diff --git a/.gitattributes b/.gitattributes
index ab2c8fd109f2868563c0be4c776f5cf8b0d9e65e..7ec09e64bead7963f8f4420892dd14eeedda02b9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3660,3 +3660,6 @@ dataset/food/ingredients/93b8a247386b57e1850833e8fc00d21d/mesh/mushroom_gs.ply f
 dataset/food/ingredients/9c208789c9a056c9a0d4e51371b5e3c3/9c208789c9a056c9a0d4e51371b5e3c3.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/9c208789c9a056c9a0d4e51371b5e3c3/mesh/potato.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/9c208789c9a056c9a0d4e51371b5e3c3/mesh/potato_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/9adbd2b4fae25cf2b9656108bc858edd.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mesh/mushroom.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mesh/mushroom_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/9adbd2b4fae25cf2b9656108bc858edd.urdf b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/9adbd2b4fae25cf2b9656108bc858edd.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..373d9beb2ddc27e73455e071cd0fbb84fc4f18e0
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/9adbd2b4fae25cf2b9656108bc858edd.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mushroom">
+   <link name="mushroom">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/mushroom.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/mushroom_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.175000</scale>
+         <version>v0.1.7</version>
+         <category>mushroom</category>
+         <description>realistic brown mushroom with rounded cap and white stem</description>
+         <min_height>0.060</min_height>
+         <max_height>0.080</max_height>
+         <real_height>0.070</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260119224805</generate_time>
+         <gs_model>mesh/mushroom_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.82447624206543</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/9adbd2b4fae25cf2b9656108bc858edd.usd b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/9adbd2b4fae25cf2b9656108bc858edd.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a549f57040a4a28110541ae9c0e7c0dfd0363572
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/9adbd2b4fae25cf2b9656108bc858edd.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fbd7d48db7956ac734eb01b261f472a400478a6496468cfec58eed867a23544
+size 1907562
diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mesh/material.mtl b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mesh/material_0.png b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2876454fc9b441052356ade6eba814db566f1f5c
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc42e372cfec2a97e9b7f69f8388e924fe850d9f00dfb145adf3071088094c71
+size 1725170
diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mesh/mushroom.glb b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mesh/mushroom.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3d9565d9ac83c295a3737b518561a27dd4a6b3ea
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mesh/mushroom.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55867976258a366c12792dbb1e895b23447b7067c6bd13416515500f33fe06d0
+size 3084156
diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mesh/mushroom.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mesh/mushroom.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cdcd4f3f261a48f7b75f022643c3c85e19d918e
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mesh/mushroom.obj
@@ -0,0 +1,125383 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mesh/mushroom_collision.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mesh/mushroom_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d696eabbe712bbbe2bdea7fb8eef43c17573f163
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mesh/mushroom_collision.obj
@@ -0,0 +1,48681 @@
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mesh/mushroom_gs.ply b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mesh/mushroom_gs.ply
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index 0000000000000000000000000000000000000000..4adf7d3636ee1840bedfaa330e0811a2f9726442
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mesh/mushroom_gs.ply
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/9adbd2b4fae25cf2b9656108bc858edd.xml b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/9adbd2b4fae25cf2b9656108bc858edd.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7de9c51df74f9415e0ff8fe5e6bb03893c277b47
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/9adbd2b4fae25cf2b9656108bc858edd.xml
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+    <mesh name="collision_mesh_0_38" file="mesh/mushroom_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </asset>
+  <worldbody>
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/material_0.png b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2876454fc9b441052356ade6eba814db566f1f5c
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc42e372cfec2a97e9b7f69f8388e924fe850d9f00dfb145adf3071088094c71
+size 1725170
diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4adef2126e30548f38d0811fc0493cf8cd444d85
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom.obj
@@ -0,0 +1,125383 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..605e0aedd797fb8f363809070418a3d7fbbb2899
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision.obj
@@ -0,0 +1,48681 @@
+# https://github.com/mikedh/trimesh
+
+o mushroom_collision.obj
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_0.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..658762f9ddfc7c8a3f5b7cfe44540b5204443501
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_0.obj
@@ -0,0 +1,6514 @@
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_1.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..194edf5b84ecab691671667a78bda07e3b757011
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_1.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_10.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84d9480826e49c87b87a3ba4e8b2f35e64c190f9
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_10.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_11.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24ef73df0825df341eddda4e2f32652485f5147e
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_11.obj
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+
diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_12.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09f6e7e97d3741b5c63795fb0fdb2ae10326a585
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_12.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00459575 -0.01396062 0.00162309
+v 0.00411511 -0.01421039 0.00162309
+v 0.00591649 -0.01503050 -0.00112485
+v 0.00526750 -0.01396090 0.00103521
+v 0.00523091 -0.01396061 0.00106607
+v -0.00046190 -0.01396062 0.00162309
+v 0.00401834 -0.01425155 0.00162309
+v 0.00465268 -0.01497151 -0.00005866
+v 0.00524066 -0.01518848 -0.00086176
+v 0.00268216 -0.01624255 -0.00099904
+v 0.00288629 -0.01628023 -0.00177999
+v 0.00599212 -0.01506214 -0.00177999
+v 0.00784634 -0.01396089 -0.00199044
+v 0.00777559 -0.01396089 -0.00170481
+v 0.00730390 -0.01404435 -0.00090409
+v 0.00736165 -0.01396090 -0.00084355
+v 0.00748282 -0.01396089 -0.00239753
+v 0.00671673 -0.01396089 -0.00239832
+v -0.00046190 -0.01396061 0.00106607
+v -0.00046190 -0.01541410 0.00162308
+v 0.00294565 -0.01469729 0.00162309
+v 0.00340921 -0.01483540 0.00106607
+v 0.00332463 -0.01491510 0.00098971
+v 0.00388415 -0.01512862 0.00022103
+v 0.00419644 -0.01541294 -0.00051680
+v 0.00171113 -0.01636024 -0.00062004
+v 0.00062868 -0.01665750 -0.00062756
+v 0.00178106 -0.01653232 -0.00177999
+v 0.00273908 -0.01621808 -0.00241416
+v 0.00595308 -0.01503769 -0.00240071
+v 0.00524066 -0.01507653 -0.00240823
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+v 0.00057663 -0.01531539 0.00162308
+v -0.00046190 -0.01632053 0.00023210
+v 0.00178106 -0.01504605 0.00162308
+v -0.00046190 -0.01684570 -0.00062955
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+
diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_13.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35f0d863196ed1b61357c24a728f915150f41a9b
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_13.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.00046190 0.01720980 0.00300412
+v 0.00524844 0.01720980 0.00160546
+v -0.00045130 0.01585196 0.00295909
+v -0.00046072 0.01585196 0.00297110
+v -0.00046190 0.01585196 0.00302812
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+v 0.00555344 0.01720980 0.00153643
+v 0.00295382 0.01585196 0.00228077
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+v 0.00062742 0.01720969 0.03153243
+v 0.00555344 0.01707622 0.00157845
+v 0.00422037 0.01585196 0.00204967
+v 0.00555344 0.01720970 0.03114525
+v 0.00043428 0.01585185 0.03219274
+v -0.00046190 0.01597466 0.03212671
+v 0.00062742 0.01585185 0.03219274
+v 0.00178090 0.01585185 0.03211470
+v 0.00178090 0.01670727 0.03171252
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+v 0.00555344 0.01670738 0.00169850
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+v 0.00555344 0.01585196 0.00205568
+v 0.00439819 0.01585185 0.03177255
+v 0.00555344 0.01700408 0.03121728
+v 0.00555344 0.01585185 0.03158645
+v 0.00553872 0.01585185 0.03158946
+f 1 2 3
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+
diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_14.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da28e0ff49c4257a95326bf954dd79ea24153023
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_14.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01581526 -0.00388399 -0.00123083
+v -0.01581526 -0.00388399 0.03188765
+v -0.01581526 0.00551727 -0.00123083
+v -0.01581526 0.00551727 0.03188765
+v -0.01481525 -0.00388399 -0.00123083
+v -0.01481525 -0.00388399 0.03188765
+v -0.01481525 0.00551727 -0.00123083
+v -0.01481525 0.00551727 0.03188765
+f 2 4 1
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+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/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_15.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41544b55ca6199fdfa6a7c32808be446225b3e8b
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_15.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00987355 0.00674796 -0.00618815
+v 0.00987355 0.00674796 -0.00518814
+v 0.00987355 0.01408155 -0.00618815
+v 0.00987355 0.01408155 -0.00518814
+v 0.01406272 0.00674796 -0.00618815
+v 0.01406272 0.00674796 -0.00518814
+v 0.01406272 0.01408155 -0.00618815
+v 0.01406272 0.01408155 -0.00518814
+f 2 4 1
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+f 2 8 4
+f 6 2 5
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+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/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_16.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a141633b3946583162fec3b057b5e3f6da303d05
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_16.obj
@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
+v -0.00046190 -0.02358604 0.00155636
+v -0.00046190 -0.02133867 0.00202339
+v 0.00050602 -0.02358603 0.00135317
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+v -0.00046190 -0.02116637 0.00205978
+v 0.01223150 -0.02358603 -0.00063624
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+v -0.00046190 -0.02328978 0.02670905
+v -0.00012642 -0.02048003 0.00219322
+v -0.00046190 -0.01901031 0.00265723
+v 0.01223150 -0.01785646 0.00120763
+v 0.01223150 -0.02358611 0.02172642
+v 0.00171745 -0.02358613 0.02605703
+v 0.00187650 -0.02355397 0.02605703
+v 0.00062778 -0.02323004 0.02663626
+v -0.00046190 -0.02262756 0.02728829
+v -0.00046190 -0.01792309 0.00306359
+v 0.01214204 -0.01771862 0.00128344
+v 0.01223150 -0.01771862 0.00127131
+v -0.00046190 -0.01785819 0.00308786
+v -0.00046190 -0.01771863 0.00314851
+v 0.01223150 -0.02325817 0.02206912
+v 0.01220541 -0.02358611 0.02174461
+v 0.00284564 -0.02358612 0.02581745
+v 0.00293510 -0.02296470 0.02639670
+v 0.00293510 -0.02238864 0.02688192
+v 0.00293510 -0.02167876 0.02745812
+v 0.00067624 -0.02239840 0.02728222
+v -0.00046190 -0.02205724 0.02774318
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_17.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c55801d3c4cd9cc921b86739d0496b1415e9522
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_17.obj
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_18.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..894e66a8855d3b3893a3b742c0b3fb45f335ec05
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_18.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01581526 0.00551716 -0.00158334
+v -0.01581526 0.00551716 0.03175769
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+v -0.01481525 0.03076204 0.03175769
+f 2 4 1
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+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/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_19.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cc0843a76a726419c1282e9aa32dfa128f95d84
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_19.obj
@@ -0,0 +1,1525 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_2.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d34303f52065e4b854b2a9680f0a5b89f2cf66b
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_2.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_20.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3d9e1688900c811680bca612b1f45e9aeed90a6
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_20.obj
@@ -0,0 +1,715 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_21.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50dbe6f999cc31e1a648ca548ce33cdcbfd3e30d
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_21.obj
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_22.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60dcbe5abdacda6ecf70584c6b51961ffe31d2a7
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_22.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_23.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62f2b8432ff57832329cbd98ea1ecb0b4a481280
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_23.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.00052662 0.01281312 -0.00266390
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+
diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_24.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc5fa1af04f7d7d51f9c9ca50b75fe1df4f128a1
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_24.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_25.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99920e982583ef03a721085ec4c5ebdb100086ab
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_25.obj
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_26.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86cc3a63d4efb7499646b5ea3b5bf00508c6075c
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_26.obj
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_27.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46ea6745c1c5a2c61f5403f08d4fd758a0080fb4
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_27.obj
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_28.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c8993136a4c2df7ce096dff2801704ecdba138c
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_28.obj
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_29.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57c56086797637e6709a35b42de1277480803033
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_29.obj
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_3.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52950841f788f8f40993d7282875e95aa5d4f484
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_3.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_30.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..618692e0c505727c3644e42113d898d2a08cd066
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_30.obj
@@ -0,0 +1,1474 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_31.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f16eb785d8a75644334a05c8045b1479ea88cb06
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_31.obj
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_32.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e07149f33e6283b08a71402c70eb2440dbf3e67d
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_32.obj
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_33.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..596f920d7bb568d6cf1d0713908f6e2de7869213
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_33.obj
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_34.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b79a7814d0336a7b3dc0b26d64665dad45e3b54d
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_34.obj
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_35.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..195772eb237e722c35f5e91707f28fb4fe674204
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_35.obj
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_36.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5224be7730ed96b8ef154afcf116257843705644
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_36.obj
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_37.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4693c60ff8e2a41960c05f93ec73389220cd575a
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_37.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00161460 -0.01776069 -0.00283894
+v -0.00161460 -0.01776069 -0.00183894
+v -0.00161460 -0.01676069 -0.00283894
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+v -0.00061460 -0.01676069 -0.00183894
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+
diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_38.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4611f8a106dc24b73c139f674da03eaae42daab7
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_38.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_39.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5df5d7f3fc5a4cc910d2655ebaf3ff802d2eee06
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_39.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_4.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cedd18529bfaed171f5df13b717c5bf04dfea18
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_4.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.02089656 0.01160168 -0.00583236
+v 0.02089656 0.01160168 -0.00483236
+v 0.02089656 0.02296355 -0.00583236
+v 0.02089656 0.02296355 -0.00483236
+v 0.02922818 0.01160168 -0.00583236
+v 0.02922818 0.01160168 -0.00483236
+v 0.02922818 0.02296355 -0.00583236
+v 0.02922818 0.02296355 -0.00483236
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
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+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/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_40.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e20a4fcdc561c731c11b73644501b3c243d4eba5
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_40.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.01223175 0.00796332 0.03149022
+v 0.01310448 0.00796333 0.03118767
+v 0.01223175 0.00882873 0.03133736
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+v 0.01223175 0.01340688 0.00014906
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+v 0.01482078 0.01323946 0.02845517
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+
diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_41.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..622de528cf81ebab244c87bde2a056c9c6a000f2
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_41.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.01482104 0.00796333 0.03027500
+v 0.01485961 0.00796333 0.03024680
+v 0.01614854 0.01022437 0.02873353
+v 0.01541726 0.01094643 0.02902490
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+v 0.01599371 0.01094643 0.02861134
+v 0.01482104 0.01138659 0.02926615
+v 0.01520782 0.01177027 0.02888078
+v 0.01482104 0.00979710 -0.00031646
+v 0.01627812 0.00945446 -0.00114987
+v 0.01574003 0.00796344 -0.00031334
+v 0.01606242 0.00796333 0.02934760
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+
diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_42.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..008b0aa14b507e838695fab6a78f895e542ca816
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_42.obj
@@ -0,0 +1,682 @@
+# https://github.com/mikedh/trimesh
+v -0.00046190 0.01172374 -0.00266405
+v -0.00046190 0.01172374 -0.00324422
+v -0.00046190 0.01280367 -0.00266404
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_43.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98388f15d4c7a61c3e6e354fa8ed46125272959b
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_43.obj
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_44.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bac8f8ae1c3aeab4e347f6beb6c5ec9b1a6552a
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_44.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_45.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb0fb53c89a76d7b6de65d98bb83cb8d6ef53c22
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_45.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_46.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86e0624244564c9384425c229c8bd53ab119f958
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_46.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_47.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1737328b2aa899436cc314f22728d669a1c0f7c9
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_47.obj
@@ -0,0 +1,955 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_48.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..937d9a6fe06c150f03d756c431b191da611246b5
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_48.obj
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_49.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd2553968d17e6d1d3a28066a5565e937e165415
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_49.obj
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_5.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d7d39f6b39c8387d99a241fc1d28af5bbc9d584
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_5.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_50.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e583319984ed84250b59a9ce00cc0865c9e45fcd
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_50.obj
@@ -0,0 +1,718 @@
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_51.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0115ed01b4f78cab629c37fd592d6128147f2bae
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_51.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_52.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfed05bb36cff10067441c9980e46e240d8c6824
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_52.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_53.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b24f8d3eb4a04122aa4ada37d8d9dc1ee2fd4a48
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_53.obj
@@ -0,0 +1,508 @@
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_54.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d5ee3c26399ac0288ac0259336513f60b5da237
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_54.obj
@@ -0,0 +1,976 @@
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_55.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbe393e7cdc3baea2e55cb629de350488db94ed6
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_55.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_56.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..659dec490154051cd603bb3aec2e27a00b8e1989
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_56.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_57.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59d4890bf15fbc9ff785b9256aa0d653201a6aef
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_57.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_58.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1b327d51f41826901ee32b8d2a2d37d546b9e78
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_58.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_59.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcbaf11b9cbffceaacfc6428c88bd6368eedd6e7
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_59.obj
@@ -0,0 +1,1387 @@
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_6.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d78b9ac3f3ddc1e04655fb9e3cdc1614f80f859
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_6.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_60.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7c9e142091be3c2636744c32c5a34239f2c6a58
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_60.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_61.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a438926c1488a61481e5526c56bd58b3b9bdba3
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_61.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.00046190 -0.00502127 0.00543474
+v -0.00950337 -0.00502127 0.00543474
+v -0.00046190 -0.00502126 0.00233578
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+v -0.01009113 -0.00470590 0.00233578
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+v -0.01120357 0.01735189 0.00233586
+v -0.01120357 0.00480532 0.00233582
+v -0.01119726 0.00057860 0.00233580
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+
diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_62.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e7bace4f15714e0c54b4e5b28dd26aad5e220e4
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_62.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.01223150 -0.00853713 -0.00129235
+v 0.01223150 0.00704910 -0.00129229
+v 0.01223150 -0.00729132 -0.00065482
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+
diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_63.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4aa8205ae6ba6a5b8fdc9c16c4a2d1fab05150c
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_63.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.00168082 0.01732812 -0.00245868
+v -0.00514128 0.01650003 -0.00287777
+v -0.00283466 0.01731254 -0.00242088
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+
diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_64.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5023d1a3c94f050848bea3c9ef1017650053181
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_64.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.00953295 -0.00502125 0.00110624
+v -0.00953295 -0.00674302 0.00110624
+v -0.00953295 -0.00502126 0.00312160
+v -0.00046278 -0.00502125 0.00110624
+v -0.00953295 -0.00666878 0.00122638
+v -0.00816986 -0.01197504 0.00110622
+v -0.00815831 -0.01180404 0.00167871
+v -0.00953295 -0.00537079 0.00312160
+v -0.00046278 -0.00502126 0.00312160
+v -0.00046278 -0.01354248 0.00110621
+v -0.00953295 -0.00639600 0.00166611
+v -0.00798515 -0.01263822 0.00110621
+v -0.00803754 -0.01154043 0.00229441
+v -0.00953295 -0.00541250 0.00306953
+v -0.00953295 -0.00558100 0.00283161
+v -0.00953295 -0.00579622 0.00252761
+v -0.00953295 -0.00637098 0.00170320
+v -0.00953295 -0.00637682 0.00169471
+v -0.00777114 -0.01099154 0.00312158
+v -0.00046278 -0.01354249 0.00312157
+v -0.00690178 -0.01354248 0.00110621
+v -0.00794519 -0.01267242 0.00110621
+v -0.00651370 -0.01354249 0.00312157
+v -0.00746122 -0.01195503 0.00312158
+v -0.00739284 -0.01314124 0.00110621
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+f 1 17 16
+f 1 16 15
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+f 1 14 8
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+
diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_65.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63a256bc2c5d951d7f802a59375942dc33a4dd94
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_65.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01050201 -0.00678660 0.00110623
+v -0.01050201 -0.00678660 0.03368673
+v -0.01050201 -0.00502142 0.00110623
+v -0.01050201 -0.00502142 0.03368673
+v -0.00950201 -0.00678660 0.00110623
+v -0.00950201 -0.00678660 0.03368673
+v -0.00950201 -0.00502142 0.00110623
+v -0.00950201 -0.00502142 0.03368673
+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/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_66.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f4c06a91bc083438a0a6207f3f5964d8489d7dd
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_66.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01509348 0.00561899 -0.00359773
+v -0.01509348 0.00561899 -0.00259773
+v -0.01509348 0.01303371 -0.00359773
+v -0.01509348 0.01303371 -0.00259773
+v -0.01159794 0.00561899 -0.00359773
+v -0.01159794 0.00561899 -0.00259773
+v -0.01159794 0.01303371 -0.00359773
+v -0.01159794 0.01303371 -0.00259773
+f 2 4 1
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+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/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_67.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6392c1aa2ad56d29e2b7325c8e19a51272bd4d66
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_67.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v -0.00046190 -0.00502126 0.00233561
+v -0.00995604 -0.00502126 0.00233561
+v -0.00046190 -0.00502125 0.00067072
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+v -0.01008958 -0.00470394 0.00233561
+v -0.01027866 -0.00445951 0.00208319
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+v -0.00046190 0.01223028 0.00067078
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+v -0.00046308 0.01571446 0.00233569
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+v -0.01021366 -0.00502126 0.00155556
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+v -0.01054218 -0.00405855 0.00169074
+v -0.01091089 -0.00402853 0.00052585
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+v -0.00051744 0.01684656 -0.00076748
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+v -0.01099479 -0.00479183 -0.00076756
+v -0.01048074 -0.00502125 0.00067072
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+v -0.01071826 -0.00289215 0.00233562
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+v -0.00963579 0.01441085 -0.00076749
+v -0.01007422 0.01409781 -0.00076749
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+f 92 96 93
+
diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_68.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6136917bd408adad2f1a331385061719ed7ffe10
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_68.obj
@@ -0,0 +1,817 @@
+# https://github.com/mikedh/trimesh
+v -0.00283398 -0.00502138 0.03477899
+v -0.00382445 -0.00502138 0.03477316
+v -0.00267101 -0.00502138 0.03477316
+v -0.00168053 -0.00403149 0.03486329
+v -0.00283398 -0.00403149 0.03490397
+v -0.00398742 -0.00502138 0.03477027
+v -0.00168053 -0.00502138 0.03473539
+v -0.00052709 -0.00403149 0.03479353
+v -0.00052709 -0.00287955 0.03491850
+v -0.00168053 -0.00287955 0.03497664
+v -0.00398742 -0.00403149 0.03487781
+v -0.00283398 -0.00287955 0.03499408
+v -0.00497790 -0.00502138 0.03469469
+v -0.00046190 -0.00502138 0.03465692
+v -0.00046190 -0.00403149 0.03478771
+v -0.00046190 -0.00287955 0.03491269
+v -0.00046190 -0.00281385 0.03491850
+v -0.00046190 -0.00172760 0.03500570
+v -0.00052709 -0.00172760 0.03500861
+v -0.00168053 -0.00172760 0.03505802
+v -0.00514087 -0.00403149 0.03478190
+v -0.00522814 -0.00502138 0.03467435
+v -0.00398742 -0.00287955 0.03495338
+v -0.00283398 -0.00172760 0.03506383
+v -0.00046190 -0.00502127 0.00543474
+v -0.00046190 -0.00057347 0.03506384
+v -0.00052709 -0.00057347 0.03506674
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_69.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28308a3f36f14bba3d84449bfcd77c93efffb362
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_69.obj
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_7.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e700d474e83d7dafd23cffa740d4ac83aca8beee
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_7.obj
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_70.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe90b44f2efc2e1246b1c831cfd8bd4ed167ff0c
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_70.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_71.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caeaa54744553d4e6b52471ef5cc0af725137760
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_71.obj
@@ -0,0 +1,631 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_72.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ebdf8f7462a21b2ca1bd6969186d29facbf5e31
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_72.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_73.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af2379fc2c68a7c18ab1230c9d0de34d04ce76d1
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_73.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+f 1 34 26
+f 1 26 19
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+f 3 7 6
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+f 32 47 33
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+f 35 45 36
+f 37 48 38
+f 38 48 49
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+f 40 51 50
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+f 41 53 42
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+f 42 54 43
+f 43 54 55
+f 43 55 44
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+f 48 57 49
+f 49 57 51
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+f 50 59 58
+f 51 57 59
+f 52 60 53
+f 53 60 61
+f 53 61 54
+f 54 61 62
+f 54 62 63
+f 54 63 55
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+f 57 64 65
+f 58 59 66
+f 58 66 60
+f 59 65 66
+f 60 66 61
+f 61 66 67
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+f 61 68 62
+f 62 68 69
+f 62 69 70
+f 62 70 63
+f 64 68 65
+f 65 68 67
+f 65 67 66
+
diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_74.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a14e5050e4a8297e1ebda2cb2e925c2613a49dc
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_74.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00690223 -0.01575231 0.00086532
+v -0.00690223 -0.01575231 0.00186532
+v -0.00690223 -0.01354353 0.00086532
+v -0.00690223 -0.01354353 0.00186532
+v -0.00046190 -0.01575231 0.00086532
+v -0.00046190 -0.01575231 0.00186532
+v -0.00046190 -0.01354353 0.00086532
+v -0.00046190 -0.01354353 0.00186532
+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/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_75.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14bdb1357964460fba0ae372c50f4057fe3d98de
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_75.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.01309962 0.01069275 -0.00266391
+v -0.01313705 0.01069275 -0.00252150
+v -0.01253505 0.01101316 -0.00076754
+v -0.01252328 0.01069275 -0.00266391
+v -0.01392190 0.00945715 -0.00266392
+v -0.01314368 0.01069275 -0.00241874
+v -0.01253505 0.01090157 -0.00062855
+v -0.01205345 0.01056068 0.00067028
+v -0.01318622 0.01069275 -0.00175708
+v -0.01283801 0.01069274 -0.00098874
+v -0.01279636 0.01069274 -0.00089772
+v -0.01277675 0.01069274 -0.00085758
+v -0.01252328 0.00947660 -0.00266392
+v -0.01401423 0.00927085 -0.00266392
+v -0.01504201 0.00720299 -0.00262429
+v -0.01504201 0.00720299 -0.00206492
+v -0.01391526 0.00944078 -0.00177960
+v -0.01358998 0.01001711 -0.00177959
+v -0.01281146 0.01064463 -0.00086835
+v -0.01253505 0.01061187 -0.00028891
+v -0.01261109 0.01032318 -0.00009952
+v -0.01205345 0.00907428 0.00233566
+v -0.01205345 0.00644034 0.00067026
+v -0.01379366 0.00921862 -0.00120163
+v -0.01252328 0.00917052 -0.00255137
+v -0.01373904 0.00561627 -0.00250000
+v -0.01366149 0.00634515 -0.00266393
+v -0.01497411 0.00724087 -0.00266392
+v -0.01507550 0.00662972 -0.00266393
+v -0.01509300 0.00633900 -0.00266393
+v -0.01510146 0.00637483 -0.00172040
+v -0.01477616 0.00754695 -0.00172039
+v -0.01431056 0.00864128 -0.00177960
+v -0.01513615 0.00207327 0.00233564
+v -0.01462378 0.00401009 0.00233564
+v -0.01420766 0.00520166 0.00233565
+v -0.01294242 0.00747733 0.00233566
+v -0.01205345 0.00435405 0.00233565
+v -0.01252328 0.00908146 -0.00248481
+v -0.01205345 0.00514536 0.00164415
+v -0.01369468 0.00097997 0.00203906
+v -0.01400277 0.00250834 0.00014905
+v -0.01477194 0.00223194 -0.00011423
+v -0.01490109 0.00344502 -0.00121536
+v -0.01436880 0.00545760 -0.00259004
+v -0.01436880 0.00561832 -0.00266393
+v -0.01394906 0.00585684 -0.00266393
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+v -0.01513615 0.00459258 -0.00123052
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+v -0.01440410 0.00090729 0.00166370
+v -0.01481237 0.00110486 0.00103973
+v -0.01404321 0.00137614 0.00127024
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+v -0.01495630 0.00344502 -0.00121536
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+v -0.01511111 0.00514538 -0.00182708
+v -0.01505890 0.00298948 -0.00054979
+v -0.01513585 0.00378079 -0.00060852
+v -0.01513615 0.00400806 -0.00076757
+v -0.01513615 0.00091241 0.00194217
+v -0.01498799 0.00110486 0.00103973
+v -0.01468141 0.00059199 0.00233563
+v -0.01391918 0.00073019 0.00233563
+v -0.01439354 0.00055718 0.00233563
+v -0.01505438 0.00169451 0.00067025
+v -0.01506585 0.00180098 0.00060321
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+f 38 53 41
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+f 54 69 55
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+f 59 61 60
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+f 63 65 64
+f 65 71 70
+f 65 70 66
+f 66 69 67
+
diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_76.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4aa4ecf7d5063712c272fb8e03129194b6856087
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_76.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01513615 0.01292292 0.00141883
+v -0.01513615 0.01292292 0.00241883
+v -0.01513615 0.01735189 0.00141883
+v -0.01513615 0.01735189 0.00241883
+v -0.00924355 0.01292292 0.00141883
+v -0.00924355 0.01292292 0.00241883
+v -0.00924355 0.01735189 0.00141883
+v -0.00924355 0.01735189 0.00241883
+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/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_77.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7188ad8ee681466fdd2c41ba99157c994ea0e7b8
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_77.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00046190 -0.00502125 -0.00076775
+v -0.01090425 -0.00502125 -0.00076775
+v -0.00046190 -0.00502124 -0.00266397
+v -0.00046190 0.01069398 -0.00076769
+v -0.01099515 -0.00479205 -0.00076775
+v -0.01139301 -0.00435977 -0.00152717
+v -0.01149572 -0.00493971 -0.00266397
+v -0.01146266 -0.00502124 -0.00266397
+v -0.00046190 0.01069399 -0.00266391
+v -0.01252284 0.01069398 -0.00076769
+v -0.01128794 -0.00405059 -0.00076774
+v -0.01135878 -0.00386138 -0.00076774
+v -0.01153350 -0.00359217 -0.00102762
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+v -0.01252284 0.01069399 -0.00266391
+v -0.01252284 0.00727897 -0.00076770
+v -0.01149690 -0.00347065 -0.00076774
+v -0.01194080 -0.00287840 -0.00178018
+v -0.01217220 -0.00287840 -0.00266396
+v -0.01183455 -0.00402289 -0.00266396
+v -0.01252284 0.00947720 -0.00266392
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+v -0.01166690 -0.00286456 -0.00076774
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+v -0.01217928 -0.00172621 -0.00178018
+v -0.01240242 -0.00169545 -0.00266396
+v -0.01252284 0.00917108 -0.00255181
+v -0.01252284 0.00908186 -0.00248535
+f 1 2 8
+f 1 8 3
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+f 1 9 4
+f 1 4 10
+f 1 10 17
+f 1 17 27
+f 1 27 29
+f 1 29 28
+f 1 28 18
+f 1 18 12
+f 1 12 11
+f 1 11 5
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+f 10 23 17
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+f 22 24 32
+f 23 33 24
+f 24 33 32
+f 25 31 26
+f 26 31 27
+f 27 31 30
+f 27 30 29
+
diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_78.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..359ef7ee0b3ce046c823359c257437564ce76093
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_78.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
+v -0.00953295 -0.00502126 0.00312160
+v -0.00046278 -0.00502126 0.00312160
+v -0.00953295 -0.00537079 0.00312160
+v -0.00953295 -0.00502137 0.03368406
+v -0.00046278 -0.01354249 0.00312157
+v -0.00046278 -0.00502138 0.03465404
+v -0.00777114 -0.01099154 0.00312158
+v -0.00953295 -0.01354249 0.00314017
+v -0.00953295 -0.00514650 0.03366547
+v -0.00860142 -0.00502137 0.03398776
+v -0.00651370 -0.01354249 0.00312157
+v -0.00046278 -0.01354260 0.03228947
+v -0.00046989 -0.00502138 0.03465715
+v -0.00046278 -0.00526747 0.03462306
+v -0.00746122 -0.01195503 0.00312158
+v -0.00953295 -0.01354259 0.03126681
+v -0.00860142 -0.00518487 0.03396297
+v -0.00953295 -0.00613418 0.03350432
+v -0.00947346 -0.00633689 0.03349192
+v -0.00744790 -0.00518488 0.03426358
+v -0.00743991 -0.00502138 0.03428527
+v -0.00046278 -0.01349338 0.03230807
+v -0.00078958 -0.01354260 0.03232046
+v -0.00151774 -0.00502138 0.03472533
+v -0.00168026 -0.00518488 0.03471293
+v -0.00047255 -0.00527163 0.03462306
+v -0.00082066 -0.00585640 0.03455488
+v -0.00046278 -0.00626599 0.03444642
+v -0.00947079 -0.01354259 0.03128540
+v -0.00953295 -0.01326732 0.03137526
+v -0.00860142 -0.00633689 0.03376464
+v -0.00744790 -0.00633690 0.03408073
+v -0.00953295 -0.00627682 0.03347952
+v -0.00953295 -0.00681487 0.03337415
+v -0.00927898 -0.00705012 0.03342063
+v -0.00629348 -0.00633690 0.03433485
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+v -0.00060132 -0.01331570 0.03238554
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+v -0.00860142 -0.01324897 0.03166037
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+v -0.00744790 -0.00748890 0.03385140
+v -0.00860232 -0.00745554 0.03353530
+v -0.00629348 -0.00748891 0.03412101
+v -0.00953295 -0.00729537 0.03325639
+v -0.00791500 -0.00912808 0.03336175
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+v -0.00953295 -0.00865342 0.03289380
+v -0.00953295 -0.00957521 0.03264587
+v -0.00860232 -0.00870264 0.03322849
+v -0.00571006 -0.00575379 0.03453628
+v -0.00602974 -0.00502138 0.03457037
+v -0.00046278 -0.01209695 0.03279462
+v -0.00046278 -0.01203272 0.03281632
+v -0.00101602 -0.01039270 0.03339273
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+v -0.00283378 -0.01209695 0.03288140
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+v -0.00866004 -0.01210363 0.03207875
+v -0.00908362 -0.01144545 0.03220582
+v -0.00953295 -0.01188257 0.03190211
+v -0.00629348 -0.00864091 0.03382040
+v -0.00513995 -0.00748891 0.03427596
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+v -0.00749674 -0.00976874 0.03322229
+v -0.00525095 -0.00634941 0.03447740
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_8.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1347b098018ac799d6aba7331f9e20e0533e5f0f
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_8.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_9.obj b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49fd3dd636c33c06d304ae9c119705e22858a8f2
--- /dev/null
+++ b/dataset/food/ingredients/9adbd2b4fae25cf2b9656108bc858edd/mjcf/mesh/mushroom_collision_9.obj
@@ -0,0 +1,3190 @@
+# https://github.com/mikedh/trimesh
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