diff --git a/.gitattributes b/.gitattributes
index 05252be70596b3a5577cedf5bf04bdf02ff5956a..cbc24f0654b0235111c3f93dd4a98d61c7388f3f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3670,3 +3670,6 @@ dataset/food/ingredients/ee92ad39d38b5ef5ab11794b91060fc2/potato_007.usd filter=
 dataset/food/ingredients/f9a8669b3e885603ac45b934900307f0/f9a8669b3e885603ac45b934900307f0.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/f9a8669b3e885603ac45b934900307f0/mesh/tomato.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/f9a8669b3e885603ac45b934900307f0/mesh/tomato_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/fd42722ec8f95d1da77f475ffcf1468c.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mesh/mushroom.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mesh/mushroom_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/fd42722ec8f95d1da77f475ffcf1468c.urdf b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/fd42722ec8f95d1da77f475ffcf1468c.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..09ee8a185cb5a4568b37ae1644ed775043d2385d
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/fd42722ec8f95d1da77f475ffcf1468c.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mushroom">
+   <link name="mushroom">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/mushroom.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/mushroom_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.255193</scale>
+         <version>v0.1.7</version>
+         <category>mushroom</category>
+         <description>vibrant red-capped mushroom with textured stem and earthy base</description>
+         <min_height>0.080</min_height>
+         <max_height>0.120</max_height>
+         <real_height>0.100</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260119232018</generate_time>
+         <gs_model>mesh/mushroom_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.467779159545898</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/fd42722ec8f95d1da77f475ffcf1468c.usd b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/fd42722ec8f95d1da77f475ffcf1468c.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9fb210818c5cf2552822b1ebbf4ddfdee680197a
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/fd42722ec8f95d1da77f475ffcf1468c.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7babb0cfad2bac20877f7dfbb5fcc4d4d30f7288823049998b0dd650c446d186
+size 731276
diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mesh/material.mtl b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mesh/material_0.png b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..232fc189c3168618cbdd83726f8167b1cb41cc51
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07f2dd525b11df946f4e3c4f66c1e634e2343c0ccfac49e884075721a50418b5
+size 2771093
diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mesh/mushroom.glb b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mesh/mushroom.glb
new file mode 100644
index 0000000000000000000000000000000000000000..11071d5af1baee542a62610055bec318430964d9
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mesh/mushroom.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:610a10ac61b1eafadc33d1b0bd2b522f90a08933f9b252b0818094301e23876c
+size 3290576
diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mesh/mushroom.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mesh/mushroom.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1afdf9e41f44537ec144fe18aee3d959b235b63
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mesh/mushroom.obj
@@ -0,0 +1,47813 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mesh/mushroom_collision.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mesh/mushroom_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29f87e617813a1c439c708446c376e98426b8861
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mesh/mushroom_collision.obj
@@ -0,0 +1,32109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mesh/mushroom_gs.ply b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mesh/mushroom_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..fc1a6895cfb736e590bc6d2df5bc4053514fabcf
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mesh/mushroom_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2e9e1f1df3212e92a4cb37b7e1ea49bc496a132e5ac3216a1b3781b17d41340
+size 5811370
diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/fd42722ec8f95d1da77f475ffcf1468c.xml b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/fd42722ec8f95d1da77f475ffcf1468c.xml
new file mode 100644
index 0000000000000000000000000000000000000000..33dce1c8986ef74249fef34f5632ef8c01f7b883
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/fd42722ec8f95d1da77f475ffcf1468c.xml
@@ -0,0 +1,118 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mushroom">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/mushroom.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/mushroom_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mushroom_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mushroom_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/mushroom_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/mushroom_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mushroom_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mushroom_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mushroom_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mushroom_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/mushroom_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_11" file="mesh/mushroom_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/mushroom_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/mushroom_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_15" file="mesh/mushroom_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/mushroom_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/mushroom_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_23" file="mesh/mushroom_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_35" file="mesh/mushroom_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_38" file="mesh/mushroom_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/mushroom_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/mushroom_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_42" file="mesh/mushroom_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/mushroom_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/mushroom_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/mushroom_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_48" file="mesh/mushroom_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/mushroom_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/mushroom_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/mushroom_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mushroom">
+      <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" />
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/material_0.png b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07f2dd525b11df946f4e3c4f66c1e634e2343c0ccfac49e884075721a50418b5
+size 2771093
diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a99f9ed83377bc989f7901af56320cddc9982e18
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom.obj
@@ -0,0 +1,47813 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37b3dc60ea9fd5ad836028267952a8794d65817a
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision.obj
@@ -0,0 +1,32109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_0.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b80a766b5ca370ec2fe93fa6402a04029431e953
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_0.obj
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_1.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6103f3819152d3492f9b0cc38127ebb03df0429f
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_1.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_10.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16a80888148003eb183fb2e908de6184dba80988
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_10.obj
@@ -0,0 +1,1429 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_11.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cf42b17d3b03530426eb88348f7635b295d3755
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_11.obj
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_12.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf83b09489160f4ac501aba82031888e4d20219e
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_12.obj
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_13.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8630ff45433a6a2dbdd9dab64bb814ab6578af27
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_13.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_14.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f3e3afbe4a6d486d02e316c6d623b45fae226b6
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_14.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_15.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a2521ad0e5474b4aa19a04bf00f768b4df2b6ed
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_15.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v -0.00120760 -0.02257872 0.01654537
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_16.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8da1aec45dad150dd5f7c6f246ee110c65291aa8
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_16.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_17.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15b97e8fb439a0dee8877a4e3fc43f3f32db5801
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_17.obj
@@ -0,0 +1,1285 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_18.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e5b36d5cc82d0e9e84a220f6f79c69a1e84af15
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_18.obj
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_19.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd4a6f7397939e1bb4df695e957e72c96163c11d
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_19.obj
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_2.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b095bf04bb4c95d21d1893966ed9f636bc9cefa7
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_2.obj
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_20.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f4bbc99042b3d2fef0b9e1985ef2aaf7e10a420
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_20.obj
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_21.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d84a111a6dee50db513fef89726ee7dae61ea7b1
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_21.obj
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_22.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bf23c055ebc79404f8c6e13e9c8a8e3b27f711b
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_22.obj
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_23.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc0d1cf4f101e1922a4822f8b8669d272ab5bbdd
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_23.obj
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_24.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02010533252a1ea4d333666f8d9a517afe2ae061
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_24.obj
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_25.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd214cd7b5d3c56f2ebf0f6b7591ef6ec89676cf
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_25.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_26.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd820fc31ac771e66adfe222340d3e6c427b3291
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_26.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.00120760 -0.01430211 0.04722494
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+
diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_27.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26ad65f6ccf72a4d3e0032e12dd99e224656cf19
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_27.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v -0.01836223 -0.01415094 0.01552775
+v -0.01836223 -0.01459289 0.01554848
+v -0.01836223 -0.01363233 0.01556575
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_28.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4139eb74fc18486e48b7575f2926c6e1b9026c7d
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_28.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_29.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55aec58ce30b6287c7562bc8b798bfeca061ef57
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_29.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_3.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea5b8f536c30a330e13eff40d166a5f15e997919
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_3.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_30.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b9850b9b1895b37b5c3b0ab6592a58f866da9e6
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_30.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_31.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c184a73f8cbf6a2f2d25a1d7502aeb1f4855623
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_31.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_32.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e10b9290d1cca982c32991e9916c24571019b91
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_32.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_33.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d0c8c8b8d52ae1843bc698858e28c90a87898b1
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_33.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_34.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72cc26296d295e8bf17ff3be6749e041ebf72a57
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_34.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_35.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4694281782bbf66906bc3b1b6c0453a2736ad39
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_35.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_36.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d358947dd962ef9fe349a51b4948130fd21e809
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_36.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_37.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df01578261784f8cc051047c86a03a27f750172b
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_37.obj
@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_38.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e50332c2d2ad0d45563ba8a036bceaf853215a64
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_38.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_39.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21832b7644c1ed5bf97bd851e39acac3cfc03dd8
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_39.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.00619964 0.01375237 0.01441886
+v 0.00619964 0.01370146 0.01484939
+v 0.00628421 0.01370605 0.01441886
+v 0.00619964 0.00948945 0.01441884
+v 0.00619964 0.01357460 0.01581319
+v 0.00629936 0.01351868 0.01581319
+v 0.00643777 0.01360757 0.01454009
+v 0.00644954 0.01361508 0.01441886
+v 0.00619964 0.00948944 0.01711691
+v 0.01049721 0.00948945 0.01441884
+v 0.00619964 0.01355081 0.01596850
+v 0.00619964 0.01346485 0.01652027
+v 0.00735239 0.01255393 0.01711693
+v 0.00816226 0.01193678 0.01711692
+v 0.00727457 0.01297414 0.01441886
+v 0.00619964 0.01335677 0.01711693
+v 0.01019050 0.00948944 0.01711691
+v 0.01037814 0.00968766 0.01441885
+v 0.01049594 0.00948945 0.01443574
+v 0.00835537 0.01172939 0.01711692
+v 0.00991621 0.01032733 0.01519830
+v 0.00905754 0.01114854 0.01590219
+v 0.00819845 0.01196932 0.01660609
+v 0.00827586 0.01204110 0.01548249
+v 0.00834570 0.01210662 0.01441885
+v 0.01030537 0.00948944 0.01624554
+v 0.00983964 0.01022510 0.01632216
+v 0.00977653 0.01013789 0.01711692
+v 0.00995449 0.01037701 0.01441885
+v 0.01030914 0.00957748 0.01578122
+v 0.01047365 0.00948945 0.01465735
+v 0.00894226 0.01108887 0.01711692
+v 0.00918038 0.01122366 0.01441885
+v 0.00920899 0.01079552 0.01711692
+v 0.00900452 0.01141102 0.01441885
+v 0.01035670 0.00948944 0.01578305
+f 1 2 3
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+f 1 18 10
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+
diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_4.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd6ee05fd9c6d986ff6dbb1a6a63ad7566d30011
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_4.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.00861122 0.01822600 -0.03890445
+v -0.00856670 0.01822600 -0.03934274
+v -0.01745586 0.01429130 -0.04319456
+v -0.01740815 0.01420649 -0.04215033
+v -0.00888474 0.01806456 -0.03890445
+v 0.00370321 0.01822600 -0.03890445
+v -0.00851263 0.01822601 -0.03961039
+v -0.01720142 0.01395713 -0.04417413
+v -0.01745586 0.01337923 -0.04319456
+v -0.00847129 0.01822601 -0.03981456
+v -0.00780977 0.01822601 -0.04150126
+v -0.01740815 0.01346717 -0.04215033
+v -0.01528684 0.01180948 -0.03890448
+v -0.01521051 0.01197279 -0.03890448
+v -0.01443131 0.01324981 -0.03890447
+v -0.01390338 0.01407771 -0.03890447
+v -0.01317825 0.01492069 -0.03890447
+v -0.01279661 0.01524041 -0.03890446
+v -0.01036043 0.01710224 -0.03890446
+v 0.00474319 0.01795024 -0.03890445
+v 0.01503490 0.01713869 -0.04056900
+v 0.01503490 0.01713869 -0.04100131
+v 0.00344878 0.01822600 -0.03923975
+v -0.01616463 0.01406831 -0.04429806
+v -0.01168666 0.01180951 -0.04497586
+v -0.01720142 0.01348037 -0.04417413
+v -0.00563121 0.01822602 -0.04248860
+v -0.00944130 0.01586482 -0.04437769
+v -0.01480342 0.01180950 -0.04324067
+v -0.01492428 0.01180950 -0.04254013
+v 0.01265915 0.01180948 -0.03890448
+v 0.00616800 0.01750992 -0.03890446
+v 0.01146334 0.01437295 -0.03890447
+v 0.01193086 0.01402746 -0.03890447
+v 0.01261146 0.01273096 -0.03890447
+v 0.01503490 0.01671531 -0.04056900
+v 0.00688677 0.01724484 -0.03890446
+v 0.01408714 0.01716256 -0.04121626
+v -0.00185291 0.01822602 -0.04244609
+v -0.00073978 0.01822601 -0.04205271
+v 0.00052283 0.01822601 -0.04138271
+v 0.00250738 0.01822601 -0.03996066
+v 0.01503490 0.01671531 -0.04100131
+v 0.01026433 0.01282019 -0.04502077
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+v -0.00614325 0.01455451 -0.04502077
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+v -0.00863666 0.01367887 -0.04502077
+v -0.01086294 0.01180951 -0.04502078
+v -0.01368393 0.01180950 -0.04460583
+v -0.01420551 0.01180950 -0.04427892
+v -0.00461030 0.01822602 -0.04263830
+v -0.00111825 0.01598731 -0.04502076
+v 0.01275457 0.01180949 -0.03977088
+v 0.00400216 0.01608215 -0.04488064
+v -0.00310280 0.01822602 -0.04272331
+v 0.01341609 0.01335536 -0.04093785
+v 0.01006397 0.01180951 -0.04501898
+v 0.01025797 0.01268011 -0.04502077
+v 0.00400216 0.01597223 -0.04502076
+v 0.00995583 0.01180951 -0.04502078
+v 0.01220436 0.01180949 -0.04146057
+f 1 2 3
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+f 1 18 17
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+f 1 16 15
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+f 1 14 13
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+
diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_40.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f766a4b762789e5c6d585896321a518b11a9738
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_40.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.00619964 -0.00281281 0.04319221
+v 0.00619964 0.00116961 0.04309646
+v 0.00521684 -0.00281281 0.04247113
+v 0.00619964 -0.00281270 0.01442161
+v 0.00559583 0.00116961 0.04260915
+v 0.00296907 -0.00281280 0.04065993
+v 0.00619964 0.00116972 0.01442162
+v 0.00232045 -0.00281270 0.01442161
+v 0.00541659 0.00116961 0.04244860
+v 0.00232045 -0.00281280 0.04013320
+v 0.00232045 0.00116972 0.01442162
+v 0.00232045 0.00116962 0.03953604
+f 1 2 3
+f 1 3 6
+f 1 6 10
+f 1 10 8
+f 1 8 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 11
+f 2 11 12
+f 2 12 9
+f 2 9 5
+f 4 8 11
+f 4 11 7
+f 5 9 10
+f 5 10 6
+f 8 10 12
+f 8 12 11
+f 9 12 10
+
diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_41.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25221a20db0135556790de2d36d24380d0e8bc96
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_41.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
+v -0.01836223 0.02863507 0.01815957
+v -0.01836223 0.02965760 0.01825948
+v -0.01745078 0.02630483 0.01772960
+v -0.01836223 0.02774063 0.01845324
+v -0.01607111 0.02451242 0.01729058
+v -0.01836223 0.03081670 0.01843509
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+v -0.01609865 0.02630980 0.01761153
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+v -0.01702130 0.02451241 0.01829882
+v -0.01836223 0.03174158 0.01875604
+v -0.01151297 0.03174158 0.01862887
+v -0.01145272 0.03174158 0.01862887
+v -0.01836223 0.02625459 0.01917385
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+v -0.01836223 0.02451241 0.02027595
+v -0.00956955 0.02482376 0.01778107
+v -0.00956955 0.02451241 0.01775988
+v -0.01021334 0.02892025 0.01830793
+v -0.01836223 0.03174150 0.04201836
+v -0.01111878 0.03174158 0.01870457
+v -0.01836223 0.02451231 0.04599076
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_42.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..497d01825428261940dfe97fd3d5fce3af05a322
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_42.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.00420866 -0.00281270 0.01441880
+v 0.01220090 -0.00281270 0.01441880
+v 0.00420866 -0.01012707 0.01441877
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+
diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_43.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66ce42d2701bba1a0d29cf84c514efd9fa1dc777
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_43.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00120760 -0.00281281 0.04302846
+v 0.00232007 -0.00281280 0.04013277
+v 0.00232007 0.00116962 0.03953628
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+
diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_44.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20399da2857dd48dd3bd4d6ab426bc1141f5e1c5
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_44.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_45.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..151dc4dc4aea6dd4c026c680cd758044a6afca03
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_45.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v -0.00944105 0.01605780 0.04975988
+v -0.00789323 0.01605780 0.04973061
+v -0.00956955 0.01606313 0.04976313
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+v -0.00776063 0.01605780 0.04972411
+v -0.00776063 0.01619127 0.04972411
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+v -0.00607941 0.01787659 0.04958752
+v -0.00776063 0.01787659 0.04963630
+v -0.00956955 0.01774846 0.04962005
+v -0.00956955 0.01637469 0.01751363
+v -0.00120760 0.01605791 0.01865192
+v -0.00607941 0.01605780 0.04962979
+v -0.00453241 0.01605780 0.04948344
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+v -0.00439982 0.01787659 0.04947044
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+v -0.00607941 0.01956281 0.04946393
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+v -0.00944105 0.01787659 0.04961028
+v -0.00956955 0.01787659 0.04960378
+v -0.00956955 0.01777528 0.01709735
+v -0.00735466 0.01856633 0.01658025
+v -0.00665727 0.01856633 0.01658025
+v -0.00349699 0.02024988 0.01660951
+v -0.00120760 0.01945615 0.01784862
+v -0.00120760 0.01605780 0.04905414
+v -0.00439982 0.01605780 0.04946717
+v -0.00271858 0.01619127 0.04926553
+v -0.00120760 0.01787659 0.04912244
+v -0.00271858 0.01787659 0.04930457
+v -0.00271858 0.01956281 0.04924277
+v -0.00271858 0.02124724 0.04908342
+v -0.00439982 0.02124724 0.04919075
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+v -0.00944105 0.01956281 0.04938913
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+v -0.00872239 0.02230270 0.01659651
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+v -0.00340941 0.02124736 0.01655098
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+v -0.00347407 0.02411616 0.01659652
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+v -0.00120760 0.01619127 0.04906389
+v -0.00132710 0.01605780 0.04907040
+v -0.00271858 0.01605780 0.04925903
+v -0.00120760 0.01939196 0.04908667
+v -0.00120760 0.01956281 0.04908016
+v -0.00120760 0.02107640 0.04895984
+v -0.00120760 0.02124724 0.04894358
+v -0.00120760 0.02240312 0.04879723
+v -0.00120760 0.02258109 0.04877121
+v -0.00277342 0.02302779 0.04881349
+v -0.00439982 0.02293257 0.04889805
+v -0.00607941 0.02293257 0.04890781
+v -0.00762149 0.02300376 0.04882975
+v -0.00944105 0.02124724 0.04908017
+v -0.00956955 0.02111912 0.04909644
+v -0.00956955 0.01956281 0.04937937
+v -0.00370243 0.02411616 0.01659652
+v -0.00381785 0.02293269 0.01654122
+v -0.00956955 0.02324324 0.01746813
+v -0.00956955 0.02482355 0.01778035
+v -0.00956955 0.02514745 0.01784864
+v -0.00434170 0.02514746 0.01723722
+v -0.00354364 0.02514746 0.01740959
+v -0.00321788 0.02514746 0.01752017
+v -0.00120760 0.02514745 0.01868773
+v -0.00120760 0.02465449 0.01855439
+v -0.00120760 0.02348883 0.01836251
+v -0.00120760 0.02334189 0.04864112
+v -0.00224958 0.02365333 0.04866389
+v -0.00337012 0.02381972 0.04869967
+v -0.00439982 0.02385532 0.04870943
+v -0.00607941 0.02383219 0.04870292
+v -0.00696831 0.02378859 0.04868991
+v -0.00808886 0.02361240 0.04864763
+v -0.00944105 0.02251524 0.04879723
+v -0.00956955 0.02125436 0.04906717
+v -0.00956955 0.02514734 0.04800693
+v -0.00120760 0.02514734 0.04821508
+v -0.00120760 0.02341486 0.04862812
+v -0.00120760 0.02448353 0.04839721
+v -0.00120760 0.02460456 0.04836794
+v -0.00277342 0.02447642 0.04849803
+v -0.00439982 0.02469798 0.04848502
+v -0.00607941 0.02467484 0.04846551
+v -0.00762149 0.02445773 0.04844599
+v -0.00944105 0.02461878 0.04820533
+v -0.00944105 0.02335791 0.04857608
+v -0.00956955 0.02248766 0.04879072
+v -0.00956955 0.02461878 0.04818907
+v -0.00948443 0.02514734 0.04801995
+v -0.00213579 0.02514734 0.04827037
+v -0.00275378 0.02514734 0.04830615
+v -0.00392917 0.02514734 0.04834191
+v -0.00439982 0.02514734 0.04834842
+v -0.00559239 0.02514734 0.04832891
+v -0.00607941 0.02514734 0.04831591
+v -0.00704526 0.02514734 0.04826061
+v -0.00767305 0.02514734 0.04821508
+v -0.00891310 0.02514734 0.04808824
+v -0.00944105 0.02514734 0.04802645
+v -0.00956955 0.02448799 0.04822809
+v -0.00956955 0.02332143 0.04856958
+v -0.00956955 0.02323867 0.04859235
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+
diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_46.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bcca654d841257730ddd8695638c583163b7c7b
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_46.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00796855 -0.01430161 0.01803111
+v 0.00796855 -0.01012709 0.01854607
+v 0.00898019 -0.01430161 0.01780349
+v 0.00796855 -0.01430171 0.04631106
+v 0.01273465 -0.01012709 0.01828148
+v 0.01273465 -0.01035757 0.01821889
+v 0.01240801 -0.01415080 0.01728570
+v 0.01240754 -0.01430160 0.01725156
+v 0.01072490 -0.01430160 0.01741373
+v 0.00796855 -0.01012719 0.04570791
+v 0.00889666 -0.01430171 0.04631106
+v 0.01273465 -0.01012719 0.04615743
+v 0.00796855 -0.01424775 0.04630821
+v 0.01273465 -0.01415080 0.01733406
+v 0.01273465 -0.01430160 0.01730561
+v 0.00796855 -0.01017622 0.04571930
+v 0.00801708 -0.01012719 0.04571645
+v 0.00904692 -0.01430171 0.04630821
+v 0.01273465 -0.01045248 0.04616882
+v 0.01137817 -0.01012719 0.04609485
+v 0.00796855 -0.01415091 0.04630253
+v 0.01273465 -0.01430171 0.04611760
+v 0.00796855 -0.01186197 0.04601518
+v 0.00969786 -0.01012719 0.04592983
+v 0.01057698 -0.01430171 0.04627407
+v 0.01273465 -0.01213782 0.04618304
+v 0.00796855 -0.01354731 0.04624562
+v 0.01273465 -0.01382315 0.04614605
+v 0.01240801 -0.01430171 0.04615173
+v 0.01225776 -0.01430171 0.04616597
+f 1 2 3
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+f 1 22 29
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+f 1 18 11
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+f 28 30 29
+
diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_47.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff7ad796030b7314fd833090e113ae0484921b01
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_47.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.00420783 -0.01430171 0.04639172
+v 0.00796809 -0.01430171 0.04631348
+v 0.00796809 -0.01415091 0.04630096
+v 0.00796809 -0.01354731 0.04624776
+v 0.00420783 -0.01415091 0.04637294
+v 0.00420783 -0.01430161 0.01818377
+v 0.00796809 -0.01430161 0.01803043
+v 0.00796809 -0.01186197 0.04601304
+v 0.00420783 -0.01394698 0.04633539
+v 0.00796809 -0.01017622 0.04571885
+v 0.00420783 -0.01255413 0.01441876
+v 0.00423802 -0.01254023 0.01441876
+v 0.00544162 -0.01196647 0.01441877
+v 0.00628157 -0.01146381 0.01441877
+v 0.00647370 -0.01131832 0.01441877
+v 0.00749658 -0.01051734 0.01441877
+v 0.00776674 -0.01029952 0.01441877
+v 0.00794490 -0.01012707 0.01441877
+v 0.00796367 -0.01012707 0.01460029
+v 0.00796809 -0.01012709 0.01854684
+v 0.00420783 -0.01246516 0.04602868
+v 0.00796809 -0.01012719 0.04570946
+v 0.00420783 -0.01012707 0.01441877
+v 0.00420783 -0.01223590 0.04597235
+v 0.00420783 -0.01012719 0.04533077
+v 0.00420783 -0.01082763 0.04556549
+f 1 2 3
+f 1 3 4
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+f 1 21 24
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+f 1 23 11
+f 1 11 6
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+
diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_48.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcfca06a330c899c8a7b1fe9373401f19fa904d0
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_48.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.00620011 0.00948933 0.04642500
+v 0.01098110 0.00948933 0.04625117
+v 0.00620011 0.01087202 0.04686857
+v 0.00620011 0.00948944 0.01711717
+v 0.01098110 0.01113417 0.04645498
+v 0.00620011 0.01450481 0.04762383
+v 0.00620011 0.01280600 0.04733911
+v 0.00620011 0.01169085 0.04708136
+v 0.01098110 0.00948943 0.01949980
+v 0.00620011 0.01335679 0.01711719
+v 0.01019058 0.00948944 0.01711717
+v 0.01098110 0.01281919 0.04662882
+v 0.00620011 0.01561756 0.04773472
+v 0.01098110 0.01561768 0.01741091
+v 0.00904670 0.01561767 0.01792640
+v 0.01085238 0.01561768 0.01744088
+v 0.00735242 0.01255416 0.01711719
+v 0.00620011 0.01561767 0.01905927
+v 0.00753214 0.01561767 0.01845986
+v 0.00977637 0.01013789 0.01711718
+v 0.01098110 0.01459420 0.04675169
+v 0.00992802 0.01525705 0.04700945
+v 0.00996125 0.01561757 0.04701844
+v 0.01098110 0.01561757 0.04678467
+v 0.00920911 0.01079596 0.01711718
+v 0.00894234 0.01108868 0.01711718
+v 0.00835588 0.01172994 0.01711718
+v 0.00816211 0.01193750 0.01711718
+v 0.01075597 0.01561757 0.04683861
+f 1 2 3
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+f 1 7 6
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+f 1 10 4
+f 1 4 11
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+
diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_49.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73ce5b4dc3b2efee32e147bb83db77470bedf3e2
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_49.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.01836223 0.02137945 0.01973186
+v -0.01836223 0.02451241 0.02027526
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_5.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91d087fdca7a5405fdf8f0c30cf2eaceb2ee6640
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_5.obj
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_50.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3384df5afb190c31da0364f7c2f8277bc2da61e0
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_50.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.01240838 0.00948933 0.04625393
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+
diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_51.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9476016f931c05082889623313fb00195f0a272
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_51.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_6.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..667e5e5c97cf96713a7bd17cfdfbd42378cadc88
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_6.obj
@@ -0,0 +1,1381 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_7.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3a49b090ca4e51c3ceac35dc36396f1b0a6ebdd
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_7.obj
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_8.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ce44a71ae716860bcaca19e494beb30c4d7c2a8
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_8.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_9.obj b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af8da0620f21d943a9b22c8e8005d6e29e00a06d
--- /dev/null
+++ b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mjcf/mesh/mushroom_collision_9.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/textures/material_0.png b/dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..232fc189c3168618cbdd83726f8167b1cb41cc51
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