diff --git a/.gitattributes b/.gitattributes
index a9a26dd99aac8606a513c5c812a012ed8b2952b5..280194a51c6f84b09741066ff2480f339cb19000 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3607,6 +3607,5 @@ dataset/food/fruits/f95c5923bb55558582ebac6e9a1a4242/banana_004.usd filter=lfs d
dataset/food/fruits/f95c5923bb55558582ebac6e9a1a4242/mesh/banana_004.glb filter=lfs diff=lfs merge=lfs -text
dataset/food/fruits/fc6543dd9dfd5ed69eda6ac2047b04ef/lemon_009.usd filter=lfs diff=lfs merge=lfs -text
dataset/food/fruits/fc6543dd9dfd5ed69eda6ac2047b04ef/mesh/lemon_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/12cf6c09f9185a679853bb62a0e52a06/mesh/potato_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/12cf6c09f9185a679853bb62a0e52a06/potato_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/12cf6c09f9185a679853bb62a0e52a06/potato_002.usdc 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
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/garlic_008.urdf b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/garlic_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1e06513061abe95966fe1e6d2097ad5bcd35115a
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+ affordance/affordance_annot.json
+
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\ No newline at end of file
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/garlic_008.usd b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/garlic_008.usd
new file mode 100644
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mesh/garlic_008.glb b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mesh/garlic_008.glb
new file mode 100644
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mesh/garlic_008.mtl b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mesh/garlic_008.mtl
new file mode 100644
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--- /dev/null
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mesh/garlic_008.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mesh/garlic_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a8e91a7eb3b8e2ed6ff6ab6d79c8c3c88af8f60
--- /dev/null
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mesh/garlic_008_collision.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mesh/garlic_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..472d7370de3f441d23f96a1c20d9b9157f2ff794
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mesh/garlic_008_collision.obj
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mesh/garlic_008_geometry_Looks_material_0.png b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mesh/garlic_008_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..74a330564be85315a2615213fd20191fa2e387b2
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mesh/garlic_008_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd89fe9acdc1566342c81b4e1607da9b0b143fc73bf5c44e7cbc014ee2f93b98
+size 11520375
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mesh/material.mtl b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f82fb58f755da2da24142618ed5d16bcd9a435bf
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl garlic_008_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd garlic_008_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mesh/material_0.png b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..74a330564be85315a2615213fd20191fa2e387b2
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd89fe9acdc1566342c81b4e1607da9b0b143fc73bf5c44e7cbc014ee2f93b98
+size 11520375
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/garlic_008.xml b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/garlic_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3ad315e93fc89822ae1be30f2336e8ade19cffd7
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/garlic_008.xml
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff3ac0af674eab541ba7ea5b406ada25334c888b
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008.obj
@@ -0,0 +1,116354 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl garlic_008_geometry_Looks_material_0
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..532bc13b1b300243b618f6f5394da548c830b0e6
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision.obj
@@ -0,0 +1,44280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_0.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc82c16d5a3231fda28f8a82d94a30e3ca3c6699
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_0.obj
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_1.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d2aa09665e677b2b465bd8734be4362c1c09780
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_1.obj
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_10.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8dbb3a53e84cb057034f4043254fc211ab8050e
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_10.obj
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_11.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..934dd63845d24d95c5464eca6703dcf3abb32e73
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_11.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_12.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f983e8592ae041f1bdaea765bbe54c8d51336d3b
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_12.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_13.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24f6edc8ae6b9f4fcab93e9215e38faaefe292d3
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_13.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_14.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..329c879158c3cbb2b5d71fc63805d4cba3fdd2e1
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_14.obj
@@ -0,0 +1,1204 @@
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_15.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e15aa878b0f7d57d606f6bb9a5b08a53d427fbde
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_15.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_16.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5bfdf0e340285b23f2cc1de24d2d295c0ef502e
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_16.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_17.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12a5fff59a51df7d794c27b90cf46c8c019cc672
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_17.obj
@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_18.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..398e5bc5b54237ff1d3fa5eeade16f7be7cbb4fd
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_18.obj
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_19.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb80710e9ae562d17faa1c13eade365add50ee21
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_19.obj
@@ -0,0 +1,541 @@
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_2.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02088489628aa5d4aed306d3eb770c2c48c3a27e
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_2.obj
@@ -0,0 +1,493 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_20.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2393bf3f644fd2d01198cfdd7366f5c0ef5ef47
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_20.obj
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_21.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ca2b54aed80ba1f3e4ce9aa32227a80e6184622
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_21.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_22.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea3d9b6d74ef5001929d08b544e8512bebcdc3a7
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_22.obj
@@ -0,0 +1,841 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_23.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bba4cbc565a39892d9202801ee1b0b6a959031d
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_23.obj
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_24.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03a5331aa55efe21969ee73fb9964fa32735bdaa
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_24.obj
@@ -0,0 +1,907 @@
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_25.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5db908e6124e9d6dbed9a62afe1f0f72f61d6094
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_25.obj
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_26.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed90ebc5952013a403ec58fe26b855741c0ccba9
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_26.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_27.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee162c11c435bb5dd46e9b03e4fdb1218dd93f69
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_27.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_28.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c34a8613187cff786abeff5b9552d6d29da50f66
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_28.obj
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_29.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b9f7af52f0044b514e3ea29c3b77d5c676fe907
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_29.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_3.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c31020433ba4d7092fd5479667d1d1bb2bd3f12
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_3.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_30.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a73468466205a16189ae3d0a2321abaeb39a3a2
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_30.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_31.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd498c40314a146d07f92e4bba1a54087648f72d
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_31.obj
@@ -0,0 +1,1348 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_32.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc0fcb089ffec75bdfa95234201f02c40b137c06
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_32.obj
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_33.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eab20192bc944446144028a8d04eb53240ffa25e
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_33.obj
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_34.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8cfe9960e43bbde7e6afbcfedb1f09a171a2e6b
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_34.obj
@@ -0,0 +1,574 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_35.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a936ebccc90cfc89da54ae92844f94fadc942aac
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_35.obj
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_36.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd9e3217a676b86c2721e9b630fcfa6eb66ce391
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_36.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00214765 0.01094270 -0.01916337
+v 0.00214765 0.01094270 0.01832275
+v 0.00214765 0.01808024 -0.01916337
+v 0.00214765 0.01808024 0.01832275
+v 0.00314765 0.01094270 -0.01916337
+v 0.00314765 0.01094270 0.01832275
+v 0.00314765 0.01808024 -0.01916337
+v 0.00314765 0.01808024 0.01832275
+f 2 4 1
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+f 4 8 3
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+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_37.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b853c967f9381a3a8970534d99e748aead82209
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_37.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00889211 -0.02093357 -0.02134310
+v 0.00889211 -0.02093357 0.01716999
+v 0.00889211 -0.01254194 -0.02134310
+v 0.00889211 -0.01254194 0.01716999
+v 0.00989211 -0.02093357 -0.02134310
+v 0.00989211 -0.02093357 0.01716999
+v 0.00989211 -0.01254194 -0.02134310
+v 0.00989211 -0.01254194 0.01716999
+f 2 4 1
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+f 4 8 3
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+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_38.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1acb5baacd32c764e35e51f6bff193f8d7bcc476
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_38.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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+v -0.00261675 -0.01099012 0.01440412
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+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_39.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c31e3b283328959abf68c125112d61205376d1b6
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_39.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
+v 0.01883003 -0.01098545 0.00232724
+v 0.01883003 -0.01001228 -0.00245315
+v 0.01880869 -0.01098545 0.00241656
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_4.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb82b5ed611a400e92c9a171fd3eccc0eedc50a1
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_4.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_40.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91bf0ef16d631c684f17a1c5db7b227544dd5d55
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_40.obj
@@ -0,0 +1,862 @@
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_41.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86ac2e1aff27f746d60042bc4959f33dc2f6a466
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_41.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_42.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..496304dd06514c401752ef44a3ed91fa2b77a989
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_42.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_43.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11cf0b2784bdeb428aee1b0e67ba2de1473f3611
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_43.obj
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_44.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86bb45e416a284d222e086b1b086994a662155f7
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_44.obj
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+v -0.01724111 0.00142663 -0.01623461
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+v -0.01724111 0.00230384 -0.01608240
+v -0.01724111 0.00238325 -0.01606384
+v -0.01724111 0.00270887 -0.01595618
+v -0.01724111 0.00290397 -0.01588936
+v -0.01724111 0.00326871 -0.01572601
+v -0.01724111 0.00374489 -0.01549584
+f 1 2 3
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+f 1 28 52
+f 1 52 33
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+f 1 18 15
+f 1 15 8
+f 1 8 4
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+f 1 13 6
+f 1 6 2
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+f 29 46 45
+f 29 45 44
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+f 30 55 56
+f 30 56 31
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+f 38 60 39
+f 39 60 40
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+f 40 59 63
+f 40 63 70
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+f 40 69 68
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+f 40 64 61
+f 40 61 43
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+f 53 54 62
+f 54 61 62
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+f 62 70 63
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_45.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aee0f8163850c4a1de577312843ac647ed58162
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_45.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.01523545 0.00771802 -0.01714643
+v 0.01575397 0.00750053 -0.01714643
+v 0.01356364 0.00771803 -0.01806350
+v 0.01209574 0.00771802 -0.01714643
+v 0.01580608 0.00747544 -0.01714643
+v 0.01303359 0.00771803 -0.01833504
+v 0.01209574 0.00771803 -0.01864882
+v 0.01209574 0.00383372 -0.01714645
+v 0.01721336 0.00655988 -0.01714644
+v 0.01721336 0.00651539 -0.01730082
+v 0.01721336 0.00587169 -0.01779376
+v 0.01721336 0.00539376 -0.01810610
+v 0.01209574 0.00383373 -0.01883071
+v 0.01699743 0.00472952 -0.01837261
+v 0.01595287 0.00383373 -0.01881633
+v 0.01512322 0.00383373 -0.01895453
+v 0.01501551 0.00383373 -0.01896980
+v 0.01402505 0.00383373 -0.01898220
+v 0.01303359 0.00383373 -0.01890762
+v 0.01721336 0.00383372 -0.01714645
+v 0.01721336 0.00472952 -0.01828869
+v 0.01721336 0.00385503 -0.01826318
+v 0.01717629 0.00383373 -0.01827809
+v 0.01721336 0.00383373 -0.01811060
+f 1 2 3
+f 1 3 6
+f 1 6 7
+f 1 7 4
+f 1 4 8
+f 1 8 20
+f 1 20 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 13
+f 4 13 8
+f 5 9 10
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 7
+f 7 12 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 13
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+f 9 22 21
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+f 9 12 11
+f 9 11 10
+f 12 21 14
+f 14 21 15
+f 15 21 22
+f 15 22 23
+f 22 24 23
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_46.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45fef3d113eea79654218ba783d48bba952e24aa
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_46.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.01564195 -0.00968217 0.01397077
+v -0.01546226 -0.00968217 0.01410818
+v -0.01538827 -0.00949839 0.01401756
+v -0.01550303 -0.00955042 0.01397077
+v -0.00252580 -0.00968217 0.01397077
+v -0.01440524 -0.00968217 0.01485371
+v -0.01032362 -0.00860049 0.01692171
+v -0.01532636 -0.00940218 0.01397078
+v -0.01541243 -0.00947182 0.01397078
+v -0.00257714 -0.00855122 0.01397078
+v -0.00021545 -0.00855123 0.01731006
+v -0.00021545 -0.00907225 0.01736659
+v -0.00021545 -0.00912750 0.01737779
+v -0.00021545 -0.00920533 0.01739387
+v -0.00187196 -0.00968218 0.01734416
+v -0.01141688 -0.00968218 0.01686858
+v -0.01130967 -0.00959616 0.01690220
+v -0.00915938 -0.00855123 0.01737633
+v -0.01023754 -0.00855123 0.01693535
+v -0.01432973 -0.00865053 0.01397078
+v -0.01416967 -0.00855122 0.01397078
+v -0.00021545 -0.00855124 0.01885764
+v -0.00021545 -0.00912031 0.01835234
+v -0.00196860 -0.00968219 0.01812623
+v -0.00190820 -0.00968219 0.01788698
+v -0.01133836 -0.00968218 0.01690951
+v -0.00828960 -0.00855123 0.01767990
+v -0.01420289 -0.00856982 0.01397078
+v -0.01423762 -0.00859174 0.01397078
+v -0.00294257 -0.00855124 0.01894778
+v -0.00275533 -0.00908079 0.01872218
+v -0.00281573 -0.00968219 0.01840447
+v -0.00021545 -0.00861910 0.01881671
+v -0.00021545 -0.00870845 0.01873680
+v -0.00229779 -0.00968219 0.01823879
+v -0.01028888 -0.00968218 0.01719749
+v -0.00344239 -0.00855124 0.01889613
+v -0.00314794 -0.00855124 0.01894778
+v -0.00335028 -0.00870270 0.01887957
+v -0.00334877 -0.00968219 0.01838790
+v -0.00929830 -0.00968218 0.01739581
+v -0.00381084 -0.00968219 0.01831188
+f 1 2 3
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+f 1 28 21
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+f 1 6 2
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+f 30 38 31
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+f 31 39 40
+f 31 40 32
+f 32 34 33
+f 36 41 39
+f 36 39 37
+f 37 39 38
+f 39 42 40
+f 39 41 42
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_47.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7451c732584056913c4989ea844b0139f2ac1d42
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_47.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.01128553 0.00298038 0.01851267
+v 0.00702314 0.00000387 0.01985087
+v 0.01128553 0.00274571 0.01851267
+v 0.01128553 0.00373725 0.01844324
+v 0.00937152 0.00000387 0.01817799
+v 0.01128553 0.00186813 0.01815069
+v 0.01105102 0.00373725 0.01848860
+v 0.00702314 0.00261937 0.01920747
+v 0.00702314 0.00000388 0.01512201
+v 0.01128553 0.00383322 0.01842657
+v 0.01114741 0.00383322 0.01845342
+v 0.00961688 0.00000387 0.01790998
+v 0.00975749 0.00000388 0.01744385
+v 0.01128553 0.00164958 0.01737952
+v 0.01105102 0.00383322 0.01846407
+v 0.00702314 0.00382797 0.01885845
+v 0.00702314 0.00268874 0.01512202
+v 0.00770454 0.00000388 0.01512201
+v 0.01128553 0.00383323 0.01512202
+v 0.01128553 0.00169457 0.01512202
+v 0.00717712 0.00383322 0.01880336
+v 0.00702314 0.00383247 0.01885660
+v 0.00702314 0.00383323 0.01720548
+v 0.00805379 0.00383323 0.01512202
+v 0.00702314 0.00383322 0.01859831
+f 1 2 3
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+f 1 6 14
+f 1 14 20
+f 1 20 19
+f 1 19 10
+f 1 10 4
+f 1 4 2
+f 2 5 6
+f 2 6 3
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+f 10 15 11
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+f 21 25 22
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_48.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..967e22b4315b8e9cfa23c382b4b0296e3ab066d7
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_48.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.01197388 0.01365271 0.01793309
+v -0.01197388 0.01260311 0.01752733
+v -0.01197388 0.01428243 0.01790133
+v -0.01550228 0.01168108 0.01684283
+v -0.01197388 0.01246255 0.01741442
+v -0.01204364 0.01428243 0.01787311
+v -0.01197388 0.01428256 -0.01526142
+v -0.01197388 0.01168108 0.01625007
+v -0.01197388 0.01169635 0.01628888
+v -0.01197388 0.01172284 0.01634886
+v -0.01215935 0.01428243 0.01782371
+v -0.01332500 0.01428244 0.01695927
+v -0.01550228 0.01194615 0.01657467
+v -0.01550228 0.01168119 -0.01470395
+v -0.01197388 0.01374196 -0.01753719
+v -0.01471585 0.01427313 -0.01619996
+v -0.01266740 0.01428256 -0.01507089
+v -0.01197388 0.01168121 -0.01811232
+v -0.01370458 0.01428244 0.01635945
+v -0.01550228 0.01232429 0.01609130
+v -0.01550228 0.01269591 -0.01454164
+v -0.01550193 0.01168119 -0.01472160
+v -0.01197388 0.01367092 -0.01759012
+v -0.01535894 0.01426295 -0.01614703
+v -0.01550228 0.01428255 -0.01265751
+v -0.01459876 0.01428255 -0.01344080
+v -0.01407413 0.01428255 -0.01388537
+v -0.01230061 0.01168121 -0.01803822
+v -0.01226814 0.01219379 -0.01802411
+v -0.01197388 0.01190045 -0.01810173
+v -0.01550228 0.01428245 0.01275703
+v -0.01550228 0.01341465 0.01429538
+v -0.01550228 0.01270660 -0.01453811
+v -0.01546670 0.01365284 -0.01552252
+v -0.01544322 0.01365284 -0.01624935
+v -0.01537276 0.01297347 -0.01619996
+v -0.01429966 0.01204023 -0.01707852
+v -0.01375086 0.01168120 -0.01731139
+v -0.01197388 0.01278276 -0.01794295
+v -0.01431831 0.01326529 -0.01706793
+v -0.01280762 0.01168121 -0.01783358
+v -0.01197388 0.01240615 -0.01806644
+v -0.01372495 0.01266154 -0.01739606
+v -0.01435354 0.01266154 -0.01710321
+v -0.01325351 0.01168120 -0.01759013
+v -0.01375535 0.01169393 -0.01731492
+v -0.01374360 0.01168120 -0.01731844
+v -0.01197388 0.01257931 -0.01801704
+f 1 2 5
+f 1 5 10
+f 1 10 9
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+f 1 8 18
+f 1 18 30
+f 1 30 42
+f 1 42 48
+f 1 48 39
+f 1 39 23
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+f 1 7 3
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+f 1 4 2
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+f 18 29 30
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+f 22 37 38
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+f 28 41 29
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+f 29 43 40
+f 29 40 42
+f 35 40 44
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+f 37 47 38
+f 39 48 40
+f 40 48 42
+f 40 43 44
+f 41 44 43
+f 45 47 46
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_49.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5634bbae070c1c5a9d0789a7c0b4fe7c961c55b
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_49.obj
@@ -0,0 +1,1870 @@
+# https://github.com/mikedh/trimesh
+v 0.02991872 -0.00419379 -0.00057805
+v 0.02986806 -0.00518591 -0.00057805
+v 0.02990313 -0.00427753 -0.00156587
+v 0.02990703 -0.00419378 -0.00156587
+v 0.02990703 -0.00320288 -0.00156586
+v 0.02990703 -0.00320289 -0.00057804
+v 0.02988949 -0.00419379 0.00042095
+v 0.02984273 -0.00518591 0.00042095
+v 0.02969659 -0.00617743 0.00042095
+v 0.02971803 -0.00617743 -0.00057805
+v 0.02985052 -0.00518590 -0.00156214
+v 0.02986416 -0.00419378 -0.00256114
+v 0.02987975 -0.00320288 -0.00256113
+v 0.02982909 -0.00221136 -0.00256113
+v 0.02985052 -0.00221136 -0.00156586
+v 0.02984273 -0.00221137 -0.00057804
+v 0.02987585 -0.00320289 0.00042096
+v 0.02982129 -0.00419380 0.00141995
+v 0.02981935 -0.00427755 0.00141995
+v 0.02977453 -0.00518592 0.00141622
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_5.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07f9f3e6218f8d5b20e5acdbb96e812d52909cfc
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_5.obj
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_50.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5250687295d31146a21d6d402822990b09a352b2
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_50.obj
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_51.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5fb4caaff9283b221ac430ecb2cea7d94a0c9b9
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_51.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.01001324 -0.00624051 -0.02019169
+v 0.00917030 -0.00624051 -0.02016775
+v 0.01001324 -0.00617694 -0.02020537
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+v 0.00807828 -0.00617694 -0.02010619
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+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_52.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dc567c40adbf9579d68566a008cb1e8027f1742
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_52.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.01197388 0.01428268 0.01790401
+v -0.01197388 0.01464448 0.01790076
+v -0.01214727 0.01464448 0.01782934
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+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_53.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..463e9480bca1809e207ad966b8de798675e61f96
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_53.obj
@@ -0,0 +1,709 @@
+# https://github.com/mikedh/trimesh
+v 0.02930447 0.00000414 -0.00156587
+v 0.02929389 0.00003604 -0.00156587
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_54.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..729b3d89debbc6d525d837d5f653f14697510cb4
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_54.obj
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_55.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0d36ed90478756479cabd863c1938fbdc3e6964
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_55.obj
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_56.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9bf8bcd4bfee691f4e543ffa0f9aaaf31224f65
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_56.obj
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_57.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d79e288fc99c60dc109db119bffd89c7b22d6b5
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_57.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_58.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dac45cd40b067b4a2876dd427f5456897ba094f
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_58.obj
@@ -0,0 +1,1966 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_59.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05ee9d1741af9cdfcfda868c143562a33a5c6ddf
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_59.obj
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_6.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..077b6760d5d113540213be1a22c964442ec6106d
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_6.obj
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_60.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..194be8204aac8ee0a11e4938b5e3881000c615b0
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_60.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_61.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f67cfb58b00364f588cc790f9bafa7a39e723e4
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_61.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_62.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a86e24bfdbcad4b9fa57e788c638746fc321b5c
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_62.obj
@@ -0,0 +1,1423 @@
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_63.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22623f5ea1d18261f86b2a1c83990e09d2199371
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_63.obj
@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_64.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..492dede7b344ac52a1bf1cd033592fcc0dbdb756
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_64.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.00456328 0.00383385 0.01678780
+v 0.00456328 0.00383384 0.01985818
+v 0.00456328 0.00637255 0.01678781
+v 0.00500307 0.00383385 0.01678780
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+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_65.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bf0645af649ba1388a8c8c80717d2ce6fc94473
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_65.obj
@@ -0,0 +1,760 @@
+# https://github.com/mikedh/trimesh
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+v -0.01573172 -0.00737277 0.01633668
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_66.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22a628edc667614a295f180658b77e669229f957
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_66.obj
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_67.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b011aa56638fbf213e68234f7fdd5e8a1300b8f
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_67.obj
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_68.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b21e1474d6aadf7c2a043264268414f15fc9ed03
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_68.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.00304975 -0.00855124 0.01815229
+v 0.00304784 -0.00855123 0.01745752
+v 0.00213022 -0.00855124 0.01866056
+v 0.00294428 -0.00889036 0.01803612
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+v 0.00172366 -0.00959150 0.01439270
+v 0.00255371 -0.00855123 0.01690963
+v 0.00130465 -0.00855124 0.01887910
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+v 0.00016329 -0.00968219 0.01789101
+v -0.00021545 -0.00870845 0.01873712
+v -0.00021545 -0.00912031 0.01835213
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+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_69.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c99cd51914da95fbd6b33714771acc8c1e7e8b8
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_69.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.01150229 -0.00498191 0.01817502
+v -0.01150229 -0.00478960 0.01828372
+v -0.01150229 -0.00494343 0.01741552
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+v -0.00813649 0.00176656 0.01698620
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+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_7.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5872ca59d3ccaec30d376f5c3c16941a6b11724e
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_7.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.01209574 0.00383372 -0.01714615
+v 0.01721336 0.00383372 -0.01714615
+v 0.01209574 0.00383372 -0.01585175
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+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_70.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56c35dab71f3f03bda57fa0fe76ccbd697a253c9
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_70.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.01723768 -0.00617732 -0.01812227
+v -0.01723586 -0.00624112 -0.01811687
+v -0.01723768 -0.00617732 -0.01794542
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+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_71.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55f05a749ff6b50bfd1103ca5fa7f592ca495e00
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_71.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_72.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..715dca3443b7984efec4661be0f8d2fa0b8a3378
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_72.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_73.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eff61051dee64ea75c915f056d4589657aac5fcd
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_73.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.00713121 -0.00624126 0.01876357
+v -0.00786660 -0.00624126 0.01858819
+v -0.00713121 -0.00737267 0.01822994
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+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_74.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20f0e4f18fdd32cc3e3dc89b2b08519956b2a801
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_74.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00261478 -0.02516150 -0.01027990
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+v -0.00381361 -0.02215933 -0.01301766
+v -0.00261478 -0.02215904 -0.01347536
+v -0.00381361 -0.02287820 -0.01236802
+v -0.00261478 -0.02364940 -0.01215711
+v -0.00261478 -0.02382133 -0.01196517
+v -0.00261478 -0.02237240 -0.01332139
+v -0.00261478 -0.02263397 -0.01311257
+v -0.00381361 -0.02234390 -0.01286790
+v -0.00261478 -0.02314183 -0.01264645
+v -0.00261478 -0.02347187 -0.01233006
+v -0.00261478 -0.02283882 -0.01292696
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 19
+f 1 19 26
+f 1 26 25
+f 1 25 32
+f 1 32 31
+f 1 31 37
+f 1 37 36
+f 1 36 38
+f 1 38 34
+f 1 34 33
+f 1 33 29
+f 1 29 23
+f 1 23 22
+f 1 22 20
+f 1 20 10
+f 1 10 6
+f 1 6 7
+f 1 7 2
+f 2 7 17
+f 2 17 16
+f 2 16 15
+f 2 15 14
+f 2 14 13
+f 2 13 12
+f 2 12 11
+f 2 11 21
+f 2 21 28
+f 2 28 35
+f 2 35 30
+f 2 30 24
+f 2 24 18
+f 2 18 8
+f 2 8 4
+f 2 4 3
+f 4 8 9
+f 4 9 5
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 8 18 19
+f 8 19 9
+f 10 20 11
+f 11 20 22
+f 11 22 23
+f 11 23 29
+f 11 29 27
+f 11 27 21
+f 18 24 25
+f 18 25 26
+f 18 26 19
+f 21 27 28
+f 24 30 31
+f 24 31 32
+f 24 32 25
+f 27 29 28
+f 28 29 33
+f 28 33 34
+f 28 34 35
+f 30 35 36
+f 30 36 37
+f 30 37 31
+f 34 38 35
+f 35 38 36
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_75.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf4350e83a11a38855cdef1787293823d28b64f1
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_75.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.00261478 -0.02808871 -0.00057252
+v -0.00381361 -0.02798126 0.00042463
+v -0.00261478 -0.02804859 -0.00156966
+v -0.00261478 -0.02805347 0.00063821
+v -0.00381361 -0.02792539 -0.00057252
+v -0.00381361 -0.02791566 0.00142049
+v -0.00261478 -0.02795088 -0.00256681
+v -0.00261478 -0.02797382 0.00143722
+v -0.00381361 -0.02779243 -0.00156966
+v -0.00261478 -0.02794832 0.00163021
+v -0.00261478 -0.02778013 0.00236360
+v -0.00261478 -0.02771824 0.00258876
+v -0.00261478 -0.02765119 0.00280491
+v -0.00381361 -0.02766437 0.00211270
+v -0.00261478 -0.02781421 -0.00351249
+v -0.00381361 -0.02760877 -0.00265688
+v -0.00261478 -0.02701510 0.00286281
+v -0.00381361 -0.02516155 0.00240349
+v -0.00381361 -0.02743370 -0.00349705
+v -0.00261478 -0.02760303 -0.00446203
+v -0.00261478 -0.02516155 0.00257462
+v -0.00381361 -0.02516151 -0.00944132
+v -0.00381361 -0.02713656 -0.00455853
+v -0.00261478 -0.02729615 -0.00570235
+v -0.00261478 -0.02746979 -0.00503330
+v -0.00261478 -0.02516150 -0.01028021
+v -0.00261478 -0.02543399 -0.00986720
+v -0.00261478 -0.02562567 -0.00954297
+v -0.00261478 -0.02566522 -0.00947606
+v -0.00381361 -0.02545377 -0.00894082
+v -0.00381361 -0.02683513 -0.00555568
+v -0.00381361 -0.02658957 -0.00627362
+v -0.00261478 -0.02709644 -0.00627748
+v -0.00261478 -0.02613456 -0.00863718
+v -0.00381361 -0.02572052 -0.00844160
+v -0.00261478 -0.02700619 -0.00653095
+v -0.00381361 -0.02611078 -0.00754868
+v -0.00261478 -0.02627266 -0.00836570
+v -0.00261478 -0.02646206 -0.00794368
+v -0.00261478 -0.02671879 -0.00728363
+v -0.00261478 -0.02661650 -0.00754868
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 20
+f 1 20 25
+f 1 25 24
+f 1 24 33
+f 1 33 36
+f 1 36 40
+f 1 40 41
+f 1 41 39
+f 1 39 38
+f 1 38 34
+f 1 34 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 21
+f 1 21 17
+f 1 17 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 8
+f 1 8 4
+f 1 4 2
+f 2 5 3
+f 2 4 6
+f 2 6 14
+f 2 14 18
+f 2 18 22
+f 2 22 30
+f 2 30 35
+f 2 35 37
+f 2 37 32
+f 2 32 31
+f 2 31 23
+f 2 23 19
+f 2 19 16
+f 2 16 9
+f 2 9 5
+f 3 5 7
+f 4 8 6
+f 5 9 7
+f 6 8 10
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 7 9 15
+f 9 16 15
+f 13 17 18
+f 13 18 14
+f 15 16 19
+f 15 19 20
+f 17 21 18
+f 18 21 26
+f 18 26 22
+f 19 23 24
+f 19 24 25
+f 19 25 20
+f 22 26 27
+f 22 27 28
+f 22 28 29
+f 22 29 30
+f 23 31 24
+f 24 32 33
+f 24 31 32
+f 29 34 30
+f 30 34 35
+f 32 36 33
+f 32 37 36
+f 34 38 35
+f 35 38 39
+f 35 39 37
+f 36 37 40
+f 37 39 41
+f 37 41 40
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_76.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ced2fbe209c25a494c46a6df834b039fcb671cdd
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_76.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.01128553 0.00000389 0.01417628
+v 0.01128553 0.00002253 0.01415557
+v 0.00780051 0.00119395 0.01512201
+v 0.00770454 0.00000388 0.01512201
+v 0.01128553 0.00000401 -0.01931418
+v 0.01128553 0.00004699 0.01412796
+v 0.00702314 0.00119395 0.01512201
+v 0.01128553 0.00119396 0.01265069
+v 0.00702314 0.00000388 0.01512201
+v 0.01002496 0.00000401 -0.01964553
+v 0.00970951 0.00113746 -0.02009768
+v 0.01128553 0.00052857 -0.01934870
+v 0.00702314 0.00119408 -0.01990439
+v 0.01128553 0.00119408 -0.01935560
+v 0.00702314 0.00000401 -0.01991475
+v 0.00906942 0.00000401 -0.01980085
+v 0.00818940 0.00000401 -0.01992511
+v 0.00906942 0.00104299 -0.02013910
+v 0.00970826 0.00119408 -0.02009768
+v 0.01128553 0.00076306 -0.01935905
+v 0.01128553 0.00058355 -0.01935215
+v 0.00738950 0.00119408 -0.02002865
+v 0.00702314 0.00080477 -0.01991820
+v 0.00738950 0.00116659 -0.02002865
+v 0.00807841 0.00106477 -0.02008733
+v 0.00807841 0.00000401 -0.01992856
+v 0.00807841 0.00119408 -0.02008733
+v 0.00905607 0.00119408 -0.02013565
+v 0.00965276 0.00119408 -0.02010114
+v 0.00778424 0.00119408 -0.02006317
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 26
+f 1 26 17
+f 1 17 16
+f 1 16 10
+f 1 10 5
+f 1 5 12
+f 1 12 21
+f 1 21 20
+f 1 20 14
+f 1 14 8
+f 1 8 6
+f 1 6 2
+f 2 6 3
+f 3 7 9
+f 3 9 4
+f 3 6 8
+f 3 8 14
+f 3 14 19
+f 3 19 29
+f 3 29 28
+f 3 28 27
+f 3 27 30
+f 3 30 22
+f 3 22 13
+f 3 13 7
+f 5 10 11
+f 5 11 12
+f 7 13 23
+f 7 23 15
+f 7 15 9
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 14
+f 11 14 20
+f 11 20 21
+f 11 21 12
+f 13 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 18
+f 15 18 26
+f 17 26 18
+f 18 27 28
+f 18 28 29
+f 18 29 19
+f 18 25 27
+f 22 30 24
+f 22 24 23
+f 24 30 25
+f 25 30 27
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_77.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d23b643c203b5d4f6316708dfe9df9e3eab94498
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_77.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00713121 -0.00737266 0.01577100
+v -0.00713121 -0.00737267 0.01823021
+v -0.00713121 -0.00725571 0.01577100
+v 0.00119285 -0.00737266 0.01577100
+v -0.00713121 -0.00624126 0.01876390
+v -0.00183185 -0.00737267 0.02003058
+v -0.00086861 -0.00696723 0.02169014
+v -0.00149748 -0.00681495 0.02169014
+v -0.00164626 -0.00677596 0.02169015
+v -0.00241010 -0.00635579 0.02169015
+v -0.00258649 -0.00624127 0.02169015
+v -0.00713121 -0.00624125 0.01698961
+v -0.00477526 -0.00624125 0.01577101
+v 0.00216376 -0.00714330 0.01577100
+v 0.00708580 -0.00737266 0.01627339
+v -0.00119991 -0.00737267 0.02013198
+v -0.00084100 -0.00737267 0.02012097
+v -0.00056798 -0.00695815 0.02169014
+v 0.00199504 -0.00624127 0.02169015
+v 0.00410252 -0.00624125 0.01577101
+v 0.00296902 -0.00682944 0.01577100
+v 0.00736956 -0.00737266 0.01633481
+v 0.00344144 -0.00659509 0.01577101
+v 0.00509030 -0.00737267 0.01890470
+v -0.00003114 -0.00685393 0.02169014
+v 0.00710114 -0.00737267 0.01824064
+v 0.00781130 -0.00737267 0.01799727
+v 0.00410558 -0.00624127 0.02114083
+v 0.00804905 -0.00624125 0.01673581
+v 0.00805518 -0.00737266 0.01654747
+v 0.00839109 -0.00737266 0.01716865
+v 0.00807819 -0.00624126 0.01806913
+v 0.00853834 -0.00624125 0.01736799
+v 0.00826225 -0.00737266 0.01672479
+v 0.00818095 -0.00737266 0.01663613
+v 0.00839109 -0.00737266 0.01712751
+f 1 2 5
+f 1 5 12
+f 1 12 3
+f 1 3 13
+f 1 13 20
+f 1 20 23
+f 1 23 21
+f 1 21 14
+f 1 14 4
+f 1 4 15
+f 1 15 22
+f 1 22 30
+f 1 30 35
+f 1 35 34
+f 1 34 36
+f 1 36 31
+f 1 31 27
+f 1 27 26
+f 1 26 24
+f 1 24 17
+f 1 17 16
+f 1 16 6
+f 1 6 2
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+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 5
+f 3 12 13
+f 4 14 15
+f 5 11 19
+f 5 19 28
+f 5 28 32
+f 5 32 33
+f 5 33 29
+f 5 29 20
+f 5 20 13
+f 5 13 12
+f 6 16 7
+f 7 16 17
+f 7 17 18
+f 7 18 25
+f 7 25 19
+f 7 19 11
+f 7 11 10
+f 7 10 9
+f 7 9 8
+f 14 21 15
+f 15 20 22
+f 15 21 23
+f 15 23 20
+f 17 24 18
+f 18 24 26
+f 18 26 27
+f 18 27 25
+f 19 25 28
+f 20 29 22
+f 22 29 30
+f 25 27 28
+f 27 31 32
+f 27 32 28
+f 29 33 34
+f 29 34 35
+f 29 35 30
+f 31 36 33
+f 31 33 32
+f 33 36 34
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_78.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4000c76d813c7102a05b148dda95400fef3011dd
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_78.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.00021485 -0.01098549 0.01279591
+v -0.00021485 -0.00968216 0.01189837
+v -0.00218467 -0.00968217 0.01304723
+v -0.00222451 -0.01098549 0.01304723
+v -0.00021485 -0.01098537 -0.01937870
+v -0.00021485 -0.00968205 -0.02017507
+v -0.01669403 -0.00968217 0.01304723
+v -0.01784189 -0.01098549 0.01304723
+v -0.00579662 -0.01098537 -0.01971487
+v -0.00021485 -0.00974087 -0.02014570
+v -0.00183344 -0.00980810 -0.02019465
+v -0.00183344 -0.00968205 -0.02025014
+v -0.01692759 -0.00991245 0.01304723
+v -0.01870912 -0.00968216 0.01172538
+v -0.01810079 -0.01098549 0.01278612
+v -0.01763368 -0.01071631 0.01304723
+v -0.00678878 -0.01098537 -0.01963001
+v -0.00448039 -0.00979381 -0.02016854
+v -0.00282378 -0.00968205 -0.02029583
+v -0.00282378 -0.00983719 -0.02022729
+v -0.01735668 -0.01036802 0.01304723
+v -0.01870912 -0.01098548 0.01208114
+v -0.01830538 -0.01098549 0.01255439
+v -0.01742728 -0.01045044 0.01304723
+v -0.01739288 -0.01041012 0.01304723
+v -0.01870912 -0.00968206 -0.01561227
+v -0.00693724 -0.01098537 -0.01960064
+v -0.00449125 -0.00968205 -0.02017833
+v -0.01870912 -0.01098538 -0.01556984
+v -0.01868015 -0.00968206 -0.01563838
+v -0.01870912 -0.01012207 -0.01562532
+v -0.00791129 -0.01098537 -0.01934606
+v -0.01521666 -0.00968205 -0.01802096
+v -0.01870912 -0.01094698 -0.01557310
+v -0.01868015 -0.01098538 -0.01559268
+v -0.01868015 -0.01014364 -0.01564817
+v -0.01524925 -0.00968205 -0.01801116
+v -0.01870912 -0.01014364 -0.01562532
+v -0.01576162 -0.01098538 -0.01690473
+v -0.01807182 -0.01098538 -0.01596476
+v -0.01668860 -0.01098538 -0.01660446
+v -0.01757574 -0.01098538 -0.01621281
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 23
+f 1 23 22
+f 1 22 29
+f 1 29 35
+f 1 35 40
+f 1 40 42
+f 1 42 41
+f 1 41 39
+f 1 39 32
+f 1 32 27
+f 1 27 17
+f 1 17 9
+f 1 9 5
+f 1 5 10
+f 1 10 6
+f 1 6 2
+f 2 6 12
+f 2 12 19
+f 2 19 28
+f 2 28 33
+f 2 33 37
+f 2 37 30
+f 2 30 26
+f 2 26 14
+f 2 14 7
+f 2 7 3
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+f 3 21 25
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+f 3 24 16
+f 3 16 8
+f 3 8 4
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+f 7 14 13
+f 8 16 14
+f 8 14 15
+f 9 17 18
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+f 13 14 21
+f 14 22 23
+f 14 23 15
+f 14 16 24
+f 14 24 25
+f 14 25 21
+f 14 26 31
+f 14 31 38
+f 14 38 34
+f 14 34 29
+f 14 29 22
+f 17 27 28
+f 17 28 18
+f 18 28 19
+f 26 30 31
+f 27 32 33
+f 27 33 28
+f 29 34 35
+f 30 36 31
+f 30 37 36
+f 31 36 38
+f 32 37 33
+f 32 39 37
+f 34 38 36
+f 34 36 35
+f 35 36 37
+f 35 37 40
+f 37 39 41
+f 37 41 42
+f 37 42 40
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_79.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53a68ff7b8d38515930850ac953f9ab886a4887a
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_79.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01205512 -0.00737263 0.00817930
+v 0.01205512 -0.00624122 0.00737463
+v 0.01182203 -0.00624122 0.00806894
+v 0.01144265 -0.00737263 0.00939346
+v 0.01205512 -0.00737253 -0.01926195
+v 0.01205512 -0.00624112 -0.01996693
+v 0.01014084 -0.00737264 0.01140873
+v 0.01089713 -0.00737264 0.01037617
+v 0.01108062 -0.00737264 0.01009845
+v 0.00410047 -0.00624125 0.01577043
+v 0.01201296 -0.00737253 -0.01934385
+v 0.01205512 -0.00710673 -0.01948627
+v 0.01169061 -0.00671524 -0.02003102
+v 0.01179227 -0.00624112 -0.02005595
+v 0.01007141 -0.00737264 0.01147282
+v -0.00477411 -0.00624125 0.01577043
+v 0.00344089 -0.00659520 0.01577043
+v 0.00909444 -0.00737264 0.01224191
+v 0.01189394 -0.00737253 -0.01938657
+v 0.01104839 -0.00737253 -0.01958952
+v 0.01005654 -0.00737253 -0.01972839
+v 0.00412527 -0.00737252 -0.02042270
+v 0.01112526 -0.00624112 -0.02014496
+v -0.00983502 -0.00737265 0.01474498
+v -0.00712727 -0.00725571 0.01577042
+v -0.01327675 -0.00624123 0.01215290
+v 0.00296729 -0.00682933 0.01577042
+v 0.00216389 -0.00714330 0.01577042
+v 0.00119435 -0.00737266 0.01577042
+v 0.00114228 -0.00737252 -0.02056512
+v 0.00035128 -0.00737252 -0.02060072
+v 0.01016564 -0.00624112 -0.02018769
+v -0.01174930 -0.00737265 0.01391537
+v -0.00712727 -0.00737266 0.01577042
+v -0.01327675 -0.00624112 -0.01910884
+v -0.01327675 -0.00629417 0.01220275
+v 0.00015043 -0.00737252 -0.02060429
+v 0.00015043 -0.00716896 -0.02057936
+v 0.00411287 -0.00624112 -0.02034791
+v -0.01215843 -0.00737265 0.01372666
+v -0.01273123 -0.00624112 -0.01926906
+v -0.01327675 -0.00716897 -0.01914089
+v -0.01327675 -0.00737265 0.01311424
+v -0.01268411 -0.00737265 0.01345962
+v -0.00282016 -0.00737252 -0.02043338
+v -0.00766535 -0.00624112 -0.02015208
+v 0.00015043 -0.00624111 -0.02043693
+v -0.00976064 -0.00624112 -0.01979603
+v -0.00753145 -0.00716897 -0.02012005
+v -0.00745458 -0.00737253 -0.02008088
+v -0.01327675 -0.00737253 -0.01908748
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 7
+f 1 7 15
+f 1 15 18
+f 1 18 29
+f 1 29 34
+f 1 34 24
+f 1 24 33
+f 1 33 40
+f 1 40 44
+f 1 44 43
+f 1 43 51
+f 1 51 50
+f 1 50 45
+f 1 45 37
+f 1 37 31
+f 1 31 30
+f 1 30 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 11
+f 1 11 5
+f 1 5 12
+f 1 12 6
+f 1 6 2
+f 2 6 14
+f 2 14 23
+f 2 23 32
+f 2 32 39
+f 2 39 47
+f 2 47 46
+f 2 46 48
+f 2 48 41
+f 2 41 35
+f 2 35 26
+f 2 26 16
+f 2 16 10
+f 2 10 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 3 10 7
+f 5 11 12
+f 6 12 13
+f 6 13 14
+f 7 10 15
+f 10 16 25
+f 10 25 34
+f 10 34 29
+f 10 29 28
+f 10 28 27
+f 10 27 17
+f 10 17 18
+f 10 18 15
+f 11 19 13
+f 11 13 12
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 16 24 25
+f 16 26 24
+f 17 27 18
+f 18 27 28
+f 18 28 29
+f 22 30 23
+f 23 30 31
+f 23 31 32
+f 24 26 33
+f 24 34 25
+f 26 35 42
+f 26 42 51
+f 26 51 43
+f 26 43 36
+f 26 36 33
+f 31 37 38
+f 31 38 32
+f 32 38 39
+f 33 36 40
+f 35 41 42
+f 36 43 44
+f 36 44 40
+f 37 45 46
+f 37 46 38
+f 38 47 39
+f 38 46 47
+f 41 48 42
+f 42 48 49
+f 42 49 50
+f 42 50 51
+f 45 49 46
+f 45 50 49
+f 46 49 48
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_8.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9f26fd60ba9cddc6d6690aa3bec8e403c3c849b
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_8.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.00901490 -0.01098550 0.01729576
+v 0.00807810 -0.01098550 0.01740301
+v 0.00901490 -0.01099368 0.01729576
+v 0.00901490 -0.01098537 -0.01965614
+v 0.00807810 -0.01113532 0.01738386
+v 0.00901490 -0.01212705 0.01724979
+v 0.00703465 -0.01098550 0.01733406
+v 0.00901490 -0.01155021 -0.02093932
+v 0.00883272 -0.01145513 -0.02115766
+v 0.00796621 -0.01098536 -0.02125341
+v 0.00807810 -0.01212705 0.01722681
+v 0.00901490 -0.01317154 0.01703911
+v 0.00662159 -0.01098550 0.01714637
+v 0.00734568 -0.01212705 0.01703146
+v 0.00754266 -0.01266904 0.01690888
+v 0.00807810 -0.01286429 0.01699315
+v 0.00901490 -0.01184533 -0.02123043
+v 0.00901490 -0.01208713 -0.02131470
+v 0.00807810 -0.01212691 -0.02165178
+v 0.00708737 -0.01113518 -0.02163646
+v 0.00805252 -0.01112869 -0.02130321
+v 0.00789130 -0.01098536 -0.02128789
+v 0.00901490 -0.01386758 0.01677098
+v 0.00586605 -0.01098548 0.01086451
+v 0.00586605 -0.01386756 0.01187956
+v 0.00829666 -0.01386758 0.01626920
+v 0.00852508 -0.01386758 0.01647604
+v 0.00889190 -0.01386758 0.01673268
+v 0.00891626 -0.01386758 0.01674800
+v 0.00901490 -0.01306390 -0.02134152
+v 0.00708737 -0.01212691 -0.02172838
+v 0.00609632 -0.01113518 -0.02161347
+v 0.00609632 -0.01098536 -0.02158283
+v 0.00693755 -0.01098536 -0.02159815
+v 0.00707288 -0.01098536 -0.02156751
+v 0.00901490 -0.01386745 -0.01881729
+v 0.00586605 -0.01098536 -0.02153303
+v 0.00586605 -0.01386745 -0.01928460
+v 0.00901490 -0.01312146 -0.02132237
+v 0.00805838 -0.01318410 -0.02132620
+v 0.00708737 -0.01290562 -0.02132620
+v 0.00611974 -0.01210236 -0.02134534
+v 0.00594650 -0.01098536 -0.02156751
+v 0.00586605 -0.01111882 -0.02151771
+v 0.00586605 -0.01109963 -0.02152154
+v 0.00811232 -0.01386745 -0.01905860
+v 0.00901490 -0.01385898 -0.02054863
+v 0.00586605 -0.01196383 -0.02125724
+v 0.00646592 -0.01272505 -0.02116149
+v 0.00837557 -0.01367531 -0.02107722
+v 0.00901490 -0.01369308 -0.02111553
+v 0.00586605 -0.01183574 -0.02131087
+v 0.00901490 -0.01371819 -0.02110021
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 23
+f 1 23 36
+f 1 36 47
+f 1 47 53
+f 1 53 51
+f 1 51 39
+f 1 39 30
+f 1 30 18
+f 1 18 17
+f 1 17 8
+f 1 8 4
+f 1 4 10
+f 1 10 22
+f 1 22 35
+f 1 35 34
+f 1 34 33
+f 1 33 43
+f 1 43 37
+f 1 37 24
+f 1 24 13
+f 1 13 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 5
+f 4 8 9
+f 4 9 10
+f 5 7 11
+f 5 11 6
+f 6 11 12
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 11
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 10
+f 11 16 12
+f 12 16 23
+f 13 15 14
+f 13 24 25
+f 13 25 15
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 15 25 26
+f 16 29 23
+f 18 30 19
+f 19 30 31
+f 19 31 20
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 22
+f 20 22 21
+f 23 29 28
+f 23 28 27
+f 23 27 26
+f 23 26 25
+f 23 25 38
+f 23 38 46
+f 23 46 36
+f 24 37 45
+f 24 45 44
+f 24 44 52
+f 24 52 48
+f 24 48 38
+f 24 38 25
+f 30 39 31
+f 31 39 40
+f 31 40 41
+f 31 41 42
+f 31 42 32
+f 32 43 33
+f 32 42 44
+f 32 44 45
+f 32 45 43
+f 36 46 47
+f 37 43 45
+f 38 48 49
+f 38 49 41
+f 38 41 50
+f 38 50 47
+f 38 47 46
+f 39 51 40
+f 40 51 50
+f 40 50 41
+f 41 49 42
+f 42 49 48
+f 42 48 52
+f 42 52 44
+f 47 50 53
+f 50 51 53
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_80.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..893a5524b8fc11ce92fcdbe829f393f5e85691c7
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_80.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.01550254 0.00749828 -0.01510523
+v -0.01550254 0.00749828 -0.01585649
+v -0.01706046 0.00749828 -0.01510523
+v -0.01550254 0.00383372 -0.01510525
+v -0.01685276 0.00749828 -0.01557107
+v -0.01550254 0.00651865 -0.01732579
+v -0.01570707 0.00651183 -0.01731383
+v -0.01721048 0.00721490 -0.01604288
+v -0.01687948 0.00749828 -0.01555700
+v -0.01710068 0.00749792 -0.01510523
+v -0.01809634 0.00383372 -0.01510525
+v -0.01550254 0.00383373 -0.01816143
+v -0.01687525 0.00749828 -0.01556598
+v -0.01550254 0.00639454 -0.01742871
+v -0.01669823 0.00648529 -0.01720492
+v -0.01760711 0.00665065 -0.01639563
+v -0.01820535 0.00627042 -0.01608388
+v -0.01734278 0.00636979 -0.01709871
+v -0.01820535 0.00627042 -0.01599233
+v -0.01553800 0.00383373 -0.01814377
+v -0.01820535 0.00618469 -0.01599233
+v -0.01820535 0.00618469 -0.01608388
+v -0.01724171 0.00516489 -0.01707478
+v -0.01550254 0.00412213 -0.01815573
+v -0.01602405 0.00472943 -0.01788677
+v -0.01552873 0.00472943 -0.01813120
+v -0.01550254 0.00574708 -0.01783022
+v -0.01571183 0.00569435 -0.01781945
+v -0.01550254 0.00547231 -0.01797802
+v -0.01734172 0.00572053 -0.01712085
+v -0.01550254 0.00484170 -0.01811953
+v -0.01550254 0.00469750 -0.01814167
+v -0.01550254 0.00472943 -0.01813748
+v -0.01550254 0.00470037 -0.01814137
+f 1 2 5
+f 1 5 13
+f 1 13 9
+f 1 9 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 12
+f 1 12 24
+f 1 24 32
+f 1 32 34
+f 1 34 33
+f 1 33 31
+f 1 31 29
+f 1 29 27
+f 1 27 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 10
+f 4 11 20
+f 4 20 12
+f 5 8 13
+f 6 14 7
+f 7 14 15
+f 7 15 8
+f 8 16 17
+f 8 17 10
+f 8 10 13
+f 8 15 18
+f 8 18 16
+f 9 13 10
+f 10 17 19
+f 10 19 11
+f 11 19 21
+f 11 21 22
+f 11 22 23
+f 11 23 20
+f 12 20 25
+f 12 25 26
+f 12 26 24
+f 14 27 15
+f 15 27 28
+f 15 28 29
+f 15 29 18
+f 16 18 17
+f 17 18 30
+f 17 30 22
+f 17 22 21
+f 17 21 19
+f 18 29 31
+f 18 31 26
+f 18 26 25
+f 18 25 30
+f 20 23 30
+f 20 30 25
+f 22 30 23
+f 24 26 32
+f 26 31 33
+f 26 33 34
+f 26 34 32
+f 27 29 28
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_81.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1d8f61d131c109a974574b071d0d7f5d88b6de0
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_81.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01981930 -0.01099885 0.00234996
+v 0.01981930 -0.01099885 0.01173693
+v 0.01981930 -0.00999885 0.00234996
+v 0.01981930 -0.00999885 0.01173693
+v 0.02713322 -0.01099885 0.00234996
+v 0.02713322 -0.01099885 0.01173693
+v 0.02713322 -0.00999885 0.00234996
+v 0.02713322 -0.00999885 0.01173693
+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/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_82.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fae9a05db4c80cb6e920162b1f99e60bc1fc1f6
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_82.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01883241 -0.01099881 -0.01549001
+v 0.01883241 -0.01099881 0.00234821
+v 0.01883241 -0.00999880 -0.01549001
+v 0.01883241 -0.00999880 0.00234821
+v 0.02744522 -0.01099881 -0.01549001
+v 0.02744522 -0.01099881 0.00234821
+v 0.02744522 -0.00999880 -0.01549001
+v 0.02744522 -0.00999880 0.00234821
+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/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_83.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7809a2bc438354791bdd799a6a2beaf2ea28be2
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_83.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00875067 -0.00479354 -0.02006580
+v -0.00813649 -0.00451232 -0.02004842
+v -0.00813649 -0.00479354 -0.02005189
+v -0.00938355 -0.00479354 -0.02003451
+v -0.00981131 -0.00203629 -0.01996497
+v -0.00813649 -0.00022909 -0.01975289
+v -0.00813649 -0.00479366 0.01293683
+v -0.00981131 -0.00213172 -0.01996497
+v -0.00981131 -0.00479354 -0.01981201
+v -0.00981131 0.00175461 -0.01960687
+v -0.00976065 0.00175461 -0.01962425
+v -0.00813649 0.00175461 -0.01960339
+v -0.00813649 -0.00328794 0.01444913
+v -0.00981131 -0.00285304 0.01545037
+v -0.00875608 -0.00479366 0.01227282
+v -0.00981131 -0.00479365 0.01060408
+v -0.00981131 0.00180443 -0.01959991
+v -0.00976065 0.00265230 -0.01939828
+v -0.00813649 0.00383373 -0.01922793
+v -0.00813649 0.00277728 -0.01944695
+v -0.00813649 -0.00225345 0.01536693
+v -0.00813649 -0.00194859 0.01545037
+v -0.00981131 0.00383360 0.01545039
+v -0.00981131 0.00263879 -0.01938785
+v -0.00981131 0.00383373 -0.01870645
+v -0.00857885 0.00383373 -0.01911668
+v -0.00813649 0.00383360 0.01545039
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 16
+f 1 16 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 12
+f 2 12 20
+f 2 20 19
+f 2 19 27
+f 2 27 22
+f 2 22 21
+f 2 21 13
+f 2 13 7
+f 2 7 3
+f 4 8 5
+f 4 9 8
+f 5 8 9
+f 5 9 16
+f 5 16 14
+f 5 14 23
+f 5 23 25
+f 5 25 24
+f 5 24 17
+f 5 17 10
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 7 13 14
+f 7 14 15
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 13 21 14
+f 14 21 22
+f 14 22 27
+f 14 27 23
+f 14 16 15
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 18 26 19
+f 19 26 25
+f 19 25 23
+f 19 23 27
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_84.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d994b4b69baaf91f92d4c081313fb4a28e498fb3
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_84.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.01128553 0.00383360 0.01511857
+v 0.00805379 0.00383360 0.01511857
+v 0.01128553 0.00169444 0.01511857
+v 0.01128553 0.00383373 -0.01877644
+v 0.00702314 0.00383361 0.01433167
+v 0.00702314 0.00354862 0.01454220
+v 0.00702314 0.00271092 0.01510821
+v 0.00702314 0.00268870 0.01511857
+v 0.00780051 0.00119395 0.01511856
+v 0.01128553 0.00119396 0.01265089
+v 0.01128553 0.00262579 -0.01914228
+v 0.00959309 0.00226870 -0.02002581
+v 0.00807841 0.00383373 -0.01968068
+v 0.00702314 0.00383373 -0.01968413
+v 0.00702314 0.00119395 0.01511856
+v 0.01128553 0.00119408 -0.01935627
+v 0.01128553 0.00175477 -0.01934936
+v 0.00969449 0.00175477 -0.02008793
+v 0.00899723 0.00184857 -0.02012244
+v 0.00708740 0.00383373 -0.01969103
+v 0.00798244 0.00383373 -0.01968413
+v 0.00807841 0.00158140 -0.02008793
+v 0.00738950 0.00136745 -0.02002926
+v 0.00702314 0.00177028 -0.01988085
+v 0.00702314 0.00119408 -0.01990502
+v 0.00970826 0.00119408 -0.02009829
+v 0.01128553 0.00152016 -0.01935281
+v 0.00965276 0.00119408 -0.02010175
+v 0.00905607 0.00119408 -0.02013281
+v 0.00879152 0.00119408 -0.02012245
+v 0.00807841 0.00119408 -0.02008794
+v 0.00778424 0.00119408 -0.02006378
+v 0.00738950 0.00119408 -0.02002927
+v 0.00702314 0.00172247 -0.01988430
+f 1 2 8
+f 1 8 15
+f 1 15 9
+f 1 9 3
+f 1 3 10
+f 1 10 16
+f 1 16 27
+f 1 27 17
+f 1 17 11
+f 1 11 4
+f 1 4 13
+f 1 13 21
+f 1 21 20
+f 1 20 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 4 11 12
+f 4 12 13
+f 5 14 24
+f 5 24 34
+f 5 34 25
+f 5 25 15
+f 5 15 8
+f 5 8 7
+f 5 7 6
+f 9 15 25
+f 9 25 33
+f 9 33 32
+f 9 32 31
+f 9 31 30
+f 9 30 29
+f 9 29 28
+f 9 28 26
+f 9 26 16
+f 9 16 10
+f 11 17 12
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 12 17 18
+f 14 20 22
+f 14 22 23
+f 14 23 24
+f 16 26 27
+f 17 27 26
+f 17 26 18
+f 18 26 28
+f 18 28 19
+f 19 28 29
+f 19 29 30
+f 19 30 22
+f 19 22 20
+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 23 32 33
+f 23 33 25
+f 23 25 34
+f 23 34 24
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_85.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c6924998623c8bff3f3aa597ca72b9b0b3966a1
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_85.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.00787170 0.00383386 0.01453571
+v 0.00787170 0.00454341 0.01430157
+v 0.00606561 0.00637255 0.01507134
+v 0.00617604 0.00383385 0.01507133
+v 0.00787170 0.00383396 -0.01482961
+v 0.00787170 0.00637256 0.01328594
+v 0.00456328 0.00637255 0.01507134
+v 0.00456328 0.00383385 0.01507133
+v 0.00456328 0.00383396 -0.01482961
+v 0.00787170 0.00637266 -0.01482960
+v 0.00456328 0.00637266 -0.01482960
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 10
+f 1 10 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 10
+f 3 10 11
+f 3 11 7
+f 5 9 11
+f 5 11 10
+f 7 11 9
+f 7 9 8
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_86.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64b7c0ee59ee4fe4225bf27b9b9e081e9eae979a
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_86.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.01209574 0.00635682 0.01772409
+v 0.01209574 0.00711765 0.01724534
+v 0.00787170 0.00760142 0.01808082
+v 0.00787170 0.00757535 0.01805266
+v 0.01201842 0.00635682 0.01770531
+v 0.01209574 0.00635694 -0.01388647
+v 0.01209574 0.00742270 0.01702943
+v 0.01209574 0.00760143 0.01686359
+v 0.00787170 0.00760154 -0.01388646
+v 0.00787170 0.00739651 0.01754887
+v 0.01112862 0.00635683 0.01728914
+v 0.01133247 0.00635683 0.01743308
+v 0.00787170 0.00635694 -0.01388647
+v 0.01209574 0.00760154 -0.01388646
+v 0.00801352 0.00635684 0.01386586
+v 0.00820372 0.00635684 0.01422258
+v 0.00787170 0.00635684 0.01328697
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 11
+f 1 11 16
+f 1 16 15
+f 1 15 17
+f 1 17 13
+f 1 13 6
+f 1 6 14
+f 1 14 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 14
+f 3 14 9
+f 3 9 13
+f 3 13 17
+f 3 17 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 6 13 9
+f 6 9 14
+f 10 15 16
+f 10 16 11
+f 10 17 15
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_87.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01f7ff0ce62b5295ec4365eb47bc15f33399d08c
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_87.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.01192005 -0.00855112 0.01517093
+v -0.01023760 -0.00855112 0.01693544
+v -0.00880486 -0.00737277 0.01728028
+v -0.00886729 -0.00737277 0.01717488
+v -0.01174213 -0.00845572 0.01517093
+v -0.00277269 -0.00855112 0.01517093
+v -0.00915914 -0.00855112 0.01737693
+v -0.00784346 -0.00737278 0.01803504
+v -0.00796363 -0.00737278 0.01797481
+v -0.00912169 -0.00737277 0.01517093
+v -0.00960395 -0.00752227 0.01517093
+v -0.00962736 -0.00752965 0.01517093
+v -0.00976002 -0.00757903 0.01517093
+v -0.01081350 -0.00802683 0.01517093
+v -0.01159386 -0.00838374 0.01517093
+v 0.00190165 -0.00741245 0.01517093
+v 0.00213420 -0.00855112 0.01670085
+v -0.00828982 -0.00855112 0.01767951
+v -0.00183314 -0.00737278 0.02003073
+v 0.00205616 -0.00737277 0.01517093
+v 0.00255247 -0.00855112 0.01691018
+v -0.00344224 -0.00855113 0.01889568
+v -0.00314727 -0.00855113 0.01894813
+v -0.00120105 -0.00737278 0.02013224
+v 0.00402422 -0.00737277 0.01766931
+v 0.00402422 -0.00816364 0.01755226
+v 0.00402422 -0.00817425 0.01755518
+v 0.00275224 -0.00855112 0.01701800
+v -0.00294281 -0.00855113 0.01894813
+v 0.00078886 -0.00855113 0.01893890
+v -0.00084209 -0.00737278 0.02012107
+v 0.00282247 -0.00737278 0.01898359
+v 0.00402422 -0.00737382 0.01835656
+v 0.00402422 -0.00817426 0.01817394
+v 0.00304878 -0.00855113 0.01815209
+v 0.00304722 -0.00855112 0.01745804
+v 0.00130390 -0.00855113 0.01887916
+v 0.00142875 -0.00855113 0.01885925
+v 0.00213108 -0.00798427 0.01913172
+v 0.00213108 -0.00737278 0.01925460
+v 0.00274288 -0.00780282 0.01897873
+v 0.00402422 -0.00816365 0.01817686
+v 0.00212952 -0.00855113 0.01866060
+f 1 2 3
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+f 1 15 14
+f 1 14 13
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+f 1 12 11
+f 1 11 10
+f 1 10 20
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+f 1 16 6
+f 1 6 17
+f 1 17 21
+f 1 21 28
+f 1 28 36
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+f 1 38 37
+f 1 37 30
+f 1 30 29
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+f 1 23 22
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+f 1 7 2
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+f 3 9 8
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+f 3 32 25
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+f 3 20 10
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+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 6 16 17
+f 7 18 8
+f 8 18 19
+f 16 20 17
+f 17 20 21
+f 18 22 19
+f 19 22 23
+f 19 23 24
+f 20 25 26
+f 20 26 27
+f 20 27 28
+f 20 28 21
+f 23 29 24
+f 24 30 31
+f 24 29 30
+f 25 32 33
+f 25 33 42
+f 25 42 34
+f 25 34 27
+f 25 27 26
+f 27 34 35
+f 27 35 36
+f 27 36 28
+f 30 37 31
+f 31 37 38
+f 31 38 39
+f 31 39 40
+f 32 40 41
+f 32 41 33
+f 33 41 42
+f 34 42 41
+f 34 41 39
+f 34 39 43
+f 34 43 35
+f 38 43 39
+f 39 41 40
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_88.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18e67eb8115ff9c975737bfd66212a4a2e9cb468
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_88.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.01150229 -0.00449757 0.01698573
+v -0.01150229 -0.00417545 0.01545036
+v -0.01092468 -0.00423906 0.01698573
+v -0.01150229 0.00383360 0.01698576
+v -0.00813649 -0.00194913 0.01545037
+v -0.01078366 -0.00415425 0.01698573
+v -0.01150229 0.00383360 0.01545039
+v -0.00813649 0.00383360 0.01698576
+v -0.00843304 -0.00121925 0.01698575
+v -0.00869960 -0.00220438 0.01698574
+v -0.00872530 -0.00228838 0.01698574
+v -0.00914376 -0.00282905 0.01698574
+v -0.00813649 0.00383360 0.01545039
+v -0.00813649 0.00176712 0.01698576
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 14
+f 1 14 8
+f 1 8 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 13
+f 2 13 5
+f 4 8 13
+f 4 13 7
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 5 13 8
+f 5 8 14
+f 5 14 9
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_89.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e748e9c73c91cfa6f37cbac7b0e2e2633ed8073
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_89.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.00733492 -0.01973887 -0.01490408
+v 0.00733492 -0.01386774 -0.01849945
+v 0.00768822 -0.01386774 -0.01886775
+v 0.00811256 -0.01386774 -0.01906067
+v 0.00901504 -0.01683032 -0.01717705
+v 0.00901504 -0.01727801 -0.01685084
+v 0.00901504 -0.01799293 -0.01626155
+v 0.00901504 -0.01818488 -0.01610020
+v 0.00901504 -0.01842683 -0.01589675
+v 0.00901504 -0.01897451 -0.01541269
+v 0.00901504 -0.01973887 -0.01460943
+v 0.00733492 -0.01973896 0.01111949
+v 0.00733492 -0.01386786 0.01365206
+v 0.00901504 -0.01386774 -0.01881864
+v 0.00901504 -0.01551252 -0.01796629
+v 0.00901504 -0.01586424 -0.01776635
+v 0.00901504 -0.01973895 0.00858343
+v 0.00901504 -0.01856026 0.01135100
+v 0.00901504 -0.01822233 0.01211918
+v 0.00901504 -0.01812235 0.01234016
+v 0.00901504 -0.01709019 0.01393267
+v 0.00901504 -0.01603448 0.01537433
+v 0.00901504 -0.01518737 0.01622319
+v 0.00846191 -0.01485922 0.01603028
+v 0.00829678 -0.01386787 0.01626880
+v 0.00901504 -0.01386787 0.01677391
+v 0.00901504 -0.01402016 0.01671428
+v 0.00891619 -0.01386787 0.01674935
+v 0.00852507 -0.01386787 0.01647575
+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 17
+f 1 17 12
+f 1 12 13
+f 1 13 2
+f 2 13 25
+f 2 25 29
+f 2 29 28
+f 2 28 26
+f 2 26 14
+f 2 14 4
+f 2 4 3
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 5 16 15
+f 5 15 14
+f 5 14 26
+f 5 26 27
+f 5 27 23
+f 5 23 22
+f 5 22 21
+f 5 21 20
+f 5 20 19
+f 5 19 18
+f 5 18 17
+f 5 17 11
+f 5 11 10
+f 5 10 9
+f 5 9 8
+f 5 8 7
+f 5 7 6
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 23 27 28
+f 23 28 24
+f 24 28 29
+f 24 29 25
+f 26 28 27
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_9.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cc67bcffc6d95e9c3f4ef703823117d86b4281c
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_9.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.02615944 -0.01098544 -0.00057291
+v 0.02614506 -0.01098544 -0.00020114
+v 0.02451644 -0.01254120 0.00092803
+v 0.02451517 -0.01254120 0.00042376
+v 0.02451263 -0.01254120 0.00020623
+v 0.02449868 -0.01254120 -0.00020708
+v 0.02612096 -0.01098543 -0.00156959
+v 0.02611758 -0.01098544 0.00042377
+v 0.02450460 -0.01254120 0.00113172
+v 0.02446782 -0.01254120 -0.00074695
+v 0.02440144 -0.01254119 -0.00156960
+v 0.02429447 -0.01254119 -0.00256431
+v 0.02601019 -0.01098543 -0.00256430
+v 0.02608122 -0.01098544 0.00072040
+v 0.02599285 -0.01098545 0.00142045
+v 0.02443568 -0.01254121 0.00167158
+v 0.02417904 -0.01254119 -0.00356099
+v 0.02403572 -0.01254118 -0.00455766
+v 0.02584487 -0.01098543 -0.00353131
+v 0.02598102 -0.01098545 0.00148966
+v 0.02441793 -0.01254121 0.00177639
+v 0.02379472 -0.01254118 -0.00556423
+v 0.02307554 -0.01254117 -0.00851670
+v 0.02558063 -0.01098542 -0.00455765
+v 0.02582289 -0.01098545 0.00236571
+v 0.02554680 -0.01098545 0.00341381
+v 0.02522082 -0.01098546 0.00440258
+v 0.02512654 -0.01098546 0.00465175
+v 0.02357782 -0.01174385 0.00621993
+v 0.02395919 -0.01254121 0.00240327
+v 0.02253858 -0.01254116 -0.01015806
+v 0.02523647 -0.01098542 -0.00551478
+v 0.02251364 -0.01254116 -0.01022925
+v 0.02481705 -0.01098546 0.00534982
+v 0.02426783 -0.01098546 0.00653634
+v 0.02379514 -0.01098547 0.00730560
+v 0.02374737 -0.01098547 0.00738075
+v 0.02295842 -0.01098547 0.00840314
+v 0.02323578 -0.01162142 0.00688439
+v 0.02385645 -0.01254121 0.00242700
+v 0.02213650 -0.01254116 -0.01118835
+v 0.02478027 -0.01098542 -0.00651542
+v 0.02193440 -0.01098547 0.00834381
+v 0.02244388 -0.01163543 0.00695953
+v 0.02292079 -0.01147172 0.00733527
+v 0.02257494 -0.01163543 0.00695953
+v 0.02311866 -0.01254121 0.00237559
+v 0.02184054 -0.01254116 -0.01179941
+v 0.02464497 -0.01098541 -0.00681205
+v 0.02184054 -0.01254120 -0.00003899
+v 0.02184054 -0.01098543 -0.00274623
+v 0.02184054 -0.01098540 -0.01130304
+v 0.02370001 -0.01098541 -0.00847516
+v 0.02426403 -0.01098541 -0.00755758
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 13
+f 1 13 19
+f 1 19 24
+f 1 24 32
+f 1 32 42
+f 1 42 49
+f 1 49 54
+f 1 54 53
+f 1 53 52
+f 1 52 51
+f 1 51 43
+f 1 43 38
+f 1 38 37
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+f 1 36 35
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+f 1 34 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 20
+f 1 20 15
+f 1 15 14
+f 1 14 8
+f 1 8 2
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+f 3 21 30
+f 3 30 40
+f 3 40 47
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+f 23 31 24
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+f 24 33 32
+f 28 34 29
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+f 29 35 36
+f 29 36 37
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+f 29 39 30
+f 30 39 40
+f 32 33 41
+f 32 41 42
+f 38 43 44
+f 38 44 45
+f 38 45 39
+f 39 45 46
+f 39 46 40
+f 40 46 44
+f 40 44 47
+f 41 48 49
+f 41 49 42
+f 43 50 44
+f 43 51 50
+f 44 46 45
+f 44 50 47
+f 48 52 53
+f 48 53 54
+f 48 54 49
+f 48 50 51
+f 48 51 52
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_90.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af440945646cec5db8b5618bb53a7165e0881af1
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_90.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.00572031 -0.00737275 0.01164524
+v 0.00360727 -0.00737276 0.01387280
+v 0.00572031 -0.00855110 0.01115376
+v 0.00572031 -0.00737264 -0.01992249
+v 0.00311423 -0.00737276 0.01436428
+v 0.00572031 -0.00855099 -0.02025486
+v 0.00308648 -0.00737276 0.01438903
+v 0.00213027 -0.00737277 0.01512448
+v 0.00205557 -0.00737277 0.01517044
+v 0.00190190 -0.00741245 0.01517044
+v 0.00115273 -0.00855111 0.01332475
+v 0.00520592 -0.00855098 -0.02069683
+v 0.00473209 -0.00855098 -0.02089484
+v 0.00497968 -0.00737264 -0.02021950
+v -0.00912006 -0.00737277 0.01517044
+v -0.00277241 -0.00855112 0.01517044
+v 0.00453359 -0.00855098 -0.02095141
+v 0.00412806 -0.00737263 -0.02042457
+v -0.00960243 -0.00752227 0.01517044
+v -0.01608456 -0.00737276 0.01303835
+v -0.01191824 -0.00855112 0.01517044
+v 0.00447810 -0.00855098 -0.02095141
+v 0.00035233 -0.00737263 -0.02060137
+v 0.00113992 -0.00737263 -0.02056601
+v -0.00962591 -0.00752965 0.01517044
+v -0.01608456 -0.00855111 0.01258930
+v -0.01590954 -0.00855111 0.01272013
+v -0.01434290 -0.00855111 0.01385512
+v -0.01426180 -0.00855111 0.01391169
+v -0.01413800 -0.00855111 0.01398948
+v -0.01372393 -0.00855111 0.01422638
+v -0.01294915 -0.00855111 0.01465422
+v -0.01242196 -0.00855111 0.01492647
+v -0.01230243 -0.00855112 0.01498658
+v -0.01174109 -0.00845572 0.01517044
+v -0.01159381 -0.00838374 0.01517044
+v -0.01081263 -0.00802683 0.01517044
+v -0.00976038 -0.00757903 0.01517044
+v -0.01608456 -0.00737265 -0.01767371
+v -0.00282363 -0.00816050 -0.02053772
+v 0.00014957 -0.00816050 -0.02069683
+v 0.00014957 -0.00737263 -0.02060137
+v -0.00282363 -0.00855098 -0.02053065
+v -0.01608456 -0.00855100 -0.01743328
+v -0.01599278 -0.00737264 -0.01777625
+v -0.01608456 -0.00741579 -0.01767018
+v -0.00745524 -0.00737264 -0.02008514
+v -0.00282363 -0.00737263 -0.02043165
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+v -0.01608456 -0.00785899 -0.01761714
+v -0.01587966 -0.00855100 -0.01765603
+v -0.01561073 -0.00737264 -0.01813337
+v -0.01538448 -0.00855099 -0.01819348
+v -0.01351476 -0.00737264 -0.01908804
+v -0.01345927 -0.00778053 -0.01905975
+v -0.01474203 -0.00855099 -0.01848695
+v -0.01548266 -0.00737264 -0.01821116
+v -0.01471428 -0.00816051 -0.01861070
+v -0.01384559 -0.00737264 -0.01896075
+f 1 2 3
+f 1 3 6
+f 1 6 4
+f 1 4 14
+f 1 14 18
+f 1 18 24
+f 1 24 23
+f 1 23 42
+f 1 42 48
+f 1 48 47
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+f 1 20 15
+f 1 15 9
+f 1 9 8
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+f 1 7 5
+f 1 5 2
+f 2 5 3
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 16
+f 3 16 21
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+f 3 49 43
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+f 4 12 13
+f 4 13 14
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+f 9 19 25
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+f 9 38 37
+f 9 37 36
+f 9 36 35
+f 9 35 21
+f 9 21 16
+f 9 16 10
+f 10 16 11
+f 13 17 14
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+f 17 42 23
+f 17 23 24
+f 17 24 18
+f 19 20 25
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+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 21
+f 20 21 35
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 25
+f 20 39 46
+f 20 46 50
+f 20 50 44
+f 20 44 26
+f 22 40 41
+f 22 41 42
+f 22 43 40
+f 39 45 46
+f 40 47 48
+f 40 48 42
+f 40 42 41
+f 40 43 47
+f 43 49 47
+f 44 50 51
+f 45 52 53
+f 45 53 50
+f 45 50 46
+f 47 49 55
+f 47 55 54
+f 49 56 55
+f 50 53 51
+f 52 57 53
+f 53 57 58
+f 53 58 56
+f 54 55 58
+f 54 58 59
+f 55 56 58
+f 57 59 58
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_91.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..174078218844c8cdefbed124a9bd62b2bd20a925
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_91.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00451949 -0.00855121 0.00963064
+v 0.00406666 -0.00855121 0.01044682
+v 0.00184009 -0.00968217 0.01439225
+v 0.00379645 -0.00968216 0.01084622
+v 0.00428311 -0.00968216 0.00988069
+v 0.00451949 -0.00886662 0.00947088
+v 0.00451949 -0.00855109 -0.02095003
+v 0.00295291 -0.00855121 0.01223199
+v 0.00276706 -0.00855122 0.01239176
+v 0.00172422 -0.00959150 0.01439225
+v 0.00135714 -0.00968217 0.01439225
+v 0.00451949 -0.00911363 0.00934237
+v 0.00451949 -0.00888002 0.00946393
+v 0.00451949 -0.00968215 0.00883529
+v 0.00451949 -0.00859183 -0.02097782
+v 0.00447963 -0.00855109 -0.02095003
+v 0.00115368 -0.00855122 0.01332602
+v 0.00151380 -0.00959172 0.01439225
+v 0.00016738 -0.00855122 0.01337812
+v 0.00136132 -0.00967974 0.01439225
+v -0.00021545 -0.00855122 0.01318710
+v 0.00035417 -0.00968217 0.01315236
+v 0.00451949 -0.00968204 -0.02108896
+v 0.00451949 -0.00862726 -0.02098476
+v 0.00016646 -0.00855109 -0.02058535
+v -0.00021545 -0.00881317 0.01292661
+v -0.00021545 -0.00855109 -0.02053673
+v 0.00008442 -0.00968217 0.01262097
+v -0.00021545 -0.00958230 -0.02022416
+v -0.00021545 -0.00920077 -0.02040475
+v 0.00451949 -0.00924195 -0.02107854
+v -0.00021545 -0.00968205 -0.02017554
+v -0.00021545 -0.00965471 -0.02018943
+v 0.00451949 -0.00887759 -0.02102991
+v -0.00021545 -0.00898356 0.01274601
+v -0.00003747 -0.00968217 0.01237786
+v -0.00021545 -0.00968216 0.01189509
+v -0.00019830 -0.00968216 0.01194372
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 12
+f 1 12 14
+f 1 14 23
+f 1 23 31
+f 1 31 34
+f 1 34 24
+f 1 24 15
+f 1 15 7
+f 1 7 16
+f 1 16 25
+f 1 25 27
+f 1 27 21
+f 1 21 19
+f 1 19 17
+f 1 17 9
+f 1 9 8
+f 1 8 2
+f 2 8 3
+f 3 9 10
+f 3 10 18
+f 3 18 20
+f 3 20 11
+f 3 11 22
+f 3 22 28
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+f 3 36 38
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+f 3 37 32
+f 3 32 23
+f 3 23 14
+f 3 14 5
+f 3 5 4
+f 3 8 9
+f 5 12 13
+f 5 13 6
+f 5 14 12
+f 7 15 16
+f 9 17 10
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+f 10 19 18
+f 11 20 19
+f 11 19 21
+f 11 21 22
+f 15 24 25
+f 15 25 16
+f 18 19 20
+f 21 26 22
+f 21 27 30
+f 21 30 29
+f 21 29 33
+f 21 33 32
+f 21 32 37
+f 21 37 35
+f 21 35 26
+f 22 26 28
+f 23 29 30
+f 23 30 27
+f 23 27 25
+f 23 25 31
+f 23 32 33
+f 23 33 29
+f 24 34 25
+f 25 34 31
+f 26 35 36
+f 26 36 28
+f 35 37 38
+f 35 38 36
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_92.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd19aa11b79f1a26208a99db76ed9b3c37597f48
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_92.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.01209574 0.00383359 0.01826701
+v 0.01209574 0.00478449 0.01810788
+v 0.01204240 0.00383359 0.01827974
+v 0.01209574 0.00383371 -0.01388648
+v 0.01209574 0.00565315 0.01795510
+v 0.01114723 0.00383359 0.01845162
+v 0.00787170 0.00383371 -0.01388648
+v 0.01209574 0.00635694 -0.01388647
+v 0.01209574 0.00567044 0.01795192
+v 0.01105130 0.00383359 0.01846435
+v 0.00787170 0.00635694 -0.01388647
+v 0.00787170 0.00383359 0.01862986
+v 0.01209574 0.00635682 0.01772275
+v 0.01209574 0.00618936 0.01784370
+v 0.00787170 0.00635684 0.01328581
+v 0.00787170 0.00442834 0.01833705
+v 0.01205935 0.00635682 0.01771638
+v 0.00787170 0.00463778 0.01821928
+v 0.00801352 0.00635684 0.01386510
+v 0.01201842 0.00635682 0.01770365
+v 0.00929611 0.00531675 0.01795192
+v 0.01112862 0.00635683 0.01728670
+v 0.00820372 0.00635684 0.01422158
+v 0.01133247 0.00635683 0.01743311
+f 1 2 3
+f 1 3 6
+f 1 6 10
+f 1 10 12
+f 1 12 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 14
+f 1 14 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 4 7 11
+f 4 11 8
+f 5 9 6
+f 6 9 10
+f 7 12 16
+f 7 16 18
+f 7 18 15
+f 7 15 11
+f 8 11 15
+f 8 15 19
+f 8 19 23
+f 8 23 22
+f 8 22 24
+f 8 24 20
+f 8 20 17
+f 8 17 13
+f 9 14 10
+f 10 14 12
+f 12 14 16
+f 13 17 14
+f 14 17 18
+f 14 18 16
+f 15 18 19
+f 17 20 21
+f 17 21 18
+f 18 21 22
+f 18 22 23
+f 18 23 19
+f 20 24 21
+f 21 24 22
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_93.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab94ea05e9996ccd70e87b95d16d7ee13caafae5
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_93.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00586619 -0.01973886 -0.01580767
+v 0.00586619 -0.01684410 -0.01858379
+v 0.00607669 -0.01973886 -0.01569159
+v 0.00586619 -0.01973897 0.01356579
+v 0.00586619 -0.01609297 -0.01900295
+v 0.00733492 -0.01386774 -0.01849995
+v 0.00733492 -0.01973887 -0.01490486
+v 0.00688934 -0.01973886 -0.01520795
+v 0.00661860 -0.01973886 -0.01537561
+v 0.00587439 -0.01973897 0.01355611
+v 0.00733492 -0.01386786 0.01364964
+v 0.00586619 -0.01903899 0.01352710
+v 0.00586619 -0.01516081 -0.01917706
+v 0.00594700 -0.01386774 -0.01925766
+v 0.00733492 -0.01973896 0.01111854
+v 0.00648215 -0.01973897 0.01270167
+v 0.00586619 -0.01386785 0.01187949
+v 0.00586619 -0.01406727 0.01211487
+v 0.00586619 -0.01445865 0.01228576
+v 0.00586619 -0.01809649 0.01332719
+v 0.00586619 -0.01896600 0.01351420
+v 0.00657662 -0.01973897 0.01254046
+v 0.00676972 -0.01973896 0.01220190
+v 0.00719876 -0.01973896 0.01138615
+v 0.00731292 -0.01973896 0.01116368
+v 0.00586619 -0.01459416 -0.01922864
+v 0.00592845 -0.01386774 -0.01926411
+v 0.00586619 -0.01386774 -0.01928345
+f 1 2 3
+f 1 3 9
+f 1 9 8
+f 1 8 7
+f 1 7 15
+f 1 15 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 16
+f 1 16 10
+f 1 10 4
+f 1 4 12
+f 1 12 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 28
+f 1 28 26
+f 1 26 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 4 10 11
+f 4 11 12
+f 5 13 6
+f 6 13 14
+f 6 14 27
+f 6 27 28
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+f 6 17 11
+f 6 11 15
+f 6 15 7
+f 10 16 11
+f 11 17 18
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+f 11 20 21
+f 11 21 12
+f 11 16 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 15
+f 13 26 14
+f 14 26 27
+f 26 28 27
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_94.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9482df1799a0f3d81a4deca6858d5b82d3d4bef
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_94.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.00021545 -0.00855122 0.01318660
+v -0.00257760 -0.00855122 0.01397030
+v -0.00252674 -0.00967487 0.01397029
+v -0.00252674 -0.00968217 0.01397029
+v -0.00021545 -0.00881317 0.01292649
+v -0.00021545 -0.00855109 -0.02053942
+v -0.01417015 -0.00855122 0.01397030
+v -0.01564156 -0.00968217 0.01397029
+v -0.00021545 -0.00968216 0.01189619
+v -0.00021545 -0.00898356 0.01274746
+v -0.00021545 -0.00920077 -0.02040430
+v -0.00282365 -0.00915205 -0.02051915
+v -0.00282365 -0.00855109 -0.02052928
+v -0.01420295 -0.00856982 0.01397030
+v -0.01671929 -0.00855122 0.01245019
+v -0.01550377 -0.00955042 0.01397029
+v -0.01579576 -0.00968217 0.01384868
+v -0.00021545 -0.00968205 -0.02017460
+v -0.00202315 -0.00968205 -0.02025905
+v -0.00282365 -0.00968205 -0.02029283
+v -0.00021545 -0.00965471 -0.02019149
+v -0.00381444 -0.00915206 -0.02039754
+v -0.00449192 -0.00968205 -0.02017798
+v -0.00381444 -0.00855110 -0.02038403
+v -0.01423740 -0.00859174 0.01397030
+v -0.01697355 -0.00855121 0.01197052
+v -0.01697355 -0.00911885 0.01238939
+v -0.01697355 -0.00968217 0.01278798
+v -0.01691450 -0.00968217 0.01284541
+v -0.01652901 -0.00968217 0.01319672
+v -0.01598932 -0.00968217 0.01368316
+v -0.01541191 -0.00947182 0.01397030
+v -0.01532661 -0.00940218 0.01397030
+v -0.01432926 -0.00865053 0.01397030
+v -0.01474264 -0.00855110 -0.01848897
+v -0.01478857 -0.00917808 -0.01829304
+v -0.01521671 -0.00968205 -0.01802281
+v -0.01523475 -0.00966678 -0.01803632
+v -0.01697355 -0.00855111 -0.01669862
+v -0.01697355 -0.00968206 -0.01664458
+v -0.01538567 -0.00855110 -0.01819508
+v -0.01537582 -0.00915206 -0.01818157
+v -0.01524951 -0.00968205 -0.01801268
+v -0.01697355 -0.00915207 -0.01671551
+v -0.01697355 -0.00954289 -0.01666485
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 9
+f 1 9 18
+f 1 18 21
+f 1 21 11
+f 1 11 6
+f 1 6 13
+f 1 13 24
+f 1 24 35
+f 1 35 41
+f 1 41 39
+f 1 39 26
+f 1 26 15
+f 1 15 7
+f 1 7 2
+f 2 7 14
+f 2 14 25
+f 2 25 34
+f 2 34 33
+f 2 33 32
+f 2 32 16
+f 2 16 8
+f 2 8 4
+f 2 4 3
+f 4 8 17
+f 4 17 31
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+f 4 30 29
+f 4 29 28
+f 4 28 40
+f 4 40 43
+f 4 43 37
+f 4 37 23
+f 4 23 20
+f 4 20 19
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+f 4 10 5
+f 6 11 12
+f 6 12 13
+f 7 15 14
+f 8 16 15
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+f 11 19 20
+f 11 20 12
+f 11 21 19
+f 12 22 13
+f 12 20 23
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+f 13 22 24
+f 14 15 25
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 17
+f 15 16 32
+f 15 32 33
+f 15 33 34
+f 15 34 25
+f 18 19 21
+f 22 35 24
+f 22 23 35
+f 23 36 35
+f 23 37 38
+f 23 38 36
+f 26 39 44
+f 26 44 45
+f 26 45 40
+f 26 40 28
+f 26 28 27
+f 35 36 42
+f 35 42 41
+f 36 38 42
+f 37 43 38
+f 38 43 40
+f 38 40 42
+f 39 41 44
+f 40 45 42
+f 41 42 44
+f 42 45 44
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_95.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ed5e4fc8bb167cb9f6eec67c5abe96fb86224da
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_95.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v 0.00612019 0.00637255 0.01678781
+v 0.00606541 0.00637255 0.01507150
+v 0.00456328 0.00637255 0.01678781
+v 0.00603905 0.00618566 0.01678781
+v 0.00617591 0.00383385 0.01507149
+v 0.00456328 0.00637255 0.01507150
+v 0.00456328 0.00383385 0.01678780
+v 0.00500290 0.00383385 0.01678780
+v 0.00456328 0.00383385 0.01507149
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 6
+f 3 6 9
+f 3 9 7
+f 4 8 5
+f 5 8 7
+f 5 7 9
+
diff --git a/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_96.obj b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe2a9943c8d03f0db5b07f7e3bdd6476054ca4ec
--- /dev/null
+++ b/dataset/food/ingredients/121d9883663a5a308aac4899b6081e22/mjcf/mesh/garlic_008_collision_96.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.01150262 -0.00624112 -0.01942720
+v -0.01273370 -0.00624112 -0.01926916
+v -0.01150262 -0.00619159 -0.01944977
+v -0.01150262 -0.00624124 0.01233076
+v -0.01352982 -0.00320284 -0.01923905
+v -0.01150262 -0.00221960 -0.01960404
+v -0.01150262 -0.00615631 -0.01946483
+v -0.01340263 -0.00624112 -0.01907726
+v -0.01150262 -0.00498182 0.01817438
+v -0.01319010 -0.00569860 0.01788464
+v -0.01352982 -0.00582544 0.01759867
+v -0.01352982 -0.00624123 0.01221788
+v -0.01352982 -0.00240724 -0.01926162
+v -0.01352982 -0.00624112 -0.01899071
+v -0.01150262 0.00056124 -0.01924280
+v -0.01352982 -0.00221209 -0.01926162
+v -0.01352982 0.00073462 -0.01895683
+v -0.01352982 0.00130355 -0.01888910
+v -0.01352982 0.00142664 -0.01887404
+v -0.01150262 -0.00478967 0.01828350
+v -0.01352982 -0.00568134 0.01798624
+v -0.01352982 -0.00576916 0.01792980
+v -0.01150262 0.00142664 -0.01891919
+v -0.01352982 0.00142651 0.01561195
+v -0.01150262 -0.00419447 0.01857700
+v -0.01352982 -0.00519047 0.01817814
+v -0.01150262 0.00142652 0.01482176
+v -0.01352982 0.00024886 0.01775673
+v -0.01150262 0.00052882 0.01812548
+v -0.01311013 0.00142651 0.01557432
+v -0.01150262 -0.00396255 0.01862216
+v -0.01273370 -0.00419447 0.01848669
+v -0.01352982 -0.00499082 0.01825340
+v -0.01178241 0.00142651 0.01531092
+v -0.01352982 -0.00022774 0.01816311
+v -0.01273370 0.00142651 0.01554045
+v -0.01150262 -0.00011966 0.01854315
+v -0.01213900 0.00142651 0.01539747
+v -0.01150262 -0.00321799 0.01872376
+v -0.01352982 -0.00419447 0.01841896
+v -0.01352982 -0.00122074 0.01851681
+v -0.01150262 -0.00048519 0.01870871
+v -0.01150262 -0.00024276 0.01859959
+v -0.01150262 -0.00279542 0.01875762
+v -0.01352982 -0.00320298 0.01850928
+v -0.01352982 -0.00399933 0.01843778
+v -0.01352982 -0.00201709 0.01855067
+v -0.01150262 -0.00102634 0.01883289
+v -0.01150262 -0.00221223 0.01879901
+v -0.01150262 -0.00197055 0.01881406
+v -0.01352982 -0.00221223 0.01855443
+v -0.01150262 -0.00131831 0.01883665
+f 1 2 3
+f 1 3 7
+f 1 7 6
+f 1 6 15
+f 1 15 23
+f 1 23 27
+f 1 27 29
+f 1 29 37
+f 1 37 43
+f 1 43 42
+f 1 42 48
+f 1 48 52
+f 1 52 50
+f 1 50 49
+f 1 49 44
+f 1 44 39
+f 1 39 31
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