diff --git a/.gitattributes b/.gitattributes
index 0c4e65370b00d2c869576cb8985f39f4bcaef3ed..8f8b674bdd1197212d74e13145eaec9cb24edeb8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5437,5 +5437,6 @@ dataset/food/ingredients/bb02360a500652bba562309006137929/mesh/potato_005.glb fi
 dataset/food/ingredients/bb02360a500652bba562309006137929/potato_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/bbfd7934cc715b4d997091483e911911/egg_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/bbfd7934cc715b4d997091483e911911/mesh/egg_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/bdc62a896627544eb714de2ad2d7a050/bread_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/bdc62a896627544eb714de2ad2d7a050/mesh/bread_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/bd731a77a4585a0c8829c93dfb6b40d0.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mesh/mushroom.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mesh/mushroom_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/bd731a77a4585a0c8829c93dfb6b40d0.urdf b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/bd731a77a4585a0c8829c93dfb6b40d0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..49a3693746042041f1b77df02497076ad9158514
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/bd731a77a4585a0c8829c93dfb6b40d0.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>0.231470</scale>
+         <version>v0.1.7</version>
+         <category>mushroom</category>
+         <description>realistic mushroom with orange cap and white stem</description>
+         <min_height>0.060</min_height>
+         <max_height>0.100</max_height>
+         <real_height>0.080</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260119232414</generate_time>
+         <gs_model>mesh/mushroom_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.24479866027832</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/bd731a77a4585a0c8829c93dfb6b40d0/bd731a77a4585a0c8829c93dfb6b40d0.usd b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/bd731a77a4585a0c8829c93dfb6b40d0.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7d7a96cbaafb0be6c4190351915460a1aadb4dc4
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/bd731a77a4585a0c8829c93dfb6b40d0.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84ea9cdf85f35a2a2ec2ef8662b23f3e82e58c1e50d62fddc3702b9cfe86dbb8
+size 744415
diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mesh/material.mtl b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/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/bd731a77a4585a0c8829c93dfb6b40d0/mesh/material_0.png b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0164ba61c2cd0cc303f6c3126084072da63f48bc
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b305418b604e8fb3e2bdb7186a325d0e24067574ab98b15ae382d93f3e62fb62
+size 2980431
diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mesh/mushroom.glb b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mesh/mushroom.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2d4e687cb53b0bc1a90ea4ac766db2cf94e50aae
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mesh/mushroom.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23425315c4fb771fdcb2cd969e9d30b2ed16b0d67fe21f26fd54623e05bcf3ae
+size 3485256
diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mesh/mushroom.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mesh/mushroom.obj
new file mode 100644
index 0000000000000000000000000000000000000000..079f1bc3072bee0e25e50632b837b59e26e01a54
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mesh/mushroom.obj
@@ -0,0 +1,46127 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mesh/mushroom_collision.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mesh/mushroom_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a7e11d442885c31d86e4dd7ac99bf4da7f7344e
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mesh/mushroom_collision.obj
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/bd731a77a4585a0c8829c93dfb6b40d0.xml b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/bd731a77a4585a0c8829c93dfb6b40d0.xml
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/material_0.png b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom.obj
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index 0000000000000000000000000000000000000000..982839822f0d73ba15d476fabaaa03cee9f75200
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+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee0601651a98b0b9997e246ab2c3c9ac04e5977c
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision.obj
@@ -0,0 +1,37985 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_0.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..331f71ea038f4852d9c2df8145f838dd4e7f53bf
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_0.obj
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_1.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c74608e53e2f5d853f16feb9df44344295ef80f
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_1.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_10.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e11a4cb9b7d1f68911fdbc2ace961405b37c6d4
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_10.obj
@@ -0,0 +1,1405 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_11.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3565d6ccb2f0e6850e05da3e61e7891a19c5956a
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_11.obj
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_12.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfda1dfd97c511a5263e28c6f3cd404251e77207
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_12.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00086005 -0.02071856 0.00636176
+v 0.00086005 -0.02071856 0.00736176
+v 0.00086005 -0.01776232 0.00636176
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+v 0.00530076 -0.01776232 0.00736176
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+f 2 8 4
+f 6 2 5
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+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_13.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d244f0e99e58fcdd3be99736554b95e13ca3063a
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_13.obj
@@ -0,0 +1,1198 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_14.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b407f0c030e3b388d1e3320a031a43ba34082c0
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_14.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_15.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dce5204b1e6eab6f33855634568f9eace38a8bb0
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_15.obj
@@ -0,0 +1,910 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_16.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebdaed154bb0ba39917d1b28404da83441319a49
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_16.obj
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+
diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_17.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63c337361131cb1044e5a9aa938cabb38b1b72bf
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_17.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01212287 -0.01108416 0.00248889
+v 0.01212287 -0.01108416 0.00348889
+v 0.01212287 -0.01008416 0.00248889
+v 0.01212287 -0.01008416 0.00348889
+v 0.01375799 -0.01108416 0.00248889
+v 0.01375799 -0.01108416 0.00348889
+v 0.01375799 -0.01008416 0.00248889
+v 0.01375799 -0.01008416 0.00348889
+f 2 4 1
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+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_18.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f375d81d2b7e7dd00bff532c2ae807bcae4d7f6
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_18.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.01433882 0.02112508 0.01481363
+v -0.01433882 0.00857356 0.01481358
+v -0.01433882 0.02112506 0.01898080
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+f 3 9 7
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+f 5 8 9
+f 5 9 10
+f 9 11 10
+
diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_19.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cc99bed76a1158acf1dc72d70dc2e214f6938f3
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_19.obj
@@ -0,0 +1,649 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_2.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fabc74f4a41a77f3edc7f092c5c58880614d7315
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_2.obj
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_20.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94cbd73b3f81e9b044cdd308b881d34f21c87657
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_20.obj
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_21.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5a358c194501f0644f38d47a6264b9d9e293b3e
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_21.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00290927 0.01523564 0.00248832
+v 0.00290927 0.01523564 0.00348832
+v 0.00290927 0.01717176 0.00248832
+v 0.00290927 0.01717176 0.00348832
+v 0.00790119 0.01523564 0.00248832
+v 0.00790119 0.01523564 0.00348832
+v 0.00790119 0.01717176 0.00248832
+v 0.00790119 0.01717176 0.00348832
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+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_22.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb0ea0666e963c9a8609dafa0f7b829fe7a2cc70
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_22.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.00816255 -0.00857324 0.01663349
+v -0.00816255 -0.01133328 0.01460635
+v -0.00816255 -0.00857324 0.01663827
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+v -0.00816255 -0.01195779 0.01460635
+v -0.00816255 -0.01195780 0.01663826
+v -0.00115444 -0.01195780 0.01663826
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+
diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_23.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b41de92138bbe65f2af44c8c0c00dfc7a3c913ba
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_23.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_24.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95087efd361ee7a24221b815cebe68c21066b7fa
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_24.obj
@@ -0,0 +1,997 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_25.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a488a2aec5a4c08230bac489c14b06a135e95957
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_25.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_26.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1620e4083cbda2d3ec03876a3e755f6c20c7993
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_26.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_27.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70a8c8ef6d4cb91cef811bb4cb9652a6f57b6b1b
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_27.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_28.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c9fc7a6a2373eda790e4f6574b2184be51481dd
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_28.obj
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_29.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a8d162b04be6e617d9ff27ae91fa75b329e844a
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_29.obj
@@ -0,0 +1,481 @@
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_3.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7846543bbe99ecd3b60cfef0de7e7bf424200c48
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_3.obj
@@ -0,0 +1,2152 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_30.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb6c25d2389ebd2559b95f821ea59f6ba8dd43b3
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_30.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_31.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70e4ddb5aa733dd3fdd5160f1440dc9a29743e54
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_31.obj
@@ -0,0 +1,673 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_32.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d0b2c36914722bc3efb6fccf7dbfbbabdb7bff4
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_32.obj
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_33.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6321b0ebeebbae42223e5a98090f794321d4f693
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_33.obj
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_34.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70f4b3ca209ae800bbd6d7a6f7cc53dd3f363deb
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_34.obj
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_35.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95de802a2accaacb02872f80e7540549ea7d8aec
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_35.obj
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_36.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45c239ca3999d3e8ae59ae2945cf2855636d19eb
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_36.obj
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_37.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f19a44e24d7f93bbf92719ad69c90576564284a3
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_37.obj
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_38.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f40892c2ccc9d21328db045cb48a793ac95899b9
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_38.obj
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+
diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_39.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b36cc6c506ec774620dc76013d8b07a435d3e8ce
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_39.obj
@@ -0,0 +1,19 @@
+# https://github.com/mikedh/trimesh
+v -0.00672310 -0.01195700 0.01460589
+v -0.01029674 -0.01195779 0.01460635
+v -0.01029674 -0.01195779 0.01309182
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+v -0.01434010 -0.00387813 0.01460638
+v -0.01029674 -0.00994895 0.01460635
+v -0.01434010 -0.01195779 0.01460635
+f 1 2 3
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+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 5
+f 2 5 7
+f 2 7 4
+f 2 4 3
+f 4 7 5
+
diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_4.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ba8d6208b7ae71e7acd9bfb2cffded0bed8b27c
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_4.obj
@@ -0,0 +1,2482 @@
+# https://github.com/mikedh/trimesh
+v -0.04027635 -0.02231367 0.00368502
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_40.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c428deae108333da9d8eaca79ae221350c5b34d7
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_40.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.01433882 0.02112546 0.01025290
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+
diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_41.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0e5d2e510267c40af22754749c4bb8c20db23e5
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_41.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v -0.00076855 0.01103847 0.03967588
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_42.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e5aacb0f03a44b9a50a2926c442e48c1b29e309
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_42.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_43.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96f4cb30507432b192bafd5c1b8c1c9223485c67
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_43.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_44.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..173121c4046cf04492b1b954606b2ea2f23abac3
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_44.obj
@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
+v -0.01433882 0.02112629 0.01898080
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_45.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbf4261ee492850e0a7af9a3b70fd763faec014f
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_45.obj
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_46.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a473c53d7cb51eb119b9e420abfb447bf70dc713
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_46.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_47.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..858086ba042f49f1717646807a961ad335218322
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_47.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_48.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a22333207ea53174f41acbfc2e9b0a002e8c7f99
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_48.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_49.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89a41cc28decc8bb01aeb8cb33b78efb0b858a67
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_49.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
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+v -0.00691022 0.00854903 0.01898075
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+f 1 2 3
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+f 7 10 9
+
diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_5.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82e6201306ecacf5a3ea45a4c779b16f5fd1c686
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_5.obj
@@ -0,0 +1,1477 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_50.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..446a0306976a45b6126d387ef36291947e04daac
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_50.obj
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_51.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec4c627a11f76d643ae42b06dc40bb93976f0863
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_51.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.00508026 -0.00489626 0.01460637
+v -0.00815319 -0.00857257 0.01663827
+v -0.00511346 -0.00525987 0.01460637
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+v -0.00816255 -0.00856534 0.01663827
+v -0.00816255 -0.00857257 0.01663827
+v -0.00816255 -0.00857257 0.01663349
+v -0.00547132 -0.00658943 0.01460637
+v -0.00544085 -0.00657891 0.01460637
+v -0.00634637 -0.00185645 0.01460638
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+v -0.00686597 -0.00185645 0.01468177
+v -0.00735841 -0.00185645 0.01460638
+v -0.00773679 -0.00401648 0.01519312
+v -0.00815591 -0.00362918 0.01460638
+v -0.00634607 -0.00634350 0.01460637
+v -0.00815591 -0.00380737 0.01460638
+v -0.00787710 -0.00481340 0.01460637
+f 1 2 3
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+f 1 8 16
+f 1 16 18
+f 1 18 17
+f 1 17 15
+f 1 15 13
+f 1 13 10
+f 1 10 4
+f 1 4 2
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+f 2 6 7
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+f 10 13 12
+f 10 12 11
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+
diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_52.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23c17234bc221eeb2e24718cf84cfc7be671e763
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_52.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.00536242 0.01110054 0.01847975
+v 0.01191464 0.01110056 0.01303699
+v 0.00536242 0.00586766 0.01891790
+v 0.00536242 0.01110046 0.03949586
+v 0.01377189 0.01110056 0.01303699
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+v 0.01377189 0.00837809 0.01303698
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+v 0.01377189 0.01110047 0.03849019
+v 0.01377189 0.00586759 0.03916853
+v 0.00685331 0.00586758 0.03995248
+v 0.00536242 0.00701906 0.03996305
+v 0.00536242 0.01096676 0.03951962
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+v 0.00840020 0.01110047 0.03926358
+v 0.00637007 0.01110047 0.03943251
+v 0.00536242 0.00857775 0.03980204
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+v 0.01350762 0.01110047 0.03853506
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+v 0.01377189 0.00701907 0.03905769
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+v 0.00990180 0.00884924 0.03944833
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+v 0.01377189 0.00936352 0.03877525
+v 0.01377189 0.00854242 0.03888876
+v 0.01295029 0.00854242 0.03903657
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+f 1 4 12
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+
diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_53.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08e320cfd0783d66807c57894f166caddd4f94fe
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_53.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.00115444 0.00549410 0.01904585
+v 0.00075613 -0.00313292 0.01898793
+v -0.00089912 -0.00313292 0.01925165
+v -0.00115444 -0.00313292 0.01929240
+v -0.00115444 0.00586766 0.01906944
+v 0.00989785 0.00586766 0.01840904
+v 0.00989785 0.00245103 0.01832541
+v 0.00989785 0.00092773 0.01829323
+v 0.00837675 0.00092333 0.01838758
+v 0.00989785 -0.00313292 0.01829752
+v 0.00228047 -0.00313292 0.01886142
+v -0.00115444 -0.00313300 0.04014846
+v -0.00115444 0.00586758 0.04003700
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+v 0.00989785 -0.00313300 0.03989760
+v -0.00094348 -0.00313300 0.04015705
+v -0.00115444 -0.00251012 0.04015919
+v -0.00115444 0.00549402 0.04005630
+v -0.00076822 0.00586758 0.04005416
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+v 0.00989785 -0.00212423 0.03992547
+v 0.00889389 -0.00313300 0.03999194
+v -0.00076822 -0.00313300 0.04016347
+v -0.00115444 -0.00212423 0.04016562
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+v -0.00076822 0.00549402 0.04007345
+v -0.00039498 0.00586758 0.04005630
+v 0.00837675 0.00586758 0.03988905
+v 0.00989785 0.00549402 0.03978400
+v 0.00989785 -0.00060093 0.03996408
+v 0.00837675 -0.00313300 0.04003483
+v -0.00025217 -0.00313300 0.04016991
+v 0.00075613 -0.00212423 0.04019778
+v -0.00076822 -0.00212423 0.04017849
+v -0.00115444 -0.00060093 0.04017421
+v -0.00115444 0.00244655 0.04013562
+v -0.00076822 0.00244655 0.04014419
+v 0.00075613 0.00397073 0.04013134
+v 0.00075613 0.00549402 0.04007774
+v 0.00075613 0.00586758 0.04005844
+v 0.00837675 0.00549402 0.03991908
+v 0.00685241 0.00586758 0.03995338
+v 0.00989785 0.00397073 0.03987618
+v 0.00989785 0.00092325 0.03997266
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+v 0.00075613 -0.00313300 0.04017849
+v 0.00532807 -0.00060093 0.04015062
+v 0.00380481 -0.00060093 0.04016563
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+v 0.00075613 0.00092325 0.04017421
+v -0.00076822 0.00092325 0.04017206
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+v -0.00115444 0.00206066 0.04014419
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+v 0.00417806 0.00586758 0.04001770
+v 0.00685241 0.00549402 0.03997483
+v 0.00837675 0.00397073 0.03999196
+v 0.00532807 0.00586758 0.04000269
+v 0.00837675 0.00244655 0.04004986
+v 0.00989785 0.00244655 0.03993193
+v 0.00837675 0.00092325 0.04008201
+v 0.00685241 -0.00060093 0.04013133
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+v 0.00685241 0.00092325 0.04011631
+v 0.00432086 -0.00313300 0.04014846
+v 0.00685241 0.00244655 0.04009059
+v 0.00685241 0.00397073 0.04003699
+v 0.00532807 -0.00313300 0.04013132
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+
diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_54.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32e0f9298c0d41908318b58dda5fddf3589e61bf
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_54.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.00799224 -0.01195788 0.03869270
+v -0.00799224 -0.01177692 0.03871967
+v -0.00839116 -0.01195788 0.03864118
+v -0.00799224 -0.01195780 0.01663992
+v -0.00839116 -0.01126866 0.03873930
+v -0.00799224 -0.00935030 0.03905820
+v -0.01143896 -0.00974485 0.03851362
+v -0.00908087 -0.01195788 0.03853815
+v -0.00991599 -0.00974485 0.03873684
+v -0.00816311 -0.01195779 0.01460635
+v -0.00799224 -0.00870154 0.01663993
+v -0.00799224 -0.00822204 0.03921029
+v -0.01296316 -0.00821907 0.03844003
+v -0.01296316 -0.00974485 0.03824870
+v -0.01143896 -0.01126866 0.03828548
+v -0.00991599 -0.01195788 0.03841304
+v -0.01143896 -0.00821907 0.03870006
+v -0.01434010 -0.01195779 0.01460635
+v -0.00816311 -0.01133284 0.01460635
+v -0.00799224 -0.00185581 0.01979454
+v -0.00799224 -0.00762181 0.03927162
+v -0.01296316 -0.00669823 0.03857987
+v -0.01434010 -0.00669823 0.03831004
+v -0.01434010 -0.00818940 0.03815549
+v -0.01434010 -0.00944523 0.03801075
+v -0.01403378 -0.00974485 0.03803282
+v -0.01374857 -0.01053691 0.03797640
+v -0.01287431 -0.01113417 0.03805245
+v -0.01140229 -0.01195788 0.03818246
+v -0.01143896 -0.00669823 0.03883499
+v -0.00799224 -0.00669823 0.03936239
+v -0.00896095 -0.00406692 0.03947033
+v -0.01434010 -0.00387895 0.01460638
+v -0.01434010 -0.01195788 0.03752259
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+v -0.01421832 -0.00185588 0.03861913
+v -0.01296316 -0.00185588 0.03887179
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+
diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_55.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..236c363e2580a9aa7e50046fee24dcd16151baf6
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_55.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_56.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7af8c955b93ebc94a843a976acdb80f58468904
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_56.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_6.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a17739a6af6f0b761bee22930eeff25f1f63a9aa
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_6.obj
@@ -0,0 +1,988 @@
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_7.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e2d0b776bc79625dfc20f0330810d1fb6c4dc18
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_7.obj
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_8.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06914050c20ce061e85c8e24dc319a4926e06124
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_8.obj
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diff --git a/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_9.obj b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db507c658514703efc5eabedf76075fb793f3d13
--- /dev/null
+++ b/dataset/food/ingredients/bd731a77a4585a0c8829c93dfb6b40d0/mjcf/mesh/mushroom_collision_9.obj
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