diff --git a/.gitattributes b/.gitattributes
index adda94ce0bf0a48c20fd0b25d2a675bdb83b915e..84aa489ae272bdead203f82d1d4a0ab3fcc52a81 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3696,5 +3696,5 @@ dataset/food/ingredients/f8ee460103145500805dee37553b1fdb/tomato_001.usd filter=
 dataset/food/ingredients/f8ee460103145500805dee37553b1fdb/tomato_001.usdc filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/5c319d0796c254bbb829452c42a90718/chewing_gum_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/snack/5c319d0796c254bbb829452c42a90718/mesh/chewing_gum_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/food/snack/7d0b5519bd71548887394a7a2e239237/cheese_sticks_004.usd filter=lfs diff=lfs merge=lfs -text
-dataset/food/snack/7d0b5519bd71548887394a7a2e239237/mesh/cheese_sticks_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/7afdc23907745576bc885588017b4b28/biscuit_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/snack/7afdc23907745576bc885588017b4b28/mesh/biscuit_007.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/biscuit_007.urdf b/dataset/food/snack/7afdc23907745576bc885588017b4b28/biscuit_007.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..55a1f9e579026f86b193e30bfa428938aa139d82
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/biscuit_007.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="biscuit_007">
+   <link name="biscuit_007">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/biscuit_007.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/biscuit_007_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>7afdc23907745576bc885588017b4b28</uuid>
+         <domain>food</domain>
+         <super_category>snack</super_category>
+         <category>biscuit</category>
+         <name>packaged biscuits</name>
+         <color>beige</color>
+         <shape>flat</shape>
+         <material>plastic</material>
+         <description>sealed transparent bag containing multiple biscuits with curved shapes</description>
+         <min_height>0.2000</min_height>
+         <max_height>0.2000</max_height>
+         <real_height>0.2000</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506220855</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/biscuit_007.usd b/dataset/food/snack/7afdc23907745576bc885588017b4b28/biscuit_007.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0e071452edc058136a627a220869c6d35b78d619
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/biscuit_007.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c95e000c3ef463fbaada308aa90aa4fdee0f10457e2b758e03c704a62e417fb3
+size 4929660
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mesh/biscuit_007.glb b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mesh/biscuit_007.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6600f47e7dce66772be2eac8e0e8e2bea9a4b147
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mesh/biscuit_007.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f79e543698c0cb94adae6b6c85a62c7c35c1aba3de231dc7e15575862386f535
+size 13989104
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mesh/biscuit_007.mtl b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mesh/biscuit_007.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2815c3bd4c66c4e4317b8899aee8a6c8b07887d3
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mesh/biscuit_007.mtl
@@ -0,0 +1,6 @@
+newmtl biscuit_007_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mesh/biscuit_007.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mesh/biscuit_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31872fdca83c7d9e2faf34a0a1e5fdc416e18054
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mesh/biscuit_007.obj
@@ -0,0 +1,110080 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl biscuit_007_geometry_Looks_material_0
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diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mesh/biscuit_007_collision.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mesh/biscuit_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82afb51a8483d925a6430a7250e254990811ed0d
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mesh/biscuit_007_collision.obj
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diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mesh/biscuit_007_geometry_Looks_material_0.png b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mesh/biscuit_007_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bf3dc59712554c9f836474501abc889f9a86761
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mesh/biscuit_007_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae91c6ae64290d8fd34ef0145779e3565f24529169412f9edf76d684acedea1e
+size 10590794
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mesh/material.mtl b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..83d03b355f948dfb1a8b6c67c66dbfea258cb8b2
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl biscuit_007_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mesh/material_0.png b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mesh/material_0.png
new file mode 100644
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+oid sha256:ae91c6ae64290d8fd34ef0145779e3565f24529169412f9edf76d684acedea1e
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diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/biscuit_007.xml b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/biscuit_007.xml
new file mode 100644
index 0000000000000000000000000000000000000000..18cc88a45dfc58b97f8f75a1b261ed2923a07640
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/biscuit_007.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="biscuit_007">
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+  </asset>
+  <worldbody>
+    <body name="biscuit_007">
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df7359c3581070453e6e37011e526f6247c0b095
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007.obj
@@ -0,0 +1,110080 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl biscuit_007_geometry_Looks_material_0
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diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..198912ebcce7b9bf1794f21703e855e165bb991c
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision.obj
@@ -0,0 +1,8550 @@
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diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_0.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3a2c474375e10bc29fdc91587fffdda1be4d419
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_0.obj
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diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_1.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8697b9c5ca12bba5152e36a51d98d156799d7eac
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_1.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_10.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77f5c8b809785333ad413c58048a2bea67e5554f
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_10.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_11.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4deb70771d147e70a0df7229d09fd7b58631c2e
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_11.obj
@@ -0,0 +1,118 @@
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diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_12.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42255307181dd9f870c66824b8812c3174f62061
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_12.obj
@@ -0,0 +1,610 @@
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diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_13.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e88a226e3f8439ab494f5357acaf748f4bb847b
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_13.obj
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diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_14.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8132d20e681d709d70d7b6f7e5f9f950d96960ad
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_14.obj
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diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_15.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..502892cee37099c3c4543a1a72ce9e673f03a23b
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_15.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.00889574 -0.02480455 0.06129172
+v -0.01736699 -0.02480455 0.06129172
+v -0.00889574 -0.04460043 0.06129165
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+v -0.01736699 -0.02480449 0.04511347
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+v -0.01070194 -0.05117785 0.04511337
+v -0.00940658 -0.05133498 0.04511337
+v -0.00910472 -0.05134601 0.04511337
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 5
+f 1 5 2
+f 2 5 8
+f 2 8 6
+f 3 6 7
+f 4 7 11
+f 4 11 10
+f 4 10 9
+f 4 9 8
+f 4 8 5
+f 6 8 9
+f 6 9 10
+f 6 10 11
+f 6 11 7
+
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_16.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef673621bb6ff9b85530a8e1bbdf0c85e02a4f45
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_16.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.01579179 0.03536519 0.03545427
+v -0.01579179 0.05404955 0.03545434
+v -0.00889558 0.03536519 0.03545427
+v -0.01579179 0.03536511 0.05693805
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+v -0.00889558 0.05350199 0.03957233
+v -0.00889558 0.05474272 0.03659635
+v -0.00889558 0.05488057 0.03626405
+f 1 2 5
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+f 1 6 2
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+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_17.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea0b5d626ce2a3159072151192f4a30daba62fb6
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_17.obj
@@ -0,0 +1,652 @@
+# https://github.com/mikedh/trimesh
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+v -0.02093108 0.00326900 0.01202883
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diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_18.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c88805f70c5365b5581ffe0fb6643e5634b4769d
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_18.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_19.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e899b03ff21ee8ca0149a8c23ad2577a700c316
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_19.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_2.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71716051726fe94eed704173685e5321ebd9fd44
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_2.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.00889491 -0.02479916 0.09209716
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+v -0.03449994 0.00327238 0.04641523
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+v -0.03625548 -0.02479900 0.04917942
+v -0.03738301 -0.02479899 0.04679689
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+f 1 19 13
+f 1 13 9
+f 1 9 4
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+
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_20.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7914d3fcd9609ed3c58e0291796165f997a34fcb
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_20.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00889491 0.00326874 0.04511358
+v -0.00889491 0.00326887 0.01202883
+v -0.02093108 0.00326874 0.04511358
+v -0.00889491 -0.05135281 0.04511338
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+v -0.00889491 -0.06137456 0.02350591
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+
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_21.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6177407f92abfbcd9df0847628e3c7083c02e6a4
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_21.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.01157585 -0.05331618 0.09190716
+v 0.01157585 -0.05940020 0.08169565
+v 0.01169366 -0.05938921 0.08161553
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+v 0.02776989 -0.05619594 0.05508897
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+
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_22.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b165a59a2d31c99dc2221f1a20533e50f2d38e3
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_22.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.03817129 -0.02819174 0.04511346
+v -0.03812853 -0.03146602 0.04511344
+v -0.03765811 -0.03146602 0.04664955
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+v -0.03807354 -0.02501276 0.04511347
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+v -0.03692499 -0.02819175 0.04853408
+v -0.03738319 -0.02510126 0.04685862
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+v -0.03782713 -0.03625832 0.04511343
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+v -0.03357708 -0.03801122 0.05815452
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+
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_23.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60a497b11822c7f7d0991bfd14af5a490dd1b05b
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_23.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.03802910 0.05363915 0.03545434
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diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_24.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22b094fefa5d878ef2a42ff0a8ee36415c4e36b1
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_24.obj
@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_25.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d2770642c5fa29dd184d296cf649ccb4ec67ea6
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_25.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.00227420 0.04283197 0.10345781
+v 0.00227420 0.04283207 0.07718449
+v -0.00644811 0.04283197 0.10345781
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+v -0.00889491 0.00049203 0.08773302
+v 0.00227420 0.00049200 0.09426793
+v -0.00889491 0.00049211 0.06552916
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+
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_26.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c51bb55da62314b643448e25ad4a44664e2a7cd
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_26.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v 0.01157410 0.02512202 0.02525827
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diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_27.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df71f1ddbe839b2761048b9d9e71744712cab4d9
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_27.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_28.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..381f191ba043af116fcc386f41efef6217a416a7
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_28.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_29.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fab4e2db9d5a87fcadc4abf6b2e48e4451a7984
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_29.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.01870985 -0.00339548 0.05470314
+v 0.01870985 -0.00339543 0.04104310
+v 0.01157479 -0.00339548 0.05470314
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+v 0.01317852 -0.05453528 0.04104291
+v 0.01624908 -0.05454530 0.04104291
+f 1 2 5
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+
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_3.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0b20a70eb076ced3a0f0560d3880bd5e2642cbc
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_3.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_30.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dbe262254696fccacaed56b31aec7cdf3819e48
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_30.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.01871148 -0.05441305 0.04104291
+v 0.02630657 -0.05745591 0.04104290
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+
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_31.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52f19606a42f21c1d9840dcd3e6bffdbf7c9f1e1
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_31.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.00227365 0.04283207 0.07718309
+v -0.00335183 0.04283205 0.08276158
+v 0.00227365 0.05643213 0.09013018
+v 0.00227365 0.04283197 0.10345524
+v -0.00335183 0.04283197 0.10345524
+v -0.00335183 0.05522019 0.09457187
+v 0.00227365 0.05691334 0.09067799
+v -0.00335183 0.05628630 0.09565980
+v -0.00335183 0.05675940 0.09617162
+v 0.00227365 0.05896773 0.10345530
+v -0.00335183 0.05928205 0.10345530
+v 0.00227365 0.05804586 0.09205397
+v -0.00335183 0.05833749 0.09829345
+v 0.00029551 0.05927395 0.10345530
+v 0.00227365 0.05899689 0.10285347
+v -0.00295312 0.05938250 0.10345530
+v -0.00335183 0.05931446 0.10281490
+v 0.00167778 0.05872472 0.09413467
+v 0.00227365 0.05878792 0.09374631
+v -0.00335183 0.05889807 0.09995749
+v -0.00031578 0.05932903 0.10345530
+v 0.00027238 0.05930635 0.10285347
+v 0.00227365 0.05908602 0.10038957
+v -0.00295312 0.05937279 0.10285347
+v 0.00227365 0.05893697 0.09470306
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 19
+f 1 19 25
+f 1 25 23
+f 1 23 15
+f 1 15 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 17
+f 2 17 20
+f 2 20 13
+f 2 13 9
+f 2 9 8
+f 2 8 6
+f 2 6 3
+f 3 6 8
+f 3 8 9
+f 3 9 7
+f 4 10 14
+f 4 14 21
+f 4 21 16
+f 4 16 11
+f 4 11 5
+f 7 9 12
+f 9 13 12
+f 10 15 14
+f 11 16 17
+f 12 13 18
+f 12 18 19
+f 13 20 18
+f 14 15 22
+f 14 22 21
+f 15 23 22
+f 16 21 24
+f 16 24 17
+f 17 24 25
+f 17 25 20
+f 18 20 19
+f 19 20 25
+f 21 22 24
+f 22 23 25
+f 22 25 24
+
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_32.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8ea2f150bb4691feca43004a6b17d720d673f46
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_32.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.00355465 0.00048749 0.10615799
+v -0.00355465 0.00048764 0.06552546
+v -0.00568165 0.00048749 0.10615799
+v -0.00355465 -0.04517445 0.10615782
+v -0.00889438 0.00048764 0.06552546
+v -0.00355465 -0.04202258 0.06552531
+v -0.00889438 0.00048756 0.08773314
+v -0.00889438 -0.04517442 0.09918089
+v -0.00595191 -0.04517445 0.10615782
+v -0.00355465 -0.04517438 0.08705675
+v -0.00889438 -0.04428020 0.06552530
+v -0.00719236 -0.04517433 0.07411719
+v -0.00730788 -0.04517433 0.07371942
+v -0.00889438 -0.04517431 0.06826594
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 7 8
+f 3 8 9
+f 4 9 8
+f 4 8 14
+f 4 14 13
+f 4 13 12
+f 4 12 10
+f 5 11 14
+f 5 14 8
+f 5 8 7
+f 6 10 12
+f 6 12 13
+f 6 13 14
+f 6 14 11
+
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_33.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8671daffd9f299206df83c7da0b4f69635a586a5
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_33.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00296165 -0.05973523 0.10284542
+v -0.00296165 -0.05945022 0.10064861
+v 0.00258836 -0.05938749 0.09388129
+v 0.00146488 -0.05948155 0.09624180
+v 0.00258836 -0.05947728 0.09610186
+v -0.00295350 -0.05973523 0.10285334
+v -0.00296165 -0.05971672 0.10615119
+v -0.00296165 -0.05878759 0.09899045
+v 0.00258836 -0.05881322 0.09207526
+v 0.00183376 -0.05932053 0.09445426
+v 0.00258836 -0.05952431 0.09888219
+v 0.00027242 -0.05965685 0.10285334
+v -0.00295350 -0.05971672 0.10615911
+v -0.00296165 -0.05971529 0.10615911
+v -0.00296165 -0.05715597 0.09681742
+v 0.00258836 -0.05737254 0.08987583
+v 0.00258836 -0.05843845 0.09146534
+v 0.00258836 -0.05929063 0.10218268
+v 0.00210866 -0.05939324 0.10485476
+v 0.00222817 -0.05944738 0.10285334
+v 0.00239170 -0.05953572 0.09954757
+v 0.00019690 -0.05958847 0.10615911
+v -0.00296165 -0.04517892 0.10615916
+v -0.00296165 -0.05514672 0.09515926
+v 0.00258836 -0.04517882 0.07918756
+v 0.00258836 -0.05441709 0.08684203
+v 0.00258836 -0.05577939 0.08804605
+v 0.00258836 -0.05907973 0.10430292
+v 0.00258836 -0.05845132 0.10530627
+v 0.00258836 -0.05772315 0.10615912
+v -0.00296165 -0.04517885 0.08807512
+v 0.00203477 -0.04517892 0.10615916
+v 0.00258836 -0.04517891 0.10407325
+v 0.00258836 -0.04984151 0.10615915
+v 0.00258836 -0.04783511 0.10539608
+v 0.00225208 -0.04517892 0.10534064
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 7
+f 1 7 14
+f 1 14 23
+f 1 23 31
+f 1 31 24
+f 1 24 15
+f 1 15 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 9
+f 3 9 17
+f 3 17 16
+f 3 16 27
+f 3 27 26
+f 3 26 25
+f 3 25 33
+f 3 33 35
+f 3 35 34
+f 3 34 30
+f 3 30 29
+f 3 29 28
+f 3 28 18
+f 3 18 11
+f 3 11 5
+f 3 5 4
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 7 13 14
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 13
+f 13 22 30
+f 13 30 34
+f 13 34 32
+f 13 32 23
+f 13 23 14
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 18 28 19
+f 19 28 29
+f 19 29 30
+f 19 30 22
+f 19 22 20
+f 20 22 21
+f 23 32 36
+f 23 36 33
+f 23 33 25
+f 23 25 31
+f 24 31 25
+f 32 34 35
+f 32 35 36
+f 33 36 35
+
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_34.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6124d36f98632924b742e20484bacc6bad6f299b
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_34.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.00186558 0.00048749 0.10615799
+v 0.00258836 0.00048754 0.09292806
+v -0.00355465 0.00048749 0.10615799
+v 0.00203455 -0.04517445 0.10615782
+v 0.00258836 -0.04517444 0.10407350
+v 0.00258836 0.00048764 0.06552546
+v -0.00355465 0.00048764 0.06552546
+v -0.00355465 -0.04517445 0.10615782
+v 0.00258836 -0.04517435 0.07918880
+v 0.00258836 -0.04221481 0.06552530
+v -0.00355465 -0.04202258 0.06552531
+v -0.00355465 -0.04517438 0.08705675
+v 0.00209348 -0.04221481 0.06552530
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 10
+f 2 10 6
+f 3 7 11
+f 3 11 12
+f 3 12 8
+f 4 8 12
+f 4 12 9
+f 4 9 5
+f 6 10 13
+f 6 13 11
+f 6 11 7
+f 9 12 11
+f 9 11 13
+f 9 13 10
+
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_35.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebbce51d6b8451b9b822fc6a5f3864b29f155683
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_35.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00296165 -0.05973469 0.10284516
+v -0.00296165 -0.05971618 0.10615804
+v -0.00889491 -0.05951238 0.09669055
+v -0.00889491 -0.05951236 0.09381914
+v -0.00889491 -0.05947674 0.09339993
+v -0.00763752 -0.05939268 0.09423464
+v -0.00296165 -0.05945112 0.10064894
+v -0.00296165 -0.05970478 0.10616175
+v -0.00481608 -0.05942122 0.10616175
+v -0.00829728 -0.05946395 0.09954712
+v -0.00889491 -0.05948816 0.09775898
+v -0.00889491 -0.05914188 0.09255038
+v -0.00296165 -0.05878851 0.09899064
+v -0.00834955 -0.05875571 0.09203100
+v -0.00296165 -0.04657679 0.10616180
+v -0.00576914 -0.05764859 0.10616176
+v -0.00889491 -0.05769987 0.10111268
+v -0.00786228 -0.05932715 0.10129817
+v -0.00889491 -0.05884837 0.09956938
+v -0.00889491 -0.05766135 0.08943042
+v -0.00889491 -0.04517878 0.06826587
+v -0.00296165 -0.05715695 0.09681669
+v -0.00595151 -0.04517892 0.10615809
+v -0.00603398 -0.04783074 0.10616179
+v -0.00296165 -0.04517892 0.10615809
+v -0.00637838 -0.05437550 0.10616177
+v -0.00889491 -0.05437548 0.10192143
+v -0.00296165 -0.04517885 0.08807266
+v -0.00296165 -0.05514777 0.09515841
+v -0.00889491 -0.04517889 0.09917990
+v -0.00889491 -0.04543966 0.09929119
+v -0.00889491 -0.04922146 0.10050801
+v -0.00889491 -0.05212977 0.10132787
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 13
+f 1 13 22
+f 1 22 29
+f 1 29 28
+f 1 28 25
+f 1 25 15
+f 1 15 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 19
+f 3 19 17
+f 3 17 27
+f 3 27 33
+f 3 33 32
+f 3 32 31
+f 3 31 30
+f 3 30 21
+f 3 21 20
+f 3 20 12
+f 3 12 5
+f 3 5 4
+f 5 12 6
+f 6 13 7
+f 6 12 14
+f 6 14 13
+f 8 15 24
+f 8 24 26
+f 8 26 16
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 18 11
+f 11 18 19
+f 12 20 14
+f 13 14 20
+f 13 20 21
+f 13 21 22
+f 15 23 24
+f 15 25 23
+f 16 26 17
+f 17 19 18
+f 17 26 27
+f 21 28 29
+f 21 29 22
+f 21 30 23
+f 21 23 25
+f 21 25 28
+f 23 30 31
+f 23 31 32
+f 23 32 33
+f 23 33 27
+f 23 27 26
+f 23 26 24
+
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_36.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86ed17702a1d8171ded788f4778b4658eb870deb
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_36.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.00889491 0.04283372 0.06552932
+v -0.00889491 0.04503930 0.06552933
+v -0.00611143 0.04283372 0.06552932
+v -0.00889491 0.04283360 0.09769521
+v -0.00762525 0.04427291 0.06552932
+v -0.00889491 0.04757884 0.06968420
+v -0.00335183 0.04283366 0.08276516
+v -0.00889491 0.05610585 0.08395709
+v -0.00335183 0.05833719 0.09829306
+v -0.00335183 0.05675926 0.09616921
+v -0.00335183 0.05628651 0.09566052
+v -0.00335183 0.05522003 0.09456889
+v -0.00644838 0.04283358 0.10345781
+v -0.00889491 0.04382264 0.09804052
+v -0.00335183 0.04283358 0.10345781
+v -0.00889491 0.05691580 0.08560938
+v -0.00335183 0.05889705 0.09995650
+v -0.00889491 0.05705616 0.08589900
+v -0.00889491 0.05819041 0.08833845
+v -0.00776415 0.05857439 0.09120863
+v -0.00677610 0.04718343 0.10345782
+v -0.00889491 0.05366948 0.10089216
+v -0.00889491 0.05036838 0.10001958
+v -0.00889491 0.04899534 0.09964827
+v -0.00335183 0.05928266 0.10345787
+v -0.00889491 0.05874220 0.09032864
+v -0.00335183 0.05931492 0.10281180
+v -0.00717490 0.05364043 0.10345785
+v -0.00693128 0.05691411 0.10345786
+v -0.00889491 0.05558303 0.10065453
+v -0.00889491 0.05881639 0.09739451
+v -0.00581898 0.05890349 0.10345787
+v -0.00889491 0.05888095 0.09293517
+v -0.00889491 0.05888094 0.09601327
+v -0.00687865 0.05703512 0.10345786
+v -0.00781190 0.05856468 0.10123006
+v -0.00810273 0.05691412 0.10162363
+v -0.00889491 0.05681409 0.10040947
+v -0.00889491 0.05839850 0.09869406
+v -0.00817109 0.05873409 0.09954807
+v -0.00889491 0.05746270 0.10007159
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 15
+f 1 15 13
+f 1 13 4
+f 1 4 14
+f 1 14 24
+f 1 24 23
+f 1 23 22
+f 1 22 30
+f 1 30 38
+f 1 38 41
+f 1 41 39
+f 1 39 31
+f 1 31 34
+f 1 34 33
+f 1 33 26
+f 1 26 19
+f 1 19 18
+f 1 18 16
+f 1 16 8
+f 1 8 6
+f 1 6 2
+f 2 6 5
+f 3 5 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 7
+f 4 13 14
+f 5 6 8
+f 7 12 11
+f 7 11 10
+f 7 10 9
+f 7 9 17
+f 7 17 27
+f 7 27 25
+f 7 25 15
+f 8 16 9
+f 9 16 18
+f 9 18 19
+f 9 19 20
+f 9 20 17
+f 13 15 25
+f 13 25 32
+f 13 32 35
+f 13 35 29
+f 13 29 28
+f 13 28 21
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 17 20 26
+f 17 26 27
+f 19 26 20
+f 21 28 22
+f 22 28 29
+f 22 29 30
+f 25 27 31
+f 25 31 32
+f 26 33 27
+f 27 33 34
+f 27 34 31
+f 29 35 36
+f 29 36 37
+f 29 37 38
+f 29 38 30
+f 31 39 36
+f 31 36 40
+f 31 40 32
+f 32 36 35
+f 32 40 36
+f 36 38 37
+f 36 39 41
+f 36 41 38
+
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_4.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63334ed61c23cd606067450d818abcde5f49662b
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_4.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
+v -0.00889491 0.00327542 -0.03274046
+v -0.00889491 0.00327555 -0.06806600
+v -0.04366794 0.00327542 -0.03274046
+v -0.00889491 -0.06361534 -0.03274070
+v -0.00889491 -0.00200840 -0.06806956
+v -0.00920842 0.00327555 -0.06808371
+v -0.04359296 0.00327542 -0.03398033
+v -0.04369179 0.00126529 -0.03274047
+v -0.03752029 -0.05973913 -0.03274069
+v -0.03844040 -0.06170987 -0.05914629
+v -0.03844040 -0.06176879 -0.06245497
+v -0.03844040 -0.06165092 -0.06576009
+v -0.00889491 -0.06340580 -0.03600686
+v -0.01908759 0.00327555 -0.06861154
+v -0.00889491 -0.00907331 -0.06806958
+v -0.04346688 0.00327543 -0.03600662
+v -0.04349414 0.00126530 -0.03600663
+v -0.04352140 -0.00200852 -0.03600664
+v -0.04370883 -0.00204782 -0.03274048
+v -0.03996026 -0.05902539 -0.04464340
+v -0.04012043 -0.05937240 -0.04684682
+v -0.04100305 -0.06046581 -0.05914628
+v -0.03865849 -0.05764388 -0.03274068
+v -0.04098942 -0.06049855 -0.06245496
+v -0.04095875 -0.06043961 -0.06576008
+v -0.03521663 -0.06039376 -0.06828587
+v -0.03521663 -0.06162473 -0.06576009
+v -0.04063841 -0.05999436 -0.06793161
+v -0.03844040 -0.06039376 -0.06824690
+v -0.00889491 -0.06112712 -0.06245496
+v -0.02231476 -0.00528223 -0.06869660
+v -0.02231476 0.00327555 -0.06869302
+v -0.01908759 -0.01509715 -0.06861161
+v -0.00889491 -0.03197698 -0.06806259
+v -0.01908759 -0.03473354 -0.06860814
+v -0.04333056 0.00327544 -0.03813565
+v -0.04334419 0.00126531 -0.03829861
+v -0.04336123 -0.00200851 -0.03850763
+v -0.04352481 -0.00528235 -0.03600665
+v -0.04336805 -0.00528234 -0.03864934
+v -0.04187203 -0.05764376 -0.06576007
+v -0.04369861 -0.00532164 -0.03274049
+v -0.03931960 -0.05441589 -0.03274067
+v -0.04196063 -0.05764378 -0.05914627
+v -0.04196404 -0.05764377 -0.06245495
+v -0.03844040 -0.05764375 -0.06892704
+v -0.02231476 -0.05764375 -0.06862239
+v -0.03198946 -0.06028900 -0.06824335
+v -0.02231476 -0.06104854 -0.06576008
+v -0.00889491 -0.06055746 -0.06523579
+v -0.02231476 -0.05999436 -0.06800956
+v -0.04091785 -0.05764375 -0.06818667
+v -0.03521663 0.00126542 -0.06889495
+v -0.03521663 0.00327555 -0.06889494
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diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_5.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e6bada1ee2efd1110191c4a5aa231c2403906b1
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_5.obj
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diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_6.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3afbe1cb4abacfdc8808f3eff72a9cd4b16d13f
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_6.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v -0.00889491 -0.04513223 0.05901985
+v 0.00333374 -0.04519420 0.05901985
+v -0.00889491 -0.04427349 0.06552529
+v -0.00889491 0.04524945 0.05902019
+v 0.00333374 -0.04221071 0.06552529
+v 0.00333374 0.04504583 0.05902019
+v -0.00889491 0.04503696 0.06552562
+v 0.00333374 0.04280596 0.06552561
+v 0.00333374 0.04478024 0.05980479
+f 1 2 3
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+f 1 7 4
+f 1 4 6
+f 1 6 2
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+f 2 9 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 6
+f 6 7 9
+f 7 8 9
+
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_7.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82843bbf5178a2588b84363824dc04c3c40efb85
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_7.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.00333374 -0.04518566 0.05901985
+v 0.00853720 -0.04578315 0.05901985
+v 0.01157410 -0.04943780 0.06552527
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+v 0.01157410 0.05227450 0.06552564
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+v 0.01017543 0.04772365 0.05902020
+v 0.01157410 0.04812198 0.05902020
+v 0.00333374 0.04280432 0.06552561
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+
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_8.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ba7f4b9ad70e056d1e111eb6b5d2dba9a745a26
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_8.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.04005155 0.00327831 0.03545415
+v -0.00889491 0.00327831 0.03545415
+v -0.03979839 0.00327831 0.03610402
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diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_9.obj b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34e3f718dc4170d3d366620b7ad39a220d60254e
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_collision_9.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.00617947 0.05363652 0.13188125
+v -0.00809124 0.05363652 0.13127472
+v -0.00617947 0.05036322 0.13183672
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diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_geometry_Looks_material_0.png b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bf3dc59712554c9f836474501abc889f9a86761
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/mjcf/mesh/biscuit_007_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae91c6ae64290d8fd34ef0145779e3565f24529169412f9edf76d684acedea1e
+size 10590794
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/textures/material_0.png b/dataset/food/snack/7afdc23907745576bc885588017b4b28/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bf3dc59712554c9f836474501abc889f9a86761
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae91c6ae64290d8fd34ef0145779e3565f24529169412f9edf76d684acedea1e
+size 10590794
diff --git a/dataset/food/snack/7afdc23907745576bc885588017b4b28/video.mp4 b/dataset/food/snack/7afdc23907745576bc885588017b4b28/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d216bac02babe853f94c1756581eca0eb796304d
--- /dev/null
+++ b/dataset/food/snack/7afdc23907745576bc885588017b4b28/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b28b960804336018856e3a38f9569d68993443d4391fc4a809d1057d63f09fbe
+size 368888