diff --git a/.gitattributes b/.gitattributes
index 170a1534995ac1fa1a7973396b0cd50a5f2e0cd5..c7e5253e63ec1e6ea344e4ec1105c5dbbb387e2d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3665,5 +3665,8 @@ dataset/food/ingredients/a63fcb3039d250cb9ab2492a99de7eb1/mesh/mushroom.glb filt
 dataset/food/ingredients/a63fcb3039d250cb9ab2492a99de7eb1/mesh/mushroom_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/a57a38a502ff5dc9ac5f629445912afc/mesh/potato_006.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/a57a38a502ff5dc9ac5f629445912afc/potato_006.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/f7f79824002d5373a48513d30cfb63bd/chili_006.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/ingredients/f7f79824002d5373a48513d30cfb63bd/mesh/chili_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/garlic_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/garlic_003.usdc filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mesh/garlic_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mesh/garlic_003.obj filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/garlic_003.urdf b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/garlic_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2a9362e0233f6f8730ea2cbbb866c60f325a5777
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/garlic_003.urdf
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="garlic_003">
+   <link name="garlic_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/garlic_003.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/garlic_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0500" />
+         <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>e5e47eaf22cb5d2888e1e42ca9ee4d42</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 visible cloves and root structure</description>
+         <min_height>0.0966</min_height>
+         <max_height>0.0966</max_height>
+         <real_height>0.0966</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.06</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260325144319</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/garlic_003.usd b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/garlic_003.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/garlic_003.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8efd37e8f01a710a466f3cc2564e67f9d32e681ee036e1339b8083814fa22a54
+size 52526263
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/garlic_003.usdc b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/garlic_003.usdc
new file mode 100644
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--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/garlic_003.usdc
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 105560189
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mesh/garlic_003.glb b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mesh/garlic_003.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mesh/garlic_003.glb
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+version https://git-lfs.github.com/spec/v1
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+size 45772772
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mesh/garlic_003.mtl b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mesh/garlic_003.mtl
new file mode 100644
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--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mesh/garlic_003.mtl
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+newmtl garlic_003_looks_omni_pbr
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd t_garlic_003_basecolor.png
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mesh/garlic_003.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mesh/garlic_003.obj
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 115062469
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mesh/garlic_003_collision.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mesh/garlic_003_collision.obj
new file mode 100644
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+
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12775600
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mesh/material.mtl b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dbf7d6d0c8cce0830b3093e0ddef7b63ccbc2404
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl garlic_003_looks_omni_pbr
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\ No newline at end of file
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mesh/t_garlic_003_basecolor.png b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mesh/t_garlic_003_basecolor.png
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+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mesh/t_garlic_003_basecolor.png
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+version https://git-lfs.github.com/spec/v1
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index 0000000000000000000000000000000000000000..a38809646ec442d2f62a4eddf93a7ce10c7f65b2
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+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/garlic_003.xml
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diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003.obj
new file mode 100644
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+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003.obj
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diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..492339daf2e1be8481489b69f57af95b63d281e4
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision.obj
@@ -0,0 +1,43136 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_0.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..776644034b2f8f4c6b4c3d7f2662a95816a864d6
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_0.obj
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diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_1.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7c8924872544e21ef47686eedc25a1cf9130366
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_1.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_10.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2656e5a55d29aaae65b91a4cbaabb52ba927906d
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_10.obj
@@ -0,0 +1,454 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_11.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31c9a6e386bdcce7979827f842fc7823e74b7d4a
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_11.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_12.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ad601b52625a63fd48acf3cad8043e2606cef6b
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_12.obj
@@ -0,0 +1,1405 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_13.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9afd7c7d4a602aeeb0a87f7a9a6c0a209936ec7
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_13.obj
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diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_14.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a77de24a1f0e7581f8b72427f2e5cdd9ab7b4ff1
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_14.obj
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+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_15.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..500cdfe35df0669b544f325fe5650c939d920cf2
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_15.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_16.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b844c0f3d47feae58295a1e1ab1a7a5ac60d27a
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_16.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+v -0.00476392 0.03239357 0.06825908
+v -0.00484101 0.03239357 0.06825719
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+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_17.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea2976a4dcbe6c066be9e605966b6eafd20fe071
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_17.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_18.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7ec57643fbead5733d5ac34615cbd7747efcc62
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_18.obj
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diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_19.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33eddd9ce3c64cdb844cc2883214333f793faa5b
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_19.obj
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diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_2.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39da0e8c8ebafe485ec432c786e243db780a5c9a
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_2.obj
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diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_20.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfae3fd172063f4ec79b0c14d2d606799080450c
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_20.obj
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diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_21.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71f8d585885ecf489ed7791c3c536b5b5c6e118c
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_21.obj
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diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_22.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fd81261cf8b9bafe8723b3b6e3e5b297aa75e00
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_22.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00626515 -0.00945753 0.00802755
+v -0.00644916 -0.01064426 0.00519371
+v -0.00650372 -0.00947712 0.00802755
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+v -0.00792498 -0.00997819 0.00802754
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+v -0.00162410 -0.01715515 0.00519369
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+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_23.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56577af6f36fd8b214a956e768f378d2b0f61a5f
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_23.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00614417 -0.00823451 0.07319592
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+v 0.00614417 -0.01002086 0.07319591
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+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_24.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f45c9cbef1dbf68ba62a8427c1b0781b7a6649a3
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_24.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.00001562 0.02035101 0.07319522
+v -0.00162395 0.02023366 0.07319522
+v 0.00145514 0.02034667 0.07319522
+v -0.00162395 0.03400332 0.06765099
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+v -0.00476392 0.03400332 0.06760878
+v -0.00476392 0.03123896 0.06868246
+v -0.00376191 0.01982509 0.07319522
+v -0.00001014 -0.00796626 0.06675862
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+v -0.00476392 0.03565933 0.06685077
+v -0.00321768 0.03592011 0.06675878
+v -0.00476392 0.03582884 0.06675878
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+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_25.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8e45b009cc8335ce650f212baca23e28eed6922
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_25.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.01072868 -0.01891387 0.06159243
+v 0.01072868 -0.01857592 0.06258408
+v 0.01021317 -0.01845852 0.06252985
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+v 0.01072868 -0.01880215 0.06015230
+v 0.01072868 -0.01164694 0.06815352
+v 0.00993978 -0.01164694 0.06838508
+v 0.00963684 -0.01164694 0.06847375
+v 0.00959364 -0.01164694 0.06848407
+v 0.00802836 -0.01164694 0.06881893
+v 0.00641987 -0.01164694 0.06894547
+v 0.00858991 -0.01699005 0.06280101
+v 0.00526040 -0.01217485 0.06768353
+v 0.00560881 -0.01347469 0.06562963
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+v 0.01062410 -0.01869970 0.06015230
+v 0.00858991 -0.01699005 0.06212011
+v 0.01072868 -0.01276320 0.06015232
+v 0.01072868 -0.01164691 0.06071960
+v 0.00498531 -0.01164694 0.06791680
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+v 0.00492279 -0.01164694 0.06751136
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+v 0.01034105 -0.01842223 0.06038214
+v 0.01023817 -0.01803448 0.06015230
+v 0.01001822 -0.01758341 0.06015231
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+v 0.00534736 -0.01269136 0.06626835
+v 0.00519561 -0.01164693 0.06630537
+v 0.00526836 -0.01164693 0.06603852
+v 0.00554629 -0.01266148 0.06552892
+v 0.00694846 -0.01427082 0.06364289
+v 0.00553038 -0.01164693 0.06551515
+f 1 2 3
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+f 1 6 2
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+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_26.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a66318b8249d6337ee6be73cb5a381c87e878c64
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_26.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.01754835 0.04700931 0.01759710
+v -0.01754835 0.04640099 0.01671841
+v -0.01771011 0.04637425 0.01676935
+v -0.01772709 0.04693577 0.01759710
+v -0.01754835 -0.01509933 0.01759687
+v -0.01754835 0.04631409 0.01659981
+v -0.01754835 0.04577262 0.01591612
+v -0.01867473 0.04615365 0.01706224
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+v -0.01895823 0.04636756 0.01759710
+v -0.01791328 -0.01586140 0.01759687
+v -0.01850497 -0.01994583 0.01556169
+v -0.01791728 -0.01909684 0.01474587
+v -0.01754835 -0.01775320 0.01472040
+v -0.01754835 0.04496375 0.01502866
+v -0.01771011 0.04493033 0.01506368
+v -0.01771011 0.04573251 0.01596148
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+v -0.01895823 -0.01692429 0.01759687
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+v -0.01771011 0.04332598 0.01351401
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+v -0.01895823 0.03722944 0.01021330
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+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_27.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3b0adbd888227c4bb2caef9b3fdf14802b7708f
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_27.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.00799180 0.00182224 0.08126705
+v -0.00799180 0.00343436 0.08115543
+v -0.01046045 0.00343437 0.07790404
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+f 46 55 54
+f 51 58 52
+f 53 57 54
+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_28.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f4674f24863638478246214f915219bde2a9027
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_28.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00145514 -0.00831912 0.00091881
+v 0.00145514 -0.00835665 0.00152622
+v 0.00145514 -0.00831912 0.00091098
+v -0.00471166 -0.00991042 0.00182808
+v 0.00145514 -0.01299007 0.00519324
+v -0.00799156 -0.01095385 0.00519325
+v -0.00798416 -0.01095210 0.00519325
+v -0.00644916 -0.01064414 0.00519325
+v -0.00501404 -0.01086312 0.00519325
+v -0.00484574 -0.01089452 0.00519325
+v -0.00242766 -0.01149475 0.00519325
+v 0.00145514 -0.00945239 0.00076304
+v -0.00162410 -0.01105241 0.00054781
+v -0.00323215 -0.00984237 0.00075428
+v -0.00444442 -0.00998719 0.00087871
+v -0.00799156 -0.01098700 0.00499048
+v -0.00799156 -0.01097391 0.00505730
+v 0.00145514 -0.01596241 0.00519323
+v -0.00799156 -0.01506905 0.00519323
+v 0.00145514 -0.01105241 0.00065519
+v -0.00001513 -0.01266115 0.00048559
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+v -0.00574270 -0.01194490 0.00098010
+v -0.00574270 -0.01159593 0.00098010
+v -0.00799156 -0.01180270 0.00254932
+v -0.00799156 -0.01139877 0.00338393
+v -0.00799156 -0.01138307 0.00344246
+v 0.00145514 -0.01723089 0.00294978
+v -0.00162410 -0.01715500 0.00519323
+v -0.00162410 -0.01723090 0.00515821
+v -0.00130046 -0.01723090 0.00504069
+v -0.00038686 -0.01723090 0.00466647
+v -0.00799156 -0.01526273 0.00491395
+v -0.00321180 -0.01723090 0.00491027
+v -0.00322105 -0.01687670 0.00519323
+v 0.00145514 -0.01266115 0.00056946
+v 0.00145514 -0.01723088 0.00061969
+v 0.00136174 -0.01723088 0.00061923
+v -0.00008541 -0.01723088 0.00079896
+v -0.00799156 -0.01418441 0.00222993
+v -0.00799156 -0.01266203 0.00222163
+v -0.00162410 -0.01723088 0.00112432
+v -0.00799156 -0.01538922 0.00364337
+v -0.00385262 -0.01723089 0.00356871
+v -0.00354469 -0.01723090 0.00465679
+v -0.00799156 -0.01421581 0.00225343
+v -0.00299912 -0.01723089 0.00181054
+v -0.00799156 -0.01538485 0.00361157
+v -0.00379806 -0.01723089 0.00340787
+v -0.00323862 -0.01723089 0.00207830
+f 1 2 5
+f 1 5 18
+f 1 18 28
+f 1 28 37
+f 1 37 36
+f 1 36 20
+f 1 20 12
+f 1 12 3
+f 1 3 4
+f 1 4 2
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+f 5 11 10
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+f 47 50 48
+f 48 50 49
+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_29.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f81f84433d6d25260fd328e40380876ffb65a50c
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_29.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.00573695 -0.02962751 0.00182799
+v -0.00486328 -0.02962872 0.00173636
+v -0.00573413 -0.02962387 0.00269963
+v -0.00572076 -0.02868099 0.00191447
+v -0.00567781 -0.02916880 0.00099530
+v -0.00567781 -0.02958381 0.00099530
+v -0.00484076 -0.02959473 0.00097869
+v -0.00399314 -0.02958139 0.00099014
+v -0.00399314 -0.02958139 0.00113675
+v -0.00541522 -0.02962387 0.00269963
+v -0.00571513 -0.02875259 0.00268588
+v -0.00162347 -0.01723298 0.00515825
+v -0.00321099 -0.01723298 0.00491027
+v -0.00354469 -0.01723298 0.00465657
+v -0.00564895 -0.02794440 0.00263779
+v -0.00564895 -0.02794440 0.00250950
+v -0.00562994 -0.02809609 0.00143341
+v -0.00264286 -0.02435248 -0.00069184
+v -0.00323774 -0.01723297 0.00207831
+v -0.00299838 -0.01723297 0.00181029
+v -0.00264286 -0.02525289 -0.00069184
+v -0.00220779 -0.02525289 -0.00069184
+v -0.00336658 -0.02871010 0.00067516
+v -0.00225636 -0.02814583 0.00079486
+v -0.00225636 -0.02814583 0.00131945
+v -0.00077937 -0.02155785 0.00427456
+v -0.00130033 -0.01723298 0.00504027
+v -0.00385304 -0.01723297 0.00356903
+v -0.00379883 -0.01723297 0.00340810
+v -0.00220779 -0.02435248 -0.00069184
+v -0.00244715 -0.01820497 0.00100450
+v -0.00008522 -0.01723296 0.00079891
+v 0.00136221 -0.01723296 0.00061909
+v -0.00162347 -0.01723296 0.00112477
+v -0.00155658 -0.02567396 0.00010764
+v -0.00196139 -0.02714350 0.00045010
+v 0.00145514 -0.01733490 0.00061852
+v 0.00145514 -0.01748537 0.00063455
+v 0.00145514 -0.01861027 0.00087793
+v -0.00072093 -0.02502232 0.00080576
+v -0.00072093 -0.02502232 0.00130400
+v -0.00065124 -0.02345694 0.00283022
+v -0.00048650 -0.02218399 0.00339777
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+v 0.00145514 -0.01723297 0.00294937
+v -0.00038653 -0.01723298 0.00466688
+v 0.00145514 -0.01723296 0.00061966
+v 0.00145514 -0.01857509 0.00189046
+v 0.00145514 -0.01850228 0.00196949
+v 0.00145514 -0.01777540 0.00266130
+f 1 2 3
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+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_3.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c33b823a56e5666c87005bdf839b2a681f0cff25
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_3.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.01865645 -0.02070592 0.00182796
+v -0.01854369 -0.02070591 0.00099416
+v -0.01853221 -0.02152905 0.00100523
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+v -0.01861991 -0.01965365 0.00182797
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+v -0.01449176 -0.01877640 0.00068057
+v -0.01839439 -0.02154709 0.00182796
+v -0.01840797 -0.02154073 0.00266484
+v -0.00799156 -0.01472118 0.00686465
+v -0.00815130 -0.01468829 0.00686465
+v -0.00937283 -0.01438280 0.00686465
+v -0.00957955 -0.01425232 0.00686465
+v -0.00969752 -0.01407730 0.00686465
+v -0.01011096 -0.01257528 0.00686465
+v -0.01727205 -0.01804873 0.00287453
+v -0.01806030 -0.01884854 0.00182797
+v -0.01008799 -0.01242783 0.00686465
+v -0.00941876 -0.01147846 0.00686466
+v -0.01700582 -0.01822162 0.00096957
+v -0.01408772 -0.01622741 0.00074514
+v -0.01292570 -0.01576705 0.00077466
+v -0.01277327 -0.01748546 0.00065229
+v -0.01323578 -0.01859607 0.00074083
+v -0.01295598 -0.01872125 0.00182797
+v -0.00799156 -0.01526321 0.00491356
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+v -0.01051710 -0.01182425 0.00444564
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+v -0.00807091 -0.01075397 0.00686466
+v -0.01348844 -0.01515499 0.00112454
+v -0.01241725 -0.01491102 0.00094500
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+v -0.01166241 -0.01587949 0.00091977
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+v -0.00859293 -0.01531200 0.00239000
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+v -0.00799156 -0.01139888 0.00338493
+v -0.00799156 -0.01098626 0.00499044
+v -0.00799156 -0.01138297 0.00344273
+f 1 2 3
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+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_30.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8394408fbfc4673edb468ada061fe021440634b4
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_30.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.02164885 -0.03197098 0.02730731
+v -0.02170165 -0.03280962 0.02712669
+v -0.02164885 -0.03197098 0.02662997
+v -0.02165222 -0.03107072 0.02718743
+v -0.02172861 -0.03276368 0.03170616
+v -0.02172861 -0.03278128 0.03170616
+v -0.02170165 -0.03280962 0.02678101
+v -0.02244528 -0.03309081 0.03103816
+v -0.02165222 -0.03107072 0.02662998
+v -0.02223298 -0.02870341 0.01960740
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+v -0.02482111 -0.03293044 0.03480015
+v -0.02579615 -0.03365563 0.03480015
+v -0.02253627 -0.03299400 0.03207364
+v -0.02267669 -0.03309277 0.02927862
+v -0.02414487 -0.03345659 0.03089335
+v -0.02241832 -0.03298762 0.02766389
+v -0.02263400 -0.03290107 0.02616595
+v -0.02323610 -0.03281890 0.02513358
+v -0.02318106 -0.03130346 0.02176867
+v -0.02289237 -0.02990148 0.01997799
+v -0.02227454 -0.02870341 0.01945480
+v -0.02575346 -0.03369915 0.03412280
+v -0.03312357 -0.02870347 0.03480016
+v -0.02738790 -0.03361358 0.03480015
+v -0.02575346 -0.03353679 0.03250808
+v -0.02344504 -0.03281890 0.02513358
+v -0.02371351 -0.03130346 0.02176867
+v -0.02414487 -0.02987751 0.02001380
+v -0.02415049 -0.02870341 0.01889268
+v -0.02246438 -0.02870341 0.01922435
+v -0.02234306 -0.02870341 0.01936449
+v -0.03311571 -0.02870347 0.03474254
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+v -0.02801808 -0.03321602 0.03480015
+v -0.02831127 -0.03294022 0.03442177
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diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_31.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4661a955a753c4e54911c22c693b6fd55ccfa533
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_31.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_32.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34b33444c74d69032927abeccb6134ca011841c0
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_32.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_33.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..575e5ebd2791dfb4d3690731e9055aecfea6fa33
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_33.obj
@@ -0,0 +1,3412 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_34.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..341fc1ddbd8800b5064ddc80c977797015eefc09
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_34.obj
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diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_35.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b42448f18b8f1b0d7712226ccf822ea78920adbb
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_35.obj
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diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_36.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1be90c58ed71ec1d814e4c87b6b42e142dbfbcdb
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_36.obj
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diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_37.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d79db7672a69c02d538e093eecad467984f8cc32
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_37.obj
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diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_38.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70beb993f40114f13f0ff5691e77d73a2d671643
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_38.obj
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diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_39.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c33b115493f701ab0eb0e857cedb4a2a3901efeb
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_39.obj
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diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_4.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..988d7fc1a503a23e01db606b997c0d3f4f3a5d2e
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_4.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.02817507 0.01538542 0.00258472
+v -0.02817507 0.01538542 0.00264543
+v -0.02817507 0.01554833 0.00258472
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+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_40.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..338ed8c8c76af5beb7c4d1d987d46040206aaff3
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_40.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.00154669 -0.00826339 0.01620860
+v -0.00154669 -0.00826336 0.00921755
+v -0.00799156 -0.00826339 0.01620860
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+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_41.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3c7ae422272972e22bf6e95d58a2ab43060d720
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_41.obj
@@ -0,0 +1,787 @@
+# https://github.com/mikedh/trimesh
+v 0.00802800 0.04258522 0.06064692
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diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_42.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9466fcc80e38db63e81b02aea11c3711f57c6bf8
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_42.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02172591 -0.02547859 0.01738903
+v -0.02172591 -0.02547859 0.01838903
+v -0.02172591 -0.02447859 0.01738903
+v -0.02172591 -0.02447859 0.01838903
+v -0.02072591 -0.02547859 0.01738903
+v -0.02072591 -0.02547859 0.01838903
+v -0.02072591 -0.02447859 0.01738903
+v -0.02072591 -0.02447859 0.01838903
+f 2 4 1
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+f 2 8 4
+f 6 2 5
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+f 4 8 3
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+f 3 8 7
+f 7 6 5
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+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_43.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07da090d2f01eb4a6bb3881681a97256c19ab58f
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_43.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+v 0.00810728 -0.01008899 0.07319468
+v 0.00963683 -0.01164623 0.06847428
+v 0.01072924 -0.01164620 0.06071916
+v 0.01072924 -0.00958334 0.06225794
+v 0.01072924 -0.01105208 0.06106928
+v 0.00642019 -0.01164623 0.06894436
+v 0.00677071 -0.01164623 0.06891743
+v 0.00802874 -0.01164623 0.06881828
+v 0.00614462 -0.01164623 0.06865424
+v 0.00614462 -0.01164622 0.06513964
+v 0.00959330 -0.01164623 0.06848408
+f 1 2 5
+f 1 5 12
+f 1 12 16
+f 1 16 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 20
+f 1 20 19
+f 1 19 9
+f 1 9 4
+f 1 4 11
+f 1 11 14
+f 1 14 6
+f 1 6 2
+f 2 6 15
+f 2 15 25
+f 2 25 24
+f 2 24 13
+f 2 13 5
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 5 13 12
+f 6 14 10
+f 6 10 15
+f 7 16 8
+f 8 16 17
+f 8 17 26
+f 8 26 23
+f 8 23 22
+f 8 22 21
+f 8 21 24
+f 8 24 25
+f 8 25 18
+f 9 19 10
+f 10 19 20
+f 10 20 18
+f 10 18 15
+f 10 14 11
+f 12 13 21
+f 12 21 22
+f 12 22 23
+f 12 23 16
+f 13 24 21
+f 15 18 25
+f 16 23 26
+f 16 26 17
+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_44.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbac96316a6ff01d9227a8577451ca2c2bd9d746
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_44.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.01754835 0.03672743 0.00946646
+v -0.01754835 0.03611552 0.00920846
+v -0.01762826 0.03666253 0.00946646
+v -0.01754835 0.00515551 0.00946635
+v -0.01771011 0.03604444 0.00923444
+v -0.01754835 0.03529965 0.00890844
+v -0.01771011 0.03524093 0.00893264
+v -0.01771011 0.03659454 0.00946646
+v -0.01895823 0.00570561 0.00946635
+v -0.01872069 0.00722919 0.00722257
+v -0.01802397 0.00722919 0.00722257
+v -0.01754835 0.00814705 0.00710210
+v -0.01875727 0.03564886 0.00946646
+v -0.01856860 0.03486699 0.00907348
+v -0.01895823 0.03525638 0.00938012
+v -0.01754835 0.03400166 0.00848743
+v -0.01771011 0.03400166 0.00852844
+v -0.01895823 0.00720447 0.00773602
+v -0.01895823 0.03545417 0.00946646
+v -0.01895823 0.00749188 0.00746401
+v -0.01892552 0.00903092 0.00686473
+v -0.01761750 0.00859517 0.00686473
+v -0.01754835 0.00869406 0.00686473
+v -0.01895823 0.03387495 0.00889417
+v -0.01895823 0.03423035 0.00900369
+v -0.01754835 0.03238227 0.00806440
+v -0.01771011 0.03239463 0.00810260
+v -0.01895823 0.03239463 0.00847801
+v -0.01895823 0.00916072 0.00686473
+v -0.01754835 0.01291251 0.00686475
+v -0.01754835 0.03222466 0.00803180
+v -0.01756008 0.03063926 0.00772132
+v -0.01895823 0.03075361 0.00810717
+v -0.01895823 0.01251075 0.00686475
+v -0.01770956 0.01296814 0.00686475
+v -0.01754835 0.02756737 0.00740347
+v -0.01754835 0.03063926 0.00771903
+v -0.01754835 0.03062690 0.00771699
+v -0.01795344 0.02917440 0.00759041
+v -0.01895823 0.02917440 0.00782778
+v -0.01888839 0.01269927 0.00686475
+v -0.01895823 0.02756737 0.00765255
+v -0.01830581 0.02756737 0.00751298
+v -0.01789589 0.01297741 0.00686475
+v -0.01754835 0.02917440 0.00751503
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 19
+f 1 19 9
+f 1 9 4
+f 1 4 12
+f 1 12 23
+f 1 23 30
+f 1 30 36
+f 1 36 45
+f 1 45 38
+f 1 38 37
+f 1 37 31
+f 1 31 26
+f 1 26 16
+f 1 16 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 3 5 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 8
+f 5 7 14
+f 5 14 15
+f 5 15 13
+f 6 16 17
+f 6 17 7
+f 7 17 14
+f 9 18 10
+f 9 19 15
+f 9 15 25
+f 9 25 24
+f 9 24 28
+f 9 28 33
+f 9 33 40
+f 9 40 42
+f 9 42 34
+f 9 34 29
+f 9 29 20
+f 9 20 18
+f 10 18 20
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 12
+f 12 22 23
+f 13 15 19
+f 14 17 24
+f 14 24 25
+f 14 25 15
+f 16 26 27
+f 16 27 17
+f 17 27 28
+f 17 28 24
+f 20 29 21
+f 21 29 34
+f 21 34 41
+f 21 41 44
+f 21 44 35
+f 21 35 30
+f 21 30 23
+f 21 23 22
+f 26 31 27
+f 27 31 32
+f 27 32 33
+f 27 33 28
+f 30 35 36
+f 31 37 32
+f 32 37 38
+f 32 38 39
+f 32 39 40
+f 32 40 33
+f 34 42 43
+f 34 43 36
+f 34 36 41
+f 35 44 36
+f 36 43 45
+f 36 44 41
+f 38 45 39
+f 39 45 43
+f 39 43 42
+f 39 42 40
+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_45.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edf47e4768469cd51541fac472ff3e8b695a558a
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_45.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00666748 -0.01588002 0.05582285
+v 0.00666748 -0.01745034 0.05552942
+v 0.00666748 -0.01442386 0.05572339
+v 0.00166996 -0.01442385 0.05182426
+v 0.00666748 -0.01765093 0.05548466
+v 0.00145514 -0.01442385 0.05164024
+v 0.00666748 -0.01442369 0.00802865
+v 0.00666748 -0.01784755 0.05541502
+v 0.00145514 -0.01750102 0.04981500
+v 0.00183732 -0.01751116 0.05035710
+v 0.00249608 -0.01806268 0.05095887
+v 0.00404983 -0.01819979 0.05264484
+v 0.00381460 -0.01712719 0.05288358
+v 0.00565053 -0.01819451 0.05427114
+v 0.00145514 -0.01442368 0.00501478
+v 0.00666748 -0.01587940 0.00800875
+v 0.00605415 -0.01442368 0.00501478
+v 0.00666748 -0.01889503 0.05496244
+v 0.00209144 -0.01878259 0.04987965
+v 0.00145514 -0.01892764 0.04873577
+v 0.00267161 -0.01892765 0.05051624
+v 0.00354722 -0.01892765 0.05159049
+v 0.00368295 -0.01892765 0.05175461
+v 0.00424730 -0.01892765 0.05240612
+v 0.00505709 -0.01892766 0.05326652
+v 0.00520251 -0.01892766 0.05342069
+v 0.00583014 -0.01892766 0.05407718
+v 0.00666748 -0.01892766 0.05494752
+v 0.00145514 -0.01594111 0.00501477
+v 0.00666748 -0.01772747 0.00841656
+v 0.00595668 -0.01537637 0.00501477
+v 0.00188274 -0.01892764 0.04942209
+v 0.00229860 -0.01892764 0.05003382
+v 0.00145514 -0.01892750 0.01082864
+v 0.00666748 -0.01892749 0.00904817
+v 0.00328800 -0.01587542 0.00501477
+v 0.00274508 -0.01686383 0.00568121
+v 0.00198224 -0.01686383 0.00568121
+v 0.00145667 -0.01892750 0.01006275
+v 0.00145514 -0.01656492 0.00622330
+v 0.00594444 -0.01541781 0.00501477
+v 0.00591433 -0.01892749 0.00909791
+v 0.00481114 -0.01581018 0.00501477
+v 0.00501015 -0.01892749 0.00929187
+f 1 2 5
+f 1 5 8
+f 1 8 18
+f 1 18 28
+f 1 28 35
+f 1 35 30
+f 1 30 16
+f 1 16 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 17
+f 3 17 15
+f 3 15 6
+f 3 6 4
+f 5 6 8
+f 6 9 10
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 8
+f 6 15 29
+f 6 29 40
+f 6 40 34
+f 6 34 20
+f 6 20 9
+f 7 16 17
+f 8 14 18
+f 9 19 11
+f 9 11 10
+f 9 20 19
+f 11 19 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 14
+f 12 14 13
+f 14 28 18
+f 15 17 31
+f 15 31 41
+f 15 41 43
+f 15 43 36
+f 15 36 29
+f 16 30 17
+f 17 30 31
+f 19 20 32
+f 19 32 33
+f 19 33 21
+f 20 34 39
+f 20 39 44
+f 20 44 42
+f 20 42 35
+f 20 35 28
+f 20 28 27
+f 20 27 26
+f 20 26 25
+f 20 25 24
+f 20 24 23
+f 20 23 22
+f 20 22 21
+f 20 21 33
+f 20 33 32
+f 29 36 37
+f 29 37 38
+f 29 38 39
+f 29 39 40
+f 30 35 31
+f 31 35 41
+f 34 40 39
+f 35 42 38
+f 35 38 37
+f 35 37 43
+f 35 43 41
+f 36 43 37
+f 38 42 44
+f 38 44 39
+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_46.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8d1c12eab6d45354460f514e9c4dcf0b7fb187d
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_46.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.00376225 0.01982873 0.07319585
+v -0.00376225 0.02336603 0.07145886
+v -0.00476382 0.02320467 0.07145886
+v -0.00476382 0.01956296 0.07319585
+v -0.00376225 -0.00348325 0.07319577
+v -0.00376225 -0.00082868 0.07145877
+v -0.00476382 0.00124687 0.07145877
+v -0.00476382 -0.00888727 0.07319575
+v -0.00376970 -0.00622323 0.07319576
+v -0.00382216 -0.00783368 0.07319575
+v -0.00416366 -0.00783368 0.07244296
+v -0.00476382 -0.00773875 0.07146282
+v -0.00476382 -0.00895372 0.07296279
+v -0.00455684 -0.00887145 0.07319575
+v -0.00405914 -0.00838420 0.07319575
+v -0.00476382 -0.00895688 0.07292402
+v -0.00447997 -0.00884298 0.07319575
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 17
+f 1 17 15
+f 1 15 10
+f 1 10 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 12
+f 3 12 16
+f 3 16 13
+f 3 13 8
+f 3 8 4
+f 5 9 6
+f 6 9 10
+f 6 10 11
+f 6 11 12
+f 6 12 7
+f 8 13 14
+f 10 15 11
+f 11 15 12
+f 12 15 16
+f 13 16 14
+f 14 16 17
+f 15 17 16
+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_47.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf734edc31728104297db50c539b69566f19b5a6
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_47.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.00799156 0.04981605 0.01954769
+v -0.00659338 0.04966098 0.01954769
+v -0.00654485 0.04963116 0.01949735
+v -0.00714452 0.04930314 0.01875701
+v -0.00799156 0.04935085 0.01868935
+v -0.00799156 -0.00578070 0.01954749
+v -0.00654269 0.04965502 0.01954769
+v -0.00633147 0.04962520 0.01954769
+v -0.00598448 0.04921368 0.01891096
+v -0.00607231 0.04921964 0.01889691
+v -0.00654485 0.04877234 0.01812160
+v -0.00799156 0.04876638 0.01783625
+v -0.00799156 0.04880216 0.01788757
+v -0.00799156 -0.00990780 0.01620892
+v -0.00730111 -0.01035511 0.01620892
+v -0.00598448 -0.01111254 0.01620892
+v -0.00653561 -0.00638307 0.01954749
+v -0.00598448 0.04955959 0.01954769
+v -0.00598448 0.04915404 0.01882565
+v -0.00598448 0.04859938 0.01803367
+v -0.00598448 0.04784196 0.01695536
+v -0.00644955 0.04788967 0.01689260
+v -0.00799156 0.04799106 0.01674552
+v -0.00799156 0.04757954 0.01620913
+v -0.00598448 0.04723363 0.01620913
+v -0.00598448 -0.00649042 0.01954749
+v -0.00644955 0.04734694 0.01620913
+v -0.00799156 0.04796720 0.01671218
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 12
+f 1 12 23
+f 1 23 28
+f 1 28 24
+f 1 24 14
+f 1 14 6
+f 1 6 17
+f 1 17 26
+f 1 26 18
+f 1 18 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
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+f 4 11 12
+f 4 12 13
+f 4 13 5
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+f 6 16 17
+f 8 18 9
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+f 9 11 10
+f 9 18 26
+f 9 26 16
+f 9 16 25
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+f 9 21 20
+f 9 20 19
+f 11 19 20
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+f 14 27 25
+f 14 25 16
+f 14 16 15
+f 16 26 17
+f 21 25 27
+f 21 27 22
+f 22 28 23
+f 22 27 24
+f 22 24 28
+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_48.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e035d2cf3978c7251836c373e890fd1f45a682d
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_48.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.00145571 -0.01860938 0.00087755
+v 0.00320257 -0.01869929 0.00080096
+v 0.00320257 -0.01876620 0.00182797
+v 0.00145571 -0.01857454 0.00189020
+v 0.00145571 -0.01748447 0.00063473
+v 0.00159417 -0.01748795 0.00061776
+v 0.00423176 -0.01848392 0.00090018
+v 0.00320257 -0.01748795 0.00064735
+v 0.00478501 -0.01745241 0.00083360
+v 0.00423465 -0.01847696 0.00182797
+v 0.00408581 -0.01834733 0.00266655
+v 0.00320257 -0.01835987 0.00266916
+v 0.00203031 -0.01832711 0.00264915
+v 0.00145571 -0.01594071 0.00501477
+v 0.00145571 -0.01733393 0.00061863
+v 0.00145571 -0.01266146 0.00056946
+v 0.00503827 -0.01776536 0.00182797
+v 0.00578536 -0.01689135 0.00091280
+v 0.00585401 -0.01696106 0.00182798
+v 0.00597574 -0.01587936 0.00087625
+v 0.00320257 -0.01266146 0.00061690
+v 0.00576344 -0.01684536 0.00274707
+v 0.00594458 -0.01541729 0.00501477
+v 0.00481097 -0.01580968 0.00501477
+v 0.00328795 -0.01587450 0.00501477
+v 0.00145571 -0.01313123 0.00501478
+v 0.00145571 -0.01164598 0.00062691
+v 0.00153821 -0.01164598 0.00062605
+v 0.00159417 -0.01164598 0.00062561
+v 0.00218780 -0.01164598 0.00064041
+v 0.00734876 -0.01527370 0.00290069
+v 0.00734876 -0.01527370 0.00227665
+v 0.00734876 -0.01471473 0.00227666
+v 0.00593016 -0.01427076 0.00090716
+v 0.00319334 -0.01164598 0.00075790
+v 0.00359833 -0.01164598 0.00082231
+v 0.00465232 -0.01277437 0.00083274
+v 0.00595670 -0.01537547 0.00501477
+v 0.00350141 -0.01164600 0.00501479
+v 0.00145571 -0.01164599 0.00280715
+v 0.00734876 -0.01471473 0.00290070
+v 0.00607381 -0.01423174 0.00501478
+v 0.00674186 -0.01421501 0.00177403
+v 0.00598612 -0.01326992 0.00182799
+v 0.00609054 -0.01317583 0.00344249
+v 0.00572478 -0.01338561 0.00095416
+v 0.00395485 -0.01164598 0.00108646
+v 0.00440426 -0.01164600 0.00501479
+v 0.00586439 -0.01326087 0.00463879
+v 0.00574959 -0.01340444 0.00501478
+v 0.00445733 -0.01164599 0.00186325
+v 0.00463617 -0.01164599 0.00348080
+v 0.00459636 -0.01164600 0.00413878
+f 1 2 3
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+f 1 4 14
+f 1 14 26
+f 1 26 40
+f 1 40 27
+f 1 27 16
+f 1 16 15
+f 1 15 5
+f 1 5 6
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+f 3 7 10
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+f 41 45 49
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+f 43 46 44
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+f 45 53 48
+f 45 48 49
+f 46 47 51
+f 48 50 49
+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_49.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..098123dc3364afaa2afb31f74b70b7368d1ca19f
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_49.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.01754835 0.00432743 0.00946635
+v -0.01809023 0.00235784 0.00946634
+v -0.01754835 -0.00803213 0.00946630
+v -0.01754835 -0.00489627 0.00686468
+v -0.01771655 -0.00478859 0.00686468
+v -0.01895325 -0.00490111 0.00686468
+v -0.01884928 -0.00544553 0.00946631
+v -0.01778298 -0.00789058 0.00946630
+v -0.01856898 -0.00707153 0.00737099
+v -0.01754835 -0.00750707 0.00736488
+v -0.01754835 -0.00705459 0.00686467
+v -0.01890580 -0.00627547 0.00686468
+v -0.01884323 -0.00622344 0.00946631
+v -0.01779784 -0.00788090 0.00946630
+v -0.01865838 -0.00651138 0.00686468
+v -0.01771009 -0.00736310 0.00721919
+v -0.01856898 -0.00707153 0.00765114
+v -0.01886042 -0.00640613 0.00686468
+v -0.01754835 -0.00741754 0.00721945
+v -0.01771009 -0.00699894 0.00686467
+f 1 2 7
+f 1 7 13
+f 1 13 14
+f 1 14 8
+f 1 8 3
+f 1 3 10
+f 1 10 19
+f 1 19 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 4 11 20
+f 4 20 15
+f 4 15 18
+f 4 18 12
+f 4 12 6
+f 4 6 5
+f 6 12 13
+f 6 13 7
+f 8 14 9
+f 9 15 16
+f 9 16 10
+f 9 14 17
+f 9 17 18
+f 9 18 15
+f 10 16 19
+f 11 19 16
+f 11 16 20
+f 12 18 13
+f 13 18 17
+f 13 17 14
+f 15 20 16
+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_5.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..762302368992663d3241bb12f6738a86e44c576a
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_5.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v -0.00001189 -0.00612401 0.08094685
+v -0.00001189 -0.00551060 0.07319593
+v 0.00015347 -0.00564891 0.07319593
+v 0.00031293 -0.00578121 0.07319593
+v 0.00478566 -0.00941637 0.07319592
+v 0.00555343 -0.01029437 0.08094683
+v -0.00001189 0.01308912 0.08094692
+v -0.00001189 0.02035044 0.07319602
+v 0.00642159 -0.01014099 0.07319591
+v 0.00642159 -0.01036352 0.08094683
+v -0.00000402 0.01309212 0.08094692
+v 0.00143899 0.01356719 0.08094692
+v 0.00155710 0.01359124 0.08094692
+v 0.00320288 0.01390094 0.08094692
+v 0.00481125 0.01399415 0.08094692
+v 0.00159451 0.02035345 0.07319602
+v 0.00810871 -0.01008687 0.07319591
+v 0.00779373 -0.01029738 0.08094683
+v 0.00642159 0.01388290 0.08094692
+v 0.00320288 0.02025423 0.07319602
+v 0.00963834 -0.00987039 0.07319591
+v 0.00788625 -0.01028535 0.08094683
+v 0.00481125 0.01999866 0.07319602
+v 0.00684485 0.01381074 0.08094692
+v 0.00950250 -0.00998167 0.08094683
+v 0.00847684 -0.01019514 0.08094683
+v 0.01124474 -0.00949154 0.07319592
+v 0.00642159 0.01959575 0.07319602
+v 0.00803981 0.01356719 0.08094692
+v 0.01123883 -0.00942843 0.08094684
+v 0.01150066 -0.00940434 0.07319592
+v 0.00793744 0.01912970 0.07319602
+v 0.00963834 0.01301695 0.08094692
+v 0.01286295 -0.00893529 0.07319592
+v 0.01245348 -0.00887218 0.08094684
+v 0.00963834 0.01832089 0.07319602
+v 0.01078014 0.01247875 0.08094692
+v 0.01325274 -0.00875188 0.07319592
+v 0.01392602 -0.00841512 0.07319592
+v 0.01443195 -0.00812948 0.07319592
+v 0.01325865 -0.00834299 0.08094684
+v 0.01118962 0.01751508 0.07319601
+v 0.01158728 0.01199466 0.08094691
+v 0.01564660 -0.00732066 0.07319592
+v 0.01626081 -0.00679448 0.07319593
+v 0.01413863 -0.00754019 0.08094684
+v 0.01303619 0.01622819 0.07319601
+v 0.01285705 0.01109264 0.08094691
+v 0.01644980 -0.00661408 0.07319593
+v 0.01494183 -0.00661411 0.08094685
+v 0.01721363 -0.00579624 0.07319593
+v 0.01383546 0.01557272 0.07319601
+v 0.01352638 0.01055743 0.08094691
+v 0.01790659 -0.00486114 0.07319593
+v 0.01553242 -0.00580830 0.08094685
+v 0.01462685 0.01484509 0.07319600
+v 0.01416422 0.00988994 0.08094691
+v 0.01536705 0.01411745 0.07319600
+v 0.01803258 -0.00468074 0.07319593
+v 0.01553636 -0.00580229 0.08094685
+v 0.01503829 0.00887065 0.08094690
+v 0.01625294 0.01312523 0.07319600
+v 0.01617222 0.01321844 0.07319600
+v 0.01610332 0.01329661 0.07319600
+v 0.01824126 -0.00431392 0.07319593
+v 0.01622144 -0.00461462 0.08094685
+v 0.01508357 0.00881653 0.08094690
+v 0.01689471 0.01230739 0.07319600
+v 0.01881019 -0.00330966 0.07319594
+v 0.01896374 -0.00299997 0.07319594
+v 0.01675888 -0.00349010 0.08094686
+v 0.01561116 0.00801072 0.08094690
+v 0.01743018 0.01152564 0.07319599
+v 0.01943621 -0.00178223 0.07319594
+v 0.01955433 -0.00146051 0.07319594
+v 0.01704236 -0.00268429 0.08094686
+v 0.01641043 0.00650734 0.08094689
+v 0.01827866 0.01002828 0.07319599
+v 0.01764673 0.01119489 0.07319599
+v 0.01738096 -0.00139439 0.08094686
+v 0.01704433 -0.00267827 0.08094686
+v 0.01991656 0.00021425 0.07319595
+v 0.01645964 0.00639910 0.08094689
+v 0.01863301 0.00933372 0.07319598
+v 0.01760933 0.00021422 0.08094687
+v 0.01994412 0.00043975 0.07319595
+v 0.01680022 0.00563539 0.08094689
+v 0.01908383 0.00829038 0.07319598
+v 0.02009374 0.00182286 0.07319596
+v 0.02009964 0.00230394 0.07319596
+v 0.01762114 0.00182283 0.08094688
+v 0.01921179 0.00793558 0.07319598
+v 0.01702464 0.00498292 0.08094689
+v 0.01762114 0.00182884 0.08094688
+v 0.02009767 0.00343147 0.07319596
+v 0.01959567 0.00663967 0.07319597
+v 0.01741640 0.00343745 0.08094688
+v 0.02005633 0.00385241 0.07319596
+v 0.01992837 0.00503707 0.07319597
+v 0.01962520 0.00651940 0.07319597
+v 0.01989294 0.00522349 0.07319597
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 18
+f 1 18 22
+f 1 22 26
+f 1 26 25
+f 1 25 30
+f 1 30 35
+f 1 35 41
+f 1 41 46
+f 1 46 50
+f 1 50 55
+f 1 55 60
+f 1 60 66
+f 1 66 71
+f 1 71 76
+f 1 76 81
+f 1 81 80
+f 1 80 85
+f 1 85 91
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+f 1 53 48
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+f 1 43 37
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+f 2 49 45
+f 2 45 44
+f 2 44 40
+f 2 40 39
+f 2 39 38
+f 2 38 34
+f 2 34 31
+f 2 31 27
+f 2 27 21
+f 2 21 17
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+f 2 9 5
+f 2 5 4
+f 2 4 3
+f 5 9 6
+f 6 9 10
+f 7 11 8
+f 8 11 12
+f 8 12 13
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 9 17 10
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+f 21 25 26
+f 21 26 22
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+f 23 24 29
+f 23 29 28
+f 25 27 30
+f 27 31 30
+f 28 29 32
+f 29 33 32
+f 30 31 34
+f 30 34 35
+f 32 33 37
+f 32 37 36
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+f 35 39 40
+f 35 40 41
+f 36 37 42
+f 37 43 42
+f 40 44 41
+f 41 44 45
+f 41 45 46
+f 42 43 47
+f 43 48 47
+f 45 49 46
+f 46 49 51
+f 46 51 50
+f 47 48 53
+f 47 53 52
+f 50 51 54
+f 50 54 55
+f 52 53 56
+f 53 57 58
+f 53 58 56
+f 54 59 55
+f 55 59 60
+f 57 61 62
+f 57 62 63
+f 57 63 64
+f 57 64 58
+f 59 65 66
+f 59 66 60
+f 61 67 62
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+f 65 69 66
+f 66 69 70
+f 66 70 71
+f 67 72 79
+f 67 79 73
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+f 77 84 78
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+f 90 95 94
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+f 93 97 96
+f 94 95 98
+f 94 98 99
+f 94 99 97
+f 96 97 100
+f 97 99 101
+f 97 101 100
+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_50.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d48a8d411e53326eb6d2ee236a7986f73d65f862
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_50.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.00145514 -0.00826339 0.01620860
+v 0.00145514 -0.00826336 0.00843916
+v -0.00154606 -0.00826339 0.01620860
+v 0.00145514 -0.02496225 0.01620854
+v -0.00154606 -0.00826336 0.00921755
+v 0.00145514 -0.00973284 0.00802754
+v -0.00154606 -0.01028860 0.00802754
+v -0.00154606 -0.01943410 0.01620856
+v 0.00126095 -0.02468437 0.01620854
+v -0.00154606 -0.02109482 0.01300212
+v -0.00154606 -0.02109482 0.01296848
+v -0.00106809 -0.02162442 0.01221252
+v 0.00063022 -0.02333092 0.01194664
+v 0.00145514 -0.02408282 0.01146215
+v 0.00145514 -0.01678605 0.00802752
+v -0.00154606 -0.01531820 0.00802752
+v -0.00154606 -0.02102127 0.01315988
+v -0.00110334 -0.02053744 0.01620855
+v 0.00092546 -0.02416294 0.01620854
+v 0.00060995 -0.02365132 0.01620854
+v -0.00154606 -0.02089539 0.01179450
+v 0.00145514 -0.02400600 0.01135004
+v -0.00154606 -0.02085290 0.01172883
+v 0.00145514 -0.02343226 0.01069898
+v 0.00088052 -0.02295333 0.01086956
+v -0.00154606 -0.01967600 0.01087838
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 18
+f 1 18 20
+f 1 20 19
+f 1 19 9
+f 1 9 4
+f 1 4 14
+f 1 14 22
+f 1 22 24
+f 1 24 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 16
+f 3 16 26
+f 3 26 23
+f 3 23 21
+f 3 21 11
+f 3 11 10
+f 3 10 17
+f 3 17 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 6 15 16
+f 6 16 7
+f 8 17 18
+f 9 19 10
+f 10 19 20
+f 10 20 18
+f 10 18 17
+f 11 21 12
+f 12 14 13
+f 12 21 14
+f 14 21 23
+f 14 23 22
+f 15 24 16
+f 16 24 25
+f 16 25 26
+f 22 25 24
+f 22 23 25
+f 23 26 25
+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_51.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2de04e283fa19003795023fe05d7f1871e50fde4
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_51.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.01072924 -0.01164620 0.05857575
+v 0.01072924 -0.01106409 0.05831216
+v 0.00682008 -0.00823713 0.06068979
+v 0.00614462 -0.00887901 0.06068979
+v 0.00650995 -0.01164618 0.05484325
+v 0.01072924 -0.01164601 0.00751745
+v 0.01072924 -0.01004852 0.05775861
+v 0.00640583 -0.00823446 0.06068979
+v 0.01072924 -0.00831327 0.05655662
+v 0.01072924 -0.00823445 0.05647755
+v 0.00614462 -0.00823446 0.06068979
+v 0.00614462 -0.01164618 0.05442150
+v 0.00614462 -0.01164601 0.00701135
+v 0.00614462 -0.01113071 0.00683210
+v 0.01072924 -0.01053526 0.00730657
+v 0.01072924 -0.00823427 0.00696391
+v 0.00614462 -0.00823427 0.00740148
+v 0.00614462 -0.00928224 0.00705353
+v 0.00625952 -0.00928224 0.00704299
+v 0.01072924 -0.00892624 0.00706408
+v 0.00666838 -0.00823427 0.00730658
+v 0.00625952 -0.00823427 0.00735930
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 13
+f 1 13 6
+f 1 6 15
+f 1 15 20
+f 1 20 16
+f 1 16 10
+f 1 10 9
+f 1 9 7
+f 1 7 2
+f 2 7 3
+f 3 8 11
+f 3 11 4
+f 3 7 9
+f 3 9 10
+f 3 10 8
+f 4 11 17
+f 4 17 18
+f 4 18 14
+f 4 14 13
+f 4 13 12
+f 4 12 5
+f 6 13 14
+f 6 14 15
+f 8 10 16
+f 8 16 21
+f 8 21 22
+f 8 22 17
+f 8 17 11
+f 14 18 19
+f 14 19 16
+f 14 16 20
+f 14 20 15
+f 16 19 21
+f 17 22 18
+f 18 22 21
+f 18 21 19
+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_52.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab25d1aef4ef7622928e09b2810ba1179950d615
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_52.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.00802774 0.01907135 0.07319602
+v 0.00963711 0.01832018 0.07319602
+v 0.00963711 0.03400031 0.06640978
+v 0.00802774 0.03402020 0.06670569
+v 0.00802774 -0.00823451 0.07319592
+v 0.00971512 0.01828038 0.07319602
+v 0.01072898 0.03407991 0.06613598
+v 0.01072898 0.03488580 0.06577745
+v 0.00963711 0.03523900 0.06583638
+v 0.00802774 0.03566682 0.06592479
+v 0.00802774 -0.00823448 0.06496937
+v 0.01072898 -0.00823451 0.07319592
+v 0.01072898 0.01774312 0.07319602
+v 0.01072898 0.03501017 0.06571974
+v 0.00802774 0.03578124 0.06586708
+v 0.00963711 0.03604490 0.06541032
+v 0.00843683 0.03627373 0.06553679
+v 0.00845269 -0.00823448 0.06475818
+v 0.00802774 -0.00689628 0.06065350
+v 0.01072898 -0.00823448 0.06407672
+v 0.01072898 0.03573150 0.06532806
+v 0.00802774 0.03696023 0.06520651
+v 0.01072898 0.03695028 0.06460732
+v 0.00963711 0.03721892 0.06470555
+v 0.00802774 0.03709455 0.06512547
+v 0.01072898 -0.00384185 0.06065352
+v 0.00802774 0.04253684 0.06065369
+v 0.01072898 0.03724379 0.06442806
+v 0.01072898 0.03771140 0.06414197
+v 0.01046507 0.03803476 0.06400445
+v 0.00963711 0.03816907 0.06410022
+v 0.00802853 0.03842278 0.06427826
+v 0.00802774 0.03842278 0.06427826
+v 0.01072898 0.04178069 0.06065368
+v 0.00802774 0.04186525 0.06137688
+v 0.00802800 0.04258659 0.06065369
+v 0.01072898 0.03831335 0.06370608
+v 0.01072898 0.03971620 0.06261454
+v 0.00963711 0.03897498 0.06349612
+v 0.00802853 0.03922869 0.06369135
+v 0.00802774 0.03922869 0.06369135
+v 0.00963711 0.04214384 0.06065368
+v 0.01072898 0.04147226 0.06099502
+v 0.00802853 0.04186525 0.06137688
+v 0.00802774 0.04102454 0.06218480
+v 0.00963711 0.04165135 0.06116691
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+v 0.00963711 0.03999478 0.06268821
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+v 0.00963711 0.04080068 0.06197484
+v 0.01072898 0.04119866 0.06125409
+v 0.01072898 0.04052707 0.06187906
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diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_53.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e93670f1bf5d28cf656d3b140c05962b510fa5b
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_53.obj
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+f 225 229 226
+f 226 228 227
+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_6.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b23be48373ede0f3d5057133baa45fe0771b162a
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_6.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.02133490 -0.02875322 0.04865561
+v -0.02155821 -0.02974667 0.04865561
+v -0.02159699 -0.02974331 0.04739631
+v -0.02304612 -0.02870347 0.03480016
+v -0.02133725 -0.02870352 0.04860954
+v -0.02133843 -0.02870352 0.04865561
+v -0.02151472 -0.02870352 0.04972910
+v -0.02151355 -0.02875322 0.04972910
+v -0.02163695 -0.02962381 0.04955556
+v -0.02300851 -0.03145769 0.04542594
+v -0.02295562 -0.03167268 0.04381188
+v -0.02482198 -0.03293024 0.03480015
+v -0.03312305 -0.02870347 0.03480016
+v -0.02270999 -0.02870352 0.05034646
+v -0.02414619 -0.02870353 0.05048929
+v -0.02216230 -0.02962381 0.04955556
+v -0.02318246 -0.03124940 0.04638272
+v -0.02469858 -0.03295762 0.04192599
+v -0.02462689 -0.03302352 0.04058528
+v -0.02652498 -0.03440506 0.03640192
+v -0.02579630 -0.03365508 0.03480015
+v -0.03325938 -0.02870347 0.03569857
+v -0.02834197 -0.03298273 0.03480015
+v -0.02842189 -0.03308939 0.03573849
+v -0.02495714 -0.02870352 0.05027121
+v -0.02323417 -0.02954117 0.04943577
+v -0.02358088 -0.03124940 0.04638272
+v -0.02654026 -0.03439557 0.03819873
+v -0.02652028 -0.03440842 0.03735407
+v -0.02661077 -0.03440506 0.03640192
+v -0.02738764 -0.03361320 0.03480015
+v -0.03334048 -0.02870348 0.03735409
+v -0.02801642 -0.03321560 0.03480015
+v -0.02723368 -0.03395552 0.03581374
+v -0.02741820 -0.03386506 0.03735408
+v -0.02742525 -0.03385948 0.03735408
+v -0.02838428 -0.03306036 0.03735408
+v -0.02575516 -0.02870352 0.05002396
+v -0.02548014 -0.03295762 0.04192599
+v -0.02658139 -0.03439557 0.03819873
+v -0.02662253 -0.02959198 0.04792306
+v -0.02661547 -0.03440842 0.03735407
+v -0.02727716 -0.03385947 0.03552962
+v -0.02795648 -0.03325413 0.03480015
+v -0.03327584 -0.02870348 0.03787471
+v -0.03269524 -0.02870349 0.04058529
+v -0.03312893 -0.02870348 0.03889751
+v -0.02729362 -0.02870352 0.04866636
+v -0.02591148 -0.03260023 0.04235906
+v -0.02810574 -0.03112598 0.04292269
+v -0.03193483 -0.02870350 0.04219936
+v -0.03218634 -0.02870349 0.04172942
+v -0.02774140 -0.02924798 0.04704155
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 12
+f 3 12 4
+f 4 12 21
+f 4 21 31
+f 4 31 44
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+f 4 33 23
+f 4 23 13
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+f 4 46 52
+f 4 52 51
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+f 4 25 15
+f 4 15 14
+f 4 14 7
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+f 7 14 8
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+f 9 14 15
+f 9 15 16
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+f 9 17 10
+f 10 18 11
+f 10 17 18
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+f 30 42 35
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+f 33 44 34
+f 34 44 43
+f 35 42 40
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+f 37 47 45
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+f 40 49 41
+f 40 41 50
+f 40 50 51
+f 40 51 52
+f 40 52 46
+f 41 48 53
+f 41 53 50
+f 48 51 53
+f 50 53 51
+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_7.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af39755c4e6be4ff7c854500b44d15e090a1758f
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_7.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.02135374 0.00745597 0.00202511
+v -0.02006696 0.00745597 0.00183033
+v -0.02135374 0.00745596 0.00446440
+v -0.02135374 0.01351179 0.00151069
+v -0.02092705 0.01308491 0.00141789
+v -0.01870582 0.01221375 0.00101228
+v -0.01776771 0.00745597 0.00170373
+v -0.02106237 0.00745596 0.00449705
+v -0.01761775 0.00859430 0.00686473
+v -0.01892526 0.00902875 0.00686473
+v -0.01913129 0.00985830 0.00686474
+v -0.01934098 0.01147575 0.00686474
+v -0.02135374 0.01313031 0.00445525
+v -0.02135374 0.01471372 0.00203659
+v -0.01848577 0.01230003 0.00101229
+v -0.01870582 0.01230003 0.00101229
+v -0.01848577 0.01221375 0.00101228
+v -0.01610178 0.00745597 0.00170144
+v -0.01988592 0.00745596 0.00436816
+v -0.01655956 0.00979093 0.00686474
+v -0.01689908 0.00745597 0.00366123
+v -0.01610178 0.00745597 0.00339886
+v -0.01514843 0.00745597 0.00285348
+v -0.01927515 0.01166119 0.00686474
+v -0.02135374 0.01413394 0.00435214
+v -0.02135374 0.01490900 0.00216205
+v -0.02106115 0.01471902 0.00210304
+v -0.01931842 0.01417633 0.00223365
+v -0.01835898 0.01396289 0.00250691
+v -0.01788657 0.01296305 0.00188879
+v -0.01669305 0.01255358 0.00234651
+v -0.01637486 0.01147577 0.00202684
+v -0.01596524 0.00995217 0.00193461
+v -0.01610178 0.00825827 0.00167050
+v -0.01514843 0.00745597 0.00231842
+v -0.01512710 0.00825827 0.00227488
+v -0.01652116 0.00994080 0.00686474
+v -0.01512710 0.00825827 0.00289931
+v -0.01625356 0.01120025 0.00686474
+v -0.01888808 0.01269736 0.00686475
+v -0.02135374 0.01491656 0.00341377
+v -0.01789632 0.01297514 0.00686475
+v -0.02135374 0.01509595 0.00233621
+v -0.01757752 0.01358975 0.00344299
+v -0.01656809 0.01278518 0.00344299
+v -0.02135374 0.01518677 0.00298699
+v -0.02135374 0.01518677 0.00303626
+v -0.01838153 0.01394700 0.00344299
+v -0.01519963 0.00947155 0.00242956
+v -0.01519963 0.00947155 0.00281625
+v -0.01625539 0.01147575 0.00686474
+v -0.01770980 0.01296681 0.00686475
+v -0.01785792 0.01360185 0.00490610
+v -0.01655773 0.01282907 0.00505734
+v -0.01601766 0.01147577 0.00344298
+v -0.01650653 0.01240748 0.00686475
+v -0.01660528 0.01262092 0.00686475
+f 1 2 7
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+f 1 18 35
+f 1 35 23
+f 1 23 22
+f 1 22 21
+f 1 21 19
+f 1 19 8
+f 1 8 3
+f 1 3 13
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+f 1 14 4
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+f 50 56 51
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+f 53 57 54
+f 54 57 56
+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_8.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db891d6fb2b5e8073133eb3711ce9d973af0da65
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_8.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.01514794 0.00745521 0.00285328
+v -0.01516981 0.00664844 0.00280694
+v -0.01514794 0.00745521 0.00231830
+v -0.01610165 0.00745521 0.00339895
+v -0.01679294 0.00433849 0.00429429
+v -0.01667327 0.00343056 0.00434550
+v -0.01670911 0.00253673 0.00433303
+v -0.01525668 0.00568993 0.00269291
+v -0.01516981 0.00664844 0.00236194
+v -0.01610165 0.00664844 0.00173252
+v -0.01610165 0.00745521 0.00170135
+v -0.01689925 0.00745521 0.00366087
+v -0.02009144 0.00428013 0.00587963
+v -0.02009144 0.00421059 0.00587963
+v -0.01771020 0.00252360 0.00435486
+v -0.01653720 0.00248811 0.00344303
+v -0.02092731 0.00399029 0.00599053
+v -0.02135314 0.00397035 0.00600033
+v -0.01525668 0.00568993 0.00254591
+v -0.01661131 0.00253188 0.00255214
+v -0.01771020 0.00503926 0.00163408
+v -0.01771020 0.00664844 0.00144967
+v -0.01776731 0.00745521 0.00170358
+v -0.01988552 0.00745520 0.00436824
+v -0.02092731 0.00444742 0.00599054
+v -0.01862200 0.00257904 0.00430719
+v -0.01776427 0.00248714 0.00344036
+v -0.02135314 0.00445666 0.00600034
+v -0.02135314 0.00356818 0.00505733
+v -0.01726372 0.00253188 0.00255214
+v -0.01931815 0.00664844 0.00156727
+v -0.01943357 0.00491476 0.00199846
+v -0.02006715 0.00745521 0.00183009
+v -0.02106216 0.00745520 0.00449697
+v -0.01862200 0.00257905 0.00397667
+v -0.02121767 0.00745520 0.00447960
+v -0.02135314 0.00745520 0.00446401
+v -0.02135314 0.00379189 0.00385952
+v -0.01833589 0.00271424 0.00290048
+v -0.01897372 0.00378703 0.00237886
+v -0.02135314 0.00684733 0.00200648
+v -0.02135314 0.00745521 0.00202519
+v -0.02062601 0.00536751 0.00230091
+v -0.02135314 0.00659835 0.00208487
+v -0.02004649 0.00429521 0.00268979
+f 1 2 9
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+f 32 40 43
+f 35 38 39
+f 38 44 43
+f 38 43 45
+f 38 45 40
+f 38 40 39
+f 40 45 43
+
diff --git a/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_9.obj b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e49883cfceae64d1806d9237a58df87133473b7
--- /dev/null
+++ b/dataset/food/ingredients/e5e47eaf22cb5d2888e1e42ca9ee4d42/mjcf/mesh/garlic_003_collision_9.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
+v -0.00966682 0.04908290 0.01818241
+v -0.00805853 0.04900918 0.01818241
+v -0.00966682 0.04884835 0.01782791
+v -0.01127512 0.04801738 0.01669571
+v -0.01143318 0.04891536 0.01808271
+v -0.01136308 0.04898238 0.01818241
+v -0.00799156 0.04900248 0.01818241
+v -0.00805853 0.04880144 0.01787665
+v -0.00966682 0.04804418 0.01667909
+v -0.01127512 0.04742095 0.01588810
+v -0.01255300 0.04794366 0.01679209
+v -0.01152382 0.04896897 0.01818241
+v -0.00799156 0.04880144 0.01788662
+v -0.00799156 -0.00628455 0.01818221
+v -0.00805853 0.04799727 0.01673892
+v -0.00966682 0.04743435 0.01587148
+v -0.00966682 0.04663019 0.01493094
+v -0.01127512 0.04661678 0.01495088
+v -0.01255300 0.04654306 0.01503064
+v -0.01255300 0.04718640 0.01579171
+v -0.01255300 0.04734723 0.01598448
+v -0.01255300 0.04871432 0.01799962
+v -0.01255300 0.04880814 0.01815915
+v -0.01255300 0.04882154 0.01818241
+v -0.00799156 0.04799057 0.01674445
+v -0.01255300 -0.00902544 0.01818220
+v -0.00799156 -0.01911782 0.01422169
+v -0.00805853 0.04738074 0.01593130
+v -0.00805853 0.04657656 0.01500294
+v -0.00966682 0.04587962 0.01412444
+v -0.01127512 0.04587292 0.01414327
+v -0.01255300 0.04638893 0.01486447
+v -0.00799156 0.04737404 0.01593795
+v -0.01255300 -0.01606196 0.01398795
+v -0.01214490 -0.01673880 0.01396911
+v -0.01236502 -0.01687283 0.01313049
+v -0.00799156 -0.01937918 0.01316815
+v -0.00799156 0.04734053 0.01589917
+v -0.00799156 0.04656986 0.01500959
+v -0.00799156 0.04579921 0.01420199
+v -0.00805853 0.04580591 0.01419645
+v -0.00966682 0.04507545 0.01336780
+v -0.01127512 0.04506875 0.01336115
+v -0.01255300 0.04498833 0.01343427
+v -0.01255300 0.04579250 0.01422304
+v -0.01255300 -0.01670530 0.01313049
+v -0.01255300 -0.01673210 0.01238160
+v -0.01239449 -0.01687952 0.01218884
+v -0.00909441 -0.01840746 0.01224976
+v -0.00799156 -0.01869562 0.01213676
+v -0.00799156 0.04499503 0.01345088
+v -0.00805853 0.04500173 0.01344424
+v -0.00966682 0.04417075 0.01256018
+v -0.01127512 0.04418415 0.01255354
+v -0.01255300 0.04480739 0.01326808
+v -0.01255300 -0.01659136 0.01209024
+v -0.00957931 -0.01424584 0.00686576
+v -0.00937258 -0.01437987 0.00686576
+v -0.00799156 -0.01471494 0.00686576
+v -0.00815140 -0.01468814 0.00686576
+v -0.00799156 0.04405012 0.01264327
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