0.00710719 0.08234163
+v 0.01851263 0.03797071 0.08234174
+v 0.01851263 0.02536417 0.08405013
+v 0.01851263 0.02930618 0.08712561
+v 0.01851263 0.03312589 0.08924848
+v 0.00165183 0.00710716 0.08924839
+v 0.00165183 0.00710719 0.08234163
+v 0.01272565 0.03958564 0.08234175
+v 0.01851263 0.03811098 0.08242219
+v 0.01851263 0.04200621 0.08924851
+v 0.00165183 0.02897167 0.08924847
+v 0.00165183 0.02791066 0.08234170
+v 0.01851263 0.04007838 0.08395892
+v 0.00963574 0.03930150 0.08234174
+v 0.01272565 0.04075457 0.08333220
+v 0.01573468 0.04262487 0.08546116
+v 0.01851263 0.04200621 0.08863193
+v 0.01838388 0.04212850 0.08924851
+v 0.01043133 0.04249177 0.08924852
+v 0.00165183 0.02965865 0.08924442
+v 0.00648641 0.03575153 0.08234173
+v 0.01851263 0.04149909 0.08570454
+v 0.01046104 0.04234073 0.08554297
+v 0.01272565 0.04275795 0.08519343
+v 0.01272565 0.04384775 0.08797953
+v 0.01671514 0.04306006 0.08766313
+v 0.01816270 0.04192350 0.08621159
+v 0.01838388 0.04212850 0.08869346
+v 0.01851263 0.04166813 0.08654692
+v 0.01648240 0.04292697 0.08924852
+v 0.01160655 0.04310322 0.08924852
+v 0.01030589 0.04258889 0.08797953
+v 0.01279498 0.04352403 0.08924852
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 16
+f 1 16 25
+f 1 25 18
+f 1 18 12
+f 1 12 6
+f 1 6 13
+f 1 13 17
+f 1 17 26
+f 1 26 33
+f 1 33 21
+f 1 21 14
+f 1 14 9
+f 1 9 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 14
+f 3 14 22
+f 3 22 34
+f 3 34 37
+f 3 37 35
+f 3 35 23
+f 3 23 15
+f 3 15 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 6 12 13
+f 10 15 24
+f 10 24 16
+f 10 16 11
+f 12 17 13
+f 12 18 19
+f 12 19 20
+f 12 20 17
+f 14 21 32
+f 14 32 22
+f 15 23 24
+f 16 24 25
+f 17 20 26
+f 18 27 28
+f 18 28 19
+f 18 25 27
+f 19 28 20
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 20 31 26
+f 21 33 31
+f 21 31 32
+f 22 32 30
+f 22 30 34
+f 23 35 36
+f 23 36 24
+f 24 36 25
+f 25 36 27
+f 26 31 33
+f 27 36 29
+f 27 29 28
+f 29 37 34
+f 29 34 30
+f 29 36 35
+f 29 35 37
+f 30 32 31
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_33.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7546ce30564c049622b660de2ef7d9ee12d2e45b
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_33.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.00345111 0.02745836 0.07060317
+v 0.00544873 0.02729539 0.07060317
+v -0.00249441 0.02521296 0.06657695
+v -0.00249441 0.02658917 0.07060317
+v 0.00544873 0.02441318 0.06657695
+v 0.02006637 0.02239710 0.07060315
+v 0.01905336 0.02024828 0.06668491
+v 0.01877250 0.02026035 0.06657693
+v -0.00249441 0.00536027 0.06657688
+v -0.00249441 0.02569583 0.07060316
+v 0.02254367 0.02074623 0.07060315
+v 0.01910070 0.01956620 0.06657693
+v 0.02239535 0.02061042 0.07034461
+v 0.02970417 0.00555340 0.07060309
+v 0.02446555 0.00580090 0.06657688
+v -0.00249441 0.00527876 0.07059915
+v 0.00791972 -0.00337395 0.06657685
+v -0.00249126 0.00527876 0.07060309
+v 0.02973889 0.00405343 0.07060308
+v 0.02446555 0.00574054 0.06657688
+v -0.00185694 0.00475362 0.07060309
+v 0.00833312 -0.00337397 0.06967769
+v 0.01854844 -0.00337395 0.06657685
+v 0.02204506 0.00087244 0.06657686
+v 0.02406477 0.00335025 0.06657687
+v 0.02435510 0.00395084 0.06657687
+v 0.02891838 0.00314802 0.07060308
+v 0.00851301 -0.00337397 0.07060306
+v 0.02012633 -0.00337397 0.07060306
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 18
+f 1 18 21
+f 1 21 28
+f 1 28 29
+f 1 29 27
+f 1 27 19
+f 1 19 14
+f 1 14 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 16
+f 3 16 10
+f 3 10 4
+f 3 5 8
+f 3 8 12
+f 3 12 15
+f 3 15 20
+f 3 20 26
+f 3 26 25
+f 3 25 24
+f 3 24 23
+f 3 23 17
+f 3 17 9
+f 6 11 7
+f 7 12 8
+f 7 11 13
+f 7 13 14
+f 7 14 15
+f 7 15 12
+f 9 17 16
+f 10 16 18
+f 11 14 13
+f 14 19 15
+f 15 19 20
+f 16 17 21
+f 16 21 18
+f 17 22 21
+f 17 23 29
+f 17 29 28
+f 17 28 22
+f 19 24 25
+f 19 25 26
+f 19 26 20
+f 19 27 23
+f 19 23 24
+f 21 22 28
+f 23 27 29
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_34.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53cad79848899a8f4d74d1d60f39f6905000e306
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_34.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.00531782 0.00661408 0.07060309
+v -0.00531782 0.00385406 0.07060308
+v -0.00531782 0.00661404 0.08234162
+v 0.00746857 0.00661408 0.07060309
+v 0.00180577 -0.00742521 0.07528535
+v -0.00136047 -0.00742521 0.07695835
+v -0.00531782 -0.00742522 0.07914611
+v 0.01154557 -0.00742519 0.07060304
+v -0.00531782 -0.00742523 0.08234157
+v 0.00922224 0.00661404 0.08234162
+v 0.00829897 0.00661407 0.07284255
+v 0.01292601 0.00150364 0.07060308
+v 0.01292601 -0.00742519 0.07060304
+v 0.00969548 -0.00742523 0.08234157
+v 0.01292601 0.00065278 0.08234160
+v 0.00946511 0.00661404 0.08053304
+v 0.00940796 0.00661406 0.07663782
+v 0.01292601 0.00171806 0.07344809
+v 0.00945082 0.00661406 0.07681017
+v 0.01292601 -0.00742520 0.07380310
+v 0.01292601 -0.00468308 0.08234158
+v 0.01292601 0.00189811 0.07643443
+v 0.01292601 0.00190910 0.07622990
+f 1 2 7
+f 1 7 9
+f 1 9 3
+f 1 3 10
+f 1 10 16
+f 1 16 19
+f 1 19 17
+f 1 17 11
+f 1 11 4
+f 1 4 12
+f 1 12 13
+f 1 13 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 8 5
+f 3 9 14
+f 3 14 21
+f 3 21 15
+f 3 15 10
+f 4 11 12
+f 5 8 13
+f 5 13 20
+f 5 20 14
+f 5 14 9
+f 5 9 7
+f 5 7 6
+f 10 15 16
+f 11 17 12
+f 12 18 23
+f 12 23 22
+f 12 22 15
+f 12 15 21
+f 12 21 20
+f 12 20 13
+f 12 17 19
+f 12 19 18
+f 14 20 21
+f 15 22 16
+f 16 22 23
+f 16 23 19
+f 18 19 23
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_35.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8adef1754d8b2fce80938ffefc30a2caa96147e6
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_35.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.01590273 0.01786109 0.09553487
+v 0.01589989 0.01797867 0.09553487
+v 0.01548122 0.01787482 0.09904671
+v 0.01503274 0.01550485 0.09553486
+v 0.01570262 0.01913465 0.09553487
+v 0.01537903 0.02175658 0.09901983
+v 0.01501996 0.02064946 0.10131603
+v 0.01501996 0.01911936 0.10131602
+v 0.00974181 0.00712439 0.09916096
+v 0.01479430 0.01576597 0.09773816
+v 0.01500861 0.01544835 0.09553486
+v 0.01528110 0.02138552 0.09553488
+v 0.01530949 0.02147714 0.09573412
+v 0.01488088 0.02272474 0.09663744
+v 0.01495184 0.02272473 0.09827297
+v 0.01281020 0.02272473 0.09897827
+v 0.01275202 0.02270030 0.09901983
+v 0.01272505 0.02077773 0.10145600
+v 0.01272363 0.01787481 0.10158433
+v 0.00822606 0.00712438 0.10177742
+v 0.00993340 0.00712440 0.09553483
+v 0.01501145 0.02170315 0.09553488
+v 0.01408184 0.02272474 0.09553488
+v 0.01275060 0.02272473 0.09897827
+v 0.01270092 0.02272473 0.09893793
+v 0.01047555 0.02019593 0.10129830
+v 0.00919114 0.01771753 0.10154949
+v 0.00937848 0.01388921 0.10166682
+v 0.00525843 0.00712438 0.10176398
+v 0.00153434 0.00712440 0.09553483
+v 0.00913721 0.02272474 0.09553488
+v 0.01124762 0.02272473 0.09755911
+v 0.00306286 0.01639664 0.09789034
+v 0.00682811 0.01638747 0.10125734
+v 0.00638956 0.01415797 0.10155864
+v 0.00595527 0.01045488 0.10170715
+v 0.00365894 0.00712438 0.10099022
+v 0.00276482 0.00712439 0.09909434
+v 0.00140661 0.01397169 0.09553485
+v 0.00188631 0.01677536 0.09553486
+v 0.00141654 0.01411982 0.09553485
+v 0.00304725 0.00712438 0.09970797
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 21
+f 1 21 30
+f 1 30 39
+f 1 39 41
+f 1 41 40
+f 1 40 31
+f 1 31 23
+f 1 23 22
+f 1 22 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 8 19 20
+f 8 20 9
+f 9 20 29
+f 9 29 37
+f 9 37 42
+f 9 42 38
+f 9 38 30
+f 9 30 21
+f 9 21 11
+f 9 11 10
+f 12 22 14
+f 12 14 13
+f 14 23 31
+f 14 31 32
+f 14 32 25
+f 14 25 24
+f 14 24 16
+f 14 16 15
+f 14 22 23
+f 16 24 17
+f 17 24 25
+f 17 25 26
+f 17 26 18
+f 18 26 27
+f 18 27 19
+f 19 27 28
+f 19 28 20
+f 20 28 29
+f 25 32 26
+f 26 32 31
+f 26 31 33
+f 26 33 34
+f 26 34 27
+f 27 34 35
+f 27 35 36
+f 27 36 28
+f 28 36 29
+f 29 36 35
+f 29 35 37
+f 30 38 39
+f 31 40 33
+f 33 35 34
+f 33 40 41
+f 33 41 37
+f 33 37 35
+f 37 41 39
+f 37 39 42
+f 38 42 39
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_36.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54203c4085301c299c7a42655c36a15c14c5c2a7
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_36.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.00749970 0.03096559 0.08234171
+v -0.00749970 0.03096559 0.08262972
+v -0.00690215 0.03096559 0.08262972
+v -0.00672451 0.03095859 0.08234171
+v -0.02367636 0.02494871 0.08234169
+v -0.01261378 0.02917405 0.08924847
+v 0.00165183 0.02965988 0.08924442
+v 0.00165183 0.02791044 0.08234170
+v -0.02532095 0.02429003 0.08234169
+v -0.02582697 0.02395601 0.08289810
+v -0.01468364 0.02748530 0.08924846
+v -0.01125451 0.02921842 0.08924847
+v 0.00141497 0.02947068 0.08924847
+v 0.00165183 0.02897084 0.08924847
+v 0.00165183 0.00710593 0.08234163
+v -0.02584581 0.02397937 0.08234169
+v -0.02582159 0.02156421 0.08289944
+v -0.02558203 0.01536510 0.08924842
+v -0.02558203 0.01613590 0.08924842
+v -0.02548244 0.01648626 0.08924842
+v 0.00165183 0.00710590 0.08924839
+v -0.02127812 0.00710593 0.08234163
+v -0.02584043 0.02215048 0.08234168
+v -0.02583505 0.02153384 0.08234168
+v -0.02560357 0.01935459 0.08234167
+v -0.02340451 0.01243844 0.08234165
+v -0.02215021 0.00710590 0.08871700
+v -0.02221212 0.00710590 0.08924839
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 22
+f 1 22 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 16
+f 1 16 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 7
+f 3 7 4
+f 4 7 8
+f 5 9 6
+f 6 9 10
+f 6 10 11
+f 6 11 20
+f 6 20 19
+f 6 19 18
+f 6 18 28
+f 6 28 21
+f 6 21 14
+f 6 14 13
+f 6 13 12
+f 6 12 7
+f 7 13 14
+f 7 14 21
+f 7 21 15
+f 7 15 8
+f 7 12 13
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 15 21 28
+f 15 28 27
+f 15 27 22
+f 16 23 17
+f 17 23 24
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 18 26 22
+f 18 22 27
+f 18 27 28
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_37.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44915d25c400e091053abbba13c16c00da3407fe
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_37.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.00911630 0.04004400 0.09914966
+v -0.00911630 0.03893862 0.09634430
+v -0.01210825 0.03859468 0.09671329
+v -0.01309472 0.03903627 0.09879995
+v -0.01524979 0.03863430 0.09980792
+v -0.01580048 0.03870082 0.10287040
+v -0.01275650 0.03934055 0.10287040
+v -0.00911630 0.03965051 0.10287041
+v -0.00547610 0.03966044 0.09914966
+v -0.00547610 0.03875745 0.09667986
+v -0.00902958 0.03787287 0.09553432
+v -0.01303185 0.03723172 0.09553432
+v -0.01315760 0.03718501 0.09553432
+v -0.01453432 0.03821396 0.09732656
+v -0.02218329 0.03498695 0.10379737
+v -0.01761950 0.03781906 0.10287040
+v -0.01553597 0.03845737 0.10498534
+v -0.00911630 0.03854512 0.10502777
+v -0.00709566 0.03837245 0.10485163
+v -0.00571893 0.03904050 0.10272383
+v -0.01275650 0.03860881 0.10512806
+v -0.00490373 0.03889472 0.10233299
+v -0.00490373 0.03941841 0.09914965
+v -0.00490373 0.03931368 0.09862381
+v -0.00490373 0.03864988 0.09680715
+v -0.00560402 0.03637968 0.09553431
+v -0.01534085 0.03558851 0.09553431
+v -0.01541890 0.03546537 0.09553431
+v -0.02162827 0.03267995 0.10132371
+v -0.02703328 0.02558482 0.10308892
+v -0.02705062 0.02558482 0.10311463
+v -0.02218329 0.03498694 0.10548803
+v -0.01986996 0.03558705 0.10667471
+v -0.01854743 0.03465857 0.10854023
+v -0.01796639 0.03465857 0.10854023
+v -0.00673359 0.03638247 0.10508176
+v -0.00491240 0.03638248 0.10369194
+v -0.00490373 0.03639097 0.10368294
+v -0.00490373 0.03639384 0.09577860
+v -0.00490373 0.03586450 0.09557289
+v -0.00490373 0.03580081 0.09554845
+v -0.00490373 0.03575835 0.09553431
+v -0.01690620 0.03263751 0.09553430
+v -0.02393293 0.02558484 0.09923574
+v -0.02705062 0.02558482 0.10313263
+v -0.02674276 0.02558481 0.10563585
+v -0.02661484 0.02558481 0.10586727
+v -0.02096917 0.03267992 0.10800667
+v -0.01914799 0.03267992 0.10866879
+v -0.01761516 0.03267992 0.10866879
+v -0.00674660 0.03347819 0.10507918
+v -0.00490373 0.03246198 0.10352351
+v -0.00490373 0.02558485 0.09553427
+v -0.02048569 0.02558485 0.09553427
+v -0.02339525 0.02558481 0.10731751
+v -0.01912848 0.03048755 0.10865464
+v -0.01766286 0.03048755 0.10865464
+v -0.00490373 0.02578864 0.10013829
+v -0.00490373 0.02923359 0.10193826
+v -0.00490373 0.02558483 0.10002257
+v -0.01982660 0.02558481 0.10641111
+v -0.01945152 0.02558481 0.10627097
+f 1 2 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 2
+f 2 11 12
+f 2 12 3
+f 2 10 11
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 4 14 5
+f 5 15 16
+f 5 16 6
+f 5 14 15
+f 6 17 7
+f 6 16 17
+f 7 17 8
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 8 17 21
+f 8 21 18
+f 9 20 22
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 10
+f 10 25 26
+f 10 26 11
+f 11 26 42
+f 11 42 53
+f 11 53 54
+f 11 54 43
+f 11 43 28
+f 11 28 27
+f 11 27 13
+f 11 13 12
+f 13 27 14
+f 14 27 15
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 45
+f 15 45 32
+f 15 32 16
+f 16 32 17
+f 17 32 33
+f 17 33 34
+f 17 34 21
+f 18 21 35
+f 18 35 19
+f 19 36 37
+f 19 37 38
+f 19 38 22
+f 19 22 20
+f 19 35 36
+f 21 34 35
+f 22 38 52
+f 22 52 59
+f 22 59 58
+f 22 58 60
+f 22 60 53
+f 22 53 42
+f 22 42 41
+f 22 41 40
+f 22 40 39
+f 22 39 25
+f 22 25 24
+f 22 24 23
+f 25 39 26
+f 26 39 40
+f 26 40 41
+f 26 41 42
+f 28 43 44
+f 28 44 30
+f 28 30 29
+f 30 44 54
+f 30 54 53
+f 30 53 60
+f 30 60 62
+f 30 62 61
+f 30 61 55
+f 30 55 47
+f 30 47 46
+f 30 46 45
+f 30 45 31
+f 32 45 46
+f 32 46 47
+f 32 47 48
+f 32 48 34
+f 32 34 33
+f 34 48 49
+f 34 49 50
+f 34 50 35
+f 35 50 36
+f 36 51 37
+f 36 50 51
+f 37 51 52
+f 37 52 38
+f 43 54 44
+f 47 55 48
+f 48 55 49
+f 49 55 56
+f 49 56 57
+f 49 57 50
+f 50 57 51
+f 51 58 59
+f 51 59 52
+f 51 57 58
+f 55 61 57
+f 55 57 56
+f 57 61 62
+f 57 62 60
+f 57 60 58
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_38.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5cee6e9a974d88477e63e5791ef6003decd060d
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_38.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00228086 0.00499841 0.06053917
+v 0.00228086 0.00599889 0.06657688
+v 0.00211059 0.00461025 0.06053917
+v 0.00228086 0.02188650 0.06053923
+v -0.01020654 -0.00765011 0.06657683
+v -0.00567275 -0.00765009 0.06053912
+v -0.00489066 -0.00650236 0.06053913
+v 0.00228086 0.02466045 0.06657695
+v -0.00319374 0.02352947 0.06053924
+v 0.00228086 0.02282676 0.06239026
+v -0.02676597 -0.00765011 0.06657683
+v -0.02296809 -0.00765009 0.06053912
+v 0.00228086 0.02465041 0.06655094
+v -0.00638557 0.02642053 0.06657696
+v -0.00408838 0.02362985 0.06053924
+v 0.00228086 0.02402133 0.06506221
+v -0.02719886 -0.00436083 0.06657684
+v -0.02589153 0.00304759 0.06053916
+v -0.02585979 0.00288698 0.06053916
+v -0.00830183 0.02653430 0.06657696
+v -0.00428173 0.02362985 0.06053924
+v -0.02589730 0.00311786 0.06053916
+v -0.02608777 0.01415015 0.06657691
+v -0.02613972 0.00675180 0.06053917
+v -0.00919069 0.02645065 0.06657696
+v -0.00911854 0.02414181 0.06264263
+v -0.00645483 0.02325843 0.06053924
+v -0.02582804 0.01581988 0.06657692
+v -0.02599543 0.01415015 0.06569631
+v -0.02574435 0.01277823 0.06191979
+v -0.02583670 0.01037904 0.06053919
+v -0.02166077 0.01951405 0.06657693
+v -0.01172742 0.02382727 0.06316685
+v -0.01213722 0.02457345 0.06564198
+v -0.00870008 0.02277993 0.06053923
+v -0.02563468 0.01638204 0.06657692
+v -0.02557697 0.01244697 0.06053920
+v -0.02373286 0.01815551 0.06657693
+v -0.01866229 0.02005614 0.06320406
+v -0.00911566 0.02264608 0.06053923
+v -0.01157158 0.02147827 0.06053923
+v -0.02122788 0.01620137 0.06053921
+v -0.02258138 0.01660624 0.06274662
+v -0.02161459 0.01592363 0.06053921
+f 1 2 3
+f 1 3 7
+f 1 7 6
+f 1 6 12
+f 1 12 19
+f 1 19 18
+f 1 18 22
+f 1 22 24
+f 1 24 31
+f 1 31 37
+f 1 37 44
+f 1 44 42
+f 1 42 41
+f 1 41 40
+f 1 40 35
+f 1 35 27
+f 1 27 21
+f 1 21 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 16
+f 1 16 13
+f 1 13 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 2 8 14
+f 2 14 20
+f 2 20 25
+f 2 25 32
+f 2 32 38
+f 2 38 36
+f 2 36 28
+f 2 28 23
+f 2 23 17
+f 2 17 11
+f 2 11 5
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 8 13 9
+f 8 9 14
+f 9 15 14
+f 9 13 16
+f 9 16 10
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 14 15 20
+f 15 21 20
+f 17 22 18
+f 17 23 24
+f 17 24 22
+f 20 21 25
+f 21 26 25
+f 21 27 26
+f 23 28 29
+f 23 29 30
+f 23 30 31
+f 23 31 24
+f 25 26 33
+f 25 33 34
+f 25 34 32
+f 26 27 35
+f 26 35 33
+f 28 36 37
+f 28 37 30
+f 28 30 29
+f 30 37 31
+f 32 34 39
+f 32 39 38
+f 33 35 40
+f 33 40 41
+f 33 41 42
+f 33 42 39
+f 33 39 34
+f 36 38 37
+f 37 38 43
+f 37 43 44
+f 38 39 43
+f 39 42 44
+f 39 44 43
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_39.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..587d4a8e11fc20a35492aa942aa2f7c91455998a
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_39.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.02114755 0.03638299 0.08924911
+v 0.01953142 0.04036281 0.08924913
+v 0.01904594 0.04008533 0.09068829
+v 0.01589991 0.01798175 0.09553425
+v 0.01590311 0.01786356 0.09553425
+v 0.01591588 0.01786356 0.09542534
+v 0.01567314 0.01727776 0.09467529
+v 0.01505991 0.01727777 0.09222213
+v 0.01442272 0.01727778 0.09081741
+v 0.01395002 0.01727778 0.08993016
+v 0.01347252 0.01727778 0.08924904
+v 0.01903157 0.04151128 0.08924913
+v 0.01838479 0.04212791 0.09015114
+v 0.01479002 0.04209450 0.09366631
+v 0.01687247 0.04008532 0.09254893
+v 0.01570189 0.01913792 0.09553425
+v 0.01505192 0.04008532 0.09376352
+v 0.01568752 0.01727776 0.09553424
+v 0.01569071 0.01727776 0.09550778
+v 0.01570029 0.01727776 0.09542533
+v 0.00483453 0.01727778 0.08924904
+v 0.01838479 0.04212791 0.08924913
+v 0.01648280 0.04292696 0.08924914
+v 0.01614904 0.04273939 0.09151649
+v 0.01292955 0.04290383 0.09169369
+v 0.01427580 0.04209450 0.09366631
+v 0.00536951 0.03641380 0.09553431
+v 0.00757173 0.03509062 0.09553431
+v 0.00763561 0.03504694 0.09553431
+v 0.01105471 0.03035543 0.09553429
+v 0.01528029 0.02138862 0.09553426
+v 0.00583902 0.01727776 0.09553424
+v 0.00483453 0.01727777 0.09180311
+v 0.00483453 0.03190729 0.08924910
+v 0.01279541 0.04352303 0.08924914
+v 0.01055167 0.04240026 0.09044587
+v 0.00483453 0.03631103 0.09553431
+v 0.00570328 0.01727776 0.09506293
+v 0.00483453 0.02472098 0.09553427
+v 0.01043349 0.04249018 0.08924914
+v 0.01160886 0.04310167 0.08924914
+f 1 2 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 21
+f 1 21 34
+f 1 34 40
+f 1 40 41
+f 1 41 35
+f 1 35 23
+f 1 23 22
+f 1 22 12
+f 1 12 2
+f 2 12 13
+f 2 13 3
+f 3 13 14
+f 3 14 15
+f 3 15 4
+f 4 16 31
+f 4 31 30
+f 4 30 29
+f 4 29 28
+f 4 28 27
+f 4 27 37
+f 4 37 39
+f 4 39 32
+f 4 32 18
+f 4 18 5
+f 4 15 17
+f 4 17 16
+f 5 18 19
+f 5 19 6
+f 6 19 20
+f 6 20 7
+f 7 20 19
+f 7 19 18
+f 7 18 32
+f 7 32 38
+f 7 38 33
+f 7 33 21
+f 7 21 11
+f 7 11 10
+f 7 10 9
+f 7 9 8
+f 12 22 13
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 17
+f 14 17 15
+f 16 17 31
+f 21 33 39
+f 21 39 37
+f 21 37 34
+f 23 35 24
+f 24 35 25
+f 25 35 36
+f 25 36 37
+f 25 37 26
+f 26 37 27
+f 32 39 38
+f 33 38 39
+f 34 37 40
+f 35 41 36
+f 36 41 40
+f 36 40 37
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_4.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8a1622ab67ac6ec734b940381118d54eb439b53
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_4.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.01345584 -0.01938425 0.09553411
+v -0.01639420 -0.02083998 0.09553410
+v -0.01252183 -0.01938428 0.10279336
+v -0.00165124 -0.01938425 0.09553411
+v -0.01937006 -0.02283399 0.09553410
+v -0.01238548 -0.01938428 0.10314494
+v -0.00113311 -0.01938426 0.09872191
+v 0.01170434 -0.02415809 0.09553409
+v -0.01984047 -0.02659020 0.09553408
+v -0.01883148 -0.02397147 0.09788306
+v -0.00934485 -0.01938429 0.10648611
+v -0.00104107 -0.01938428 0.10274263
+v 0.01122370 -0.02459030 0.09772851
+v 0.01295536 -0.02739963 0.10290305
+v 0.01465975 -0.02816775 0.10168315
+v 0.01403253 -0.02655091 0.09553408
+v -0.00261252 -0.01938429 0.10554817
+v -0.01979957 -0.02669825 0.09553408
+v -0.01825880 -0.02847814 0.09732972
+v -0.01871217 -0.02659021 0.09776625
+v -0.00761660 -0.03289250 0.10520244
+v -0.00547248 -0.03029145 0.10698748
+v -0.00183532 -0.03029146 0.10758681
+v -0.00548612 -0.01938429 0.10678813
+v 0.01189523 -0.02789274 0.10520011
+v 0.01409730 -0.03029144 0.10343159
+v 0.01464271 -0.03029143 0.10156988
+v 0.01498358 -0.03791777 0.09553404
+v 0.01465975 -0.02816775 0.10046443
+v -0.01873944 -0.02887104 0.09553407
+v -0.00451121 -0.03636386 0.10533811
+v -0.00562588 -0.03407516 0.10607194
+v -0.00183532 -0.03399658 0.10713494
+v 0.01174184 -0.03309682 0.10531334
+v 0.01227702 -0.03029145 0.10551864
+v 0.01290423 -0.03388263 0.10275910
+v 0.01456089 -0.03219704 0.10108380
+v 0.01274743 -0.03945405 0.09553404
+v 0.01163617 -0.03654458 0.10195329
+v -0.00401353 -0.03602592 0.09553405
+v -0.00482141 -0.03659763 0.10287117
+v -0.00183532 -0.03774492 0.10287116
+v -0.00183532 -0.03666640 0.10559649
+v 0.00180525 -0.03664675 0.10544547
+v 0.00544242 -0.03643458 0.10521423
+v 0.00794105 -0.03613990 0.10497001
+v 0.00912731 -0.03419696 0.10551272
+v 0.01036810 -0.03556624 0.10443439
+v 0.00544242 -0.03910044 0.09914892
+v 0.00894664 -0.03909650 0.09553404
+v 0.00912731 -0.03710448 0.10306464
+v 0.00544242 -0.03811426 0.10287116
+v -0.00189327 -0.03701408 0.09553404
+v 0.00180525 -0.03851304 0.09914892
+v 0.00180525 -0.03821248 0.10287116
+v 0.00544242 -0.03862108 0.09553404
+v 0.00180525 -0.03800028 0.09553404
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 24
+f 1 24 17
+f 1 17 12
+f 1 12 7
+f 1 7 4
+f 1 4 8
+f 1 8 16
+f 1 16 28
+f 1 28 38
+f 1 38 50
+f 1 50 56
+f 1 56 57
+f 1 57 53
+f 1 53 40
+f 1 40 30
+f 1 30 18
+f 1 18 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 8
+f 5 9 10
+f 5 10 6
+f 6 10 11
+f 7 12 8
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 12 17
+f 8 17 13
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 13 17 14
+f 14 25 15
+f 14 17 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 16 29 28
+f 17 24 25
+f 18 30 19
+f 19 30 31
+f 19 31 21
+f 19 21 20
+f 21 31 32
+f 21 32 22
+f 22 32 33
+f 22 33 23
+f 23 33 34
+f 23 34 35
+f 23 35 24
+f 24 35 25
+f 25 35 26
+f 26 36 37
+f 26 37 27
+f 26 35 34
+f 26 34 36
+f 27 37 28
+f 28 37 36
+f 28 36 34
+f 28 34 39
+f 28 39 38
+f 30 40 41
+f 30 41 31
+f 31 33 32
+f 31 41 42
+f 31 42 43
+f 31 43 33
+f 33 43 44
+f 33 44 45
+f 33 45 46
+f 33 46 47
+f 33 47 34
+f 34 47 46
+f 34 46 48
+f 34 48 39
+f 38 49 50
+f 38 39 51
+f 38 51 52
+f 38 52 49
+f 39 48 51
+f 40 53 41
+f 41 53 42
+f 42 53 54
+f 42 54 49
+f 42 49 55
+f 42 55 43
+f 43 55 52
+f 43 52 44
+f 44 52 45
+f 45 52 46
+f 46 52 51
+f 46 51 48
+f 49 52 55
+f 49 54 56
+f 49 56 50
+f 53 57 54
+f 54 57 56
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_40.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1caa4e865b48cc9e50848b9636d0f286196e1367
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_40.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.01292839 -0.01177698 0.07060303
+v 0.01292839 -0.02209441 0.07060299
+v 0.01292839 -0.01177700 0.07722754
+v 0.01948798 -0.01177698 0.07060303
+v 0.01304075 -0.02216275 0.07060299
+v 0.01292839 -0.02561848 0.07597620
+v 0.01292839 -0.01364698 0.07988643
+v 0.01294991 -0.01177700 0.07724753
+v 0.02160598 -0.01656372 0.07060301
+v 0.02858629 -0.01177701 0.07988553
+v 0.03657301 -0.02077892 0.07475580
+v 0.01479778 -0.02286166 0.07060299
+v 0.01373400 -0.02503294 0.07454134
+v 0.01292839 -0.02764376 0.07988638
+v 0.01636835 -0.02424549 0.07202057
+v 0.01584005 -0.01177701 0.07988644
+v 0.02253111 -0.01917608 0.07060300
+v 0.03092661 -0.01453071 0.07988643
+v 0.03462235 -0.01650784 0.07988642
+v 0.01625361 -0.01177701 0.07988644
+v 0.03697462 -0.02023068 0.07681042
+v 0.03734754 -0.02288342 0.07681041
+v 0.03658736 -0.02288341 0.07474036
+v 0.02253350 -0.01923510 0.07060300
+v 0.01636835 -0.02338816 0.07060298
+v 0.02000911 -0.02463843 0.07153259
+v 0.03456737 -0.02590270 0.07681039
+v 0.03094812 -0.02692777 0.07988638
+v 0.03704873 -0.01980358 0.07988641
+v 0.03680011 -0.02520225 0.07966194
+v 0.03675947 -0.02515720 0.07681040
+v 0.03647022 -0.02483103 0.07486393
+v 0.03711327 -0.02026486 0.07988641
+v 0.03721367 -0.02303408 0.07988640
+v 0.02245461 -0.02210528 0.07060299
+v 0.01844810 -0.02378111 0.07060298
+v 0.01988959 -0.02371432 0.07060298
+v 0.03456737 -0.02505779 0.07465857
+v 0.03478252 -0.02597726 0.07988638
+v 0.03639851 -0.02536533 0.07988639
+v 0.03687661 -0.02476737 0.07988639
+v 0.02240680 -0.02218915 0.07060299
+f 1 2 6
+f 1 6 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 20
+f 1 20 10
+f 1 10 4
+f 1 4 9
+f 1 9 17
+f 1 17 24
+f 1 24 35
+f 1 35 42
+f 1 42 37
+f 1 37 36
+f 1 36 25
+f 1 25 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 10 11
+f 4 11 9
+f 5 12 13
+f 5 13 6
+f 6 13 15
+f 6 15 14
+f 7 14 28
+f 7 28 39
+f 7 39 40
+f 7 40 41
+f 7 41 34
+f 7 34 33
+f 7 33 29
+f 7 29 19
+f 7 19 18
+f 7 18 20
+f 7 20 16
+f 7 16 8
+f 9 11 17
+f 10 18 19
+f 10 19 11
+f 10 20 18
+f 11 19 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 17
+f 12 25 13
+f 13 25 15
+f 14 15 26
+f 14 26 27
+f 14 27 28
+f 15 25 26
+f 19 29 21
+f 21 29 22
+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 22 29 33
+f 22 33 34
+f 22 34 30
+f 23 32 35
+f 23 35 24
+f 25 36 26
+f 26 36 37
+f 26 37 38
+f 26 38 27
+f 27 38 32
+f 27 32 31
+f 27 31 39
+f 27 39 28
+f 30 40 31
+f 30 34 41
+f 30 41 40
+f 31 40 39
+f 32 38 37
+f 32 37 42
+f 32 42 35
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_41.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b478d6249074ce27330b2faad3416289d572c3ad
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_41.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.02676626 -0.00765183 0.06657683
+v -0.02296761 -0.00765181 0.06053912
+v -0.02293349 -0.00801815 0.06053912
+v -0.02672076 -0.00809384 0.06657683
+v -0.01020690 -0.00765183 0.06657683
+v -0.00567184 -0.00765181 0.06053912
+v -0.02204354 -0.00954368 0.06053911
+v -0.02629427 -0.00884715 0.06657683
+v 0.00228086 -0.01395520 0.06657681
+v 0.00228086 -0.01243481 0.06053910
+v -0.01568593 -0.01914407 0.06053908
+v -0.01507178 -0.02158460 0.06274943
+v -0.01544141 -0.02222784 0.06564181
+v -0.01493530 -0.02312218 0.06657678
+v 0.00228086 -0.02376370 0.06657677
+v 0.00228086 -0.02082096 0.06053907
+v -0.01293362 -0.02050450 0.06053907
+v -0.01275449 -0.02055438 0.06053907
+v -0.01058222 -0.02481455 0.06657677
+v -0.01223986 -0.02445509 0.06657677
+v -0.01285969 -0.02424870 0.06657677
+v -0.00547565 -0.02522044 0.06657677
+v -0.00911792 -0.02499169 0.06657677
+v -0.00629452 -0.02520152 0.06657677
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 21
+f 1 21 20
+f 1 20 19
+f 1 19 23
+f 1 23 24
+f 1 24 22
+f 1 22 15
+f 1 15 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 16
+f 2 16 18
+f 2 18 17
+f 2 17 11
+f 2 11 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 6
+f 6 9 10
+f 7 11 8
+f 8 11 12
+f 8 12 13
+f 8 13 14
+f 9 15 16
+f 9 16 10
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 14
+f 12 14 13
+f 15 22 16
+f 16 22 18
+f 18 23 19
+f 18 22 24
+f 18 24 23
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_42.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..913cac6e2127db87e3d4f94bf63e18b0b0bfaa50
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_42.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.02196396 0.02155987 0.08234168
+v 0.02856096 0.00710360 0.08234163
+v 0.03197456 0.00710358 0.08732361
+v 0.03332326 0.00710357 0.08910101
+v 0.03349998 0.00710357 0.08924839
+v 0.03330000 0.01415765 0.08924841
+v 0.02394980 0.02155986 0.08325235
+v 0.04290832 0.02155987 0.08234168
+v 0.04460117 0.00710360 0.08234163
+v 0.04247348 0.00710357 0.08924839
+v 0.03348836 0.01450575 0.08924841
+v 0.02743549 0.02155986 0.08476946
+v 0.04218979 0.02155986 0.08435908
+v 0.04411052 0.02050280 0.08324559
+v 0.04415238 0.02057215 0.08234168
+v 0.04571501 0.01415768 0.08234165
+v 0.04491277 0.00710359 0.08425694
+v 0.04290367 0.00710357 0.08884005
+v 0.04305482 0.01045585 0.08913009
+v 0.04291762 0.01045585 0.08924840
+v 0.03506029 0.01709249 0.08924842
+v 0.03128626 0.02155985 0.08642854
+v 0.04203864 0.02155986 0.08452878
+v 0.04456629 0.01781560 0.08439423
+v 0.04456862 0.01962406 0.08234167
+v 0.04314783 0.01902124 0.08572744
+v 0.04535458 0.01415767 0.08425696
+v 0.04516856 0.01045587 0.08425695
+v 0.04504996 0.01784108 0.08234167
+v 0.04415471 0.00710358 0.08697882
+v 0.04384311 0.01655336 0.08633996
+v 0.04193400 0.01447604 0.08891173
+v 0.04283159 0.01075442 0.08924840
+v 0.04429190 0.01045586 0.08726886
+v 0.04410820 0.01415766 0.08684971
+v 0.03752748 0.01725663 0.08924842
+v 0.03456499 0.02155985 0.08672939
+v 0.04188285 0.02155986 0.08463965
+v 0.04072017 0.02036695 0.08640555
+v 0.04165961 0.01423548 0.08924841
+v 0.04032487 0.01631562 0.08924842
+v 0.04116897 0.01502508 0.08924842
+v 0.03815067 0.01725663 0.08924842
+v 0.03787163 0.02155985 0.08657931
+v 0.03793209 0.02155985 0.08655970
+v 0.03915987 0.01688023 0.08924842
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 22
+f 1 22 37
+f 1 37 44
+f 1 44 45
+f 1 45 38
+f 1 38 23
+f 1 23 13
+f 1 13 8
+f 1 8 15
+f 1 15 25
+f 1 25 29
+f 1 29 16
+f 1 16 9
+f 1 9 2
+f 2 9 17
+f 2 17 30
+f 2 30 18
+f 2 18 10
+f 2 10 5
+f 2 5 4
+f 2 4 3
+f 5 10 20
+f 5 20 33
+f 5 33 40
+f 5 40 42
+f 5 42 41
+f 5 41 46
+f 5 46 43
+f 5 43 36
+f 5 36 21
+f 5 21 11
+f 5 11 6
+f 6 11 7
+f 7 11 12
+f 8 13 14
+f 8 14 15
+f 9 16 17
+f 10 18 19
+f 10 19 20
+f 11 21 12
+f 12 21 22
+f 13 23 14
+f 14 24 25
+f 14 25 15
+f 14 23 26
+f 14 26 24
+f 16 27 28
+f 16 28 17
+f 16 29 27
+f 17 28 30
+f 18 30 19
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 19 30 34
+f 19 34 35
+f 19 35 31
+f 21 36 37
+f 21 37 22
+f 23 38 39
+f 23 39 26
+f 24 26 31
+f 24 31 35
+f 24 35 27
+f 24 27 29
+f 24 29 25
+f 26 40 32
+f 26 32 31
+f 26 39 41
+f 26 41 42
+f 26 42 40
+f 27 35 34
+f 27 34 28
+f 28 34 30
+f 32 40 33
+f 36 43 37
+f 37 43 44
+f 38 45 39
+f 39 45 41
+f 41 45 44
+f 41 44 46
+f 43 46 44
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_43.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73e670c61b642a75de6c56420c61125855132c83
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_43.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.02414220 0.00697771 0.08860450
+v 0.02414220 0.00697771 0.08960450
+v 0.02414220 0.00797770 0.08860450
+v 0.02414220 0.00797770 0.08960450
+v 0.02588940 0.00697771 0.08860450
+v 0.02588940 0.00697771 0.08960450
+v 0.02588940 0.00797770 0.08860450
+v 0.02588940 0.00797770 0.08960450
+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/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_44.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..772e1b34d320fa12e1a1543671769d7c9f8417c4
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_44.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.01535259 -0.00906844 0.09553415
+v -0.01493488 -0.00906842 0.08924895
+v -0.01952013 -0.01654179 0.08924892
+v -0.01895893 -0.01654179 0.08988082
+v -0.01225961 -0.01654181 0.09553412
+v 0.00940715 -0.00906844 0.09553415
+v 0.01015648 -0.00906842 0.08924895
+v 0.01264043 -0.01654179 0.08924892
+v 0.01163282 -0.01654181 0.09553412
+v 0.01194849 -0.01163492 0.09553414
+v 0.01302306 -0.00906844 0.09552431
+v 0.01247143 -0.00906843 0.09163689
+v 0.01186240 -0.01395702 0.08924893
+v 0.01302306 -0.00906844 0.09515021
+v 0.01305495 -0.00906844 0.09542524
+v 0.01264362 -0.01654179 0.09060256
+v 0.01190704 -0.01547585 0.09553412
+v 0.01192936 -0.01547585 0.09542521
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 17
+f 1 17 10
+f 1 10 6
+f 1 6 11
+f 1 11 15
+f 1 15 14
+f 1 14 12
+f 1 12 7
+f 1 7 2
+f 2 7 13
+f 2 13 8
+f 2 8 3
+f 3 8 16
+f 3 16 9
+f 3 9 5
+f 3 5 4
+f 6 10 11
+f 7 12 13
+f 8 13 12
+f 8 12 14
+f 8 14 15
+f 8 15 16
+f 9 16 17
+f 10 17 11
+f 11 17 15
+f 15 17 18
+f 15 18 16
+f 16 18 17
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_45.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3ec54a56e33a7c7e31766fb67840e4c64caebf0
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_45.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.01256332 -0.00133505 0.09553418
+v 0.01256332 -0.01016792 0.09553414
+v 0.01256332 -0.00133506 0.09789422
+v 0.02572699 -0.00133505 0.09553418
+v 0.01502595 -0.00684263 0.09822419
+v 0.01256332 -0.00806952 0.09834427
+v 0.02572699 -0.00292593 0.09553417
+v 0.01256332 -0.00445717 0.09878635
+v 0.01287002 -0.00133506 0.09824719
+v 0.02572699 -0.00133505 0.09637934
+v 0.02364709 -0.00133506 0.09813162
+v 0.02286487 -0.00133506 0.09846056
+v 0.01256332 -0.00798133 0.09835611
+v 0.02017673 -0.00133506 0.09896007
+v 0.01998987 -0.00133506 0.09899454
+v 0.01256332 -0.00462490 0.09878323
+v 0.01268187 -0.00446581 0.09882360
+v 0.01531590 -0.00133506 0.09909026
+f 1 2 6
+f 1 6 13
+f 1 13 16
+f 1 16 8
+f 1 8 3
+f 1 3 9
+f 1 9 18
+f 1 18 15
+f 1 15 14
+f 1 14 12
+f 1 12 11
+f 1 11 10
+f 1 10 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 7 5
+f 3 8 9
+f 4 10 7
+f 5 7 11
+f 5 11 12
+f 5 12 6
+f 6 12 14
+f 6 14 15
+f 6 15 13
+f 7 10 11
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 13 15 17
+f 13 17 16
+f 15 18 17
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_46.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d5ce799c8e32914156ee5f07890c2ddd50c0584
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_46.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.02339508 0.02558370 0.10731663
+v -0.02330574 0.01417626 0.10675948
+v -0.01982987 0.02558370 0.10641118
+v -0.02661642 0.02558370 0.10586792
+v -0.02949219 0.02381591 0.10533733
+v -0.02731598 0.02156569 0.10721511
+v -0.02731598 0.01786260 0.10709976
+v -0.02003889 0.01417627 0.10460717
+v -0.01945396 0.02558370 0.10627161
+v -0.02741881 0.01417626 0.10623813
+v -0.02674285 0.02558370 0.10563492
+v -0.02942814 0.02374780 0.10287128
+v -0.03028952 0.02156570 0.10287127
+v -0.02992373 0.02156569 0.10596249
+v -0.02705133 0.02558371 0.10313196
+v -0.02705133 0.02558371 0.10311466
+v -0.03011084 0.01786260 0.10616894
+v -0.01344788 0.01417628 0.09961624
+v -0.01806833 0.02558370 0.10491402
+v -0.02767503 0.01417626 0.10614355
+v -0.02917023 0.02345969 0.10095774
+v -0.03066880 0.01786261 0.10287126
+v -0.02950231 0.02156571 0.10027950
+v -0.02703447 0.02558371 0.10308928
+v -0.02974168 0.01521259 0.10561297
+v -0.01344788 0.01417630 0.09553539
+v -0.01344788 0.02558373 0.09860473
+v -0.02911292 0.01417627 0.10287124
+v -0.02393282 0.02558373 0.09923680
+v -0.02048728 0.02558374 0.09553543
+v -0.02559153 0.02348427 0.09719523
+v -0.02626243 0.02121619 0.09553542
+v -0.02969448 0.01786262 0.09982042
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+v -0.02435087 0.02284439 0.09553542
+v -0.02670239 0.01451467 0.09553539
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+f 31 41 42
+f 31 42 32
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+f 34 43 39
+f 34 39 40
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_47.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37493b841b20102e755c21a51fac61d1e73b9a2c
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_47.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.02276711 -0.00099634 0.09553418
+v -0.02138472 -0.00099632 0.08924898
+v -0.02012605 -0.00363436 0.08924897
+v -0.01535167 -0.00906771 0.09553415
+v 0.02082102 -0.00099634 0.09553418
+v 0.02082102 -0.00099632 0.08924898
+v -0.01493354 -0.00906769 0.08924895
+v 0.00940346 -0.00906771 0.09553415
+v 0.02082102 -0.00356407 0.09553417
+v 0.02082102 -0.00710357 0.08924895
+v 0.01015439 -0.00906769 0.08924895
+v 0.01302158 -0.00906771 0.09552431
+v 0.01312824 -0.00880224 0.09553415
+v 0.02082102 -0.00378845 0.09536866
+v 0.01322211 -0.00875326 0.09553415
+v 0.02082102 -0.00621632 0.09098900
+v 0.01305144 -0.00906771 0.09542524
+v 0.01302158 -0.00906771 0.09515021
+v 0.01247118 -0.00906770 0.09163689
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 15
+f 1 15 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 11
+f 2 11 7
+f 2 7 3
+f 3 7 4
+f 4 7 11
+f 4 11 19
+f 4 19 18
+f 4 18 17
+f 4 17 12
+f 4 12 8
+f 5 9 14
+f 5 14 16
+f 5 16 10
+f 5 10 6
+f 8 12 13
+f 9 15 12
+f 9 12 14
+f 10 16 12
+f 10 12 17
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 12 16 14
+f 12 15 13
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_48.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33fa4e8e581138469966e8361f06efc2b10ff49a
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_48.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.01495313 0.02272474 0.09827265
+v 0.01281061 0.02272474 0.09897857
+v 0.01488070 0.02272475 0.09663757
+v 0.01462284 0.02347528 0.09718092
+v 0.01462284 0.02347528 0.09769392
+v 0.01105198 0.03035530 0.09553429
+v 0.00758542 0.03507976 0.09793384
+v 0.00446942 0.03564113 0.10173652
+v 0.00487359 0.03267862 0.10203275
+v 0.01275122 0.02272474 0.09897857
+v 0.00180540 0.03267861 0.10291568
+v 0.00451867 0.02897470 0.10168953
+v 0.00399572 0.02682527 0.10127840
+v 0.01408250 0.02272475 0.09553426
+v 0.00763467 0.03504774 0.09553431
+v 0.00382188 0.03830772 0.09791579
+v 0.00535888 0.03659458 0.09916575
+v 0.00180540 0.03611556 0.10211801
+v 0.00015396 0.02273390 0.09553426
+v 0.01270196 0.02272474 0.09893810
+v 0.00295416 0.02682527 0.10127840
+v 0.00015396 0.03267861 0.10274444
+v 0.00176628 0.02886791 0.10180875
+v 0.00015396 0.03634591 0.10211729
+v 0.00913834 0.02272475 0.09553426
+v 0.00757093 0.03509198 0.09553431
+v 0.00382188 0.03830772 0.09713834
+v 0.00331487 0.03830772 0.09791579
+v 0.00015396 0.03718037 0.10059926
+v 0.01124754 0.02272474 0.09755879
+v 0.00015396 0.02571014 0.09911947
+v 0.00015396 0.03474264 0.09553431
+v 0.00015396 0.02717003 0.10040197
+v 0.00015396 0.02934845 0.10164257
+v 0.00015396 0.02852010 0.10125311
+v 0.00537047 0.03641458 0.09553431
+v 0.00331487 0.03830772 0.09713834
+v 0.00015396 0.03769752 0.09915059
+v 0.00015396 0.03631695 0.09627491
+v 0.00235588 0.03602253 0.09553431
+v 0.00015396 0.03713461 0.09791362
+f 1 2 10
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+f 28 38 29
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+f 36 40 37
+f 37 41 38
+f 37 40 39
+f 37 39 41
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_5.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..751db33dd2f7cfa39e3953b0abcd45d8ef3f696f
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_5.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v -0.00427984 0.02363137 0.06053924
+v -0.00408525 0.02363137 0.06053924
+v -0.00384087 0.02345074 0.05997859
+v -0.00645208 0.02325690 0.06053924
+v -0.00356029 0.02345074 0.05997859
+v -0.00318920 0.02353004 0.06053924
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+v -0.00869671 0.02277669 0.06053923
+v -0.00096267 0.01908488 0.05258416
+v -0.00183608 0.01926110 0.05258416
+v -0.00484553 0.01936684 0.05258416
+v 0.00544541 0.02112021 0.06053923
+v 0.00548162 0.01755616 0.05258415
+v 0.00190196 0.01848133 0.05258416
+v -0.00923977 0.01798350 0.05258416
+v -0.00911306 0.02264453 0.06053923
+v 0.00684379 0.02071931 0.06053923
+v 0.00838245 0.02022589 0.06053922
+v 0.00714699 0.01693939 0.05258415
+v -0.01371095 0.01567059 0.05258415
+v -0.01156587 0.02147706 0.06053923
+v 0.01026053 0.01946813 0.06053922
+v 0.00822406 0.01652086 0.05258415
+v -0.01620901 0.01388195 0.05258414
+v -0.02149477 0.01583797 0.06026356
+v -0.02122777 0.01620363 0.06053921
+v 0.01032841 0.01943289 0.06053922
+v 0.01027863 0.01945051 0.06052132
+v 0.01268166 0.01811123 0.06053922
+v 0.00996637 0.01541948 0.05258415
+v -0.01906007 0.01127387 0.05258413
+v -0.02551340 0.01232676 0.06003228
+v -0.02161244 0.01592168 0.06053921
+v 0.01470455 0.01640629 0.06053921
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+v -0.02239082 0.00672295 0.05258411
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+v -0.02583471 0.01037951 0.06053919
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+v 0.01819369 0.00487701 0.05631168
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+v -0.02552698 0.00115432 0.05997071
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+v 0.01810318 -0.00221151 0.06050566
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+v -0.02552698 0.00115432 0.06011711
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+v -0.02157623 -0.00522487 0.05258407
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+v -0.01275607 -0.01616822 0.05258403
+v -0.00897277 -0.01719911 0.05258403
+v -0.00781425 -0.01748547 0.05258403
+v -0.01275607 -0.02055176 0.06053907
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+v 0.00579388 -0.02082931 0.06053907
+v 0.00460820 -0.01734450 0.05258403
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+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_6.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..833f3c70dda91b6fa5150aea507668a29c1d1982
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_6.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.01113402 -0.03981497 0.08924821
+v 0.01015431 -0.03993006 0.08924821
+v 0.00911244 -0.03148645 0.08234148
+v 0.01113402 -0.03071759 0.08234149
+v 0.01113402 0.00333295 0.08924837
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+v 0.00834476 -0.03150026 0.08234148
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+v -0.01936510 -0.02959424 0.08234149
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+v 0.00917824 0.00710356 0.08924839
+v -0.01948574 -0.02658791 0.08924826
+v -0.02553585 -0.01736163 0.08247811
+v -0.02563820 -0.01720509 0.08234154
+v 0.01113402 0.00329613 0.08786986
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+v -0.02220920 0.00710356 0.08924839
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+v -0.02579540 -0.01547862 0.08274854
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+v -0.02223479 0.00700228 0.08924839
+v -0.02220555 0.00710356 0.08920715
+v -0.02226769 0.00564873 0.08924838
+v -0.02614634 -0.01455784 0.08234155
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+f 1 11 5
+f 1 5 13
+f 1 13 19
+f 1 19 25
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+f 1 20 14
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+f 3 18 12
+f 3 12 10
+f 3 10 4
+f 5 11 12
+f 5 12 13
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 10 12 17
+f 11 17 12
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+f 12 23 26
+f 12 26 19
+f 12 19 13
+f 14 20 21
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+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_7.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94189d799be584326267186523db5a93f30d6b21
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_7.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.04457002 -0.01177443 0.08234156
+v 0.04408986 -0.01357605 0.08234155
+v 0.04393807 -0.01389118 0.08200798
+v 0.04439654 -0.01177443 0.08150308
+v 0.04429741 -0.00806934 0.08165738
+v 0.04435007 -0.00804387 0.08234157
+v 0.04395355 -0.01390709 0.08234155
+v 0.03687818 -0.02476454 0.07988639
+v 0.04184705 -0.01177442 0.08008783
+v 0.04184705 -0.00806933 0.08029547
+v 0.04154657 -0.00347616 0.08153171
+v 0.04380486 -0.00605127 0.08221349
+v 0.04380486 -0.00605127 0.08234158
+v 0.03030466 -0.03367397 0.08234148
+v 0.03639802 -0.02536614 0.07988639
+v 0.03721275 -0.02303295 0.07988640
+v 0.03820714 -0.01177442 0.07989653
+v 0.03780443 -0.00347615 0.07988647
+v 0.04029506 -0.00347616 0.08086866
+v 0.04164879 -0.00347616 0.08189604
+v 0.04177271 -0.00347616 0.08234159
+v 0.02876195 -0.03560610 0.08234147
+v 0.02756620 -0.03434560 0.08133284
+v 0.03478098 -0.02597729 0.07988638
+v 0.03769910 -0.00753139 0.07988645
+v 0.01553745 -0.00347615 0.07988647
+v 0.01292601 -0.00347616 0.08234159
+v 0.02777066 -0.03589257 0.08234147
+v 0.02653773 -0.03597534 0.08216892
+v 0.02364749 -0.03399546 0.08104471
+v 0.03094590 -0.02692585 0.07988638
+v 0.01292601 -0.00347616 0.08049857
+v 0.01292601 -0.01364607 0.07988643
+v 0.01292601 -0.02969195 0.08234149
+v 0.02663686 -0.03599125 0.08234147
+v 0.02364749 -0.03599443 0.08234147
+v 0.02364749 -0.03597215 0.08218118
+v 0.02172685 -0.03588621 0.08233619
+v 0.01292601 -0.02764204 0.07988638
+v 0.02172685 -0.03588621 0.08234147
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 21
+f 1 21 27
+f 1 27 34
+f 1 34 40
+f 1 40 36
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+f 1 35 28
+f 1 28 22
+f 1 22 14
+f 1 14 7
+f 1 7 2
+f 2 7 3
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+f 4 9 10
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+f 5 10 11
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+f 22 28 29
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+f 23 31 24
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+f 27 39 34
+f 28 35 29
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+f 29 36 37
+f 29 37 30
+f 30 37 38
+f 30 38 39
+f 30 39 31
+f 34 39 38
+f 34 38 40
+f 36 40 38
+f 36 38 37
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_8.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44cf8f044c837303581c25f458fe06edaf5c9989
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_8.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.01292600 0.01487140 0.07060312
+v 0.01126015 0.01147927 0.07967243
+v 0.00946258 0.00661541 0.08053304
+v 0.00946258 0.00661541 0.08036068
+v 0.00945160 0.00661543 0.07681017
+v 0.00843891 0.00721577 0.07060310
+v 0.01292600 0.02402782 0.07060316
+v 0.01292600 0.02314990 0.08234169
+v 0.01058229 0.01198920 0.08234164
+v 0.01023375 0.01038514 0.08234164
+v 0.00922107 0.00661541 0.08234162
+v 0.00940769 0.00661543 0.07663782
+v 0.00829895 0.00661544 0.07284255
+v 0.00746740 0.00661545 0.07060309
+v 0.00885606 0.02611279 0.07060317
+v 0.00729724 0.03455591 0.07492931
+v 0.01292600 0.03885815 0.08180859
+v 0.01292600 0.03895175 0.08234174
+v -0.01511076 0.00661541 0.08234162
+v -0.01511076 0.00661545 0.07060309
+v 0.00544478 0.02729728 0.07060317
+v 0.00544478 0.03454946 0.07493391
+v 0.01272566 0.03958757 0.08234175
+v 0.01292600 0.03948429 0.08233945
+v 0.00344685 0.02745543 0.07060317
+v -0.00572767 0.02806866 0.07060317
+v -0.00890568 0.02816225 0.07060317
+v -0.01511076 0.02238176 0.08234168
+v -0.01511076 0.01660457 0.07060313
+v 0.00362250 0.03453009 0.07494999
+v 0.00973976 0.03898403 0.08162819
+v 0.00963273 0.03930032 0.08234174
+v -0.01127135 0.02755225 0.07060317
+v -0.01511076 0.02165880 0.08045497
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+v -0.01127135 0.02755225 0.07212794
+v -0.00729472 0.03082492 0.07494882
+v -0.00749780 0.03096368 0.08166033
+f 1 2 3
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+f 33 36 35
+f 33 35 38
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+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_9.obj b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81cb5fe5680785b07885f58f1f0e7da8c9db519c
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/carrot_collision_9.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.01349527 0.01331608 0.07060312
+v 0.01292600 0.00150598 0.07060308
+v 0.01292600 0.00171965 0.07344809
+v 0.01292600 0.00191031 0.07622990
+v 0.01292600 0.00189881 0.07643443
+v 0.01292600 0.00065449 0.08234160
+v 0.01370754 0.01331608 0.07084556
+v 0.02427592 0.01331608 0.07060312
+v 0.01292600 -0.00347612 0.07060306
+v 0.01748012 0.01331607 0.07429611
+v 0.01590419 0.01331607 0.07293795
+v 0.01426394 0.01331608 0.07147293
+v 0.01292600 -0.00347616 0.08234159
+v 0.02751141 0.01331604 0.08234165
+v 0.04468263 0.01331605 0.07766738
+v 0.03347743 0.00514023 0.07106845
+v 0.02970485 0.00554952 0.07060309
+v 0.02008523 -0.00347612 0.07060306
+v 0.04177198 -0.00347616 0.08234159
+v 0.04544164 0.01331604 0.08234165
+v 0.04553170 0.01331605 0.07971036
+v 0.04421628 0.00304610 0.08165219
+v 0.04440925 0.01151946 0.07795233
+v 0.04017675 0.00470135 0.07480395
+v 0.04017675 0.00517146 0.07480395
+v 0.03347743 0.00430851 0.07106845
+v 0.02974022 0.00405210 0.07060308
+v 0.02892010 0.00314805 0.07060308
+v 0.03464169 0.00306257 0.07223471
+v 0.03266374 -0.00247019 0.07499237
+v 0.03194653 -0.00347614 0.07578865
+v 0.04164976 -0.00347616 0.08189577
+v 0.04378853 0.00102926 0.08219108
+v 0.04378853 0.00102926 0.08234160
+v 0.04439317 0.00402576 0.08234161
+v 0.04578256 0.01331604 0.08053422
+v 0.04421949 0.00303953 0.08234161
+v 0.04154684 -0.00347616 0.08153152
+v 0.03784501 0.00329762 0.07422598
+f 1 2 3
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+f 18 28 26
+f 18 26 29
+f 18 29 30
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+f 19 32 33
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+f 20 35 36
+f 21 36 22
+f 22 33 24
+f 22 24 23
+f 22 36 35
+f 22 35 37
+f 22 37 33
+f 24 33 38
+f 24 38 39
+f 24 39 29
+f 24 29 26
+f 26 28 27
+f 29 39 38
+f 29 38 30
+f 30 38 31
+f 32 38 33
+f 33 37 34
+
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/material_0.png b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..193c6aea50b2b5b26042be5e7fce55233fd84498
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61cc3340cc42fb0235590a99871c008cea5eff9c0f876b839ee3b1db4bf2d735
+size 2650120
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/textures/material_0.png b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..193c6aea50b2b5b26042be5e7fce55233fd84498
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61cc3340cc42fb0235590a99871c008cea5eff9c0f876b839ee3b1db4bf2d735
+size 2650120
diff --git a/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/video.mp4 b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2aa259dd67f2e826970d8293bfaf0e28cf91c8a0
--- /dev/null
+++ b/dataset/food/ingredients/20e6e6d0a512585b83fdea02a7a73207/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7953dc515db4260ab0ed1959f37df3853b0a59055c4872927bae1bc78947ce05
+size 182628