diff --git a/.gitattributes b/.gitattributes
index 432a4617ea3f30c3d1d841d4dfa2f7fb69d9ceb8..397efe5daf4efb0496c2088b78b2b87af7b3a11c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5422,3 +5422,6 @@ dataset/food/ingredients/adb2835e642f511a89dd0954ad55c544/mesh/potato_gs.ply fil
 dataset/food/ingredients/b606f81741f3540397cd565ddc35b2f2/b606f81741f3540397cd565ddc35b2f2.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/b606f81741f3540397cd565ddc35b2f2/mesh/potato.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/b606f81741f3540397cd565ddc35b2f2/mesh/potato_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/b290cd21abe852d8902cae9691d013bb.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mesh/mushroom.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mesh/mushroom_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/b290cd21abe852d8902cae9691d013bb.urdf b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/b290cd21abe852d8902cae9691d013bb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..387263bdf8d686e0c2e5e585d896783e6d6cb34f
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/b290cd21abe852d8902cae9691d013bb.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mushroom">
+   <link name="mushroom">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/mushroom.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/mushroom_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.175000</scale>
+         <version>v0.1.7</version>
+         <category>mushroom</category>
+         <description>realistic brown mushroom with rounded cap and thick stem</description>
+         <min_height>0.060</min_height>
+         <max_height>0.080</max_height>
+         <real_height>0.070</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260119225725</generate_time>
+         <gs_model>mesh/mushroom_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.085944175720215</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/b290cd21abe852d8902cae9691d013bb.usd b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/b290cd21abe852d8902cae9691d013bb.usd
new file mode 100644
index 0000000000000000000000000000000000000000..4031d8e55275bf9c2d5e049eddeffb19618bca37
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/b290cd21abe852d8902cae9691d013bb.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:326a728f34fdb55ce15bd3e1bfeb873ceded8a50498c468b8b094c1911d41b7b
+size 1599029
diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mesh/material.mtl b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mesh/material_0.png b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..05066453e4ab7ad8339b0f09d6eb4680deed8290
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87fc3eb8f6ff3740f8d4293a510a48b9642b1b4a9a40e3fe5fcf2879426332ba
+size 1930234
diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mesh/mushroom.glb b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mesh/mushroom.glb
new file mode 100644
index 0000000000000000000000000000000000000000..31e0dbb7a51961386d7922e72a1046f2af334b3d
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mesh/mushroom.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e97ed91019aa4513ccf7d054296a9117afa78dbc3fa8bd9d7820096d55198ad
+size 3018984
diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mesh/mushroom.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mesh/mushroom.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3acb7b2365f734e9c727808ba5f5e7691b236d8
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mesh/mushroom.obj
@@ -0,0 +1,99768 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mesh/mushroom_collision.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mesh/mushroom_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0a85aee96fdd9b1dc70234678fb0b245c4390d3
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mesh/mushroom_collision.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mesh/mushroom_gs.ply b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mesh/mushroom_gs.ply
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/b290cd21abe852d8902cae9691d013bb.xml b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/b290cd21abe852d8902cae9691d013bb.xml
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+      <geom type="mesh" mesh="collision_mesh_0_87" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_96" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_97" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_99" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/material_0.png b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..05066453e4ab7ad8339b0f09d6eb4680deed8290
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87fc3eb8f6ff3740f8d4293a510a48b9642b1b4a9a40e3fe5fcf2879426332ba
+size 1930234
diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02879f7204bb1c28115f9a04a628169b73d6a359
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom.obj
@@ -0,0 +1,99768 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..729250e838d91fdc5afed9cd696e72b4d68a9068
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision.obj
@@ -0,0 +1,62007 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_0.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ee2e320a5df4bbf1653440d6a548166ce0bd864
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_0.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_1.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20dad17bb4e4eaf9003cbfc5861687be695c1279
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_1.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_10.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52a290895aa96b99fd4a944c9be80f4017fce528
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_10.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_11.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abc74971eecd1059c24ec35469d0e9c11f83afad
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_11.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_12.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12e28c9a73cce1ce1c8e51a00973a01532c6f392
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_12.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_13.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faa6b6f6ec65cd07a4ddf13d26774d5346c3409a
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_13.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_14.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..363c29910ec450c6e2f2a88dda967361ca5648b6
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_14.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_15.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb3d37a5e96c2082666eeb4747d373f3aa28ba21
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_15.obj
@@ -0,0 +1,949 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_16.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c270b4cef1bd519df47a5f7a9fab9706e87f73f
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_16.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_17.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12d9bfa1b3388245d9b99bdf048828da227e2a3b
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_17.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_18.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26073f016869e8ebecbff987de913e7055c7217f
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_18.obj
@@ -0,0 +1,1348 @@
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_19.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8b13c49c5672cf8dfd7979a3289e1dfc997184e
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_19.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_2.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba0bd99557fad4f48b746e6657b655d8e4df2eb8
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_2.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_20.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2dc9276e2aac11a73ca7970ad2f0816daf89ad2
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_20.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_21.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59011c7e524e85f66a9dd69783b1f05eb5d8be56
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_21.obj
@@ -0,0 +1,1240 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_22.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed150d484a347708f93ca3b4b345ab945af88655
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_22.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_23.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..146ccade3ec43e51affa19e6b028689cdcec77ec
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_23.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_24.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c64ae8fd704bcd152fa90ed8ac4842b2c6704a93
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_24.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_25.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..697eac0899673ef282a2ff2b069b99fdfe1603af
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_25.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_26.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d240d06110dd2590f50cbe674ae8b5c3c2c2fb1d
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_26.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_27.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..832388da6cb3a6ceff38d56a33af3ad66bdd863e
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_27.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_28.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..288a7068a9986ed017b17a0060af586fb80d14cc
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_28.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_29.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f9756b34b5f5ac5ac487d14a7208930ecc06c6d
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_29.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_3.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92f5971b5b291b240183abf32f78cc8149020091
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_3.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_30.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33308521f22e5f3ee19bfa654a797b84da43f8b7
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_30.obj
@@ -0,0 +1,1399 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_31.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35b4e1f19a8a1270fd10f73e7ce3a547e703e63a
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_31.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_32.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b01650785963b81aa82412a4867a5d65cfd981ec
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_32.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_33.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7e4a5ee99cf3ad41f2ef62324f1fdf27e3b676a
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_33.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_34.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f99c3198943db412ae37cfee672b44c985eeec26
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_34.obj
@@ -0,0 +1,1573 @@
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_35.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22cccb24de55cfd6fa3a6ec6177c54ab3ddfd96f
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_35.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_36.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc5a3350cf79e77618449b5577245419b994a494
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_36.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_37.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28e9b6e84d0493c838c42241a1ea3201530f4984
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_37.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_38.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1175814bf44df6517f60c5d22df40870399b800
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_38.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_39.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..444c8689f89523615d0041c4bbcb0e083410d570
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_39.obj
@@ -0,0 +1,565 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_4.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73a396e08a16df3485ad8e9e91650ba1e6988add
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_4.obj
@@ -0,0 +1,1498 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_40.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8961e4dfe4a95d06217586cf689b41dfd98e753d
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_40.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_41.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4168ee1adbc8c2c5728c2a4c88acffb1b9fe7d2
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_41.obj
@@ -0,0 +1,1021 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_42.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..834acc07c8492c655e74310366ec4b3c51a42cd5
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_42.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_43.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..702f6c92c7df382ce0e7966df0dbcbb00ba51ebc
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_43.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_44.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cbb0441bdb5afb5ee907fcd01e28536ac86f0d7
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_44.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_45.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c74c5b5da7dc12fcbb94cd37e54d96be4b5d6370
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_45.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_46.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f38f07977487269901888103b8a11d1b2e0b54bf
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_46.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_47.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2d6843dd40b1fc19a327926bc710c62fa5110ef
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_47.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_48.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..975ee3c1225b7491e0bc0242af32d896667c25b2
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_48.obj
@@ -0,0 +1,1429 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_49.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..839c5351f602c99e71405d38ffc9e829c36285a5
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_49.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_5.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79adab15a2dc81557cf841798f9d6480e01d31c2
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_5.obj
@@ -0,0 +1,856 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_50.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3f4ee1d41a6d229a4f85f0738b8c3b644582900
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_50.obj
@@ -0,0 +1,463 @@
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_51.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c6c96156437782ca7356a16e22a923a619bc9d6
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_51.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_52.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0522e4f46f0cf2bafc43b28f6cb6825ebacfbf4f
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_52.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_53.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a8e8d68113988a51f223913654ee759c6ac7a12
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_53.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_54.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ea0e9f6fd24c31d7b09071e1b28ab66ea4290fe
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_54.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_55.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5d6943fba9426d813e08d0244dda361b5624c47
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_55.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_56.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c2056b63cea188357f4ed9fe0b225d26dbf4efa
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_56.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_57.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab654d7624de71dafd9d83b579172bb22237a133
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_57.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_58.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2361cb2321640777ad9e90f5184a6f51ddeb5dab
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_58.obj
@@ -0,0 +1,475 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_59.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ce4fb1734f701db87b93063ef38038fbbcbfd4c
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_59.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_6.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64b6725e9c18d707630adbff0f40d0f29bfc2b84
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_6.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_60.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1bb533ad8d9b08c47a45ef0df12ee7501e5b44f
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_60.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_61.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..592138cbac7c8be37d012261d1029257bc6fa5a7
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_61.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_62.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2265c9ed3f0fa4423573741ca4834fb67471c8c
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_62.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_63.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45d38a9a2485472218988b7bab9c9c5bcea7545b
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_63.obj
@@ -0,0 +1,1726 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_64.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f73560d242ca55031dece21c351fa672780890d
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_64.obj
@@ -0,0 +1,568 @@
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_65.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4177031c504d11dd7ac5acdc3ad88adfee0c62a9
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_65.obj
@@ -0,0 +1,1570 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_66.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff8a9641e1e883c48bda07602a1de65cadc76918
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_66.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_67.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25cff93d0fa73e8478ef847cacd35836f2f7449d
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_67.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_68.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc1a2e3412876d6cb4488d738fda230a747e1eb3
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_68.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_69.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3a87ff4d7ec58b8eeae2d69ac70e0a3e99acde8
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_69.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_7.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89dedd0489914511b8d57ae8069388090f4ee3a6
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_7.obj
@@ -0,0 +1,1027 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_70.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46f294888cae99dfbed0548c84887982f31bf8e1
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_70.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_71.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28b2aa612349ce3f3d64a8287979367972783680
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_71.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_72.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e11597071db56fda0c3ce04903921eb6a999326b
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_72.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_73.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dd371d430c0a961755f8142ea1c0326b5c94a6d
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_73.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_74.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a804b239d054937397a2cc919b3474b33f08b65
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_74.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_75.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd644dbe8761673be4315f64a31b95a1bba8d56f
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_75.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_76.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..887ce0c26cb76d2871255b33e733478eb4d26d89
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_76.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_77.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88bf3a9cc7334d62f3571b90a2309b7be666e1b0
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_77.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_78.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1126bbf593cdfe7a8875bb24eac3e15130c52dd7
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_78.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_79.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3364f99c1a61e756dd4fff9f401cba01d82ad7e
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_79.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_8.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..619c6ec4691262b6bef50559c9c507474741fd8a
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_8.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_80.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbc1cba2c1148e728acc7a481ec5153e68fe87fc
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_80.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_81.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71914be02f184d72d3e75115c3b92bd181c4bc21
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_81.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_82.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..815966ada1113eb064a88e8d2ed349f14320e44a
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_82.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_83.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd3fdd94bc66538b1feda2376784815d373ee3e1
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_83.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_84.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db8e5f80530668a5b9474139292dae27e274487a
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_84.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_85.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..492d908e5a7960f6b2296dc78199670ad8a5eb4f
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_85.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_86.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab1e97bab7d8ea7341436eba3707b85ebcaf211a
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_86.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00824699 -0.02443682 0.02396876
+v 0.00824699 -0.02443681 0.02187339
+v 0.00824699 -0.02193227 0.02396877
+v 0.00349057 -0.02443682 0.02396876
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+
diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_87.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcf181d6a9a69116b65fd60815664bd1bf0d5604
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_87.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.01316326 0.02587048 0.01749391
+v 0.01649626 0.02310992 0.01749451
+v 0.01710260 0.02587048 0.01749391
+v 0.01382574 0.02587049 0.01434124
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+
diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_88.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92f3ceaef7d2551dc4a4db3f5baf5139dcd7d4fa
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_88.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.01453865 0.01613365 0.01635987
+v -0.01088309 0.01613364 0.02003097
+v -0.01088309 0.01402546 0.02116199
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+
diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_89.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f82432a0be9109ceb3ed05f77aea58ddf9e1b22a
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_89.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
+v 0.00061022 0.03304097 0.01324254
+v 0.00061022 0.03304097 0.01324826
+v 0.00175791 0.03304049 0.01324254
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_9.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ba3569ec5edb26eec11909f8716c761664c7c2b
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_9.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_90.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c358bbd0fb92e5cbc60b744f515f74b2da2ba68e
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_90.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_91.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..150f861d4aaa77f692c97807fb4821774d9b4002
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_91.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_92.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40f5e2e2e14b4bb38043d9836c5ec3b401b66fe9
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_92.obj
@@ -0,0 +1,607 @@
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_93.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0888087c4675dab8ab532afa0ff204cbe82b615
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_93.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_94.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..594914b2d90b66544a03dbfb7b38554005316baa
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_94.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_95.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f546e3a2c8dccee3420664fa4230af177ac8792
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_95.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_96.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c740f592a5301315ba5df67570aba7b345dba628
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_96.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_97.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cb70daf1b7d81fa48b1d73eb5bca64f978728a3
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_97.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_98.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c929d4c876b8cc40e52405ea71d5c50b0f656ab
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_98.obj
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diff --git a/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_99.obj b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcbeb0f735ddbfed6e0118edd15f9716fc733dff
--- /dev/null
+++ b/dataset/food/ingredients/b290cd21abe852d8902cae9691d013bb/mjcf/mesh/mushroom_collision_99.obj
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