diff --git a/.gitattributes b/.gitattributes
index b283cb252be6354c75af71e609787a9d1cfa165e..d7a7424e3bc09656ca0db6db8819fbf81578d9ad 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3714,3 +3714,5 @@ dataset/food/snack/9e818f1a4b495fc5bf276fe561e53cfa/mesh/potato_chips_007.glb fi
 dataset/food/snack/9e818f1a4b495fc5bf276fe561e53cfa/potato_chips_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/849fb9200f9c595ba3c7165cf9cb36e9/chocolate_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/849fb9200f9c595ba3c7165cf9cb36e9/mesh/chocolate_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/biscuit_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mesh/biscuit_004.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/biscuit_004.urdf b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/biscuit_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..270fa6778528ace54026682cf3341e1773caf5a1
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/biscuit_004.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="biscuit_004">
+   <link name="biscuit_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/biscuit_004.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/biscuit_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>1.000000</scale>
+         <uuid>ae530ea5501c5af38ccaeb1ecdf7d3e0</uuid>
+         <domain>food</domain>
+         <super_category>snack</super_category>
+         <category>biscuit</category>
+         <name>packaged biscuits</name>
+         <color>beige,brown</color>
+         <shape>flat</shape>
+         <material>plastic</material>
+         <description>sealed package containing round biscuits with decorative patterns</description>
+         <min_height>0.1600</min_height>
+         <max_height>0.1600</max_height>
+         <real_height>0.1600</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506220746</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>1</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/biscuit_004.usd b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/biscuit_004.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2c8b280b56961296035118caf9abe7129fea0452
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/biscuit_004.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61e3f900f63e6832c24ef90269cdd4669b3baeac18c9e974c0e32e4494d8b2c4
+size 4993413
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mesh/biscuit_004.glb b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mesh/biscuit_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..04e3c87c14097f3f3fc2efd16a7b3eff95cb7699
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mesh/biscuit_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:435c43e5ec3b0a7fca17193fbafe4c1b8f547623c6fb2371a7707a1a446621d0
+size 16398028
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mesh/biscuit_004.mtl b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mesh/biscuit_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e01cdba1512e09b67a618b04e9cfa282246d68bd
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mesh/biscuit_004.mtl
@@ -0,0 +1,6 @@
+newmtl biscuit_004_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mesh/biscuit_004.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mesh/biscuit_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06a3f2620f855d89ff2b474c2a287d8a3f087254
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mesh/biscuit_004.obj
@@ -0,0 +1,121824 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl biscuit_004_geometry_Looks_material_0
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mesh/biscuit_004_collision.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mesh/biscuit_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e023a045c9fc9c64dce891d1ee98949343fb244f
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mesh/biscuit_004_collision.obj
@@ -0,0 +1,15871 @@
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mesh/biscuit_004_geometry_Looks_material_0.png b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mesh/biscuit_004_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d0f965f0335adb1ad1986768b9292c548f77157
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mesh/biscuit_004_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13b63628bdff36c92f629706f4f91dbe60b4262f4e038dcc6258fc173dc019b3
+size 12933889
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mesh/material.mtl b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fddb362dd76f857075d96128cc36e7029bd6d5fd
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl biscuit_004_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd biscuit_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mesh/material_0.png b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d0f965f0335adb1ad1986768b9292c548f77157
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13b63628bdff36c92f629706f4f91dbe60b4262f4e038dcc6258fc173dc019b3
+size 12933889
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/biscuit_004.xml b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/biscuit_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e50385ef8c6465374f43b4b592b0cc21010010a1
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/biscuit_004.xml
@@ -0,0 +1,144 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="biscuit_004">
+  <asset>
+    <material name="material_0" texture="texture_0_biscuit_004_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_biscuit_004_geometry_Looks_material_0" type="2d" file="mesh/biscuit_004_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/biscuit_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/biscuit_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/biscuit_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/biscuit_004_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/biscuit_004_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/biscuit_004_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/biscuit_004_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/biscuit_004_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/biscuit_004_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/biscuit_004_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/biscuit_004_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/biscuit_004_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/biscuit_004_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/biscuit_004_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/biscuit_004_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/biscuit_004_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/biscuit_004_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/biscuit_004_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/biscuit_004_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/biscuit_004_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/biscuit_004_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/biscuit_004_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/biscuit_004_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/biscuit_004_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/biscuit_004_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/biscuit_004_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/biscuit_004_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/biscuit_004_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/biscuit_004_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/biscuit_004_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/biscuit_004_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/biscuit_004_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/biscuit_004_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/biscuit_004_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/biscuit_004_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/biscuit_004_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/biscuit_004_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/biscuit_004_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/biscuit_004_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/biscuit_004_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/biscuit_004_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/biscuit_004_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/biscuit_004_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/biscuit_004_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/biscuit_004_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/biscuit_004_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/biscuit_004_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/biscuit_004_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/biscuit_004_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/biscuit_004_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/biscuit_004_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/biscuit_004_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/biscuit_004_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/biscuit_004_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/biscuit_004_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/biscuit_004_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/biscuit_004_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/biscuit_004_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/biscuit_004_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/biscuit_004_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/biscuit_004_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/biscuit_004_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/biscuit_004_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/biscuit_004_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/biscuit_004_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/biscuit_004_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="biscuit_004">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_62" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_64" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38f2dc014df81a0d70999b4e0648d233b6f4d292
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004.obj
@@ -0,0 +1,121824 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl biscuit_004_geometry_Looks_material_0
+v 0.054606 0.009282 0.002032
+v 0.054530 0.010759 0.002182
+v 0.054382 0.008315 0.004010
+v 0.054230 0.010301 0.004685
+v 0.054274 0.012670 0.003302
+v 0.054017 0.012105 0.005417
+v 0.054078 0.008561 0.006031
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90099e4e47bb985dd95b40477c815e61e653f1f6
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision.obj
@@ -0,0 +1,15871 @@
+# https://github.com/mikedh/trimesh
+
+o biscuit_004_collision.obj
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+v -0.05627803 -0.03293779 0.01911346
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_0.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c489e855c4a7e54b4d853c1a48076561d91fb9e8
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_0.obj
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_1.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d5fc0d128bfcfe6f129d51652ff9c9547606c3a
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_1.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_10.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34b777cd137b89b57647d2c61329cb9c6cd483c9
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_10.obj
@@ -0,0 +1,2584 @@
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_11.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf8bdda6c62c971a957ede23dc6470fb44dd2196
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_11.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.03658776 -0.00028846 0.08568921
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+v -0.03658776 -0.00056584 0.08539851
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_12.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1d7619929237fe0f53de01f851facb2bd296cbd
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_12.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
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+v -0.04230097 -0.01899504 0.04758415
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+v 0.04672139 -0.01045267 0.03522227
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+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_13.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..984221fee7f5a9dfe7f16164082e483cb0344906
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_13.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_14.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa3fdcceab867fa323af9bc35e580ed27f491a66
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_14.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v -0.04113950 -0.01958816 -0.05607971
+v -0.03849804 -0.02323347 -0.06006700
+v -0.04113950 -0.02323562 -0.06006962
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_15.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8da47f92eb1fbdccb5019e4e04807d7158cccfb5
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_15.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_16.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cb74098c21b8c6c03a1b90326d92195e5168ddf
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_16.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_17.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3573e8992ca08c1c396860e0573c40b8b43a3a3c
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_17.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_18.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5841d83bbaa4180cd404df8a8ab4948387bc01d6
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_18.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_19.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb95eca1cbd65e7e9b2100939a2a9768c3e7f3ab
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_19.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_2.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c066dbd18c9081bb625b3a116093b5037cf4eadc
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_2.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_20.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85ff413c106656bcedaf9d4f0edff83c56fe56aa
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_20.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_21.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..713a075899b1f3b5d19c3840e1358d78f077999f
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_21.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_22.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d41b9a930503b718d86096489fb13f70c7c4f3a
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_22.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_23.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f33943f4bbedd96516d72e8586d616a402e3373
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_23.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_24.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d0ee3890b2edc2ef89a6ed32b1d0bf04cbed88a
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_24.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_25.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0928a4b31b7224ab674278508cc22f3ba593ecc6
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_25.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.05621430 0.02348683 0.04928589
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_26.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97aebe56975dcbdaf881cdafabb95f8af56a36fe
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_26.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_27.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8964714c2a6209fa4abaf42009c051fcd3dc2a96
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_27.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+v -0.01213396 -0.00410789 -0.05246695
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_28.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8a67e91139d8ff503b65cf6e3043c1c912380f6
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_28.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_29.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..980823795e3f99de0dacc8822b36d901dfea694d
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_29.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_3.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2338857dd512fadc0f5a9a3e72588733813edbe
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_3.obj
@@ -0,0 +1,1576 @@
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_30.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97b9f5e48291da888045367691f21d1ae804ff8c
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_30.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.03213892 -0.00028664 0.07350842
+v -0.03632048 -0.00028665 0.07523907
+v -0.03189891 0.00008593 0.07350842
+v -0.00178624 -0.00028664 0.07350842
+v -0.03632048 -0.00028668 0.08329821
+v -0.03632048 0.00407829 0.07715277
+v -0.02878893 0.00407830 0.07350843
+v -0.00178624 0.00407830 0.07350843
+v -0.00178624 -0.00028668 0.08329821
+v -0.03632048 0.00407826 0.08329822
+v -0.00178624 0.00407826 0.08329822
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 2 6 7
+f 2 7 3
+f 4 8 11
+f 4 11 9
+f 5 9 11
+f 5 11 10
+f 6 10 11
+f 6 11 8
+f 6 8 7
+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_31.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..782667b588bf710d232e431d237ab5945e58366d
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_31.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.03581856 -0.00028668 0.08528205
+v 0.02215184 -0.00028668 0.08553909
+v 0.03581856 -0.00113175 0.08453202
+v 0.03581856 -0.00028665 0.07744254
+v 0.03581856 -0.01115022 0.07408843
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+v 0.01618431 -0.00910577 0.07340162
+v 0.01618431 -0.00762293 0.07466571
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+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_32.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9cc98785978ee76b71c317b65ba736e30b11fd4
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_32.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.04032056 -0.01408086 0.04758538
+v -0.04307647 -0.01408090 0.05716244
+v -0.04007002 -0.00703249 0.04758540
+v 0.04102892 -0.01408086 0.04758538
+v -0.03635371 -0.00703253 0.05716246
+v 0.04223985 -0.01408090 0.05716244
+v 0.04097046 -0.00703249 0.04758540
+v 0.03697857 -0.00703253 0.05716246
+f 1 2 3
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+f 1 6 2
+f 2 5 3
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 6
+f 6 7 8
+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_33.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f1290720f6b3461d96d34c2597c4786652e9953
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_33.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.03296150 -0.01249892 -0.05456931
+v 0.03533207 -0.01901241 -0.05607956
+v 0.03269409 -0.01250143 -0.05456931
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+v 0.03797004 -0.01900238 -0.05607956
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+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_34.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed4e554730a145c1adedbeb884747207a90aa187
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_34.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.05623983 -0.00028847 0.08508543
+v 0.05623384 -0.00168616 0.08256220
+v 0.05623384 -0.00028846 0.08255093
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+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_35.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f30bc2c7eb171dfecd3000af5f0f8982c695a85
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_35.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.03632048 -0.00028636 0.07523876
+v -0.03632048 0.00266679 0.07896588
+v -0.03632048 -0.00028639 0.08567337
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+v -0.05168815 0.00266679 0.07960624
+v -0.05135950 0.00266679 0.07954112
+v -0.04907472 0.00266679 0.07944561
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+v -0.04641628 -0.00028642 0.09265871
+v -0.04573197 -0.00028642 0.09243296
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+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_36.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0581ad18cb15264fa8b645535c0c4482f10391a6
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_36.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.04730745 0.02539897 0.02802991
+v -0.04711436 0.01938290 0.02802989
+v -0.04550533 0.02539893 0.03733286
+v 0.04602600 0.02539897 0.02802991
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+v 0.04602600 0.02539893 0.03733286
+v 0.04603520 0.01938289 0.02971744
+v -0.04070579 0.01938286 0.03733284
+v 0.04333201 0.01938286 0.03733284
+v 0.04506977 0.01938288 0.03245505
+f 1 2 3
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+f 1 4 6
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+f 2 13 16
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+f 12 16 13
+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_37.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f6c18538260c9e2a5ae561d792e34a80cc42919
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_37.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.01475822 -0.02347696 -0.00891013
+v -0.04220994 -0.02347696 -0.00891013
+v -0.01475822 -0.03979374 -0.00891019
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+v -0.04220994 -0.03987120 -0.00891019
+v -0.04220994 -0.02347682 -0.04576370
+v -0.02537879 -0.04135689 -0.00891019
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+v -0.01475822 -0.04088808 -0.02318842
+v -0.01475822 -0.03382303 -0.04576373
+v -0.03480886 -0.04092588 -0.00891019
+v -0.04220994 -0.04075501 -0.02054417
+v -0.03543771 -0.04297760 -0.02054418
+v -0.03322867 -0.04356154 -0.02054418
+v -0.03314267 -0.04301336 -0.01782056
+v -0.04220994 -0.03780539 -0.04576375
+v -0.02795600 -0.04161708 -0.00891019
+v -0.02795600 -0.04341656 -0.01789993
+v -0.02531967 -0.04367277 -0.02054418
+v -0.02268065 -0.04363701 -0.02583268
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+v -0.03322867 -0.04115032 -0.00891019
+v -0.04220994 -0.04094966 -0.02318842
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+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_38.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69e881b312710de265b8909c0b0eab0abefc7409
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_38.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_39.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71fd888bb7f5ab7e431dad624dd1f15b34edafc4
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_39.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.03287031 -0.00028665 0.07663580
+v 0.03287031 -0.00028668 0.08500082
+v 0.03287031 0.00407828 0.07794669
+v 0.05115945 0.00407828 0.07958323
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+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_4.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaf109b9c8df4cc1ef617ce205bd3f44c88b0a86
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_4.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.03558225 0.00961411 -0.05456889
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+v 0.05648897 0.00961275 -0.04884966
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_40.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff88d48eff97c45565ae0597a6609a5cf54c3245
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_40.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_41.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4826b61ba4da75b0629d0f6aaa0c80dbc2da544c
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_41.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_42.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b219fd648fc22b822c9d56590cf8fcf7b77139e1
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_42.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_43.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..036d2157004ac5d358d47c93d66984c1b3f27e5f
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_43.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.00178624 -0.00022895 0.08447699
+v -0.00158269 0.00313286 0.09578057
+v -0.00178624 0.00315127 0.09578057
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+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_44.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33561b1f540f200a4d20c28ba95684fcff9e65a6
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_44.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_45.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e59966e45f0845cfc3fcd8a0773e54a7b127af9d
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_45.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v -0.00685532 0.03520065 0.02802995
+v -0.00949283 0.03519394 0.02802995
+v -0.00685532 0.03475642 0.02968836
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+v -0.00949283 0.03474874 0.02968836
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_46.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b32f200bcd61ce243a57c257cede88ebd066eb6
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_46.obj
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_47.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a02b7cec4a5ea21db90f001ce51b45b7a80e04f
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_47.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_48.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..def11a2e97c0469b48e7384c4591eb9464899a85
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_48.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_49.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24fc7c14848a8965b8ea03915ba705b3043f49bf
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_49.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+f 37 41 43
+f 37 43 42
+f 38 44 45
+f 38 45 39
+f 39 45 40
+f 40 45 46
+f 42 47 48
+f 42 48 49
+f 42 43 47
+f 43 46 50
+f 43 50 47
+f 44 51 52
+f 44 52 45
+f 45 52 46
+f 46 52 50
+f 47 50 48
+f 48 50 53
+f 48 53 54
+f 48 54 55
+f 48 55 49
+f 50 52 51
+f 50 51 53
+f 51 55 54
+f 51 54 53
+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_5.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03209942765cd1fa65547ff92c3ebd5d2908d922
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_5.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.05175909 0.02801936 -0.05265196
+v 0.05240846 0.02747708 -0.05265395
+v 0.05173630 0.02801936 -0.05265395
+v 0.05121225 0.02801935 -0.04859128
+v 0.05660089 0.02396574 -0.05265396
+v -0.05193525 0.02801936 -0.05265395
+v 0.05592873 0.00961409 -0.04859134
+v 0.05648697 0.00961409 -0.04884943
+v 0.05789963 0.01628006 -0.05075548
+v 0.05770596 0.01803663 -0.05103305
+v 0.05712495 0.02306133 -0.05265397
+v -0.05110359 0.02801935 -0.04859128
+v -0.05540995 0.02460171 -0.05265396
+v -0.05587704 0.00961409 -0.04859134
+v 0.05682874 0.00961409 -0.04909759
+v 0.05801356 0.01413795 -0.05055824
+v 0.05797938 0.01939865 -0.05265398
+v 0.05770596 0.02145970 -0.05265397
+v -0.05698211 0.02282171 -0.05265397
+v -0.05831504 0.01342451 -0.05088076
+v -0.05719857 0.01423702 -0.05021465
+v -0.05707325 0.00961409 -0.04962610
+v 0.05801356 0.00961409 -0.05024011
+v 0.05805913 0.01150038 -0.05036419
+v 0.05805913 0.01150039 -0.05143036
+v 0.05797938 0.01934460 -0.05265398
+v -0.05722136 0.02204702 -0.05265397
+v -0.05755174 0.01983284 -0.05265398
+v -0.05831504 0.01342451 -0.05102034
+v -0.05832642 0.01150039 -0.05084657
+v -0.05805301 0.00961410 -0.05060955
+v 0.05801356 0.00961410 -0.05131543
+v 0.05789963 0.01768352 -0.05265399
+v -0.05720996 0.01677551 -0.05265399
+v -0.05830364 0.00976904 -0.05098337
+v -0.05832642 0.01150039 -0.05103069
+v -0.05830364 0.00976904 -0.05087759
+v -0.05810997 0.00961410 -0.05108279
+v 0.05786546 0.01720249 -0.05265399
+v 0.05755786 0.00961410 -0.05159500
+v 0.05755786 0.01526756 -0.05265399
+v -0.05673148 0.01450367 -0.05265400
+v -0.05711882 0.00961410 -0.05168527
+v 0.05643001 0.00961410 -0.05212271
+v 0.05643001 0.01261378 -0.05265400
+v -0.05431627 0.01001226 -0.05265401
+v -0.05431627 0.00961410 -0.05258044
+v 0.05567810 0.00961410 -0.05226309
+v 0.05452746 0.01075992 -0.05265401
+v -0.05243652 0.00961590 -0.05265401
+v -0.05243652 0.00961410 -0.05265361
+v 0.05378695 0.00961410 -0.05255260
+v 0.05378695 0.01015458 -0.05265401
+v -0.05169600 0.00961410 -0.05265401
+v 0.03980838 0.00961410 -0.05265401
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 4
+f 1 4 2
+f 2 4 5
+f 2 5 11
+f 2 11 18
+f 2 18 17
+f 2 17 26
+f 2 26 33
+f 2 33 39
+f 2 39 41
+f 2 41 45
+f 2 45 49
+f 2 49 53
+f 2 53 55
+f 2 55 54
+f 2 54 50
+f 2 50 46
+f 2 46 42
+f 2 42 34
+f 2 34 28
+f 2 28 27
+f 2 27 19
+f 2 19 13
+f 2 13 6
+f 2 6 3
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 4 12 14
+f 4 14 7
+f 6 13 12
+f 7 14 22
+f 7 22 31
+f 7 31 38
+f 7 38 43
+f 7 43 47
+f 7 47 51
+f 7 51 54
+f 7 54 55
+f 7 55 52
+f 7 52 48
+f 7 48 44
+f 7 44 40
+f 7 40 32
+f 7 32 23
+f 7 23 15
+f 7 15 8
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 18 11
+f 12 13 19
+f 12 19 20
+f 12 20 21
+f 12 21 14
+f 14 21 20
+f 14 20 22
+f 15 23 24
+f 15 24 16
+f 16 24 17
+f 17 24 25
+f 17 25 26
+f 19 27 20
+f 20 27 28
+f 20 28 29
+f 20 29 36
+f 20 36 30
+f 20 30 22
+f 22 30 31
+f 23 32 25
+f 23 25 24
+f 25 32 26
+f 26 32 33
+f 28 34 35
+f 28 35 36
+f 28 36 29
+f 30 37 31
+f 30 36 35
+f 30 35 37
+f 31 37 38
+f 32 39 33
+f 32 40 41
+f 32 41 39
+f 34 42 35
+f 35 42 38
+f 35 38 37
+f 38 42 43
+f 40 44 41
+f 41 44 45
+f 42 46 43
+f 43 46 47
+f 44 48 45
+f 45 48 49
+f 46 50 47
+f 47 50 51
+f 48 52 53
+f 48 53 49
+f 50 54 51
+f 52 55 53
+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_50.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90ee263524e2323f1e8c1584c50f4813d2fa3024
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_50.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.01213848 -0.00411025 -0.04576363
+v -0.01213848 -0.02806777 -0.04576371
+v -0.01213848 -0.00411023 -0.05177963
+v -0.05236063 -0.00411025 -0.04576363
+v -0.01213848 -0.02806775 -0.05177971
+v -0.05174092 -0.02806777 -0.04576371
+v -0.05566271 -0.00411023 -0.05177963
+v -0.05627338 -0.00411024 -0.04805025
+v -0.05236968 -0.00432368 -0.04576363
+v -0.05181782 -0.02806775 -0.05177971
+v -0.05198066 -0.02684351 -0.04576371
+v -0.05832248 -0.01148394 -0.05087395
+v -0.05704688 -0.01683129 -0.05177967
+v -0.05617839 -0.01947447 -0.05177968
+v -0.05620553 -0.00500380 -0.05177963
+v -0.05684333 -0.00411023 -0.05151169
+v -0.05738613 -0.00411024 -0.04948594
+v -0.05834058 -0.00959830 -0.05081330
+v -0.05227016 -0.02426365 -0.04576370
+v -0.05245562 -0.02118658 -0.04576369
+v -0.05248276 -0.01839799 -0.04576368
+v -0.05250538 -0.00960535 -0.04576365
+v -0.05245562 -0.00695982 -0.04576364
+v -0.05832248 -0.01148394 -0.05104414
+v -0.05749922 -0.01424908 -0.05177966
+v -0.05713735 -0.00767278 -0.05177964
+v -0.05721877 -0.00675811 -0.05161710
+v -0.05832248 -0.00750158 -0.05101763
+v -0.05691570 -0.00411023 -0.05136800
+v -0.05747208 -0.00411024 -0.04962315
+v -0.05832248 -0.00750158 -0.05083979
+v -0.05834058 -0.00959830 -0.05107417
+v -0.05764397 -0.01114621 -0.05177965
+v -0.05762135 -0.01192721 -0.05177965
+v -0.05738161 -0.00894864 -0.05177964
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 16
+f 1 16 29
+f 1 29 30
+f 1 30 17
+f 1 17 8
+f 1 8 4
+f 1 4 9
+f 1 9 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 14
+f 3 14 13
+f 3 13 25
+f 3 25 34
+f 3 34 33
+f 3 33 35
+f 3 35 26
+f 3 26 15
+f 3 15 7
+f 4 8 9
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 10
+f 7 15 16
+f 8 17 18
+f 8 18 12
+f 8 12 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 9
+f 11 19 12
+f 12 18 32
+f 12 32 24
+f 12 24 13
+f 13 24 25
+f 15 26 16
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 17 30 31
+f 17 31 18
+f 18 31 28
+f 18 28 32
+f 24 32 33
+f 24 33 34
+f 24 34 25
+f 26 35 28
+f 26 28 27
+f 28 35 33
+f 28 33 32
+f 28 31 30
+f 28 30 29
+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_51.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c35632439f259834fb09eef27f64ad7453b46b5f
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_51.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.01798889 0.00607931 0.08447571
+v 0.01760368 0.00612195 0.08447571
+v 0.01798889 0.00010677 0.08447569
+v 0.01798889 0.00961266 0.07512896
+v 0.01496726 0.00638748 0.08447571
+v -0.00178430 -0.00022951 0.08447569
+v -0.00178430 -0.00028571 0.08440760
+v 0.01798889 -0.00021691 0.08340223
+v 0.01798889 0.00961270 0.06401576
+v 0.00105537 0.00961266 0.07524712
+v 0.00896465 0.00679159 0.08447571
+v 0.00969247 0.00676737 0.08447571
+v 0.01160107 0.00668887 0.08447571
+v 0.01233083 0.00665204 0.08447571
+v -0.00178430 0.00668402 0.08447571
+v 0.01798889 -0.00028571 0.08315990
+v -0.00178430 -0.00028564 0.06401572
+v 0.01798889 -0.00028564 0.06401572
+v -0.00178430 0.00961270 0.06401576
+v 0.00098569 0.00961266 0.07524712
+v 0.00633016 0.00678384 0.08447571
+v -0.00158299 0.00961266 0.07522509
+v -0.00178430 0.00961266 0.07521708
+f 1 2 5
+f 1 5 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 21
+f 1 21 15
+f 1 15 6
+f 1 6 3
+f 1 3 8
+f 1 8 16
+f 1 16 18
+f 1 18 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 9 19
+f 4 19 23
+f 4 23 22
+f 4 22 20
+f 4 20 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 6 15 23
+f 6 23 19
+f 6 19 17
+f 6 17 7
+f 7 16 8
+f 7 17 18
+f 7 18 16
+f 9 18 17
+f 9 17 19
+f 10 20 11
+f 11 20 22
+f 11 22 21
+f 15 21 22
+f 15 22 23
+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_52.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c6347eca51dded5f75204f149b1cb4e806a33f0
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_52.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.04691940 -0.02432714 0.04201765
+v -0.05254198 -0.02432715 0.04382050
+v -0.04226850 -0.01899619 0.04201767
+v 0.04696121 -0.02432714 0.04201765
+v -0.05373200 -0.02432715 0.04453172
+v -0.05432155 -0.02432716 0.04496608
+v -0.05474734 -0.02432716 0.04532742
+v -0.05572992 -0.02396815 0.04666157
+v -0.05444164 -0.02261193 0.04758535
+v -0.05189784 -0.02176553 0.04758535
+v -0.04230125 -0.01899621 0.04758536
+v 0.04315096 -0.01899619 0.04201767
+v 0.04728874 -0.02432610 0.04201765
+v 0.04729965 -0.02432714 0.04201929
+v -0.05574084 -0.02432716 0.04649044
+v -0.05580634 -0.02409234 0.04758534
+v -0.05577359 -0.02371402 0.04758534
+v 0.04343482 -0.01899621 0.04758536
+v 0.04343482 -0.01899621 0.04746709
+v 0.05379564 -0.02208854 0.04758535
+v 0.05389390 -0.02213081 0.04758535
+v 0.05549879 -0.02368636 0.04626100
+v 0.05379564 -0.02432715 0.04434588
+v -0.05579543 -0.02432716 0.04732374
+v -0.05580634 -0.02432716 0.04758534
+v 0.05567347 -0.02311601 0.04758535
+v 0.05565164 -0.02432716 0.04593400
+v 0.05572806 -0.02432716 0.04758534
+f 1 2 3
+f 1 3 12
+f 1 12 13
+f 1 13 4
+f 1 4 14
+f 1 14 23
+f 1 23 27
+f 1 27 28
+f 1 28 25
+f 1 25 24
+f 1 24 15
+f 1 15 7
+f 1 7 6
+f 1 6 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 18
+f 3 18 19
+f 3 19 12
+f 4 13 14
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 16
+f 9 16 25
+f 9 25 28
+f 9 28 26
+f 9 26 21
+f 9 21 20
+f 9 20 18
+f 9 18 11
+f 9 11 10
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 14
+f 12 14 13
+f 15 24 16
+f 16 24 25
+f 18 20 19
+f 21 26 22
+f 22 26 27
+f 22 27 23
+f 26 28 27
+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_53.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e36a59aea7318f2246cd9b6a90dbaec0c2de1a64
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_53.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.04221135 -0.02347498 -0.00891013
+v -0.05425511 -0.02347498 -0.00891013
+v -0.04221135 -0.03069424 -0.00891015
+v -0.04221135 -0.02347484 -0.04576370
+v -0.05205647 -0.02988574 -0.00891015
+v -0.05589737 -0.02347493 -0.02077499
+v -0.05580276 -0.02446293 -0.02129806
+v -0.05170062 -0.03069424 -0.00891015
+v -0.04221135 -0.03069410 -0.04576372
+v -0.05228806 -0.02347484 -0.04576370
+v -0.05591432 -0.02485799 -0.02318836
+v -0.05538055 -0.02617675 -0.02318837
+v -0.05556977 -0.02653365 -0.02583262
+v -0.05613178 -0.02347492 -0.02318836
+v -0.05468862 -0.02805595 -0.02583262
+v -0.05313531 -0.03069418 -0.02583263
+v -0.05244198 -0.03069410 -0.04576372
+v -0.05616708 -0.02347489 -0.03362468
+v -0.05600611 -0.02521489 -0.02583261
+v -0.05653705 -0.02347491 -0.02847326
+v -0.05613319 -0.02534987 -0.02847326
+v -0.05561354 -0.02666863 -0.02847327
+v -0.05327229 -0.03069417 -0.02847328
+v -0.05612754 -0.02505303 -0.03111390
+v -0.05663590 -0.02347490 -0.03111390
+f 1 2 5
+f 1 5 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 18
+f 1 18 25
+f 1 25 20
+f 1 20 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 16
+f 3 16 23
+f 3 23 17
+f 3 17 9
+f 4 9 17
+f 4 17 10
+f 5 7 11
+f 5 11 12
+f 5 12 13
+f 5 13 8
+f 6 14 7
+f 7 14 11
+f 8 13 15
+f 8 15 16
+f 10 17 18
+f 11 19 13
+f 11 13 12
+f 11 14 20
+f 11 20 19
+f 13 19 21
+f 13 21 22
+f 13 22 15
+f 15 22 23
+f 15 23 16
+f 17 23 22
+f 17 22 24
+f 17 24 25
+f 17 25 18
+f 19 20 21
+f 20 25 21
+f 21 25 24
+f 21 24 22
+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_54.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d385d8f8a57aa53d1df42ada76863c9a1d7fe1eb
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_54.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.03287031 0.00826074 0.08447572
+v 0.03287031 -0.00028571 0.08447569
+v 0.03287031 0.00900986 0.08256111
+v 0.03273775 0.00825493 0.08447572
+v 0.01914112 -0.00028571 0.08447569
+v 0.03287031 -0.00028568 0.07663498
+v 0.03287031 0.00905929 0.08239889
+v 0.03269988 0.00900211 0.08256111
+v 0.03269988 0.00825299 0.08447572
+v 0.01798889 0.00010677 0.08447569
+v 0.01848853 -0.00028571 0.08381880
+v 0.03275086 -0.00028564 0.06401572
+v 0.03287031 0.00708045 0.06401575
+v 0.03287031 0.00961264 0.08057440
+v 0.03279019 0.00961264 0.08056238
+v 0.03006183 0.00958358 0.07991750
+v 0.03006183 0.00875499 0.08256111
+v 0.03006183 0.00805239 0.08447572
+v 0.03050029 0.00809309 0.08447572
+v 0.01798889 0.00607931 0.08447571
+v 0.01798889 -0.00021691 0.08340223
+v 0.01830353 -0.00028571 0.08360851
+v 0.01798889 -0.00028564 0.06401572
+v 0.03287031 0.00961270 0.06401576
+v 0.03033860 0.00961265 0.07989347
+v 0.03006183 0.00961265 0.07981136
+v 0.01798889 0.00961266 0.07512896
+v 0.02742525 0.00764827 0.08447572
+v 0.01798889 -0.00028571 0.08315990
+v 0.01798889 0.00961270 0.06401576
+f 1 2 6
+f 1 6 13
+f 1 13 24
+f 1 24 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 18
+f 1 18 28
+f 1 28 20
+f 1 20 10
+f 1 10 5
+f 1 5 2
+f 2 5 11
+f 2 11 22
+f 2 22 29
+f 2 29 23
+f 2 23 12
+f 2 12 6
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 10 11
+f 6 12 13
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 10 20 27
+f 10 27 30
+f 10 30 23
+f 10 23 29
+f 10 29 21
+f 10 21 22
+f 10 22 11
+f 12 23 30
+f 12 30 24
+f 12 24 13
+f 14 24 30
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+f 14 26 25
+f 14 25 15
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+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 17 28 18
+f 17 27 28
+f 20 28 27
+f 21 29 22
+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_55.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26349a6aaf7be21dd38189e2062222904e5ff69b
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_55.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.05793013 -0.00410996 -0.04993553
+v 0.05793013 -0.00410996 -0.05025469
+v 0.05742879 -0.00410996 -0.04862901
+v 0.05802628 -0.00719653 -0.05025470
+v 0.05801941 -0.00691574 -0.05025470
+v 0.05793700 -0.00432261 -0.04998169
+v 0.05793700 -0.00432261 -0.05025469
+v -0.01212709 -0.00410996 -0.05025469
+v 0.05225742 -0.01166225 -0.04576365
+v 0.05250466 -0.01750712 -0.04576367
+v 0.05253213 -0.01843206 -0.04576368
+v 0.05257334 -0.02014360 -0.04576368
+v 0.05253900 -0.02278009 -0.04576369
+v 0.05251840 -0.02331482 -0.04576370
+v 0.05247719 -0.02422118 -0.04576370
+v 0.05247032 -0.02432234 -0.04576370
+v 0.05782025 -0.00959765 -0.05025471
+v 0.05190718 -0.00410997 -0.04576363
+v 0.05192091 -0.00432262 -0.04576363
+v -0.01213396 -0.00425035 -0.05025469
+v -0.01213396 -0.00410997 -0.04597640
+v 0.05228490 -0.02519979 -0.04576370
+v 0.05733264 -0.01223414 -0.05025471
+v -0.01213396 -0.00410997 -0.04576363
+v -0.01213396 -0.02519978 -0.05025476
+v 0.05207200 -0.02519979 -0.04668512
+v 0.05655659 -0.01411085 -0.05025472
+v -0.01212709 -0.02519979 -0.04576370
+v -0.01213396 -0.02519979 -0.04652335
+v 0.05104184 -0.02519978 -0.05025476
+f 1 2 8
+f 1 8 21
+f 1 21 24
+f 1 24 18
+f 1 18 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 5
+f 2 5 4
+f 2 4 17
+f 2 17 23
+f 2 23 27
+f 2 27 30
+f 2 30 25
+f 2 25 20
+f 2 20 8
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 4
+f 3 18 19
+f 3 19 9
+f 5 7 6
+f 8 20 21
+f 9 19 18
+f 9 18 24
+f 9 24 28
+f 9 28 22
+f 9 22 16
+f 9 16 15
+f 9 15 14
+f 9 14 13
+f 9 13 12
+f 9 12 11
+f 9 11 10
+f 16 22 23
+f 16 23 17
+f 20 25 29
+f 20 29 24
+f 20 24 21
+f 22 26 27
+f 22 27 23
+f 22 28 29
+f 22 29 25
+f 22 25 30
+f 22 30 26
+f 24 29 28
+f 26 30 27
+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_56.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..510e990da633d8c2fa0535c06cb9ea66183392b3
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_56.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.05228681 -0.02519979 -0.04576370
+v 0.05599371 -0.03324616 -0.04576373
+v 0.05583255 -0.03145863 -0.05025479
+v 0.05207192 -0.02519979 -0.04668512
+v -0.01212724 -0.02519979 -0.04576370
+v 0.05607430 -0.03433371 -0.04576374
+v 0.05646379 -0.03333157 -0.05025479
+v 0.05628919 -0.03280118 -0.05025479
+v 0.05104447 -0.02519978 -0.05025476
+v -0.01212724 -0.02519978 -0.05025476
+v -0.01212724 -0.03683011 -0.04576375
+v 0.05594670 -0.03536899 -0.04576374
+v 0.05600714 -0.03466519 -0.05025480
+v -0.01212724 -0.03331244 -0.05025479
+v 0.03275173 -0.03821090 -0.04576375
+v 0.03538417 -0.03636983 -0.05025480
+v 0.03796959 -0.03653048 -0.05025480
+v 0.03796959 -0.03676507 -0.04978003
+v 0.03533716 -0.03733116 -0.04840009
+v 0.03281217 -0.03771366 -0.04718765
+v 0.05573181 -0.03504386 -0.05025480
+v 0.05379106 -0.03630992 -0.04576374
+v 0.03533716 -0.03785264 -0.04697971
+v 0.03533716 -0.03822493 -0.04576375
+v 0.04060874 -0.03660315 -0.05025480
+v 0.03796959 -0.03735028 -0.04845812
+v 0.05379106 -0.03571832 -0.05025480
+v 0.05236740 -0.03655726 -0.04576374
+v 0.05115863 -0.03626528 -0.04962308
+v 0.03796959 -0.03781184 -0.04697971
+v 0.03796959 -0.03812293 -0.04576375
+v 0.04060874 -0.03682882 -0.04972508
+v 0.04312030 -0.03660443 -0.05025480
+v 0.04060874 -0.03732351 -0.04840317
+v 0.05115863 -0.03616456 -0.05025480
+v 0.04973496 -0.03689258 -0.04576375
+v 0.04851948 -0.03691680 -0.04697971
+v 0.04851948 -0.03655980 -0.04962308
+v 0.04206599 -0.03729419 -0.04832756
+v 0.04060874 -0.03792276 -0.04576375
+v 0.04382542 -0.03724064 -0.04799609
+v 0.04306658 -0.03692062 -0.04937427
+v 0.04588033 -0.03654195 -0.05025480
+v 0.04851948 -0.03641190 -0.05025480
+v 0.04678019 -0.03724192 -0.04576375
+v 0.04525580 -0.03736815 -0.04623370
+v 0.04603478 -0.03717435 -0.04706104
+v 0.04588033 -0.03672937 -0.04962308
+v 0.04545726 -0.03739237 -0.04576375
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 11
+f 1 11 15
+f 1 15 24
+f 1 24 31
+f 1 31 40
+f 1 40 49
+f 1 49 45
+f 1 45 36
+f 1 36 28
+f 1 28 22
+f 1 22 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 7
+f 3 7 13
+f 3 13 21
+f 3 21 27
+f 3 27 35
+f 3 35 44
+f 3 44 43
+f 3 43 33
+f 3 33 25
+f 3 25 17
+f 3 17 16
+f 3 16 14
+f 3 14 10
+f 3 10 9
+f 3 9 4
+f 5 10 14
+f 5 14 11
+f 6 12 7
+f 7 12 13
+f 11 14 16
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+f 11 17 18
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+f 11 19 20
+f 11 20 15
+f 12 21 13
+f 12 22 21
+f 15 20 23
+f 15 23 24
+f 17 25 18
+f 18 25 19
+f 19 25 26
+f 19 26 23
+f 19 23 20
+f 21 22 27
+f 22 28 29
+f 22 29 27
+f 23 26 30
+f 23 30 24
+f 24 30 31
+f 25 32 26
+f 25 33 32
+f 26 32 33
+f 26 33 34
+f 26 34 30
+f 27 29 35
+f 28 36 37
+f 28 37 29
+f 29 37 38
+f 29 38 35
+f 30 34 39
+f 30 39 31
+f 31 39 41
+f 31 41 40
+f 33 42 34
+f 33 43 42
+f 34 42 43
+f 34 43 39
+f 35 38 44
+f 36 45 37
+f 37 45 46
+f 37 46 47
+f 37 47 38
+f 38 47 40
+f 38 40 41
+f 38 41 39
+f 38 39 44
+f 39 43 48
+f 39 48 44
+f 40 47 46
+f 40 46 49
+f 43 44 48
+f 45 49 46
+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_57.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7d77cdeb3fe03821f0fb434a61a2834cd9428b5
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_57.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.04221132 -0.03069495 -0.00891015
+v -0.05170045 -0.03069495 -0.00891015
+v -0.04221132 -0.03987277 -0.00891019
+v -0.04221132 -0.03069481 -0.04576372
+v -0.05604883 -0.03680074 -0.00891018
+v -0.05313560 -0.03069489 -0.02583263
+v -0.04905319 -0.04016285 -0.00891019
+v -0.04905319 -0.04026961 -0.00997077
+v -0.04905319 -0.04049723 -0.01261142
+v -0.04221132 -0.04075505 -0.02054417
+v -0.04221132 -0.03780581 -0.04576375
+v -0.05244158 -0.03069481 -0.04576372
+v -0.05613333 -0.03860465 -0.01525566
+v -0.05601697 -0.03854122 -0.00891018
+v -0.05633974 -0.03385751 -0.04169093
+v -0.05629541 -0.03639879 -0.02847330
+v -0.05327274 -0.03069488 -0.02847328
+v -0.05550719 -0.03224090 -0.04576373
+v -0.05049665 -0.04022329 -0.00891019
+v -0.05168799 -0.04037940 -0.00997077
+v -0.05168799 -0.04060802 -0.01261142
+v -0.04221132 -0.04095044 -0.02318842
+v -0.04221132 -0.03785415 -0.04550041
+v -0.04244958 -0.03778667 -0.04576375
+v -0.05534373 -0.03212104 -0.04576373
+v -0.05625662 -0.03827425 -0.02583266
+v -0.05582303 -0.04007822 -0.01525567
+v -0.05629541 -0.03813323 -0.02847331
+v -0.05574684 -0.04001276 -0.01261142
+v -0.05566926 -0.03994427 -0.01108547
+v -0.05532572 -0.03974687 -0.00932504
+v -0.05515394 -0.03972571 -0.00891019
+v -0.05632866 -0.03360368 -0.04433519
+v -0.05636190 -0.03596766 -0.03640244
+v -0.05622891 -0.03333273 -0.04576373
+v -0.05168799 -0.04025753 -0.00891019
+v -0.05396261 -0.04008026 -0.00891019
+v -0.05432555 -0.04036528 -0.01261142
+v -0.05432555 -0.04048614 -0.01525567
+v -0.05168799 -0.04072586 -0.01525567
+v -0.04221132 -0.04098469 -0.02574609
+v -0.04221132 -0.04083259 -0.02847332
+v -0.04524784 -0.03748048 -0.04576375
+v -0.05579671 -0.04005303 -0.01789992
+v -0.05633974 -0.03570778 -0.04169094
+v -0.05632866 -0.03543481 -0.04433520
+v -0.05626909 -0.03797810 -0.03111395
+v -0.05439897 -0.04012860 -0.01011146
+v -0.05623861 -0.03443866 -0.04576374
+v -0.05432555 -0.04043778 -0.01789992
+v -0.05168799 -0.04068758 -0.01789992
+v -0.05432555 -0.03888864 -0.03111395
+v -0.05432555 -0.03848473 -0.03375820
+v -0.05432555 -0.03804355 -0.03640245
+v -0.05432555 -0.04025748 -0.02054417
+v -0.05422165 -0.04003589 -0.02295394
+v -0.05327412 -0.03996135 -0.02480816
+v -0.04797822 -0.03714003 -0.04576375
+v -0.05570805 -0.03997546 -0.02054417
+v -0.05623861 -0.03528070 -0.04576374
+v -0.05600450 -0.03758829 -0.03640245
+v -0.05617212 -0.03779175 -0.03375820
+v -0.05565126 -0.03992812 -0.02191499
+v -0.05581749 -0.03741705 -0.03839015
+v -0.05525091 -0.03720552 -0.04015419
+v -0.05435325 -0.03752785 -0.03918018
+v -0.05168799 -0.03663944 -0.04576374
+v -0.05531740 -0.03574805 -0.04576374
+v -0.05432555 -0.03618518 -0.04576374
+f 1 2 5
+f 1 5 14
+f 1 14 32
+f 1 32 37
+f 1 37 36
+f 1 36 19
+f 1 19 7
+f 1 7 3
+f 1 3 10
+f 1 10 22
+f 1 22 41
+f 1 41 42
+f 1 42 23
+f 1 23 11
+f 1 11 4
+f 1 4 12
+f 1 12 17
+f 1 17 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 24
+f 4 24 43
+f 4 43 58
+f 4 58 67
+f 4 67 69
+f 4 69 68
+f 4 68 60
+f 4 60 49
+f 4 49 35
+f 4 35 18
+f 4 18 25
+f 4 25 12
+f 5 13 14
+f 5 6 15
+f 5 15 16
+f 5 16 13
+f 6 17 18
+f 6 18 15
+f 7 19 8
+f 8 19 20
+f 8 20 21
+f 8 21 9
+f 9 21 22
+f 9 22 10
+f 11 23 24
+f 12 25 17
+f 13 26 27
+f 13 27 14
+f 13 16 28
+f 13 28 26
+f 14 27 29
+f 14 29 30
+f 14 30 31
+f 14 31 32
+f 15 18 33
+f 15 33 46
+f 15 46 45
+f 15 45 34
+f 15 34 16
+f 16 34 28
+f 17 25 18
+f 18 35 33
+f 19 36 20
+f 20 36 37
+f 20 37 21
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+f 21 38 39
+f 21 39 40
+f 21 40 22
+f 22 40 41
+f 23 42 24
+f 24 42 43
+f 26 28 27
+f 27 39 29
+f 27 28 44
+f 27 44 39
+f 28 34 45
+f 28 45 46
+f 28 46 47
+f 28 47 44
+f 29 39 38
+f 29 38 30
+f 30 38 48
+f 30 48 37
+f 30 37 31
+f 31 37 32
+f 33 35 49
+f 33 49 60
+f 33 60 46
+f 37 48 38
+f 39 44 50
+f 39 50 51
+f 39 51 40
+f 40 51 41
+f 41 51 42
+f 42 52 53
+f 42 53 54
+f 42 54 43
+f 42 51 55
+f 42 55 56
+f 42 56 57
+f 42 57 52
+f 43 54 58
+f 44 59 50
+f 44 47 59
+f 46 60 61
+f 46 61 62
+f 46 62 47
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+f 47 63 59
+f 50 59 63
+f 50 63 55
+f 50 55 51
+f 52 64 53
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+f 52 63 64
+f 53 64 54
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+f 54 65 66
+f 54 66 58
+f 55 63 56
+f 56 63 57
+f 58 66 67
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+f 60 64 61
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+f 61 63 62
+f 64 68 69
+f 64 69 65
+f 65 69 67
+f 65 67 66
+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_58.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b7deeb9db9c3efdf38d719abe7f0a6f7d725694
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_58.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.04328698 0.02295573 0.03733376
+v -0.04263987 0.01938997 0.03733375
+v -0.04440390 0.02295571 0.04486759
+v 0.04368207 0.02295573 0.03733376
+v -0.04069856 0.01938227 0.03733375
+v -0.04214347 0.01938227 0.03829991
+v -0.03960824 0.01938225 0.04486758
+v 0.04615525 0.02295571 0.04486759
+v 0.04333636 0.01938227 0.03733375
+v 0.04132412 0.01938225 0.04486758
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 10
+f 3 10 8
+f 4 8 9
+f 5 9 10
+f 5 10 7
+f 5 7 6
+f 8 10 9
+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_59.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03eada7460c14c6772df667fc2dba49f5696aa2e
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_59.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.04519204 -0.02432712 0.03522101
+v -0.04692602 -0.02432714 0.04201765
+v -0.04462942 -0.01899617 0.03522103
+v 0.04598948 -0.02432712 0.03522101
+v -0.04226825 -0.01899619 0.04201767
+v 0.04695793 -0.02432714 0.04201765
+v 0.04524240 -0.01899617 0.03522103
+v 0.04729919 -0.02432610 0.04201765
+v 0.04700405 -0.02432714 0.04182738
+v 0.04314871 -0.01899619 0.04201767
+v 0.04323172 -0.01899619 0.04175422
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 5 3
+f 2 6 8
+f 2 8 10
+f 2 10 5
+f 3 5 10
+f 3 10 11
+f 3 11 7
+f 4 7 8
+f 4 8 9
+f 6 9 8
+f 7 11 8
+f 8 11 10
+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_6.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..366382a686e26669a2650ae8f5587de1220e7d2f
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_6.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00059636 0.03967791 -0.04859123
+v 0.02961121 0.03963226 -0.04859123
+v 0.05379401 0.03871807 -0.05265391
+v -0.00202194 0.03967791 -0.04859123
+v 0.03222952 0.03962769 -0.04859123
+v 0.03485906 0.03961970 -0.04859123
+v 0.03747737 0.03960258 -0.04859123
+v 0.05115322 0.03949530 -0.04859123
+v 0.05331080 0.03942568 -0.04859124
+v 0.05379401 0.03940970 -0.04859124
+v 0.05425474 0.03867470 -0.05265391
+v -0.05432060 0.03865073 -0.05265391
+v -0.02003542 0.03967106 -0.04859123
+v -0.01740588 0.03967220 -0.04859123
+v -0.00948355 0.03967563 -0.04859123
+v 0.05519867 0.03925790 -0.04859124
+v 0.05522115 0.03925106 -0.04861272
+v 0.05660334 0.03782328 -0.05265391
+v -0.05704004 0.03749116 -0.05265391
+v -0.05554547 0.03918828 -0.04859124
+v -0.05510721 0.03924877 -0.04859124
+v -0.05432060 0.03934579 -0.04859124
+v -0.05232035 0.03945307 -0.04859124
+v -0.05167982 0.03948617 -0.04859123
+v -0.03585762 0.03961399 -0.04859123
+v -0.03322808 0.03963340 -0.04859123
+v -0.03058730 0.03964709 -0.04859123
+v -0.02794652 0.03965508 -0.04859123
+v -0.02531698 0.03966193 -0.04859123
+v -0.02267620 0.03966764 -0.04859123
+v 0.05522115 0.03925334 -0.04859124
+v 0.05690676 0.03763154 -0.05265391
+v -0.05729850 0.03724349 -0.05265391
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+v -0.05110672 0.02802050 -0.04859128
+v -0.05193828 0.02802051 -0.05265395
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+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_60.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1377fc0c86e213204d1f868c1d4db4991c1df18b
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_60.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.05126850 -0.02347505 0.01424262
+v -0.05059913 -0.02516407 0.01424262
+v -0.05432386 -0.02780292 0.02643414
+v -0.05449661 -0.02780292 0.02704403
+v -0.05471253 -0.02780293 0.02975873
+v -0.05483129 -0.02780294 0.03232969
+v -0.05486368 -0.02780295 0.03521894
+v -0.05461537 -0.02757885 0.03521894
+v -0.05447501 -0.02745642 0.03521894
+v -0.05315786 -0.02669092 0.03521894
+v -0.04892569 -0.02347509 0.02440120
+v 0.05084329 -0.02347505 0.01424262
+v -0.04909843 -0.02780287 0.01424261
+v 0.05543174 -0.02780295 0.03521894
+v -0.04479069 -0.02347513 0.03521895
+v -0.04520096 -0.02347513 0.03475692
+v -0.04831030 -0.02347510 0.02686333
+v 0.04923464 -0.02347509 0.02508912
+v 0.05403901 -0.02688028 0.03521894
+v 0.05534536 -0.02780294 0.03320653
+v 0.05509705 -0.02780293 0.02968686
+v 0.05495670 -0.02780292 0.02829254
+v 0.05442768 -0.02780292 0.02623701
+v 0.05024949 -0.02510730 0.01424262
+v 0.04918065 -0.02780287 0.01424261
+v 0.04556388 -0.02347513 0.03521895
+v 0.04848969 -0.02347510 0.02777508
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+f 1 6 7
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+f 1 9 10
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+f 1 17 16
+f 1 16 15
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+f 1 18 12
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+f 18 27 19
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+f 23 25 24
+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_61.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b9fd17243108f0e3c4a607be5685bfa66566742
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_61.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.04439626 0.02295571 0.04486833
+v -0.03959879 0.01938225 0.04486832
+v -0.05168010 0.02295570 0.04579883
+v 0.04615335 0.02295571 0.04486833
+v -0.03981785 0.01938223 0.04928314
+v -0.05218394 0.02094315 0.04928315
+v -0.05281922 0.02110897 0.04928315
+v -0.05367357 0.02295570 0.04644323
+v -0.05280827 0.02295570 0.04616187
+v 0.04132302 0.01938225 0.04486832
+v 0.05378768 0.02295570 0.04609618
+v 0.04213355 0.01938223 0.04928314
+v -0.05453887 0.02189327 0.04928315
+v -0.05453887 0.02249287 0.04799652
+v -0.05392549 0.02295570 0.04660400
+v 0.05391912 0.02295570 0.04615323
+v 0.05378768 0.02112156 0.04928315
+v -0.05545893 0.02254815 0.04928315
+v -0.05503175 0.02295570 0.04750641
+v 0.05556210 0.02295570 0.04714554
+v 0.05580306 0.02266324 0.04819403
+v 0.05589069 0.02232985 0.04928315
+v -0.05583134 0.02295569 0.04928315
+v -0.05575467 0.02295569 0.04885701
+v 0.05583592 0.02295569 0.04779469
+v 0.05606594 0.02295569 0.04928315
+f 1 2 3
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+f 1 23 26
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+f 1 25 20
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+f 1 11 4
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+f 20 25 21
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+f 22 25 26
+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_62.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f86cfd8a5d9958ad1c076b80ac38e02f12363822
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_62.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.05425552 -0.02347497 -0.00891012
+v -0.05204809 -0.02988584 -0.00891014
+v -0.05486147 -0.02347497 -0.00728970
+v 0.05427576 -0.02347497 -0.00891012
+v -0.05172348 -0.03062882 -0.00891014
+v -0.05574877 -0.02431040 -0.00364092
+v -0.05587861 -0.02347498 -0.00412592
+v 0.05435150 -0.02347497 -0.00732370
+v 0.05412426 -0.02425296 -0.00891012
+v -0.05229698 -0.03062883 -0.00475371
+v -0.05311934 -0.02955044 -0.00391517
+v 0.05254444 -0.03062882 -0.00891014
+v -0.05520773 -0.02591329 -0.00203638
+v -0.05585697 -0.02459471 -0.00203637
+v -0.05614913 -0.02347499 -0.00203637
+v -0.05606256 -0.02347499 -0.00276386
+v 0.05439478 -0.02347498 -0.00467890
+v 0.05397278 -0.02541959 -0.00732370
+v 0.05389704 -0.02541959 -0.00891012
+v -0.05254585 -0.03062884 -0.00254178
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+v -0.05320591 -0.02970660 -0.00203639
+v -0.05409320 -0.02805609 -0.00203638
+v 0.05271758 -0.03009942 -0.00891014
+v 0.05255527 -0.03062882 -0.00836849
+v -0.05415813 -0.02805610 0.00060842
+v -0.05529429 -0.02586008 0.00060843
+v -0.05581369 -0.02454150 0.00060843
+v -0.05594354 -0.02347500 0.00060843
+v 0.05432986 -0.02347499 -0.00203637
+v 0.05401606 -0.02541960 -0.00467890
+v 0.05334518 -0.02805607 -0.00732371
+v 0.05328025 -0.02805607 -0.00891013
+v -0.05265405 -0.03062885 -0.00016667
+v 0.05273922 -0.03012113 -0.00732372
+v 0.05255527 -0.03062882 -0.00732372
+v -0.05264323 -0.03062885 0.00060841
+v -0.05221041 -0.03062888 0.00869918
+v -0.05520773 -0.02523896 0.00313765
+v -0.05568384 -0.02423900 0.00218352
+v -0.05560810 -0.02347501 0.00301300
+v 0.05415673 -0.02347500 0.00060843
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+
diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_63.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72de5af30b544cbaed9b1ab16479875c14e2e57d
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_63.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
+v -0.05604547 -0.03680009 -0.00891017
+v -0.05601239 -0.03846935 -0.00891017
+v -0.05603444 -0.03846935 -0.00851810
+v -0.05608957 -0.03824831 -0.00732375
+v -0.05608957 -0.03671413 -0.00732374
+v -0.05628805 -0.03372717 0.00853826
+v -0.05621086 -0.03401420 0.00589346
+v -0.05600136 -0.03167036 0.01424259
+v -0.05172311 -0.03062958 -0.00891014
+v 0.05615933 -0.03846935 -0.00891017
+v -0.05615573 -0.03791371 -0.00203642
+v -0.05615573 -0.03807794 -0.00467895
+v -0.05556031 -0.03846936 -0.00467895
+v -0.05615573 -0.03652227 -0.00467894
+v -0.05634318 -0.03333118 0.01382559
+v -0.05632113 -0.03302649 0.01424259
+v -0.05432535 -0.03126206 0.01424260
+v -0.05220828 -0.03062964 0.00869918
+v -0.05264933 -0.03062961 0.00060841
+v -0.05266036 -0.03062961 -0.00016667
+v -0.05259420 -0.03062960 -0.00203639
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+v -0.05229649 -0.03062959 -0.00475371
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+v -0.05604547 -0.03771418 0.00060838
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_64.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..361960792a07f3bbb23306b631ad8cec21aab1c3
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_64.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_7.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6087f49c7639da706880471b8eca6d98e55cca7c
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_7.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_8.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c46afea3f200b10b751ef7082c8ba0b451b3b64
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_8.obj
@@ -0,0 +1,532 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_9.obj b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebbcb72ffa6e6a5f6b20361a4a31934ab348629c
--- /dev/null
+++ b/dataset/food/snack/ae530ea5501c5af38ccaeb1ecdf7d3e0/mjcf/mesh/biscuit_004_collision_9.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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