diff --git a/.gitattributes b/.gitattributes
index 6608ac6bfbbc1bed36df4d18237301c23ff19b75..939545abe093e60b095c426fdff23d4fd55155db 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3687,3 +3687,5 @@ dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/biscuit_008.usd filter=lfs d
 dataset/food/snack/2d7b78491f6956839ee8baf783daaf23/mesh/biscuit_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/3cc33f3d5a805f65aadb7c6285ddb986/mesh/potato_chips_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/3cc33f3d5a805f65aadb7c6285ddb986/potato_chips_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/chocolate_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mesh/chocolate_003.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/chocolate_003.urdf b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/chocolate_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e620f6f539e62bc4f4f8a27923f4c70c6fd7325b
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/chocolate_003.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="chocolate_003">
+   <link name="chocolate_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/chocolate_003.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/chocolate_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0225" />
+         <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>4a519822ebc05c728c460979d5eddbf5</uuid>
+         <domain>food</domain>
+         <super_category>snack</super_category>
+         <category>chocolate</category>
+         <name>wrapped chocolate</name>
+         <color>golden,brown</color>
+         <shape>hemisphere</shape>
+         <material>organic</material>
+         <description>spherical chocolate wrapped in golden foil with a striped base</description>
+         <min_height>0.0183</min_height>
+         <max_height>0.0183</max_height>
+         <real_height>0.0183</real_height>
+         <min_mass>0.015</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506221928</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/4a519822ebc05c728c460979d5eddbf5/chocolate_003.usd b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/chocolate_003.usd
new file mode 100644
index 0000000000000000000000000000000000000000..01a3570d51e3ce440f3d2e56bc95c56be603d78a
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/chocolate_003.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:041df77dc224e1ec32ca78993e5d54be20f509fe76c8ee2198b90cceec9899e8
+size 5016044
diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mesh/chocolate_003.glb b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mesh/chocolate_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b4895ce14899448aa878c5b4b6f0d7a3deb2b955
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mesh/chocolate_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63e5fdeaf471ce47157c54049a0a1334b14e2d237542748101e23c042ab66349
+size 13650160
diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mesh/chocolate_003.mtl b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mesh/chocolate_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a54b293c7fcf5f19467dbbfcb5443ebdff078773
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mesh/chocolate_003.mtl
@@ -0,0 +1,6 @@
+newmtl chocolate_003_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/4a519822ebc05c728c460979d5eddbf5/mesh/chocolate_003.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mesh/chocolate_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bcbc5b87bfdcca7673a581c9ddb3a997600c184
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mesh/chocolate_003.obj
@@ -0,0 +1,109270 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl chocolate_003_geometry_Looks_material_0
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diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mesh/chocolate_003_collision.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mesh/chocolate_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..057085ed66f3a6b382abce6048ce8f5740421f72
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mesh/chocolate_003_collision.obj
@@ -0,0 +1,22521 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mesh/chocolate_003_geometry_Looks_material_0.png b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mesh/chocolate_003_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa2cbf91976935d32bb9c7ee2364441a8b7b2345
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mesh/chocolate_003_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aebcba3760312d660cf85e33648ed53d5ca7924432824b0cc68a706162559a4f
+size 10145837
diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mesh/material.mtl b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c1ec176da1d1916238363867462eb88bfe24ba6c
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl chocolate_003_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 chocolate_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mesh/material_0.png b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa2cbf91976935d32bb9c7ee2364441a8b7b2345
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aebcba3760312d660cf85e33648ed53d5ca7924432824b0cc68a706162559a4f
+size 10145837
diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/chocolate_003.xml b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/chocolate_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a720c08b9a7652608b8797f756f8c732d7481424
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/chocolate_003.xml
@@ -0,0 +1,136 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="chocolate_003">
+  <asset>
+    <material name="material_0" texture="texture_0_chocolate_003_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_chocolate_003_geometry_Looks_material_0" type="2d" file="mesh/chocolate_003_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/chocolate_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/chocolate_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_2" file="mesh/chocolate_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_4" file="mesh/chocolate_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/chocolate_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_15" file="mesh/chocolate_003_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/chocolate_003_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_53" file="mesh/chocolate_003_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_57" file="mesh/chocolate_003_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/chocolate_003_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/chocolate_003_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/chocolate_003_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="chocolate_003">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..125b757a545a09e27c18064291d4fab410e6657f
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003.obj
@@ -0,0 +1,109270 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl chocolate_003_geometry_Looks_material_0
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diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e812529c1ff12119ff3670a54c6bef8f5e671193
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision.obj
@@ -0,0 +1,22521 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_0.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e8e9b94fb4680c1d54729a02133d5ef3a79647f
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_0.obj
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diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_1.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96fb1b2d248c623281ee64858fb7cf2509a3cbd2
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_1.obj
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diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_10.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b412a12828ee78b013e2a246477129db6032747
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_10.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00287312 0.00683709 -0.00134852
+v -0.00287312 0.00683709 0.00082991
+v -0.00287312 0.00919020 -0.00134852
+v -0.00287312 0.00919020 0.00082991
+v -0.00187312 0.00683709 -0.00134852
+v -0.00187312 0.00683709 0.00082991
+v -0.00187312 0.00919020 -0.00134852
+v -0.00187312 0.00919020 0.00082991
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_11.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e0c2cc7b4b16665ebb49ae51caa2ef08d3f6494
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_11.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00516053 0.00850113 -0.00393672
+v -0.00516053 0.00850113 -0.00134874
+v -0.00516053 0.00950113 -0.00393672
+v -0.00516053 0.00950113 -0.00134874
+v 0.00530143 0.00850113 -0.00393672
+v 0.00530143 0.00850113 -0.00134874
+v 0.00530143 0.00950113 -0.00393672
+v 0.00530143 0.00950113 -0.00134874
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_12.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a425bbb98acc288b067dfdb3140950cf77268d0
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_12.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00603403 0.00683709 -0.00134852
+v -0.00603738 0.00683709 -0.00131141
+v -0.00602665 0.00734614 0.00082991
+v -0.00584822 0.00764209 0.00037157
+v -0.00572211 0.00782729 0.00011500
+v -0.00570434 0.00780494 -0.00010831
+v -0.00565101 0.00738059 -0.00134852
+v -0.00277838 0.00683709 -0.00134852
+v -0.00603805 0.00683709 -0.00130309
+v -0.00620441 0.00683709 0.00082991
+v -0.00585694 0.00765071 0.00082991
+v -0.00587002 0.00764209 0.00070642
+v -0.00573318 0.00783652 0.00037157
+v -0.00531528 0.00811504 -0.00029834
+v -0.00551115 0.00794502 -0.00029834
+v -0.00545950 0.00789251 -0.00063319
+v -0.00548935 0.00760846 -0.00134852
+v -0.00277838 0.00840279 -0.00134852
+v -0.00277838 0.00683709 0.00082991
+v -0.00571842 0.00782011 0.00082991
+v -0.00572714 0.00782811 0.00070642
+v -0.00514557 0.00821903 -0.00029834
+v -0.00465657 0.00846555 -0.00063319
+v -0.00509157 0.00819667 -0.00053721
+v -0.00540919 0.00784391 -0.00089872
+v -0.00535016 0.00780596 -0.00112202
+v -0.00526933 0.00776966 -0.00134852
+v -0.00277838 0.00888497 0.00082991
+v -0.00278978 0.00843212 -0.00134852
+v -0.00402503 0.00884888 0.00082991
+v -0.00448720 0.00855949 -0.00063319
+v -0.00401295 0.00883349 -0.00047344
+v -0.00442247 0.00853713 -0.00088230
+v -0.00409814 0.00854862 -0.00122866
+v -0.00386270 0.00861753 -0.00134852
+v -0.00294071 0.00854021 -0.00134852
+v -0.00312349 0.00864542 -0.00134852
+v -0.00355581 0.00887226 -0.00063319
+v -0.00354106 0.00889748 -0.00029834
+v -0.00354542 0.00891102 0.00003651
+v -0.00355045 0.00891615 0.00037157
+v -0.00365979 0.00892538 0.00082991
+v -0.00391200 0.00890159 0.00082991
+v -0.00414778 0.00874161 -0.00060439
+v -0.00395963 0.00881832 -0.00069674
+v -0.00384123 0.00893214 0.00082991
+v -0.00386840 0.00888497 -0.00032137
+v -0.00384425 0.00886508 -0.00060439
+v -0.00419910 0.00861261 -0.00098360
+v -0.00384425 0.00877976 -0.00096931
+v -0.00350551 0.00872028 -0.00134852
+v -0.00345553 0.00871187 -0.00134852
+v -0.00360478 0.00884826 -0.00085841
+v -0.00373324 0.00884826 -0.00085841
+v -0.00382212 0.00891102 0.00003651
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 17
+f 1 17 27
+f 1 27 35
+f 1 35 51
+f 1 51 52
+f 1 52 37
+f 1 37 36
+f 1 36 29
+f 1 29 18
+f 1 18 8
+f 1 8 19
+f 1 19 10
+f 1 10 9
+f 1 9 2
+f 2 9 3
+f 3 9 10
+f 3 10 19
+f 3 19 28
+f 3 28 42
+f 3 42 46
+f 3 46 43
+f 3 43 30
+f 3 30 20
+f 3 20 11
+f 3 11 12
+f 3 12 4
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 8 18 28
+f 8 28 19
+f 11 20 21
+f 11 21 12
+f 12 21 13
+f 13 21 22
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 16
+f 14 16 15
+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 18 29 28
+f 20 30 21
+f 21 30 22
+f 22 31 23
+f 22 30 32
+f 22 32 31
+f 23 31 33
+f 23 33 26
+f 23 26 24
+f 24 26 25
+f 26 33 27
+f 27 33 34
+f 27 34 35
+f 28 29 36
+f 28 36 37
+f 28 37 38
+f 28 38 39
+f 28 39 40
+f 28 40 41
+f 28 41 42
+f 30 43 32
+f 31 32 44
+f 31 44 45
+f 31 45 33
+f 32 43 46
+f 32 46 47
+f 32 47 48
+f 32 48 45
+f 32 45 44
+f 33 45 49
+f 33 49 34
+f 34 49 35
+f 35 49 50
+f 35 50 51
+f 37 52 53
+f 37 53 38
+f 38 53 54
+f 38 54 48
+f 38 48 39
+f 39 48 47
+f 39 47 55
+f 39 55 40
+f 40 55 46
+f 40 46 41
+f 41 46 42
+f 45 48 54
+f 45 54 50
+f 45 50 49
+f 46 55 47
+f 50 54 51
+f 51 54 53
+f 51 53 52
+
diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_13.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..779328e42deb5dff5f986cb7dfacb542ba234ba9
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_13.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00587143 0.00780346 -0.00393672
+v -0.00587143 0.00780346 -0.00134874
+v -0.00587143 0.00880346 -0.00393672
+v -0.00587143 0.00880346 -0.00134874
+v 0.00600805 0.00780346 -0.00393672
+v 0.00600805 0.00780346 -0.00134874
+v 0.00600805 0.00880346 -0.00393672
+v 0.00600805 0.00880346 -0.00134874
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_14.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c8b0416abeeea4414c955c0505c16fb95a47265
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_14.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.00714079 0.00531781 0.00200250
+v -0.00714079 0.00550699 0.00037149
+v -0.00776231 0.00510068 0.00092686
+v -0.00808722 0.00475193 0.00188769
+v -0.00816633 0.00461950 0.00200250
+v -0.00714079 -0.00279619 0.00200247
+v -0.00714079 0.00554236 0.00003689
+v -0.00778178 0.00511548 0.00070642
+v -0.00809839 0.00476426 0.00171153
+v -0.00817786 0.00460059 0.00200250
+v -0.00864135 -0.00279619 0.00200247
+v -0.00714079 -0.00279618 -0.00134878
+v -0.00714079 0.00560652 -0.00134875
+v -0.00744534 0.00544531 -0.00134875
+v -0.00741939 0.00544037 -0.00096822
+v -0.00779547 0.00513111 0.00037149
+v -0.00810740 0.00477825 0.00137628
+v -0.00829554 0.00424033 0.00200250
+v -0.00880713 0.00347377 0.00003688
+v -0.00889363 0.00321961 0.00003688
+v -0.00898175 -0.00279618 -0.00007008
+v -0.00898175 -0.00181988 0.00200247
+v -0.00893201 -0.00279618 -0.00134878
+v -0.00762194 0.00524133 -0.00134875
+v -0.00775943 0.00510808 -0.00118309
+v -0.00777313 0.00512535 -0.00096822
+v -0.00778232 0.00513687 -0.00063329
+v -0.00778934 0.00514098 -0.00029804
+v -0.00779601 0.00513934 0.00003689
+v -0.00846330 0.00412601 -0.00063329
+v -0.00872946 0.00364238 -0.00029805
+v -0.00882713 0.00324264 0.00038887
+v -0.00879722 0.00313983 0.00070641
+v -0.00877542 0.00307485 0.00092193
+v -0.00878010 0.00276888 0.00128343
+v -0.00898175 0.00125958 0.00200248
+v -0.00879956 0.00347212 -0.00029805
+v -0.00889417 0.00321961 -0.00029805
+v -0.00879830 0.00288156 0.00103675
+v -0.00895220 0.00287992 -0.00029805
+v -0.00898175 0.00232391 0.00050007
+v -0.00898175 0.00219889 0.00070280
+v -0.00898175 -0.00279618 -0.00110471
+v -0.00898121 -0.00279618 -0.00121592
+v -0.00898175 -0.00267445 -0.00134878
+v -0.00783295 0.00492795 -0.00134875
+v -0.00844673 0.00410792 -0.00086718
+v -0.00857017 0.00389982 -0.00063330
+v -0.00892877 0.00287992 -0.00063330
+v -0.00898175 0.00229841 0.00003393
+v -0.00898175 0.00233378 0.00036131
+v -0.00898175 0.00127686 -0.00134877
+v -0.00898175 0.00160668 -0.00099283
+v -0.00898175 0.00189127 -0.00064249
+v -0.00898175 0.00213062 -0.00029805
+v -0.00898175 -0.00279536 -0.00121526
+v -0.00834779 0.00390311 -0.00134876
+v -0.00840762 0.00401662 -0.00109059
+v -0.00883759 0.00255421 -0.00134876
+v -0.00883921 0.00287827 -0.00095511
+v -0.00892282 0.00253940 -0.00096823
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 18
+f 1 18 36
+f 1 36 22
+f 1 22 11
+f 1 11 6
+f 1 6 12
+f 1 12 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 6 11 21
+f 6 21 43
+f 6 43 44
+f 6 44 23
+f 6 23 12
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 9
+f 9 16 17
+f 9 17 10
+f 10 17 19
+f 10 19 20
+f 10 20 18
+f 11 22 21
+f 12 23 45
+f 12 45 52
+f 12 52 59
+f 12 59 57
+f 12 57 46
+f 12 46 24
+f 12 24 14
+f 12 14 13
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 16
+f 14 16 15
+f 16 29 17
+f 17 29 28
+f 17 28 27
+f 17 27 30
+f 17 30 31
+f 17 31 19
+f 18 20 32
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 36
+f 19 31 37
+f 19 37 38
+f 19 38 20
+f 20 39 34
+f 20 34 33
+f 20 33 32
+f 20 38 40
+f 20 40 41
+f 20 41 42
+f 20 42 36
+f 20 36 39
+f 21 22 36
+f 21 36 42
+f 21 42 41
+f 21 41 51
+f 21 51 50
+f 21 50 55
+f 21 55 54
+f 21 54 53
+f 21 53 52
+f 21 52 45
+f 21 45 56
+f 21 56 43
+f 23 44 45
+f 24 46 25
+f 25 46 47
+f 25 47 30
+f 25 30 26
+f 26 30 27
+f 30 47 31
+f 31 47 48
+f 31 48 37
+f 34 39 35
+f 35 39 36
+f 37 48 47
+f 37 47 38
+f 38 49 40
+f 38 47 49
+f 40 50 51
+f 40 51 41
+f 40 49 52
+f 40 52 53
+f 40 53 54
+f 40 54 55
+f 40 55 50
+f 43 56 44
+f 44 56 45
+f 46 57 58
+f 46 58 47
+f 47 58 59
+f 47 59 60
+f 47 60 49
+f 49 60 59
+f 49 59 61
+f 49 61 52
+f 52 61 59
+f 57 59 58
+
diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_15.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8209ac69afc01cf52dbc76e8e7d14582d3a63f23
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_15.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01017178 -0.00079867 -0.00393675
+v -0.01017178 -0.00079867 -0.00134877
+v -0.01017178 0.00020133 -0.00393675
+v -0.01017178 0.00020133 -0.00134877
+v 0.01029901 -0.00079867 -0.00393675
+v 0.01029901 -0.00079867 -0.00134877
+v 0.01029901 0.00020133 -0.00393675
+v 0.01029901 0.00020133 -0.00134877
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_16.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac32c31d5e963d86df5aeaacfcdff19366f72413
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_16.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01017818 -0.00206742 -0.00393676
+v -0.01017818 -0.00206742 -0.00134877
+v -0.01017818 -0.00106742 -0.00393676
+v -0.01017818 -0.00106742 -0.00134877
+v 0.01030556 -0.00206742 -0.00393676
+v 0.01030556 -0.00206742 -0.00134877
+v 0.01030556 -0.00106742 -0.00393676
+v 0.01030556 -0.00106742 -0.00134877
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_17.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97089c02e26edd67bb4dcf2a72aa926bf4c9c7fc
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_17.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00829516 0.00523095 -0.00393673
+v -0.00829516 0.00523095 -0.00134875
+v -0.00829516 0.00623095 -0.00393673
+v -0.00829516 0.00623095 -0.00134875
+v 0.00845998 0.00523095 -0.00393673
+v 0.00845998 0.00523095 -0.00134875
+v 0.00845998 0.00623095 -0.00393673
+v 0.00845998 0.00623095 -0.00134875
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_18.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8211967e15452cd8184b5b29b51f8ae0335e2488
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_18.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00091688 -0.00716872 -0.00134880
+v 0.00091688 -0.00716871 -0.00393678
+v -0.00079061 -0.00716872 -0.00134880
+v 0.00091688 -0.00905660 -0.00134880
+v -0.00079061 -0.00716871 -0.00393678
+v 0.00091688 -0.00894920 -0.00393678
+v -0.00079061 -0.00920563 -0.00134880
+v 0.00089415 -0.00906991 -0.00134880
+v 0.00091688 -0.00957991 -0.00177237
+v -0.00079061 -0.00893900 -0.00393678
+v 0.00042750 -0.00921582 -0.00393678
+v 0.00091688 -0.00963715 -0.00230461
+v 0.00049569 -0.00994683 -0.00230841
+v 0.00042900 -0.00989668 -0.00250980
+v -0.00079061 -0.00957793 -0.00177287
+v -0.00010585 -0.01000492 -0.00203127
+v -0.00014596 -0.00934532 -0.00134880
+v 0.00054416 -0.00925720 -0.00134880
+v 0.00023361 -0.01000435 -0.00203380
+v 0.00050087 -0.00994910 -0.00206344
+v 0.00091688 -0.00967823 -0.00197376
+v -0.00037845 -0.00914782 -0.00393678
+v -0.00031210 -0.00922036 -0.00387649
+v -0.00028903 -0.00988648 -0.00249562
+v -0.00035388 -0.00994003 -0.00230841
+v -0.00079061 -0.00962921 -0.00230917
+v 0.00023361 -0.01006300 -0.00230841
+v 0.00023261 -0.00927702 -0.00393678
+v -0.00079061 -0.00958019 -0.00177617
+v -0.00036658 -0.00994995 -0.00206015
+v -0.00010585 -0.01005620 -0.00230841
+v 0.00022994 -0.00932010 -0.00134880
+v -0.00019410 -0.00923651 -0.00393678
+v -0.00079061 -0.00967256 -0.00197858
+v -0.00004835 -0.00927164 -0.00393678
+v -0.00079061 -0.00967285 -0.00197376
+v -0.00009816 -0.00927051 -0.00393678
+f 1 2 5
+f 1 5 3
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diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_19.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e382d37e9c6a5c8adb5f7fef9218f8e4f1bc529a
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_19.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_2.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..499460d05c51efb6f0956e44b2bdf95d0cf67398
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_2.obj
@@ -0,0 +1,1246 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_20.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c3a1997ba63c428f124d7233cf164ebb7eb2bef
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_20.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00689116 -0.00813441 -0.00393678
+v -0.00689116 -0.00813441 -0.00138386
+v -0.00689116 -0.00713441 -0.00393678
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+
diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_21.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..185e0f574269aabc964f6b4d9df1813aacc589d2
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_21.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_22.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d8b242b89f201e28384403ca00901f7864a7aa5
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_22.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v 0.00969305 -0.00297287 -0.00223643
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+f 87 95 88
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+f 94 97 98
+f 96 102 98
+f 98 102 99
+
diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_23.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c78f8a3d0789695cfc289e30ece18f4ef444ff52
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_23.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00083001 0.00915986 -0.00383422
+v -0.00083001 0.00915986 -0.00134874
+v -0.00083001 0.01015986 -0.00383422
+v -0.00083001 0.01015986 -0.00134874
+v 0.00392566 0.00915986 -0.00383422
+v 0.00392566 0.00915986 -0.00134874
+v 0.00392566 0.01015986 -0.00383422
+v 0.00392566 0.01015986 -0.00134874
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_24.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f843bfa87dfc9359ae929a9d47798f6b2f3dfe73
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_24.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00374142 0.00910667 -0.00346872
+v -0.00374142 0.00910667 -0.00175601
+v -0.00374142 0.01010667 -0.00346872
+v -0.00374142 0.01010667 -0.00175601
+v -0.00083001 0.00910667 -0.00346872
+v -0.00083001 0.00910667 -0.00175601
+v -0.00083001 0.01010667 -0.00346872
+v -0.00083001 0.01010667 -0.00175601
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_25.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..172903e4943476f3c820e30223336ce5a125a43e
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_25.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00803730 0.00595708 -0.00393673
+v -0.00803730 0.00595708 -0.00134875
+v -0.00803730 0.00695708 -0.00393673
+v -0.00803730 0.00695708 -0.00134875
+v 0.00808968 0.00595708 -0.00393673
+v 0.00808968 0.00595708 -0.00134875
+v 0.00808968 0.00695708 -0.00393673
+v 0.00808968 0.00695708 -0.00134875
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_26.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd3bf3fc82defac0c9cd48e1c85c0f694689fe9e
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_26.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.00898685 -0.00222185 -0.00393676
+v -0.00892071 -0.00194915 -0.00393676
+v -0.00887402 -0.00256689 -0.00393676
+v -0.00914637 -0.00245949 -0.00355905
+v -0.00980195 -0.00243295 -0.00250091
+v -0.00980195 -0.00232374 -0.00250091
+v -0.00976888 -0.00209702 -0.00245505
+v -0.00983113 -0.00196087 -0.00223187
+v -0.00981751 -0.00194915 -0.00224327
+v 0.00905621 -0.00194915 -0.00393676
+v -0.00973581 -0.00265956 -0.00241933
+v -0.00866198 -0.00297264 -0.00393676
+v -0.00985447 -0.00255247 -0.00230787
+v -0.00986420 -0.00221504 -0.00232940
+v -0.00987198 -0.00222185 -0.00203656
+v -0.00983113 -0.00196087 -0.00207000
+v -0.00981751 -0.00194915 -0.00210040
+v 0.00993940 -0.00194915 -0.00224479
+v 0.00995885 -0.00196698 -0.00222757
+v 0.00989465 -0.00210063 -0.00245075
+v 0.00906010 -0.00196197 -0.00393676
+v -0.00981168 -0.00276145 -0.00219590
+v -0.00954322 -0.00297264 -0.00230939
+v 0.00880332 -0.00297264 -0.00393676
+v -0.00985642 -0.00256188 -0.00206113
+v -0.00954711 -0.00194915 -0.00178956
+v -0.00974943 -0.00194915 -0.00198209
+v -0.00901603 -0.00256039 -0.00134878
+v -0.00904132 -0.00227426 -0.00134878
+v -0.00981557 -0.00194915 -0.00205758
+v 0.00993745 -0.00194915 -0.00205100
+v 0.00995885 -0.00196698 -0.00206949
+v 0.01000165 -0.00222185 -0.00203605
+v 0.00999581 -0.00221715 -0.00232687
+v 0.00912430 -0.00222185 -0.00393676
+v 0.00993162 -0.00232735 -0.00250344
+v -0.00956462 -0.00297264 -0.00226810
+v -0.00981168 -0.00276145 -0.00210293
+v 0.00900952 -0.00257000 -0.00393676
+v 0.00994523 -0.00276556 -0.00219691
+v 0.00969234 -0.00297264 -0.00226784
+v -0.00888375 -0.00291364 -0.00134878
+v -0.00900630 -0.00261048 -0.00134878
+v -0.00903159 -0.00221135 -0.00134878
+v -0.00896740 -0.00194916 -0.00134878
+v 0.00964565 -0.00194915 -0.00177158
+v 0.00958729 -0.00275514 -0.00179716
+v 0.00998998 -0.00256188 -0.00205834
+v 0.00998609 -0.00255257 -0.00230863
+v 0.00993162 -0.00243305 -0.00250344
+v 0.00911068 -0.00227265 -0.00393676
+v -0.00954516 -0.00297264 -0.00202617
+v 0.00927409 -0.00246090 -0.00356513
+v 0.00994523 -0.00276556 -0.00209913
+v 0.00969234 -0.00297264 -0.00223618
+v -0.00883122 -0.00297265 -0.00134878
+v 0.00892976 -0.00194916 -0.00134878
+v 0.00894533 -0.00222186 -0.00134878
+v 0.00894533 -0.00217368 -0.00134878
+v 0.00936358 -0.00297264 -0.00176676
+v 0.00891420 -0.00247343 -0.00134878
+v 0.00881888 -0.00290212 -0.00134878
+v 0.00878970 -0.00297265 -0.00134878
+v 0.00967289 -0.00297264 -0.00202617
+v 0.00961842 -0.00297264 -0.00198032
+f 1 2 10
+f 1 10 21
+f 1 21 35
+f 1 35 51
+f 1 51 39
+f 1 39 24
+f 1 24 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
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+f 2 7 8
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+f 2 9 17
+f 2 17 30
+f 2 30 27
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+f 2 26 45
+f 2 45 57
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+f 2 46 31
+f 2 31 18
+f 2 18 10
+f 3 11 5
+f 3 5 4
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+f 28 57 45
+f 28 45 44
+f 28 44 29
+f 31 33 32
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+f 50 53 51
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+f 54 60 65
+f 54 65 64
+
diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_27.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d9f4cbd9d423978e2af88998d040688f0509a75
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_27.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00267665 -0.00868329 -0.00393678
+v 0.00267665 -0.00716888 -0.00393678
+v 0.00300490 -0.00869333 -0.00393678
+v 0.00317624 -0.00875761 -0.00379086
+v 0.00267665 -0.00875761 -0.00373184
+v 0.00267665 -0.00716889 -0.00134880
+v 0.00434224 -0.00716871 -0.00393678
+v 0.00328986 -0.00870020 -0.00393678
+v 0.00328986 -0.00875761 -0.00379745
+v 0.00498732 -0.00887862 -0.00219313
+v 0.00267665 -0.00875761 -0.00164721
+v 0.00267665 -0.00872715 -0.00134880
+v 0.00434224 -0.00716872 -0.00134880
+v 0.00574752 -0.00716871 -0.00393678
+v 0.00356160 -0.00859475 -0.00393678
+v 0.00520074 -0.00887326 -0.00218173
+v 0.00498732 -0.00887862 -0.00209991
+v 0.00267665 -0.00875593 -0.00159782
+v 0.00294779 -0.00866020 -0.00134880
+v 0.00267665 -0.00875576 -0.00159503
+v 0.00520074 -0.00887326 -0.00211359
+v 0.00574752 -0.00716872 -0.00134880
+v 0.00574752 -0.00720654 -0.00393678
+v 0.00499604 -0.00795086 -0.00393678
+v 0.00534232 -0.00869785 -0.00232182
+v 0.00554943 -0.00858437 -0.00223949
+v 0.00431549 -0.00823239 -0.00134880
+v 0.00554943 -0.00858437 -0.00207838
+v 0.00531887 -0.00869199 -0.00204544
+v 0.00551065 -0.00819321 -0.00179794
+v 0.00446819 -0.00816929 -0.00134880
+v 0.00574752 -0.00727316 -0.00134880
+v 0.00574752 -0.00800860 -0.00231093
+v 0.00514934 -0.00782499 -0.00393678
+v 0.00548390 -0.00849566 -0.00246217
+v 0.00574752 -0.00806534 -0.00197274
+v 0.00574752 -0.00793462 -0.00177793
+f 1 2 7
+f 1 7 14
+f 1 14 23
+f 1 23 34
+f 1 34 24
+f 1 24 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 18
+f 1 18 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 6 13
+f 2 13 7
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 5 10 17
+f 5 17 11
+f 6 12 19
+f 6 19 27
+f 6 27 31
+f 6 31 32
+f 6 32 22
+f 6 22 13
+f 7 13 22
+f 7 22 14
+f 8 15 16
+f 8 16 9
+f 9 16 10
+f 10 16 21
+f 10 21 17
+f 11 17 18
+f 12 20 17
+f 12 17 21
+f 12 21 19
+f 14 22 32
+f 14 32 37
+f 14 37 36
+f 14 36 33
+f 14 33 23
+f 15 24 16
+f 16 25 26
+f 16 26 28
+f 16 28 21
+f 16 24 25
+f 17 20 18
+f 19 21 27
+f 21 28 29
+f 21 29 30
+f 21 30 31
+f 21 31 27
+f 23 33 26
+f 23 26 34
+f 24 34 35
+f 24 35 25
+f 25 35 26
+f 26 35 34
+f 26 33 36
+f 26 36 28
+f 28 36 37
+f 28 37 30
+f 28 30 29
+f 30 37 32
+f 30 32 31
+
diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_28.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd1f2413c100b3edc6507bd12bd89eef6efd10aa
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_28.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00347884 -0.00950780 -0.00393655
+v -0.00347884 -0.00950780 -0.00160970
+v -0.00347884 -0.00847401 -0.00393655
+v -0.00347884 -0.00847401 -0.00160970
+v -0.00247883 -0.00950780 -0.00393655
+v -0.00247883 -0.00950780 -0.00160970
+v -0.00247883 -0.00847401 -0.00393655
+v -0.00247883 -0.00847401 -0.00160970
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_29.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c7422d0d049827b20c6b11f66d341274568e193
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_29.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00422245 -0.00954556 -0.00393678
+v -0.00422245 -0.00954556 -0.00176402
+v -0.00422245 -0.00847411 -0.00393678
+v -0.00422245 -0.00847411 -0.00176402
+v -0.00322246 -0.00954556 -0.00393678
+v -0.00322246 -0.00954556 -0.00176402
+v -0.00322246 -0.00847411 -0.00393678
+v -0.00322246 -0.00847411 -0.00176402
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_3.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1cda7013ee436edeae025fef8c2b6a9656ccf7f
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_3.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.00714079 -0.00279618 0.00122928
+v -0.00714079 -0.00279618 -0.00134878
+v -0.00862967 -0.00279618 0.00122928
+v -0.00714079 -0.00671434 0.00122927
+v -0.00893201 -0.00279618 -0.00134878
+v -0.00714079 -0.00568264 -0.00134879
+v -0.00915836 -0.00279618 -0.00035929
+v -0.00884583 -0.00327253 0.00122928
+v -0.00724437 -0.00664377 0.00122927
+v -0.00714079 -0.00650723 0.00003639
+v -0.00888382 -0.00291392 -0.00134878
+v -0.00905818 -0.00292888 -0.00098109
+v -0.00907398 -0.00279618 -0.00104166
+v -0.00714079 -0.00638604 -0.00037242
+v -0.00728136 -0.00563930 -0.00134879
+v -0.00918355 -0.00279618 -0.00064319
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diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_30.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47fc5076777847e0f847f6e8792ab169ff835647
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_30.obj
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diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_31.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efb837c8d45422e3eaa13f6acf637453d3a49033
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_31.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00913522 0.00014338 -0.00393675
+v -0.00801157 0.00014338 -0.00393675
+v -0.00917998 0.00014338 -0.00381338
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+
diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_32.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9dddae359778d4aeef8dc08329999778cd3b57e
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_32.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00857999 -0.00146318 -0.00209180
+v -0.00857999 -0.00146318 -0.00109180
+v -0.00857999 -0.00046318 -0.00209180
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+v 0.00895346 -0.00046318 -0.00109180
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+
diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_33.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f49912f1f2710c4b2d27fecd85d6da753d960c6a
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_33.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.00867986 0.00286225 -0.00393674
+v -0.00958894 0.00286225 -0.00227897
+v -0.00867608 0.00288958 -0.00393674
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+v 0.00860391 0.00345339 -0.00134876
+v 0.00882126 0.00288489 -0.00134876
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+
diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_34.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..726b56ed5b29e58db09c35f1a4dc47cf500995b4
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_34.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00079799 -0.00993222 -0.00393678
+v 0.00079799 -0.00993222 -0.00134880
+v 0.00079799 -0.00716898 -0.00393678
+v 0.00079799 -0.00716898 -0.00134880
+v 0.00179799 -0.00993222 -0.00393678
+v 0.00179799 -0.00993222 -0.00134880
+v 0.00179799 -0.00716898 -0.00393678
+v 0.00179799 -0.00716898 -0.00134880
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_35.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc757c532fd1a4a5056890a0096cb4b3c5cf04d6
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_35.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00680609 0.00713675 -0.00393672
+v -0.00680609 0.00713675 -0.00134874
+v -0.00680609 0.00813675 -0.00393672
+v -0.00680609 0.00813675 -0.00134874
+v 0.00694316 0.00713675 -0.00393672
+v 0.00694316 0.00713675 -0.00134874
+v 0.00694316 0.00813675 -0.00393672
+v 0.00694316 0.00813675 -0.00134874
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_36.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a2fc38483e7e84872cf02d1fc16d5145908af44
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_36.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.00079080 -0.00716872 -0.00134880
+v -0.00270746 -0.00716872 -0.00134880
+v -0.00079080 -0.00883413 -0.00134880
+v -0.00079080 -0.00716871 -0.00393678
+v -0.00270746 -0.00838594 -0.00134880
+v -0.00270746 -0.00716871 -0.00393678
+v -0.00166197 -0.00883413 -0.00134880
+v -0.00079080 -0.00883412 -0.00393678
+v -0.00243314 -0.00871315 -0.00134880
+v -0.00270746 -0.00883412 -0.00173107
+v -0.00270746 -0.00866978 -0.00393678
+v -0.00214306 -0.00883347 -0.00134880
+v -0.00263334 -0.00883412 -0.00169433
+v -0.00215563 -0.00883412 -0.00393678
+v -0.00270746 -0.00883412 -0.00339187
+v -0.00270746 -0.00869635 -0.00386864
+v -0.00270746 -0.00877917 -0.00363279
+f 1 2 5
+f 1 5 9
+f 1 9 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 11
+f 2 11 16
+f 2 16 17
+f 2 17 15
+f 2 15 10
+f 2 10 5
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+f 3 13 10
+f 3 10 15
+f 3 15 14
+f 3 14 8
+f 4 8 14
+f 4 14 11
+f 4 11 6
+f 5 10 9
+f 7 12 13
+f 9 10 12
+f 10 13 12
+f 11 14 16
+f 14 15 17
+f 14 17 16
+
diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_37.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc2f3cf0706b10f1876bbcbfe0001c8002e32b1c
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_37.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00801157 0.00067077 -0.00393675
+v -0.00801157 0.00067077 -0.00157009
+v -0.00801157 0.00167077 -0.00393675
+v -0.00801157 0.00167077 -0.00157009
+v 0.00982397 0.00067077 -0.00393675
+v 0.00982397 0.00067077 -0.00157009
+v 0.00982397 0.00167077 -0.00393675
+v 0.00982397 0.00167077 -0.00157009
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_38.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..907bc0a373215a538ec0d495f1a05bfcceab6986
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_38.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.00270746 -0.00716872 -0.00134880
+v -0.00419474 -0.00716872 -0.00134880
+v -0.00270746 -0.00838598 -0.00134880
+v -0.00270746 -0.00716871 -0.00393678
+v -0.00419474 -0.00791157 -0.00134880
+v -0.00419474 -0.00716871 -0.00393678
+v -0.00353961 -0.00830741 -0.00134880
+v -0.00419474 -0.00847388 -0.00176476
+v -0.00270746 -0.00847388 -0.00160972
+v -0.00270746 -0.00847388 -0.00393678
+v -0.00416301 -0.00794505 -0.00134880
+v -0.00419474 -0.00808444 -0.00393678
+v -0.00378332 -0.00824378 -0.00134880
+v -0.00392483 -0.00814642 -0.00134880
+v -0.00394856 -0.00812955 -0.00134880
+v -0.00419474 -0.00847388 -0.00293361
+v -0.00352520 -0.00847388 -0.00393678
+v -0.00417756 -0.00847388 -0.00296451
+v -0.00419474 -0.00846264 -0.00296325
+f 1 2 5
+f 1 5 11
+f 1 11 15
+f 1 15 14
+f 1 14 13
+f 1 13 7
+f 1 7 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 6 12
+f 2 12 19
+f 2 19 16
+f 2 16 8
+f 2 8 5
+f 3 7 8
+f 3 8 9
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+f 4 17 12
+f 4 12 6
+f 5 8 11
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 11
+f 8 16 18
+f 8 18 17
+f 8 17 10
+f 8 10 9
+f 12 17 18
+f 12 18 19
+f 16 19 18
+
diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_39.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..747fb48849619007685a2ffec8c5e5e9feaf7383
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_39.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00167783 -0.00995795 -0.00393678
+v 0.00167783 -0.00995795 -0.00134880
+v 0.00167783 -0.00716871 -0.00393678
+v 0.00167783 -0.00716871 -0.00134880
+v 0.00267783 -0.00995795 -0.00393678
+v 0.00267783 -0.00995795 -0.00134880
+v 0.00267783 -0.00716871 -0.00393678
+v 0.00267783 -0.00716871 -0.00134880
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_4.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d08a3f2430554429df357f1a072c626a73b3faa9
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_4.obj
@@ -0,0 +1,604 @@
+# https://github.com/mikedh/trimesh
+v -0.00714079 -0.00707872 0.00160340
+v -0.00714079 -0.00707872 0.00161726
+v -0.00742121 -0.00682762 0.00152642
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+v -0.00742121 -0.00682762 0.00158852
+v -0.00714079 -0.00704351 0.00173171
+v -0.00776493 -0.00649185 0.00151976
+v -0.00724425 -0.00664359 0.00122927
+v -0.00722610 -0.00665616 0.00122927
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+v -0.00738310 -0.00679073 0.00181178
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+v -0.00810047 -0.00614894 0.00152232
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+v -0.00714079 -0.00279618 0.00122928
+v -0.00716643 -0.00690727 0.00204683
+v -0.00733613 -0.00674546 0.00204684
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+v -0.00825520 -0.00562284 0.00131549
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+v -0.00714079 -0.00681379 0.00233783
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+f 1 2 5
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+
diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_40.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2b62ec72d18bb8e640a2a5590ba95110e0702a3
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_40.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00496603 -0.00945316 0.00083006
+v -0.00496603 -0.00945316 0.00505101
+v -0.00496603 -0.00845316 0.00083006
+v -0.00496603 -0.00845316 0.00505101
+v -0.00196814 -0.00945316 0.00083006
+v -0.00196814 -0.00945316 0.00505101
+v -0.00196814 -0.00845316 0.00083006
+v -0.00196814 -0.00845316 0.00505101
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_41.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72e64da12891ca8db8c6c38f5fc40200a1400a8b
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_41.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00986512 -0.00185868 -0.00085487
+v -0.00986512 -0.00185868 0.00200248
+v -0.00986512 -0.00037811 -0.00085487
+v -0.00986512 -0.00037811 0.00200248
+v -0.00886512 -0.00185868 -0.00085487
+v -0.00886512 -0.00185868 0.00200248
+v -0.00886512 -0.00037811 -0.00085487
+v -0.00886512 -0.00037811 0.00200248
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_42.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..858860e96002a23f6e924c8955bcf5caa45dccd1
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_42.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.00079080 -0.00883429 -0.00134880
+v -0.00166197 -0.00883429 -0.00134880
+v -0.00079080 -0.00920599 -0.00134880
+v -0.00079080 -0.00883428 -0.00393678
+v -0.00144263 -0.00900432 -0.00134880
+v -0.00263334 -0.00883428 -0.00169433
+v -0.00270746 -0.00891552 -0.00172423
+v -0.00270746 -0.00925787 -0.00176526
+v -0.00097956 -0.00921004 -0.00134880
+v -0.00180364 -0.00995266 -0.00205305
+v -0.00079080 -0.00957789 -0.00177287
+v -0.00079080 -0.00893938 -0.00393678
+v -0.00215563 -0.00883428 -0.00393678
+v -0.00112460 -0.00920194 -0.00134880
+v -0.00270746 -0.00883428 -0.00173107
+v -0.00270746 -0.00937480 -0.00196641
+v -0.00204812 -0.00992102 -0.00208877
+v -0.00204812 -0.00992102 -0.00223038
+v -0.00177681 -0.00993809 -0.00232867
+v -0.00146421 -0.00992649 -0.00207712
+v -0.00079080 -0.00958019 -0.00177617
+v -0.00163045 -0.00987646 -0.00247839
+v -0.00146421 -0.00911554 -0.00393678
+v -0.00079080 -0.00962924 -0.00230917
+v -0.00128014 -0.00988609 -0.00216274
+v -0.00149611 -0.00991707 -0.00228789
+v -0.00270746 -0.00883428 -0.00339187
+v -0.00205394 -0.00893260 -0.00393678
+v -0.00270746 -0.00883680 -0.00338959
+v -0.00270746 -0.00932630 -0.00233145
+v -0.00270746 -0.00896391 -0.00318541
+v -0.00270746 -0.00891070 -0.00329814
+v -0.00199427 -0.00896895 -0.00393678
+v -0.00180364 -0.00907471 -0.00393678
+v -0.00187231 -0.00985992 -0.00245356
+v -0.00164603 -0.00987646 -0.00247839
+v -0.00079080 -0.00967293 -0.00197376
+v -0.00128014 -0.00988609 -0.00212044
+v -0.00079080 -0.00967249 -0.00197858
+f 1 2 5
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+f 28 33 32
+f 28 32 29
+f 34 36 35
+
diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_43.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..492dbf470aac51bc9c437c44f72bc86efeffc0f4
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_43.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01020076 0.00014338 -0.00393675
+v -0.01020076 0.00014338 -0.00134877
+v -0.01020076 0.00155105 -0.00393675
+v -0.01020076 0.00155105 -0.00134877
+v -0.00920075 0.00014338 -0.00393675
+v -0.00920075 0.00014338 -0.00134877
+v -0.00920075 0.00155105 -0.00393675
+v -0.00920075 0.00155105 -0.00134877
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_44.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f809e5a495a3ee94ddc1e121ed7be3314a06c3af
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_44.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00558060 -0.00804087 -0.00393678
+v -0.00558060 -0.00804087 -0.00134880
+v -0.00558060 -0.00704087 -0.00393678
+v -0.00558060 -0.00704087 -0.00134880
+v -0.00419488 -0.00804087 -0.00393678
+v -0.00419488 -0.00804087 -0.00134880
+v -0.00419488 -0.00704087 -0.00393678
+v -0.00419488 -0.00704087 -0.00134880
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_45.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46ff39cae226af824eccac5eded425c4c51abdfc
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_45.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00987019 -0.00037798 0.00088263
+v -0.00987019 -0.00037798 0.00200248
+v -0.00987019 0.00125923 0.00088263
+v -0.00987019 0.00125923 0.00200248
+v -0.00887019 -0.00037798 0.00088263
+v -0.00887019 -0.00037798 0.00200248
+v -0.00887019 0.00125923 0.00088263
+v -0.00887019 0.00125923 0.00200248
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_46.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5d5ae2c579815a0fbab221a0707222a607d7f64
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_46.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00438824 -0.01006311 0.00135735
+v -0.00438824 -0.01006311 0.00470503
+v -0.00438824 -0.00906311 0.00135735
+v -0.00438824 -0.00906311 0.00470503
+v -0.00197054 -0.01006311 0.00135735
+v -0.00197054 -0.01006311 0.00470503
+v -0.00197054 -0.00906311 0.00135735
+v -0.00197054 -0.00906311 0.00470503
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_47.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca0bf90a31539d0fa1d71824670dab2821b60b52
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_47.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00957182 0.00014338 -0.00307011
+v 0.00957182 0.00014338 -0.00177330
+v 0.00957182 0.00155105 -0.00307011
+v 0.00957182 0.00155105 -0.00177330
+v 0.01057182 0.00014338 -0.00307011
+v 0.01057182 0.00014338 -0.00177330
+v 0.01057182 0.00155105 -0.00307011
+v 0.01057182 0.00155105 -0.00177330
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_48.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d13ddca42de2acd1d552235a921c941a9cf1e1d8
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_48.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01002597 0.00155105 -0.00356357
+v -0.01002597 0.00155105 -0.00174706
+v -0.01002597 0.00286225 -0.00356357
+v -0.01002597 0.00286225 -0.00174706
+v -0.00902597 0.00155105 -0.00356357
+v -0.00902597 0.00155105 -0.00174706
+v -0.00902597 0.00286225 -0.00356357
+v -0.00902597 0.00286225 -0.00174706
+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
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+
diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_49.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d84379668e8bc18a1276c386e5a60152cf720c7
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_49.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+v 0.00267682 -0.00965338 -0.00164703
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+
diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_5.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4693048cbb8a2158aae9da06631e7e986bf088e
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_5.obj
@@ -0,0 +1,763 @@
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+
diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_50.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..990720824955b0f59f401397d432edfdc28920e8
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_50.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00986274 -0.00037797 -0.00134877
+v -0.00986274 -0.00037797 0.00088241
+v -0.00986274 0.00233394 -0.00134877
+v -0.00986274 0.00233394 0.00088241
+v -0.00886274 -0.00037797 -0.00134877
+v -0.00886274 -0.00037797 0.00088241
+v -0.00886274 0.00233394 -0.00134877
+v -0.00886274 0.00233394 0.00088241
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_51.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..012b43999c1fea84382ca7185b7e173d388a5a01
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_51.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00558060 -0.00889390 -0.00393678
+v -0.00558060 -0.00889390 -0.00176411
+v -0.00558060 -0.00789390 -0.00393678
+v -0.00558060 -0.00789390 -0.00176411
+v -0.00419488 -0.00889390 -0.00393678
+v -0.00419488 -0.00889390 -0.00176411
+v -0.00419488 -0.00789390 -0.00393678
+v -0.00419488 -0.00789390 -0.00176411
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_52.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad1bddba3b27f4a7682c15f048763c57f5e7fed4
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_52.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.00898788 0.00219998 -0.00393674
+v -0.00897286 0.00224926 -0.00393674
+v -0.00895784 0.00155105 -0.00393674
+v -0.00917187 0.00219998 -0.00356345
+v -0.00914371 0.00243241 -0.00355605
+v -0.00886208 0.00254202 -0.00393674
+v -0.00917187 0.00155105 -0.00342097
+v 0.00908500 0.00155105 -0.00393674
+v -0.00917187 0.00248209 -0.00344275
+v -0.00867996 0.00286225 -0.00393674
+v -0.00917187 0.00155105 -0.00199215
+v 0.00912442 0.00219998 -0.00393674
+v 0.00992987 0.00228969 -0.00250293
+v 0.00999934 0.00218586 -0.00233406
+v 0.00973274 0.00155105 -0.00264001
+v -0.00917187 0.00286225 -0.00296314
+v 0.00881088 0.00286225 -0.00393674
+v -0.00917187 0.00185986 -0.00194798
+v -0.00860674 0.00155105 -0.00189543
+v 0.00899300 0.00254279 -0.00393674
+v 0.00927275 0.00243190 -0.00355925
+v 0.00992987 0.00240713 -0.00250293
+v 0.00998244 0.00252829 -0.00230249
+v 0.01000873 0.00219998 -0.00203251
+v 0.00996555 0.00195766 -0.00223934
+v 0.00989420 0.00155105 -0.00230109
+v -0.00917187 0.00286225 -0.00189543
+v 0.00971772 0.00286225 -0.00228431
+v 0.00971959 0.00286174 -0.00228391
+v 0.00993738 0.00273608 -0.00218699
+v -0.00917187 0.00249980 -0.00189543
+v 0.00954874 0.00155105 -0.00189543
+v 0.00998620 0.00253997 -0.00206469
+v 0.00975339 0.00218458 -0.00189543
+v 0.00979469 0.00172779 -0.00189543
+v 0.00980971 0.00155709 -0.00189543
+v 0.00980971 0.00155170 -0.00189543
+v 0.00989232 0.00155105 -0.00197896
+v 0.00989983 0.00155105 -0.00204271
+v 0.00969706 0.00257989 -0.00189543
+v 0.00956001 0.00286225 -0.00189543
+v 0.00969331 0.00286225 -0.00200494
+v 0.00993738 0.00273608 -0.00210805
+v 0.00963886 0.00278717 -0.00189543
+v 0.00967266 0.00286225 -0.00198795
+f 1 2 6
+f 1 6 10
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+f 1 8 3
+f 1 3 4
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+f 1 5 2
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+f 33 43 44
+f 33 44 40
+f 41 44 45
+f 42 45 44
+f 42 44 43
+
diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_53.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcbf25c056a5dbc949505da0dbb0e5fd4ae4918f
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_53.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00967949 -0.00282747 -0.00134878
+v -0.00967949 -0.00282747 0.00070498
+v -0.00967949 -0.00182747 -0.00134878
+v -0.00967949 -0.00182747 0.00070498
+v -0.00867949 -0.00282747 -0.00134878
+v -0.00867949 -0.00282747 0.00070498
+v -0.00867949 -0.00182747 -0.00134878
+v -0.00867949 -0.00182747 0.00070498
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_54.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f7d9c419f0e864fc3cdaf710c0aa3eddf186a32
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_54.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00574774 -0.00811704 -0.00393678
+v 0.00574774 -0.00811704 -0.00134880
+v 0.00574774 -0.00711704 -0.00393678
+v 0.00574774 -0.00711704 -0.00134880
+v 0.00703941 -0.00811704 -0.00393678
+v 0.00703941 -0.00811704 -0.00134880
+v 0.00703941 -0.00711704 -0.00393678
+v 0.00703941 -0.00711704 -0.00134880
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_55.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..206d7fb6f45990fb0807afd9bcbaa5ec691aa898
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_55.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00730271 0.00653694 -0.00393673
+v -0.00730271 0.00653694 -0.00134874
+v -0.00730271 0.00753694 -0.00393673
+v -0.00730271 0.00753694 -0.00134874
+v 0.00722449 0.00653694 -0.00393673
+v 0.00722449 0.00653694 -0.00134874
+v 0.00722449 0.00753694 -0.00393673
+v 0.00722449 0.00753694 -0.00134874
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_56.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdfdb0aa8f82468c38c363cb18a6079cb9e8b2c3
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_56.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01019037 -0.00146317 -0.00393675
+v -0.01019037 -0.00146317 -0.00183479
+v -0.01019037 -0.00046317 -0.00393675
+v -0.01019037 -0.00046317 -0.00183479
+v 0.01031791 -0.00146317 -0.00393675
+v 0.01031791 -0.00146317 -0.00183479
+v 0.01031791 -0.00046317 -0.00393675
+v 0.01031791 -0.00046317 -0.00183479
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_57.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29e3551a4870ccc07c1de86b5e1e3ab74ac5de23
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_57.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.00821534 0.00394868 -0.00393674
+v -0.00823144 0.00394868 -0.00393547
+v -0.00809546 0.00440418 -0.00393673
+v 0.00837247 0.00394868 -0.00393674
+v -0.00908132 0.00394868 -0.00230633
+v -0.00879325 0.00458086 -0.00252747
+v -0.00811156 0.00444536 -0.00387340
+v -0.00753186 0.00523520 -0.00393673
+v -0.00876463 0.00475376 -0.00247934
+v 0.00828838 0.00423240 -0.00393673
+v 0.00905595 0.00458086 -0.00230835
+v 0.00919730 0.00394868 -0.00230633
+v -0.00907774 0.00394868 -0.00223287
+v -0.00883083 0.00482781 -0.00207377
+v -0.00890597 0.00458086 -0.00230835
+v -0.00881830 0.00481069 -0.00230835
+v -0.00827617 0.00523520 -0.00228935
+v 0.00767826 0.00523520 -0.00393673
+v 0.00825260 0.00435053 -0.00393673
+v 0.00889671 0.00475830 -0.00248517
+v 0.00895576 0.00481774 -0.00230835
+v 0.00897007 0.00483260 -0.00207022
+v 0.00824365 0.00444901 -0.00388961
+v 0.00901659 0.00458086 -0.00201550
+v 0.00913826 0.00394868 -0.00194433
+v -0.00901333 0.00394868 -0.00194458
+v -0.00879683 0.00414249 -0.00178396
+v -0.00783066 0.00492830 -0.00134875
+v -0.00762311 0.00523519 -0.00134875
+v -0.00814914 0.00523520 -0.00178599
+v -0.00829227 0.00523520 -0.00198308
+v -0.00829406 0.00523520 -0.00198764
+v -0.00846225 0.00511380 -0.00210011
+v -0.00846225 0.00511380 -0.00217408
+v -0.00887735 0.00458086 -0.00202057
+v 0.00844046 0.00523520 -0.00229999
+v 0.00844762 0.00523520 -0.00228428
+v 0.00860686 0.00513169 -0.00218295
+v 0.00860686 0.00513169 -0.00208542
+v 0.00845835 0.00523520 -0.00198890
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+v 0.00827943 0.00523520 -0.00177003
+v 0.00796095 0.00495033 -0.00134875
+v 0.00892534 0.00414879 -0.00178193
+v 0.00897723 0.00394868 -0.00176978
+v -0.00899722 0.00394868 -0.00192457
+v -0.00884514 0.00394868 -0.00177308
+v -0.00832269 0.00394867 -0.00134876
+v 0.00774088 0.00523519 -0.00134875
+v 0.00845835 0.00523520 -0.00200208
+v 0.00805936 0.00464633 -0.00134875
+v 0.00814345 0.00394867 -0.00134876
+v 0.00807725 0.00458085 -0.00134875
+v 0.00814345 0.00395421 -0.00134876
+f 1 2 3
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+f 45 54 52
+
diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_58.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7834c225b682ed1ddc7bb6bd844f5bfdcb62a95
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_58.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00801157 -0.00003304 -0.00393675
+v -0.00801157 -0.00003304 -0.00157010
+v -0.00801157 0.00096696 -0.00393675
+v -0.00801157 0.00096696 -0.00157010
+v 0.00982397 -0.00003304 -0.00393675
+v 0.00982397 -0.00003304 -0.00157010
+v 0.00982397 0.00096696 -0.00393675
+v 0.00982397 0.00096696 -0.00157010
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_59.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2813f32371057a0ccc1a211caa34615d28898756
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_59.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00801157 0.00014337 -0.00195932
+v -0.00801157 0.00014337 -0.00095932
+v -0.00801157 0.00155105 -0.00195932
+v -0.00801157 0.00155105 -0.00095932
+v 0.00942810 0.00014337 -0.00195932
+v 0.00942810 0.00014337 -0.00095932
+v 0.00942810 0.00155105 -0.00195932
+v 0.00942810 0.00155105 -0.00095932
+f 2 4 1
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+f 3 5 1
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+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_6.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0fa3779b0e5c12b89f076824b378f342838fb9f
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_6.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_60.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d97816809cb588ea296f3fd8fefb361dc41d1f2
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_60.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00917187 0.00155104 -0.00212196
+v -0.00917187 0.00155104 -0.00112196
+v -0.00917187 0.00286225 -0.00212196
+v -0.00917187 0.00286225 -0.00112196
+v 0.00981136 0.00155104 -0.00212196
+v 0.00981136 0.00155104 -0.00112196
+v 0.00981136 0.00286225 -0.00212196
+v 0.00981136 0.00286225 -0.00112196
+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/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_7.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..378b5780b6c454a13dce3e60d54a451047dd49ce
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_7.obj
@@ -0,0 +1,2050 @@
+# https://github.com/mikedh/trimesh
+v -0.00714079 -0.00399892 0.00578336
+v -0.00708661 -0.00412613 0.00578335
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diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_8.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c51c5f66a7824c09222872264e097a0001f37e1
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_8.obj
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diff --git a/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_9.obj b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01d760158f06e7737744639429fc55bb96eef34c
--- /dev/null
+++ b/dataset/food/snack/4a519822ebc05c728c460979d5eddbf5/mjcf/mesh/chocolate_003_collision_9.obj
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