diff --git a/.gitattributes b/.gitattributes
index 4a0a0b5f0af0482170e424456131a1b7d36e5b8e..2864a0807b12d4901da1bd8f096f8bf9f75f3299 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3634,5 +3634,6 @@ dataset/food/ingredients/2f31765704495c429ae7172cb7d1f511/chili_009.usd filter=l
 dataset/food/ingredients/2f31765704495c429ae7172cb7d1f511/mesh/chili_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/55f0432e80305a688fe91bf0b790fa36/chili_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/55f0432e80305a688fe91bf0b790fa36/mesh/chili_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/5cdbf4e7e9675a96b1f1d227a68afe2d/garlic_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/5cdbf4e7e9675a96b1f1d227a68afe2d/mesh/garlic_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/79349d5a7ef75f1fb933210dff678c5f.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mesh/tomato.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mesh/tomato_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/79349d5a7ef75f1fb933210dff678c5f.urdf b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/79349d5a7ef75f1fb933210dff678c5f.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..53ef4896cac148e05fb395be8aa235d760704683
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/79349d5a7ef75f1fb933210dff678c5f.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tomato">
+   <link name="tomato">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/tomato.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/tomato_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>0.100000</scale>
+         <version>v0.1.7</version>
+         <category>tomato</category>
+         <description>round red tomato with green stem and smooth surface</description>
+         <min_height>0.08</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.1</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20260120012251</generate_time>
+         <gs_model>mesh/tomato_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.324544906616211</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/79349d5a7ef75f1fb933210dff678c5f.usd b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/79349d5a7ef75f1fb933210dff678c5f.usd
new file mode 100644
index 0000000000000000000000000000000000000000..4084518aacdbbbfbaa63969a544658b3d133c0db
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/79349d5a7ef75f1fb933210dff678c5f.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64967fa6a399f3bcdb8776513c50dbac97262ee3af29dcae68b59d3e2ad50a1e
+size 299502
diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mesh/material.mtl b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/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/79349d5a7ef75f1fb933210dff678c5f/mesh/material_0.png b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7325c4406f05d7d1bea2a3489b2f17f05a9b3d4
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae138583853fd9047cce130bed7ef284cf4cf1c880ffb87e8fd5e507dd121a29
+size 1857252
diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mesh/tomato.glb b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mesh/tomato.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9325934bb640685fb374049a1e8eeb1678bd564d
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mesh/tomato.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:475d0bd0f876c825cce4c7c600aa15968386f3cb1dbb1a399ba1e32520148416
+size 2062428
diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mesh/tomato.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mesh/tomato.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b39c65ba70c8fb17870c45b8422c4c38636e62e1
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mesh/tomato.obj
@@ -0,0 +1,18718 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mesh/tomato_collision.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mesh/tomato_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c70411a7d5b8ac9262510653d5d4e8c4aec2b318
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mesh/tomato_collision.obj
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mesh/tomato_gs.ply b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mesh/tomato_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f0cac149b6827a7b1168a49281270a0f75bfbee6
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mesh/tomato_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fab2561f64b4ef4d2108081feba5170dff31000c95324f61b0a577fbd70ef1e
+size 4039977
diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/79349d5a7ef75f1fb933210dff678c5f.xml b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/79349d5a7ef75f1fb933210dff678c5f.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4c0e6206383bc97de97631590cdc8bbed137c947
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/79349d5a7ef75f1fb933210dff678c5f.xml
@@ -0,0 +1,86 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tomato">
+  <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" />
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+    <mesh name="collision_mesh_0_16" file="mesh/tomato_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tomato_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_24" file="mesh/tomato_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/tomato_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/tomato_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/tomato_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_34" file="mesh/tomato_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/tomato_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tomato">
+      <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" />
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/material_0.png b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7325c4406f05d7d1bea2a3489b2f17f05a9b3d4
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae138583853fd9047cce130bed7ef284cf4cf1c880ffb87e8fd5e507dd121a29
+size 1857252
diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato.obj
new file mode 100644
index 0000000000000000000000000000000000000000..931f3cb5100d50ce45c31ab93872c5a97d43fe1d
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato.obj
@@ -0,0 +1,18718 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd44e9bcebbb5998ed9d557ea3938477b803d08f
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision.obj
@@ -0,0 +1,55337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_0.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..715f6ba6a5db2f8be8d26e30fa31d6cedd03645e
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_0.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_1.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cbe38d1e0e3c4968a686326f9fcceb6ff800133
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_1.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.00074676 0.01557018 0.04699533
+v 0.00071101 0.01557018 0.04699533
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+
diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_10.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db0eec44f20590392698c462255d3cd176962100
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_10.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_11.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ff8c63da9f7b5931312308cc323f9ef6203727a
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_11.obj
@@ -0,0 +1,1657 @@
+# https://github.com/mikedh/trimesh
+v 0.00060878 -0.05007740 -0.00592445
+v 0.00060878 -0.05002739 -0.00427385
+v -0.00082077 -0.05003124 -0.00427385
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_12.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..105cb7fb0923cd13a91afc3b2b747ffb3466ed4b
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_12.obj
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_13.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d05e483c81a877a02b4d996acd0e98ce937387d
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_13.obj
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_14.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22f5df8dd44b2fc345af4f2c98e266503a14b5af
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_14.obj
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_15.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c950720d271732416af4d1a5f4e4bab3760325e
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_15.obj
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_16.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2f33724308059f22e956c5e2e34d8f94a1ac549
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_16.obj
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_17.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09f061928dd4d2b7b037f43a702fdee6338ab520
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_17.obj
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_18.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9530cd5d479ebd0281c40bb431539b104753d2cc
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_18.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_19.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ea663a36a73505fc3181794ed65b8ec1ef5e4ac
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_19.obj
@@ -0,0 +1,2227 @@
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_2.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bb8d22d65d1f7156874aeeabc31c3dc7ed6e422
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_2.obj
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_20.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba246ab01ce442b26ecc792308040afd2105ff03
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_20.obj
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_21.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b701a4b27efe47b3d3b803681acb0742d556c836
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_21.obj
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_22.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72d226b70e6d489de436420e5d3cb720d7517e50
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_23.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cec8f2a069e11af200edeeae2adbc909f4a3d00d
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_23.obj
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_24.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4bef839fa43a4fa8d39f51443d3d7bff76361c5
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_24.obj
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_25.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed7e82155fa266fee2b9d7571049804006f8a76f
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_25.obj
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_26.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66371b9270b959d11f6c3e9fc905517a8449b2c2
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_26.obj
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_27.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c00a709351d6c9d0b5eedc623e52afdd9e1fc5e
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_27.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.00113548 0.00989126 0.03023200
+v 0.00060878 0.00940267 0.03023199
+v -0.00177732 0.00980230 0.03023200
+v 0.00060878 0.01033324 0.03357907
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+v -0.00073375 -0.00346880 0.03357902
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+v -0.00097922 -0.00394467 0.03023195
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+
diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_28.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26dc8bc7db8ebedd9f1d3444de8c1f936ae2ede1
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_28.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_29.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e53c37c65faf93f1c43c9f320193637d8b37e766
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_29.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.00517939 -0.01353047 0.03141471
+v -0.00536934 -0.01353047 0.03141471
+v -0.00460410 -0.01353047 0.03138261
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+
diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_3.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e18cbe0b83d9792f028ab6ea1f93f9132564a07a
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_3.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_30.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..478c1a6f3bf0f051f5513e1a854171689a88f786
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_30.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.00801653 0.00095841 0.02830183
+v -0.00801653 0.00099104 0.02832633
+v -0.01294472 0.00640200 0.03302954
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+
diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_31.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bdbe6b9e06e5fa6bfecb26ad44da1e5d4b3eefe
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_31.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.00437257 0.00095840 0.02897054
+v -0.00437257 0.01228952 0.03189706
+v -0.00801653 0.00308481 0.02973046
+v -0.00801653 0.00103648 0.02835614
+v -0.00801653 0.00099104 0.02832380
+v -0.00801653 0.00095841 0.02829955
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_32.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b983e325299bad689cbb7bf263afd908cad1ff2a
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_32.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_33.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83f4e02441a3532b7cb5b556b9566626cb675d06
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_33.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_34.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2556d75de82c4ca3abea9f28cfced5ad38eb889b
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_34.obj
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_35.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56d2f4f34361090a80b4038a0508dde67612a4ce
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_35.obj
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_4.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afd95461bf01d237ccb79552993b19057f1bdd3a
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_4.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_5.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2183328b0904eb7c88a3687b523999b2afe7b7aa
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_5.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_6.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6badf72877ce912109ddcd1125c781a6b5326cb
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_6.obj
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_7.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b15d373d2fffa2699b2832d5bc56ddab2ec4cad0
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_7.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_8.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c38eab91894b07005f65d9042c54a5d7170afa99
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_8.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_9.obj b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a824c1daf289aef166647cb712388890ae0b31f
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/mjcf/mesh/tomato_collision_9.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/textures/material_0.png b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7325c4406f05d7d1bea2a3489b2f17f05a9b3d4
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 1857252
diff --git a/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/video.mp4 b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b22c5fd4db44d67eab9a2abfd8b7ee8bbbad760c
--- /dev/null
+++ b/dataset/food/ingredients/79349d5a7ef75f1fb933210dff678c5f/video.mp4
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+version https://git-lfs.github.com/spec/v1
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+size 248208