diff --git a/.gitattributes b/.gitattributes
index c9b4ba9743d0b54c529883e16050f5060eb78584..d8c19cc1ac4a240f0becf58a5637d413c5fbf4f3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3675,3 +3675,6 @@ dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mesh/mushroom.glb filt
 dataset/food/ingredients/fd42722ec8f95d1da77f475ffcf1468c/mesh/mushroom_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/10bfe27fbe1f564d91bad844554b33c3/candy_002.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/10bfe27fbe1f564d91bad844554b33c3/mesh/candy_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/garlic_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/garlic_001.usdc filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mesh/garlic_001.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/garlic_001.urdf b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/garlic_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..141fc31c741fa494f5632fa2ac61bec09ac8966c
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/garlic_001.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="garlic_001">
+   <link name="garlic_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/garlic_001.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/garlic_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0600" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>f8c05184bb72581ebd17e7d06312d4ac</uuid>
+         <domain>food</domain>
+         <super_category>ingredients</super_category>
+         <category>garlic</category>
+         <name>garlic bulb</name>
+         <color>white-purple</color>
+         <shape>irregular</shape>
+         <material>organic</material>
+         <description>white garlic bulb with purple streaks and visible cloves</description>
+         <min_height>0.0442</min_height>
+         <max_height>0.0442</max_height>
+         <real_height>0.0442</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260325144030</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>15</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/garlic_001.usd b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/garlic_001.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/garlic_001.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb078aa6e5557c7a82a548a4bc6498998dadc3582a30a1f1c8b4baf40fc980d5
+size 1804942
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/garlic_001.usdc b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/garlic_001.usdc
new file mode 100644
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--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/garlic_001.usdc
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3492383
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mesh/garlic_001.glb b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mesh/garlic_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3c599d389d1424223089c23dbd5d8b4ed91dca9a
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mesh/garlic_001.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1273119b576fecdaf9885df1d199d5a410fdec6f4d4c83e5561a2c2e564a8a2
+size 14093988
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mesh/garlic_001.mtl b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mesh/garlic_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b9a2024f7eae807e27653d4268853e3d2325a739
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mesh/garlic_001.mtl
@@ -0,0 +1,6 @@
+newmtl garlic_001_looks_omni_pbr
+Kd 0.800000 0.800000 0.800000
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd t_garlic_basecolor.png
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mesh/garlic_001.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mesh/garlic_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c34dba7a5ae521c7582f6b37837732263e99cf31
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mesh/garlic_001.obj
@@ -0,0 +1,116908 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mesh/garlic_001_collision.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mesh/garlic_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2141df1295dd91c017d33d6cf6606f0485ab09b5
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mesh/garlic_001_collision.obj
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mesh/garlic_001_looks_omni_pbr.png b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mesh/garlic_001_looks_omni_pbr.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc20b426d2650ce5464b9e415729bc7ba0291381
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mesh/garlic_001_looks_omni_pbr.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e65bfde3c5b95105009edf6a94c494cecfdfa5f96f69e2dca847516270714cb7
+size 12994992
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mesh/material.mtl b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c8330b8fad738a24650463d2391d9c5edcb12c30
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl garlic_001_looks_omni_pbr
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+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd garlic_001_looks_omni_pbr.png
\ No newline at end of file
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mesh/t_garlic_basecolor.png b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mesh/t_garlic_basecolor.png
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
+oid sha256:16aa84de73abf0030b0fec8c43897ea22d841e0fe640216f8918ab1b9268be4f
+size 15393229
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/garlic_001.xml b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/garlic_001.xml
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index 0000000000000000000000000000000000000000..93e24fad2af2b226e803ec517cee2fd53381e443
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/garlic_001.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cde3837ad41ccdf837c50c2ac9489a5a9387892a
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001.obj
@@ -0,0 +1,116908 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl garlic_001_looks_omni_pbr
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f722acc5ca6d2016d5b170f9da15f30ed4310be
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision.obj
@@ -0,0 +1,35706 @@
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_0.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5ab411abf99b5b760260d77d5dafb512ca6e223
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_0.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_1.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcd0ab33ca738807e703d32650f7a307f9f5341d
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_1.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_10.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31f458a475bb8755fd41efe0332932da36f624b9
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_10.obj
@@ -0,0 +1,2065 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_11.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..943bd7268563fb44684f1169137a2283dac39cb9
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_11.obj
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_12.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08a50723eb63c4dd63f83377f20c2d8ddacf9056
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_12.obj
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_13.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78df05b3585c0bbef0d27beeafb07204afa9e213
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_13.obj
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_14.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1c4cf2048ae2afd88328df0995747a07825f6b8
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_14.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.01023788 0.00663051 0.00167524
+v 0.01023788 0.00873607 0.00136841
+v 0.01051454 0.00663051 0.00169867
+v 0.01023788 0.00663045 0.02027808
+v 0.01023788 0.00898671 0.00133561
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+v 0.01110086 0.00788487 0.02451069
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+
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_15.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cca3965c2d6cf85444c3eb154ee7a9e31318d37
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_15.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.01018980 -0.00656905 0.02570601
+v -0.01018980 -0.00660233 0.02570522
+v -0.01018980 -0.00599041 0.02536208
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+
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_16.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..499adf37d1d53c7c3279518a30e79433274cb0b6
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_16.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
+v 0.02119492 0.00831589 0.01280983
+v 0.02118431 0.00831590 0.01201864
+v 0.02106498 0.00859603 0.01201864
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_17.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54c9c551e5a613dbf1f79d1515de596d37364deb
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_17.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_18.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5446324a1744471707ff89dc1ecede64fb947125
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_18.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_19.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42d767fcab46607a0c530d65359d2e4d93e71fd8
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_19.obj
@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_2.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f11d58086bba0417edaafe4024a81b1917bc5ae1
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_2.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_20.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d930166f825ad519828f4c69b3d562f1bc0ac5d8
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_20.obj
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_21.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cfffb10051604e45f83dc5ae73804e5db611cf2
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_21.obj
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_22.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60c3a2f73e28b44855b4bd2b0177b7ad8997b47d
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_22.obj
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_23.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e21c01bd454221171e7285210f68e61293f1fd1e
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_23.obj
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_24.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c917ed8c4f3a177259f9028bf67eac004b948e8
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_24.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_25.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef0e3385cc333cc18a857e332256b40a219aed05
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_25.obj
@@ -0,0 +1,2029 @@
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_26.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56974160bb2ea711a620aa41514105c1c2589592
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_26.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_27.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c2e3da47286cf3afedf8c53bf96fd0543ad3fc1
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_27.obj
@@ -0,0 +1,514 @@
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_28.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8d97f5b6a1fccc294ce033866aa50f0ffb566eb
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_28.obj
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_29.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c7c90b9ccd8869e16db492f1e9517d2c276ac05
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_29.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_3.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fa6151b3807787050dc6d52d6722905a8172089
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_3.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_30.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a437210dee84fa76f808820b52ba63ca84e7eb1
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_30.obj
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+
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_31.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eed56df9111d79d2a8df95238f20b928302f1801
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_31.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.00799700 0.00663051 0.00141065
+v 0.00799700 0.00670574 0.00133878
+v 0.00919575 0.00663051 0.00148749
+v 0.00799700 0.00663043 0.02330811
+v 0.00799700 0.00701111 0.00116034
+v 0.01023766 0.00663051 0.00167585
+v 0.00845149 0.00663044 0.02285703
+v 0.00799700 0.00665252 0.02565276
+v 0.00799700 0.00766826 0.00104385
+v 0.00817248 0.00765417 0.00103889
+v 0.00947717 0.00796530 0.00127187
+v 0.01019006 0.00878249 0.00131400
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+v 0.01023766 0.00663045 0.02027940
+v 0.00866448 0.00663044 0.02262405
+v 0.01023766 0.00762079 0.02474317
+v 0.00799700 0.00675718 0.02598984
+v 0.00964629 0.00663044 0.02135258
+v 0.00799700 0.00830140 0.00119751
+v 0.00817248 0.00833597 0.00118016
+v 0.00918763 0.00895502 0.00128674
+v 0.00974763 0.00900368 0.00128426
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+v 0.00974302 0.00848897 0.00125700
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+v 0.01023766 0.00781605 0.02520417
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+v 0.00799700 0.00681416 0.02606173
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+v 0.00799700 0.00990048 0.02545946
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+v 0.00817248 0.00844406 0.02620548
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+
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_32.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58eeede644d96611250578ae2f7078954385fd57
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_32.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.00331689 -0.00329100 0.00208444
+v -0.00128324 -0.00329100 0.00243718
+v 0.00331463 0.00290798 0.00224890
+v 0.00331689 0.00290556 0.00224890
+v 0.00331689 -0.00329110 0.02917888
+v -0.00128414 -0.00261624 0.00263344
+v -0.00128414 -0.00261260 0.00263344
+v -0.00128414 0.00290798 0.00281911
+v -0.00128414 -0.00329100 0.00368369
+v 0.00331689 0.00290798 0.00225155
+v 0.00331689 0.00290788 0.02917890
+v -0.00128414 -0.00329110 0.02917888
+v -0.00128414 0.00290788 0.02917890
+f 1 2 3
+f 1 3 4
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+f 6 8 7
+
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_33.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f8d07d7967f4e6bdddebfed46926d2100e4860b
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_33.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.00319097 -0.00894369 0.00132737
+v -0.00364344 -0.00894369 0.00133874
+v -0.00319097 -0.00764949 0.00054867
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+
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_34.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c08654a295bac94a20a48585563946102cc93ad0
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_34.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.00189496 0.00290798 0.00268135
+v -0.00128414 0.00290798 0.00281913
+v -0.00049248 0.00704134 0.00022423
+v 0.00029545 0.00701745 0.00021274
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+v -0.00049248 0.00765383 -0.00013459
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+v -0.00128009 0.00844365 0.00017543
+v -0.00049248 0.00844365 0.00008357
+v 0.00029545 0.00844365 0.00002616
+v 0.00108276 0.00844365 0.00004625
+v 0.00189496 0.00765383 -0.00000254
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+v -0.00128414 0.00902460 0.02831777
+v -0.00128414 0.00900007 0.02834648
+v -0.00128414 0.00896674 0.02837231
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+
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_35.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..592182964f4f335b4eb7ad9aea77d4ee83760613
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_35.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.00565894 -0.00183533 0.00021070
+v -0.00565894 -0.00182564 0.00021070
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+v -0.00489651 0.01052823 0.02314117
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+
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_36.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6959458ce5e7f505aadcbe0ecb62ff73e41f6b59
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_36.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.00613018 -0.00329099 -0.00024566
+v 0.00617049 -0.00261623 -0.00026587
+v 0.00616912 -0.00326307 -0.00026298
+v 0.00626166 -0.00326307 -0.00026298
+v 0.00629922 -0.00329099 -0.00024277
+v 0.00584752 -0.00329099 -0.00008398
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+v 0.00619340 -0.00217328 -0.00025721
+v 0.00658783 -0.00187656 -0.00030340
+v 0.00655302 -0.00261866 -0.00029474
+v 0.00706519 -0.00235713 -0.00030340
+v 0.00662677 -0.00329099 -0.00012152
+v 0.00522586 -0.00329099 0.00032597
+v 0.00580858 0.00290799 0.00024516
+v 0.00331689 -0.00329100 0.00208706
+v 0.00331689 0.00290556 0.00224875
+v 0.00331689 0.00290798 0.00225164
+v 0.00684438 -0.00135532 -0.00028318
+v 0.00708306 -0.00182619 -0.00031495
+v 0.00799700 -0.00181891 0.00057714
+v 0.00799700 -0.00261623 0.00063200
+v 0.00799700 -0.00329099 0.00070706
+v 0.00581545 0.00290799 0.00024516
+v 0.00331689 -0.00329110 0.02917888
+v 0.00331689 0.00290788 0.02917890
+v 0.00703954 -0.00135532 -0.00028318
+v 0.00799700 0.00213069 0.00066666
+v 0.00799700 -0.00329108 0.02546617
+v 0.00647331 0.00290799 0.00036352
+v 0.00387945 -0.00329110 0.02917888
+v 0.00367559 0.00290788 0.02917890
+v 0.00799700 0.00290799 0.00079080
+v 0.00799700 -0.00326438 0.02548349
+v 0.00766624 -0.00261633 0.02644487
+v 0.00752651 -0.00329109 0.02622546
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+v 0.00738679 0.00290789 0.02648242
+v 0.00764425 0.00290789 0.02626589
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+v 0.00799700 -0.00184450 0.02632361
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+v 0.00799700 0.00050682 0.02714354
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+v 0.00799700 0.00133327 0.02723592
+v 0.00799700 0.00261178 0.02646510
+v 0.00620302 0.00093642 0.02903454
+v 0.00604955 0.00105960 0.02917889
+v 0.00799700 0.00104747 0.02720705
+v 0.00620302 0.00094127 0.02903454
+f 1 2 3
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+
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_37.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..633a633200a01529241caf598425e1956c6a2139
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_37.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00799667 0.00290817 0.02565190
+v 0.00799667 0.00553350 0.02410730
+v 0.00764413 0.00290816 0.02626417
+v 0.00799667 0.00290826 0.00079076
+v 0.00799667 0.00562968 0.02404608
+v 0.00633360 0.00562967 0.02689037
+v 0.00579327 0.00562967 0.02761119
+v 0.00486291 0.00528359 0.02845445
+v 0.00738695 0.00290816 0.02648125
+v 0.00647336 0.00290826 0.00036495
+v 0.00799667 0.00291385 0.00079076
+v 0.00799667 0.00562977 0.00116370
+v 0.00494710 0.00562967 0.02830695
+v 0.00484318 0.00562967 0.02839044
+v 0.00463731 0.00530276 0.02861309
+v 0.00661774 0.00290816 0.02705456
+v 0.00581563 0.00290826 0.00024528
+v 0.00502175 0.00562977 0.00022859
+v 0.00647172 0.00291385 0.00036495
+v 0.00799667 0.00528369 0.00108578
+v 0.00799667 0.00546326 0.00111639
+v 0.00463731 0.00562967 0.02853795
+v 0.00463731 0.00486930 0.02856856
+v 0.00463731 0.00290816 0.02791731
+v 0.00580873 0.00290826 0.00024528
+v 0.00467677 0.00562977 0.00018128
+v 0.00463731 0.00562977 0.00018685
+v 0.00463731 0.00290826 0.00131120
+v 0.00463731 0.00481904 0.00031765
+v 0.00529537 0.00290826 0.00042061
+v 0.00463731 0.00418443 0.00055421
+v 0.00487869 0.00290826 0.00097444
+v 0.00463731 0.00459338 0.00039279
+f 1 2 3
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+f 1 25 17
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+
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_38.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38ee20ffa4dd55ddc1126c7e4b686cb5f03d59fa
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_38.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00319097 0.00202282 0.00243580
+v -0.00319097 0.00626885 0.00040878
+v -0.00128432 0.00765387 -0.00002864
+v -0.00128432 0.00202282 0.00293327
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+v -0.00319097 0.00762961 0.00031158
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+v -0.00291080 0.01087086 0.00096058
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+v -0.00128432 0.00899981 0.02834695
+v -0.00128432 0.00952732 0.02784091
+v -0.00319097 0.00946496 0.02559945
+f 1 2 3
+f 1 3 4
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+f 1 11 5
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+f 1 16 9
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+f 21 25 22
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+
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_39.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd3899ebe688883dbf65811567309503e0c9e225
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_39.obj
@@ -0,0 +1,658 @@
+# https://github.com/mikedh/trimesh
+v 0.02174982 0.00663047 0.01280710
+v 0.02170009 0.00686408 0.01280711
+v 0.02173481 0.00663047 0.01304228
+v 0.02173012 0.00663047 0.01225274
+v 0.02167194 0.00686409 0.01201756
+v 0.02143735 0.00765401 0.01201756
+v 0.02146456 0.00765400 0.01280711
+v 0.02162971 0.00686408 0.01359875
+v 0.02168507 0.00663047 0.01359874
+v 0.02171979 0.00663048 0.01201755
+v 0.02165223 0.00663048 0.01146109
+v 0.02157529 0.00686409 0.01122592
+v 0.02123279 0.00820075 0.01201756
+v 0.02131630 0.00771125 0.01119232
+v 0.02120276 0.00814086 0.01143380
+v 0.02124780 0.00820766 0.01280711
+v 0.02122246 0.00815009 0.01341396
+v 0.02134164 0.00771174 0.01364704
+v 0.02146831 0.00686408 0.01439039
+v 0.02165317 0.00663047 0.01383392
+v 0.02161751 0.00663048 0.01122591
+v 0.02139700 0.00686409 0.01043638
+v 0.02118681 0.00731135 0.00999331
+v 0.02124311 0.00746857 0.01043638
+v 0.02118399 0.00831590 0.01201756
+v 0.02115584 0.00801283 0.01090464
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_4.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d01f23d8782d6832fff0b5c9b51b3f298bf8fd8
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_4.obj
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_40.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25e3f487807da3e0e31264c3093c7a9f9a7a77b2
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_40.obj
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_41.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a80277a1fec1ff5e60a2a1ff002f1fcbc44c4bac
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_41.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_42.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa26d4b059423bebd23bc75d9bb36984da1a059f
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_42.obj
@@ -0,0 +1,2446 @@
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_43.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..667903a33af7ddeb4ef7c7234a1048b3453c21f5
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_43.obj
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_44.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36266ce0b2cc92e96c88d633ee848038058bab42
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_44.obj
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_45.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fe843711deef583c9c0f795e7e163925b93014d
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_45.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00802774 -0.02199995 0.00003330
+v -0.00802774 -0.02199995 0.02429309
+v -0.00802774 0.02258918 0.00003330
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+v -0.00702774 -0.02199995 0.00003330
+v -0.00702774 -0.02199995 0.02429309
+v -0.00702774 0.02258918 0.00003330
+v -0.00702774 0.02258918 0.02429309
+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/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_46.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dc7d6a50caed734588933a3bd06b8202536786c
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_46.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+v 0.00632939 0.00882328 0.02562355
+v 0.00679526 0.00998909 0.02390022
+f 1 2 3
+f 1 3 7
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+f 1 12 8
+f 1 8 4
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+f 1 15 23
+f 1 23 29
+f 1 29 35
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+f 38 44 42
+f 38 42 45
+f 41 45 42
+
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_47.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d577d0dba7bc9df6a10049601ca6b519ed29831
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_47.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.00659592 -0.01224080 0.02213708
+v 0.00659592 -0.01014906 0.02207731
+v 0.00467218 -0.01085410 0.02513126
+v 0.00466061 -0.01130767 0.02511567
+v 0.00483725 -0.01224081 0.02466342
+v 0.00659592 -0.01224073 0.00274251
+v 0.00335396 -0.01014908 0.02604615
+v 0.00659592 -0.01014899 0.00201476
+v 0.00247694 -0.01014908 0.02687527
+v 0.00385764 -0.01083711 0.02587981
+v 0.00385764 -0.01093643 0.02587981
+v 0.00462745 -0.01170288 0.02507668
+v 0.00474006 -0.01224081 0.02476479
+v 0.00656198 -0.01224073 0.00271912
+v 0.00659592 -0.01216435 0.00269832
+v 0.00659592 -0.01051758 0.00210573
+v 0.00464519 -0.01094165 0.00132599
+v 0.00521907 -0.01014899 0.00141696
+v 0.00190537 -0.01014908 0.02723654
+v 0.00318580 -0.01224082 0.02595778
+v 0.00407671 -0.01224081 0.02535998
+v 0.00421632 -0.01224081 0.02525862
+v 0.00547515 -0.01224073 0.00207973
+v 0.00659592 -0.01213302 0.00268273
+v 0.00659592 -0.01125865 0.00229286
+v 0.00440221 -0.01146813 0.00139357
+v 0.00417698 -0.01124594 0.00127661
+v 0.00423329 -0.01051757 0.00114925
+v 0.00423329 -0.01014898 0.00109727
+v 0.00485885 -0.01014898 0.00127921
+v 0.00495295 -0.01124595 0.00154692
+v 0.00502083 -0.01209760 0.00180683
+v 0.00150504 -0.01014908 0.02743148
+v 0.00265820 -0.01224082 0.02618910
+v 0.00516122 -0.01224073 0.00191599
+v 0.00387693 -0.01173473 0.00132339
+v 0.00417698 -0.01203780 0.00149233
+v 0.00344575 -0.01051757 0.00101930
+v 0.00344575 -0.01014898 0.00096731
+v 0.00501080 -0.01224073 0.00185101
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+v 0.00108312 -0.01014908 0.02750165
+v 0.00186526 -0.01224082 0.02629566
+v 0.00419087 -0.01224073 0.00156511
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+v 0.00344575 -0.01224073 0.00142996
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+v 0.00265820 -0.01051757 0.00113366
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+v -0.00128414 -0.01130153 0.02686487
+v -0.00128414 -0.01164637 0.02665694
+v -0.00128414 -0.01212062 0.02634505
+v -0.00128414 -0.01215850 0.02631646
+v -0.00128414 -0.01220622 0.02627487
+v -0.00128414 -0.01224082 0.02624368
+v 0.00264201 -0.01224073 0.00146634
+v 0.00263815 -0.01209350 0.00142476
+v -0.00128182 -0.01014899 0.00181203
+v 0.00059563 -0.01014908 0.02751205
+v -0.00128414 -0.01014908 0.02724434
+v -0.00128414 -0.01224073 0.00286987
+v 0.00187066 -0.01224073 0.00170806
+v -0.00128414 -0.01046720 0.00196278
+v -0.00128414 -0.01014899 0.00192639
+v -0.00128414 -0.01209760 0.00278929
+f 1 2 3
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+f 1 13 22
+f 1 22 21
+f 1 21 20
+f 1 20 34
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+f 1 44 60
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+f 39 53 52
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+f 66 70 67
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+
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_48.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65162c5ed88ee8ae8f6efe805a1323c8c8e706c0
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_48.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.00565894 0.00230285 0.02917842
+v -0.00565894 0.00291461 0.02872504
+v -0.00752272 0.00181324 0.02917842
+v -0.00565894 -0.00556026 0.02917839
+v -0.00565894 0.00291463 0.02429306
+v -0.00794333 0.00291462 0.02690528
+v -0.00794333 0.00198653 0.02863656
+v -0.00794333 0.00175060 0.02906173
+v -0.00758176 0.00181010 0.02915786
+v -0.00759450 0.00171510 0.02917842
+v -0.00581188 -0.00551328 0.02917839
+v -0.00565894 -0.00775048 0.02689711
+v -0.00794333 0.00291463 0.02429306
+v -0.00565894 -0.00775047 0.02429302
+v -0.00794333 0.00159609 0.02907894
+v -0.00777473 0.00146351 0.02917842
+v -0.00584118 -0.00550076 0.02917839
+v -0.00585102 -0.00550911 0.02916930
+v -0.00570724 -0.00775048 0.02686842
+v -0.00794333 -0.00619916 0.02748107
+v -0.00794333 -0.00633487 0.02731129
+v -0.00794333 -0.00691322 0.02429302
+v -0.00701737 -0.00775047 0.02429302
+v -0.00794333 0.00135807 0.02905454
+v -0.00775863 0.00135807 0.02917841
+v -0.00725752 -0.00548613 0.02830366
+v -0.00585638 -0.00547153 0.02917839
+v -0.00794333 -0.00613548 0.02752076
+v -0.00578036 -0.00775048 0.02682394
+v -0.00794333 -0.00670652 0.02679956
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+v -0.00794333 -0.00710322 0.02471627
+v -0.00694693 -0.00775047 0.02468279
+v -0.00794333 -0.00705207 0.02595734
+v -0.00773828 0.00127977 0.02917841
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+v -0.00605517 -0.00498713 0.02917839
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+v -0.00667368 -0.00775047 0.02542409
+v -0.00641675 -0.00775048 0.02590426
+f 1 2 3
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+f 29 38 39
+f 29 30 38
+f 33 40 34
+f 34 40 41
+f 34 41 38
+f 38 41 39
+
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_49.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77a1fd406e5dde4c6c5502aee6467cd3e8dcd378
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_49.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.01133942 -0.00801124 0.02434945
+v 0.01133942 -0.00736895 0.02397402
+v 0.01024404 -0.00759878 0.02515751
+v 0.01028068 -0.00801124 0.02516745
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+v 0.00975196 -0.00801124 0.02541360
+v 0.01072073 -0.00801116 0.00219891
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+v 0.01133942 -0.00688635 0.02360356
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+v 0.00882606 -0.00801115 0.00126406
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+v 0.01096088 -0.00585932 0.00131628
+v 0.01053522 -0.00585932 0.00127401
+v 0.00802121 -0.00801115 0.00123422
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+f 40 44 41
+f 41 43 42
+
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_5.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..989dded74c577f7cececfb39073117ae5bcce7b7
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_5.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.00388869 0.00225517 0.02988242
+v 0.00387787 0.00225517 0.02917890
+v 0.00380750 0.00225517 0.03024089
+v 0.00506059 0.00210430 0.02917890
+v -0.00574497 0.00225517 0.02917890
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+v -0.00651090 0.00177873 0.02989704
+v -0.00491544 0.00225517 0.02990939
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+v 0.00600379 0.00137746 0.02917890
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_50.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afbd561052e513ff9d992b56e6719e42eb50044e
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_50.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v -0.00565894 -0.00972837 0.02721116
+v -0.00565894 -0.00893773 0.02720832
+v -0.00594314 -0.00893773 0.02696066
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+v -0.00666630 -0.01130793 0.02611000
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+v -0.00628303 -0.00814795 0.02645993
+v -0.00665512 -0.00893773 0.02619599
+v -0.00710905 -0.01051814 0.02577208
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+v -0.00578036 -0.00775134 0.02682412
+v -0.00705985 -0.01130792 0.02573438
+v -0.00621461 -0.01130793 0.02650590
+v -0.00565894 -0.01093283 0.02707520
+v -0.00692658 -0.01209856 0.02562383
+v -0.00653303 -0.01209857 0.02598003
+v -0.00565894 -0.00775134 0.02689753
+v -0.00570724 -0.00775134 0.02686840
+v -0.00653817 -0.00814795 0.02606431
+v -0.00587025 -0.00775134 0.02671986
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+v -0.00704867 -0.00893772 0.02558328
+v -0.00733288 -0.00972836 0.02531048
+v -0.00707752 -0.00972836 0.02570610
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+v -0.00757035 -0.01406957 0.02429328
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+v -0.00726915 -0.00834840 0.02429330
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+v -0.00565894 -0.01491957 0.02530904
+v -0.00565894 -0.01573516 0.02483343
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+
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_51.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1939d1657f426cd03699c02df6a8a5923d7e495
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_51.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.00314312 -0.00860952 0.00085406
+v 0.00311913 -0.00860952 0.00085689
+v 0.00122840 -0.00737203 0.00036961
+v 0.00187070 -0.00723876 0.00036677
+v 0.00314312 -0.00660518 0.00026479
+v 0.00314312 -0.00860961 0.02558089
+v 0.00122840 -0.00763286 0.00051976
+v 0.00233139 -0.00860952 0.00096738
+v 0.00122840 -0.00679259 0.00034128
+v 0.00265825 -0.00656665 0.00023646
+v 0.00314312 -0.00579667 0.00023930
+v 0.00314312 -0.00549743 0.02917887
+v 0.00230889 -0.00860962 0.02754419
+v 0.00150560 -0.00860952 0.00110053
+v 0.00122840 -0.00834088 0.00100138
+v 0.00122840 -0.00666140 0.00034412
+v 0.00314312 -0.00533541 0.00048860
+v 0.00314312 -0.00329162 0.02917888
+v 0.00160512 -0.00745752 0.02917886
+v 0.00161168 -0.00860962 0.02836294
+v 0.00123590 -0.00860952 0.00121669
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+v 0.00122840 -0.00860952 0.00126202
+v 0.00122840 -0.00860795 0.00121952
+v 0.00122840 -0.00785318 0.02911370
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+
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_52.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ebe5d2a7d70b9ee4769cb657b4f6a82340f3f3a
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_52.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.00641391 0.00998947 0.00156353
+v 0.00641391 0.01022495 0.00159148
+v 0.00799700 0.00998947 0.00164972
+v 0.00641391 0.00998940 0.02134158
+v 0.00641391 0.01081453 0.00170562
+v 0.00799700 0.01020027 0.00169164
+v 0.00799700 0.00998939 0.02535729
+v 0.00678198 0.00998939 0.02385722
+v 0.00641391 0.01160830 0.02214985
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+v 0.00799700 0.01081453 0.00182441
+v 0.00799700 0.01043804 0.02500324
+v 0.00641391 0.01302651 0.02252255
+v 0.00783055 0.00998939 0.02522918
+v 0.00679531 0.00998939 0.02389915
+v 0.00641391 0.01150163 0.00194088
+v 0.00795686 0.01194315 0.00214586
+v 0.00799700 0.01200648 0.00217148
+v 0.00799700 0.01244137 0.02332848
+v 0.00641391 0.01302658 0.00275148
+v 0.00699771 0.00998939 0.02425553
+v 0.00773214 0.00998939 0.02515231
+v 0.00799700 0.01302651 0.02281837
+v 0.00799700 0.01302658 0.00268626
+v 0.00799700 0.01234423 0.00234153
+f 1 2 3
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+f 1 24 23
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+
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_53.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41a2eb0e1cfa99ffa632bc0c0544e98898fe34ed
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_53.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.00794333 0.00529822 0.00153268
+v -0.00836972 0.00529822 0.00158062
+v -0.00794333 0.01216521 0.00287233
+v -0.00794333 0.00529813 0.02635234
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+v -0.00794333 0.00604896 0.02703855
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+v -0.01018958 0.01216520 0.00426493
+v -0.01018958 0.00529814 0.02424577
+v -0.00819512 0.01216513 0.02323918
+v -0.00797126 0.01042418 0.02587302
+v -0.00794333 0.01047595 0.02566615
+v -0.00794333 0.00667946 0.02724542
+v -0.00896454 0.00630708 0.02679888
+v -0.00947360 0.00529814 0.02502028
+v -0.01018958 0.01216513 0.02441986
+v -0.01017683 0.00529814 0.02426091
+v -0.00945117 0.00686431 0.02647849
+v -0.00965985 0.00686431 0.02608240
+v -0.01018958 0.00844664 0.02542647
+v -0.00854431 0.01216513 0.02377654
+v -0.00799743 0.01042418 0.02587302
+v -0.00836972 0.00923375 0.02645578
+v -0.00794333 0.00837806 0.02683421
+v -0.00794333 0.01033612 0.02589825
+v -0.00864349 0.01216513 0.02391277
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+v -0.00994484 0.01216513 0.02438959
+v -0.00794333 0.00686431 0.02730598
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_54.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b3ff71aad645b7d822276316ca5f27a20477a97
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_54.obj
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_55.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..722482c2d085d1c69cd6a83d2cb1866168f85843
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_55.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_56.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b0d3ef8467f947684c3bc82cd4d87643c39b1f0
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_56.obj
@@ -0,0 +1,718 @@
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_57.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dddbb7b6f479fed78a24560d6aeafa9d4d518de
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_57.obj
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_58.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9e8b5c19c9c67eae7bd1fb6b2ed047c51b2835f
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_58.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_59.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd70932742f63c2da74df5fc01f21b4935d3153b
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_59.obj
@@ -0,0 +1,589 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_6.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dbfe29766f38b959febacd8a0365736ffc2bbf4
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_6.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.00104739 0.00790190 0.02917892
+v -0.00058445 0.00787868 0.02917892
+v -0.00124524 0.00790190 0.02917892
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+v 0.00160064 0.00505586 0.03071825
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+v 0.00170882 0.00589768 0.03003130
+v 0.00226630 0.00644378 0.02917891
+v -0.00220232 0.00575673 0.03071825
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+v -0.00370615 0.00457664 0.03071825
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+
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_60.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89b101c90b8dbd5b865f5ce0f86427a25f18522c
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_60.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00791259 -0.00585819 0.00057643
+v 0.00791259 -0.00585819 0.02723878
+v 0.00791259 0.00662929 0.00057643
+v 0.00791259 0.00662929 0.02723878
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+v 0.00891260 -0.00585819 0.02723878
+v 0.00891260 0.00662929 0.00057643
+v 0.00891260 0.00662929 0.02723878
+f 2 4 1
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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/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_61.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d327f4d29153e49b4078eddc43d07c3df4de1da
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_61.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.00882819 -0.00585810 0.00127247
+v 0.00882819 -0.00585076 0.00126740
+v 0.01053531 -0.00585810 0.00127501
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_62.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e085667d8e651d6149a80a08a199b9d9c1100006
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_62.obj
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+f 144 167 168
+f 144 168 145
+f 145 168 146
+f 146 168 147
+f 148 169 149
+f 149 169 154
+f 154 170 171
+f 154 171 172
+f 154 172 156
+f 154 156 155
+f 154 169 170
+f 156 173 174
+f 156 174 175
+f 156 175 157
+f 156 172 173
+f 162 176 163
+f 163 177 178
+f 163 178 164
+f 163 176 177
+f 164 179 165
+f 164 178 179
+f 165 179 180
+f 165 180 181
+f 165 181 166
+f 170 182 183
+f 170 183 171
+f 171 183 172
+f 172 183 184
+f 172 184 185
+f 172 185 173
+f 173 186 187
+f 173 187 174
+f 173 185 186
+f 178 188 179
+f 179 188 189
+f 179 189 180
+f 180 189 190
+f 180 190 191
+f 180 191 192
+f 180 192 181
+f 182 193 183
+f 183 193 194
+f 183 194 195
+f 183 195 184
+f 184 195 191
+f 184 191 185
+f 185 196 186
+f 185 191 190
+f 185 190 196
+f 186 197 187
+f 186 196 197
+f 188 198 189
+f 189 198 199
+f 189 199 190
+f 190 199 196
+f 191 195 192
+
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_63.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fce4d6faf5480367a9c5516f7276d1480d37693
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_63.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.00122840 -0.00329110 0.02917615
+v -0.00128414 -0.00329110 0.02917615
+v 0.00122840 -0.00572561 0.02917614
+v 0.00122840 -0.00329100 0.00256820
+v -0.00128414 -0.00572561 0.02917614
+v -0.00128414 -0.00329100 0.00368392
+v 0.00122840 -0.00572550 0.00127744
+v -0.00128020 -0.00329100 0.00243693
+v -0.00128414 -0.00572551 0.00141417
+v -0.00128340 -0.00329100 0.00243693
+v -0.00128414 -0.00340301 0.00240412
+v -0.00128217 -0.00572550 0.00124189
+v -0.00128414 -0.00551126 0.00142784
+v -0.00128414 -0.00340706 0.00240138
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 10
+f 1 10 6
+f 1 6 2
+f 2 6 11
+f 2 11 14
+f 2 14 13
+f 2 13 9
+f 2 9 5
+f 3 5 9
+f 3 9 12
+f 3 12 7
+f 4 7 8
+f 6 10 11
+f 7 12 8
+f 8 12 10
+f 9 13 12
+f 10 12 14
+f 10 14 11
+f 12 13 14
+
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_64.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81eadebb3f15e363501fcc1c2827a9c2c3e399a5
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_64.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.01018980 0.00366929 0.00126113
+v -0.01040966 0.00366929 0.00130708
+v -0.01018980 0.00373079 0.00127721
+v -0.01018980 0.00366920 0.02432021
+v -0.01072777 0.00366928 0.00137372
+v -0.01021566 0.00401175 0.00135764
+v -0.01018980 0.00398491 0.00134615
+v -0.01018980 0.00449399 0.02431103
+v -0.01230258 0.00366920 0.02473153
+v -0.01082332 0.00366928 0.00139440
+v -0.01018980 0.00446784 0.00152309
+v -0.01018980 0.00405483 0.00136913
+v -0.01078465 0.00373078 0.00140359
+v -0.01073294 0.00449407 0.00163109
+v -0.01018980 0.00527413 0.02425358
+v -0.01018980 0.00579547 0.02408354
+v -0.01018980 0.00607363 0.02397784
+v -0.01018980 0.00659466 0.02362167
+v -0.01018980 0.00685845 0.02336892
+v -0.01230258 0.00371540 0.02468098
+v -0.01230258 0.00366928 0.00180342
+v -0.01148622 0.00366928 0.00155755
+v -0.01152034 0.00370393 0.00157594
+v -0.01018980 0.00685853 0.00246523
+v -0.01152034 0.00449407 0.00182182
+v -0.01152034 0.00504007 0.00204011
+v -0.01073253 0.00685853 0.00258242
+v -0.01230258 0.00685846 0.02117675
+v -0.01230258 0.00370393 0.00181032
+v -0.01225956 0.00446191 0.00203322
+v -0.01196462 0.00491957 0.00210905
+v -0.01145044 0.00685853 0.00279612
+v -0.01230258 0.00685853 0.00309714
+v -0.01230258 0.00443819 0.00204011
+v -0.01230258 0.00450718 0.00206309
+v -0.01230258 0.00512624 0.00233194
+v -0.01185003 0.00685853 0.00293399
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 11
+f 1 11 24
+f 1 24 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 21
+f 1 21 22
+f 1 22 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 4 8 9
+f 5 10 6
+f 6 11 12
+f 6 12 7
+f 6 10 13
+f 6 13 14
+f 6 14 11
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 28
+f 9 28 33
+f 9 33 36
+f 9 36 35
+f 9 35 34
+f 9 34 29
+f 9 29 21
+f 10 22 23
+f 10 23 13
+f 11 14 24
+f 13 23 25
+f 13 25 14
+f 14 25 26
+f 14 26 27
+f 14 27 24
+f 19 28 20
+f 19 24 27
+f 19 27 32
+f 19 32 37
+f 19 37 33
+f 19 33 28
+f 21 29 22
+f 22 29 23
+f 23 29 30
+f 23 30 25
+f 25 30 31
+f 25 31 26
+f 26 31 27
+f 27 31 32
+f 29 34 30
+f 30 34 35
+f 30 35 31
+f 31 35 36
+f 31 36 33
+f 31 33 37
+f 31 37 32
+
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_65.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd03601cd69e7c16b27f84436df8d8495eb5c927
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_65.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.00565908 0.00589701 0.00143985
+v -0.00679407 0.00589701 0.00154236
+v -0.00565908 0.00729380 0.00102070
+v -0.00565908 0.00589693 0.02429307
+v -0.00691356 0.00589701 0.00155603
+v -0.00656491 0.00844420 0.00122572
+v -0.00655325 0.00903668 0.00124167
+v -0.00565908 0.00814895 0.00106398
+v -0.00711200 0.00589701 0.00157881
+v -0.00565908 0.00924347 0.02429308
+v -0.00711200 0.00589693 0.02429307
+v -0.00711200 0.00867427 0.00159932
+v -0.00620417 0.00903668 0.00124167
+v -0.00711200 0.00925589 0.00162438
+v -0.00711200 0.00956843 0.00169273
+v -0.00565908 0.01094052 0.00187725
+v -0.00711200 0.00860951 0.02429308
+v -0.00565908 0.00942961 0.02406527
+v -0.00711200 0.01094045 0.02215174
+v -0.00711200 0.01032229 0.02272125
+v -0.00711200 0.01094052 0.00248093
+v -0.00678810 0.01094052 0.00234425
+v -0.00565908 0.01094045 0.02153667
+v -0.00565908 0.00972980 0.02365524
+v -0.00565908 0.00980880 0.02352539
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 23
+f 1 23 25
+f 1 25 24
+f 1 24 18
+f 1 18 10
+f 1 10 4
+f 1 4 11
+f 1 11 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 7 8
+f 3 5 9
+f 3 9 6
+f 4 10 17
+f 4 17 11
+f 6 9 12
+f 6 12 7
+f 7 13 8
+f 7 12 14
+f 7 14 15
+f 7 15 16
+f 7 16 13
+f 8 13 16
+f 9 11 17
+f 9 17 20
+f 9 20 19
+f 9 19 21
+f 9 21 15
+f 9 15 14
+f 9 14 12
+f 10 18 19
+f 10 19 20
+f 10 20 17
+f 15 21 22
+f 15 22 16
+f 16 22 21
+f 16 21 19
+f 16 19 23
+f 18 24 19
+f 19 24 25
+f 19 25 23
+
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_66.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..698a7fa5071fe3f380046fd340a20e58c74c0c5c
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_66.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.01019042 -0.00153144 0.00199039
+v -0.01105270 0.00020910 0.00135144
+v -0.01052776 0.00007317 0.00129429
+v -0.01018980 0.00000954 0.00126312
+v -0.01018980 -0.00153144 0.00199819
+v -0.01178757 -0.00153144 0.00240598
+v -0.01230258 -0.00025926 0.00196703
+v -0.01230258 0.00043970 0.00168131
+v -0.01230258 0.00054355 0.00163975
+v -0.01154144 0.00050130 0.00141897
+v -0.01129283 0.00073599 0.00128131
+v -0.01076727 0.00050131 0.00122157
+v -0.01018980 0.00053083 0.00110468
+v -0.01018980 -0.00153152 0.02540098
+v -0.01230258 -0.00153144 0.00261897
+v -0.01230258 -0.00031628 0.00199560
+v -0.01230258 0.00132753 0.00152027
+v -0.01180143 0.00133313 0.00136702
+v -0.01140762 0.00133314 0.00125014
+v -0.01073294 0.00133314 0.00108390
+v -0.01018980 0.00133314 0.00098260
+v -0.01018980 -0.00011274 0.02680620
+v -0.01073294 -0.00153152 0.02537241
+v -0.01230258 -0.00153152 0.02500358
+v -0.01230258 0.00133313 0.00152027
+v -0.01138570 0.00212323 0.00125274
+v -0.01073294 0.00212323 0.00108651
+v -0.01018980 0.00212323 0.00098002
+v -0.01018980 -0.00000736 0.02688412
+v -0.01230258 -0.00026495 0.02603217
+v -0.01230258 -0.00099801 0.02546073
+v -0.01073294 -0.00120164 0.02569450
+v -0.01230258 0.00212322 0.00153846
+v -0.01126367 0.00273361 0.00128651
+v -0.01018980 0.00292808 0.00108911
+v -0.01078465 0.00296371 0.00121638
+v -0.01018980 0.00046710 0.02722698
+v -0.01230258 -0.00018299 0.02608152
+v -0.01018980 0.00054193 0.02727633
+v -0.01230258 0.00291381 0.00163976
+v -0.01152386 0.00296370 0.00141379
+v -0.01108166 0.00326050 0.00134365
+v -0.01055651 0.00348500 0.00128391
+v -0.01018980 0.00314240 0.00113586
+v -0.01230258 0.00054346 0.02638542
+v -0.01018980 0.00133304 0.02751530
+v -0.01230258 0.00366928 0.00180340
+v -0.01148622 0.00366928 0.00155924
+v -0.01082332 0.00366928 0.00139560
+v -0.01072777 0.00366928 0.00137223
+v -0.01018980 0.00363315 0.00125015
+v -0.01230258 0.00055212 0.02638802
+v -0.01018980 0.00148474 0.02748154
+v -0.01230258 0.00133304 0.02641918
+v -0.01230258 0.00366920 0.02473347
+v -0.01018980 0.00366929 0.00126054
+v -0.01018980 0.00217352 0.02717505
+v -0.01114991 0.00252937 0.02667114
+v -0.01230258 0.00216080 0.02615945
+v -0.01230258 0.00298144 0.02550490
+v -0.01211498 0.00266275 0.02600620
+v -0.01073294 0.00256093 0.02674387
+v -0.01018980 0.00255788 0.02677504
+v -0.01018980 0.00366920 0.02432048
+v -0.01230258 0.00258791 0.02594387
+v -0.01230258 0.00226363 0.02611010
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 23
+f 1 23 24
+f 1 24 15
+f 1 15 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 3
+f 2 6 7
+f 3 13 4
+f 4 13 21
+f 4 21 28
+f 4 28 35
+f 4 35 44
+f 4 44 51
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+f 4 14 5
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+f 17 25 18
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+f 19 27 20
+f 20 27 28
+f 20 28 21
+f 22 29 30
+f 22 30 31
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+f 22 24 32
+f 22 32 23
+f 23 32 24
+f 25 33 26
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+f 26 33 34
+f 27 35 28
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+f 27 36 35
+f 29 37 30
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+f 30 39 38
+f 33 40 34
+f 34 41 42
+f 34 42 36
+f 34 40 41
+f 35 36 43
+f 35 43 44
+f 36 42 43
+f 38 39 45
+f 39 46 45
+f 40 47 41
+f 41 47 42
+f 42 47 48
+f 42 48 49
+f 42 49 50
+f 42 50 43
+f 43 50 51
+f 43 51 44
+f 45 46 52
+f 46 53 54
+f 46 54 52
+f 47 55 64
+f 47 64 56
+f 47 56 50
+f 47 50 49
+f 47 49 48
+f 50 56 51
+f 53 57 58
+f 53 58 54
+f 54 58 59
+f 55 60 61
+f 55 61 58
+f 55 58 62
+f 55 62 63
+f 55 63 64
+f 57 63 62
+f 57 62 58
+f 58 61 65
+f 58 65 66
+f 58 66 59
+f 60 65 61
+
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_7.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d9436d360c99a1e0bc85d132834f109ddb45a2d
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_7.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.00128242 -0.00860952 0.00104636
+v -0.00128414 -0.00821178 0.00080338
+v -0.00128414 -0.00781857 0.00048693
+v -0.00128020 -0.00781857 0.00048411
+v -0.00128020 -0.00860952 0.00104636
+v -0.00128414 -0.00860952 0.00119046
+v -0.00128414 -0.00735704 0.00031741
+v -0.00049245 -0.00781123 0.00048976
+v 0.00029505 -0.00735704 0.00031458
+v 0.00029505 -0.00778667 0.00050954
+v 0.00122840 -0.00834079 0.00100115
+v 0.00122840 -0.00860811 0.00121871
+v 0.00122840 -0.00860952 0.00126109
+v -0.00128414 -0.00860962 0.02818714
+v -0.00128414 -0.00735309 0.00031741
+v 0.00108280 -0.00669171 0.00033720
+v 0.00122840 -0.00679276 0.00034285
+v 0.00122840 -0.00737228 0.00037109
+v 0.00104886 -0.00740954 0.00037109
+v 0.00076357 -0.00776493 0.00052931
+v 0.00122840 -0.00763283 0.00052084
+v 0.00122840 -0.00860962 0.02852619
+v 0.00029505 -0.00860963 0.02868159
+v -0.00128414 -0.00821697 0.02865616
+v -0.00128414 -0.00672304 0.00037393
+v 0.00122840 -0.00666178 0.00034285
+v 0.00122840 -0.00810886 0.02892457
+v 0.00108280 -0.00860963 0.02861660
+v 0.00029505 -0.00837929 0.02888502
+v -0.00128414 -0.00773823 0.02917886
+v -0.00128414 -0.00781529 0.02910822
+v -0.00128414 -0.00783364 0.02909127
+v -0.00128414 -0.00632813 0.00069037
+v 0.00122840 -0.00628127 0.00066777
+v 0.00122840 -0.00785312 0.02911387
+v 0.00108575 -0.00786300 0.02917886
+v 0.00078251 -0.00793074 0.02917886
+v 0.00029505 -0.00803603 0.02917886
+v -0.00128414 -0.00572613 0.02917887
+v -0.00128414 -0.00590640 0.00108593
+v -0.00128217 -0.00572602 0.00124415
+v 0.00122840 -0.00572602 0.00127523
+v 0.00122840 -0.00774529 0.02917886
+v -0.00128414 -0.00572603 0.00141367
+v 0.00122840 -0.00572613 0.02917887
+v -0.00128414 -0.00590358 0.00108875
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 22
+f 1 22 28
+f 1 28 23
+f 1 23 14
+f 1 14 6
+f 1 6 2
+f 2 6 14
+f 2 14 24
+f 2 24 32
+f 2 32 31
+f 2 31 30
+f 2 30 39
+f 2 39 44
+f 2 44 46
+f 2 46 40
+f 2 40 33
+f 2 33 25
+f 2 25 15
+f 2 15 7
+f 2 7 3
+f 3 7 4
+f 4 8 5
+f 4 7 9
+f 4 9 8
+f 5 8 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 7 15 9
+f 8 9 10
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 20 11
+f 10 19 20
+f 11 20 21
+f 11 21 18
+f 11 18 17
+f 11 17 26
+f 11 26 34
+f 11 34 42
+f 11 42 45
+f 11 45 43
+f 11 43 35
+f 11 35 27
+f 11 27 22
+f 11 22 13
+f 11 13 12
+f 14 23 24
+f 15 25 16
+f 16 26 17
+f 16 25 26
+f 18 21 20
+f 18 20 19
+f 22 27 28
+f 23 28 29
+f 23 29 30
+f 23 30 31
+f 23 31 32
+f 23 32 24
+f 25 33 26
+f 26 33 34
+f 27 35 36
+f 27 36 28
+f 28 36 37
+f 28 37 38
+f 28 38 29
+f 29 38 30
+f 30 38 37
+f 30 37 36
+f 30 36 43
+f 30 43 45
+f 30 45 39
+f 33 40 41
+f 33 41 34
+f 34 41 42
+f 35 43 36
+f 39 45 42
+f 39 42 41
+f 39 41 44
+f 40 46 41
+f 41 46 44
+
diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_8.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf06a9ff93215dafe3afa3e12a3b0b53138d8613
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_8.obj
@@ -0,0 +1,727 @@
+# https://github.com/mikedh/trimesh
+v -0.00565908 0.01094101 0.00187890
+v -0.00678810 0.01094101 0.00234537
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diff --git a/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_9.obj b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..787a85c331a4d54c39cb699e9d339166f244cc7c
--- /dev/null
+++ b/dataset/food/ingredients/f8c05184bb72581ebd17e7d06312d4ac/mjcf/mesh/garlic_001_collision_9.obj
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