diff --git a/.gitattributes b/.gitattributes
index e4cbdf304ebb6f8b22a43aaaa46bcd0654151728..c1af9bea8c8d5fc8c463a3318dbf9e1503990d2f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5431,3 +5431,5 @@ dataset/food/ingredients/b8676612e19751ebbfa7f155c611f2fa/mjcf/mesh/egg_003.obj
 dataset/food/ingredients/b86f91e151d15aa9a484f057b3c5fd1e/b86f91e151d15aa9a484f057b3c5fd1e.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/b86f91e151d15aa9a484f057b3c5fd1e/mesh/mushroom.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/b86f91e151d15aa9a484f057b3c5fd1e/mesh/mushroom_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/garlic_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mesh/garlic_006.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/garlic_006.urdf b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/garlic_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..20a6129bd05a55b2d81b860709009b7c964216b4
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/garlic_006.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="garlic_006">
+   <link name="garlic_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/garlic_006.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/garlic_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>b959bf8370e15424891dfb76028f4734</uuid>
+         <domain>food</domain>
+         <super_category>ingredients</super_category>
+         <category>garlic</category>
+         <name>white garlic</name>
+         <color>white</color>
+         <shape>irregular</shape>
+         <material>organic</material>
+         <description>bulbous garlic with segmented cloves and a short stem</description>
+         <min_height>0.0486</min_height>
+         <max_height>0.0486</max_height>
+         <real_height>0.0486</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260428001024</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>11</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/garlic_006.usd b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/garlic_006.usd
new file mode 100644
index 0000000000000000000000000000000000000000..823fa855f89c53c732664bf60d357c5b2535e16e
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/garlic_006.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c11062850f615f925c50d6f06742f512dc64e3726054bd68aacbc411db9a6049
+size 4998729
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mesh/garlic_006.glb b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mesh/garlic_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8848c1499643943a972d9fbc08417ce89dc919d9
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mesh/garlic_006.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5faf8b5ef6e2f3bbe94d43b83a7359ee4d91f864421ac9501add7583a1be9363
+size 12747932
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mesh/garlic_006.mtl b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mesh/garlic_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..639fd8d99cc99a7fd036b72ecb26d70a01938b45
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mesh/garlic_006.mtl
@@ -0,0 +1,6 @@
+newmtl garlic_006_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/ingredients/b959bf8370e15424891dfb76028f4734/mesh/garlic_006.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mesh/garlic_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a904ae69e4617b87f23ca335c4e4bbd582048ef6
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mesh/garlic_006.obj
@@ -0,0 +1,112712 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl garlic_006_geometry_Looks_material_0
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mesh/garlic_006_collision.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mesh/garlic_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be0dfbdd9b6c77d72462b8a0bbe96def9be683e9
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mesh/garlic_006_collision.obj
@@ -0,0 +1,48604 @@
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mesh/garlic_006_geometry_Looks_material_0.png b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mesh/garlic_006_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..397e2479f979bcbccb92df4eab5e3706e2304225
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mesh/garlic_006_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5e23e7e1c657cdeb14d45e83bac8adb89e33a07ffe4fa5ffd87daea26ec25cd
+size 9246596
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mesh/material.mtl b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f546e3d8a1da4c803db8c062e220759ee71e0b11
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl garlic_006_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd garlic_006_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mesh/material_0.png b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..397e2479f979bcbccb92df4eab5e3706e2304225
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5e23e7e1c657cdeb14d45e83bac8adb89e33a07ffe4fa5ffd87daea26ec25cd
+size 9246596
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/garlic_006.xml b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/garlic_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6c4642677b4517be0c7c880e91ca8ed864886a17
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/garlic_006.xml
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+    <mesh name="collision_mesh_0_34" file="mesh/garlic_006_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/garlic_006_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/garlic_006_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/garlic_006_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/garlic_006_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/garlic_006_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/garlic_006_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/garlic_006_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/garlic_006_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/garlic_006_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/garlic_006_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/garlic_006_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/garlic_006_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/garlic_006_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/garlic_006_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/garlic_006_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/garlic_006_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/garlic_006_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/garlic_006_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/garlic_006_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/garlic_006_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/garlic_006_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/garlic_006_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/garlic_006_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/garlic_006_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/garlic_006_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/garlic_006_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/garlic_006_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/garlic_006_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/garlic_006_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/garlic_006_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/garlic_006_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/garlic_006_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/garlic_006_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/garlic_006_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/garlic_006_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_70" file="mesh/garlic_006_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_71" file="mesh/garlic_006_collision_71.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_72" file="mesh/garlic_006_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_73" file="mesh/garlic_006_collision_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_74" file="mesh/garlic_006_collision_74.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_75" file="mesh/garlic_006_collision_75.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_76" file="mesh/garlic_006_collision_76.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_77" file="mesh/garlic_006_collision_77.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_78" file="mesh/garlic_006_collision_78.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_79" file="mesh/garlic_006_collision_79.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_80" file="mesh/garlic_006_collision_80.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_81" file="mesh/garlic_006_collision_81.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_82" file="mesh/garlic_006_collision_82.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="garlic_006">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_62" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_63" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_64" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_65" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_66" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_67" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_68" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_69" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_70" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_71" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_72" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_73" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_74" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_75" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_76" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_77" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_78" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_79" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_80" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_81" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_82" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d9aa36fd1eb1fafaed2af24d8dc26837f1ff959
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006.obj
@@ -0,0 +1,112712 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl garlic_006_geometry_Looks_material_0
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+v 0.031001 0.002369 0.001883
+v 0.031041 0.001816 0.003079
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+v 0.030547 0.002592 0.005068
+v 0.030521 0.003410 0.003619
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+v 0.030926 0.002737 0.001140
+v 0.030392 0.003228 0.004805
+v 0.030364 0.003977 0.002977
+v 0.030667 0.003497 0.000972
+v 0.030472 0.003926 0.001934
+v 0.030211 0.003726 0.004680
+v 0.030150 0.004148 0.003967
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+v 0.030879 0.002746 -0.000530
+v 0.031042 0.002214 0.000479
+v 0.031042 0.002070 -0.000751
+v 0.030321 0.004296 0.001250
+v 0.030541 0.003741 -0.000172
+v 0.030630 0.003348 -0.001073
+v 0.030895 0.002406 -0.001465
+v 0.030292 0.004281 -0.000155
+v 0.030165 0.004537 0.002090
+v 0.030078 0.004579 0.002878
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+v 0.031027 0.001743 -0.001692
+v 0.030297 0.003965 -0.001649
+v 0.030061 0.004787 0.000792
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+v 0.030889 0.001836 -0.002551
+v 0.031097 0.001658 -0.000778
+v 0.031133 0.000871 0.003368
+v 0.031020 0.001218 -0.002430
+v 0.031116 0.000740 -0.001993
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+v 0.031123 0.000341 0.001484
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+v 0.031144 -0.000332 -0.001894
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+v 0.031029 -0.001545 0.004334
+v 0.030578 -0.000145 0.006733
+v 0.030872 -0.001037 0.005446
+v 0.030289 0.001383 0.007186
+v 0.030119 0.002313 0.007039
+v 0.030329 0.000559 0.007449
+v 0.030684 -0.000826 0.006300
+v 0.031010 -0.002928 0.000255
+v 0.031010 -0.002928 0.000255
+v 0.030984 -0.003121 0.001648
+v 0.030984 -0.003121 0.001648
+v 0.030868 -0.001846 0.005078
+v 0.030863 -0.000526 -0.003904
+v 0.030863 -0.000526 -0.003904
+v 0.030797 0.000624 -0.003989
+v 0.030668 -0.000041 -0.004687
+v 0.030668 -0.000041 -0.004687
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+v 0.031019 -0.001221 -0.002934
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+v 0.030856 -0.003054 0.003691
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+v 0.030605 -0.001624 0.006308
+v 0.030381 -0.001017 0.007319
+v 0.030162 -0.000632 0.008018
+v 0.030440 0.001820 -0.004566
+v 0.030669 -0.000952 -0.004637
+v 0.030669 -0.000952 -0.004637
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+v 0.030165 -0.001820 0.007684
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03ea34208a03f8cad7d99e16b8ed55cd74b27e9d
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision.obj
@@ -0,0 +1,48604 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_0.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..570cb2fa815e608777e91f5012dc2ca49740337d
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_0.obj
@@ -0,0 +1,2662 @@
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_1.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3a5711349bdef85af1e42911978abeea693cfa8
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_1.obj
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_10.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b90a6a7ef5ffbfcb22119fcb1fadd5a07a5f0e0
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_10.obj
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_11.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0172f589678ee48a3400accd65de7fbe877041d
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_11.obj
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_12.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bf3e2767a9a613141f80de33b454efbed1d4bdd
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_12.obj
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_13.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c001048770ad4f46bf7f247a6a8d02ec06b1ce8
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_13.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_14.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..457d9eec384ff06e6d29f9e48566f4cc5e38f9b5
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_14.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_15.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42da5ac26d1c4462163de1d829c409b0304c0fd8
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_15.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_16.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c0279a098575d9ab929aa4859f3ccab2a1e4da9
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_16.obj
@@ -0,0 +1,523 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_17.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..217c32276516327100a486153a7f32a75fb24066
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_17.obj
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_18.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce9b24856d76986c265f7a611e7283fc45500829
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_18.obj
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_19.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2c7eb801c737b9a9bdfb41ffe53381b41ea5c58
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_19.obj
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_2.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93b69ad3b148e676fc9e70d88f51d0b74cc5f417
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_2.obj
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_20.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dca2ba575df2c585a4ab5e68f1bfa4ffd20a8cb
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_20.obj
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_21.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e34dc9b2d2b8fa9884ffbf18e918d9f2065de9f6
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_21.obj
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_22.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfe42f21c737bd274de257ade966278ef1cfe6a8
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_22.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_23.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb6e256d9a42dc2c803d81e1da735ab4d5ebf513
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_23.obj
@@ -0,0 +1,2569 @@
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_24.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6ae0214b10c2c9f9c4945170cb9f63a9a1924b3
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_24.obj
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_25.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d2750d7fbc51f05c10e69741abe3b4e1c7f081b
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_25.obj
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_26.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4d66bf8aeeda8a9a6b2acb37151f602b5fdb89e
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_26.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.00445322 0.00534285 0.01171580
+v 0.00445322 0.00552152 0.01167789
+v 0.00329575 0.00324845 0.01311265
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+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_27.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a7e255198badc3a986c323d50aabd4e20f437a5
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_27.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00394959 0.00324844 0.01320741
+v -0.00394959 0.00324844 0.01639670
+v -0.00394959 0.00536156 0.01320741
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+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_28.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b61864adc686a10a339a636c36df4cd82c85b69c
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_28.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
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+v -0.00142973 0.00324859 0.01529727
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+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_29.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5304a0e19105237c71d981749c2f222229687667
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_29.obj
@@ -0,0 +1,544 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_3.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bb6220ebd6fe7416ea19268957e792bd209806c
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_3.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_30.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..045bc7458b805d5c5e23ffa93e4687743c6c236e
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_30.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.00831152 0.00745296 0.01719727
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+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_31.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c88783c497cc309e308748fe75e8409308f704c
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_31.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+f 27 43 44
+f 27 44 45
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+f 35 48 47
+f 44 47 49
+f 44 49 50
+f 44 50 45
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+f 47 54 55
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+f 47 51 58
+f 47 58 59
+f 47 59 60
+f 47 60 50
+f 47 50 49
+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_32.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a380ce7aeb9eeffda70ce86c2f837e7fce1e79ec
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_32.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00313237 0.00381561 0.01320710
+v -0.00313237 0.00324845 0.01320710
+v -0.00313237 0.00392276 0.01303964
+v -0.00582709 0.00324846 0.01080980
+v -0.00352095 0.00350328 0.01320710
+v -0.00376708 0.00324845 0.01320710
+v -0.00313237 0.00324856 -0.01629788
+v -0.00313237 0.00536159 0.00915286
+v -0.00331914 0.00536159 0.00915286
+v -0.00582709 0.00339428 0.01045432
+v -0.00371484 0.00330429 0.01320710
+v -0.00368926 0.00333139 0.01320710
+v -0.00582709 0.00324856 -0.01676500
+v -0.00313237 0.00327689 -0.01630082
+v -0.00313237 0.00536168 -0.01644770
+v -0.00582709 0.00343710 0.01033093
+v -0.00582709 0.00536161 0.00367668
+v -0.00582709 0.00533803 0.00377362
+v -0.00582709 0.00536168 -0.01679731
+v -0.00576167 0.00536168 -0.01680318
+v -0.00566697 0.00536168 -0.01680612
+v -0.00468246 0.00536168 -0.01667098
+f 1 2 7
+f 1 7 14
+f 1 14 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
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+f 1 5 12
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+f 1 11 6
+f 1 6 2
+f 2 6 4
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+f 9 18 16
+f 13 19 20
+f 13 20 21
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+f 13 22 15
+f 13 15 14
+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_33.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff241036d8fc7b185a2d85fb80c6e8296d49dadf
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_33.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00445322 -0.01153200 -0.01701572
+v 0.00282861 -0.01153200 -0.01676200
+v 0.00445322 -0.01104037 -0.01707661
+v 0.00445322 -0.01153211 0.01438786
+v 0.00282861 -0.01100476 -0.01679922
+v 0.00445322 -0.00988594 -0.01718825
+v 0.00445322 -0.01005582 -0.01717472
+v 0.00445322 -0.01086749 -0.01709691
+v 0.00445322 -0.01092969 -0.01709014
+v 0.00282861 -0.01153210 0.00963825
+v 0.00445322 -0.01152483 0.01638378
+v 0.00282861 -0.00714980 -0.01679582
+v 0.00311708 -0.00714980 -0.01693790
+v 0.00372265 -0.00714980 -0.01709690
+v 0.00445322 -0.00888295 -0.01725590
+v 0.00399761 -0.01074148 0.01695211
+v 0.00300751 -0.00714992 0.01637026
+v 0.00282861 -0.00740170 0.00630947
+v 0.00445322 -0.01104736 0.01721259
+v 0.00282861 -0.00714988 0.00599486
+v 0.00445322 -0.00714980 -0.01721192
+v 0.00445322 -0.00788596 -0.01727281
+v 0.00391253 -0.01005594 0.01701977
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+v 0.00350161 -0.00714992 0.01703331
+v 0.00445322 -0.01005594 0.01728702
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+v 0.00445322 -0.00714992 0.01699948
+v 0.00445322 -0.00902850 0.01722952
+v 0.00445322 -0.00800062 0.01712803
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+f 1 8 7
+f 1 7 6
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+f 1 22 21
+f 1 21 28
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+f 25 30 28
+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_34.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c65b98153d7eaf350303788c1c37fe95777148b
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_34.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.01050369 0.00924351 0.01761737
+v 0.00985796 0.00859785 0.01744787
+v 0.01050369 0.00859785 0.01758970
+v 0.01050369 0.00947346 0.01759662
+v 0.00879131 0.00859785 0.01712962
+v 0.01050369 0.00859798 -0.01772257
+v 0.01050369 0.01027109 0.01751361
+v 0.00869461 0.00859785 0.01708810
+v 0.00970545 0.00859798 -0.01771219
+v 0.01050369 0.00947359 -0.01770182
+v 0.01050369 0.01048959 0.01746172
+v 0.01050369 0.01128962 0.01726800
+v 0.00969722 0.01045020 0.01709157
+v 0.00915184 0.01007361 0.01691861
+v 0.00820902 0.00859785 0.01654846
+v 0.00867814 0.00859797 -0.01764301
+v 0.00970545 0.00947358 -0.01768106
+v 0.01050369 0.01050116 -0.01760149
+v 0.01050369 0.01131676 0.01725762
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+v 0.01000162 0.01131676 0.01699817
+v 0.00987596 0.01131676 0.01685980
+v 0.00772252 0.01131677 0.01406125
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+v 0.00760996 0.01131677 0.01385024
+v 0.00765023 0.00859797 -0.01749426
+v 0.00867814 0.00947358 -0.01759804
+v 0.00970545 0.01050116 -0.01757381
+v 0.01050369 0.01131688 -0.01747004
+v 0.00738791 0.01131677 0.01335902
+v 0.00738791 0.00859797 -0.01742507
+v 0.00738791 0.00970513 -0.01734896
+v 0.00765023 0.00947358 -0.01743199
+v 0.00738791 0.01076357 -0.01727286
+v 0.00867814 0.01050116 -0.01748041
+v 0.00970545 0.01131688 -0.01744236
+v 0.00738791 0.01131688 -0.01720367
+v 0.00867814 0.01131688 -0.01734550
+v 0.00889013 0.01131688 -0.01736626
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+f 27 35 28
+f 28 35 36
+f 32 34 33
+f 34 37 35
+f 35 37 38
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+f 35 39 36
+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_35.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32bb72a93e4dda195ee5fdeb2c1232ce3d324030
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_35.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.00738760 0.00859802 0.01482039
+v 0.00738760 0.00947774 0.01428055
+v 0.00445322 0.01024447 0.01468781
+v 0.00445322 0.00999287 0.01422374
+v 0.00445322 0.00859803 0.01137619
+v 0.00738760 0.00859813 -0.01742748
+v 0.00738760 0.00956027 0.01421743
+v 0.00738760 0.01002640 0.01384807
+v 0.00738760 0.01024447 0.01360183
+v 0.00445322 0.01024458 -0.01730750
+v 0.00445322 0.00859813 -0.01686870
+v 0.00445322 0.00936229 -0.01708969
+v 0.00738760 0.00970479 -0.01734854
+v 0.00738760 0.01024458 -0.01728541
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 6
+f 1 6 13
+f 1 13 14
+f 1 14 9
+f 1 9 8
+f 1 8 7
+f 1 7 2
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+f 3 10 12
+f 3 12 11
+f 3 11 5
+f 3 5 4
+f 6 11 12
+f 6 12 10
+f 6 10 13
+f 10 14 13
+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_36.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ff084929a5edd01342cd896906d0af42755512e
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_36.obj
@@ -0,0 +1,754 @@
+# https://github.com/mikedh/trimesh
+v 0.00282861 -0.03012057 0.00097951
+v 0.00295058 -0.03005506 0.00097951
+v 0.00282861 -0.03011693 0.00121262
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+v 0.00283242 -0.02998956 -0.00107122
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+v 0.00445322 -0.02869031 0.00397528
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_37.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c54587f74199fb87d1134ff95ad1524487da8c1d
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_37.obj
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_38.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e899e1018e9e22f8009a8f984bff3dc09e877ab
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_38.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_39.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4c755df9221a5a3a9ce264a3038b740318f2bf8
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_39.obj
@@ -0,0 +1,1807 @@
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_4.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1d1934ef03f993e8f66bccdaf1ba0b22434b656
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_4.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_40.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33cd10d95894f6179cf466dc0c79c53fe23b7c76
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_40.obj
@@ -0,0 +1,685 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_41.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5c34c1d7eb2033352ac2044dec4e8a61108bb60
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_41.obj
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_42.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef5ad23037857a3170e0df207e0fd2d6c69e77cb
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_42.obj
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_43.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51d7f323d2a7b25a22d2585f322f268538bd9d25
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_43.obj
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_44.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f8b21a584437beba3dc0ea8a7d86e449c91ce66
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_44.obj
@@ -0,0 +1,1261 @@
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_45.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6159cb404e119ec47669cfc6822181df215f7f24
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_45.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.00142973 0.00324878 0.01529749
+v 0.00211059 0.00324878 0.01529749
+v -0.00142973 0.00324878 0.01712343
+v -0.00142973 0.00447605 0.01529750
+v 0.00211059 0.00367988 0.01529749
+v 0.00211059 0.00324878 0.01657774
+v -0.00055228 0.00324878 0.01717074
+v 0.00005314 0.00681738 0.01709833
+v -0.00020711 0.00681738 0.01702058
+v -0.00142973 0.00427936 0.01624421
+v -0.00142973 0.00447709 0.01533399
+v -0.00030138 0.00681738 0.01637019
+v -0.00015201 0.00681738 0.01576765
+v 0.00046796 0.00681738 0.01562903
+v -0.00090853 0.00445753 0.01529750
+v 0.00211059 0.00368372 0.01534113
+v 0.00059480 0.00425002 0.01529750
+v 0.00095902 0.00681738 0.01582835
+v 0.00100268 0.00681738 0.01593580
+v 0.00108759 0.00681738 0.01637019
+v 0.00211059 0.00328756 0.01651723
+v 0.00108828 0.00681738 0.01687774
+v 0.00106575 0.00681738 0.01697529
+v 0.00078574 0.00681738 0.01705909
+v 0.00044405 0.00324878 0.01705063
+v 0.00047350 0.00681738 0.01710805
+v -0.00027192 0.00681738 0.01663222
+v 0.00046103 0.00428984 0.01529750
+v -0.00041920 0.00443692 0.01529750
+v -0.00052351 0.00444356 0.01529750
+v 0.00211059 0.00332809 0.01645397
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+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_46.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c0bc768fd2e54ff5467bce1b3c254be8a901f8c
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_46.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.00445322 -0.00606267 0.01430640
+v 0.00386393 -0.00624551 0.01430640
+v 0.00445322 -0.00714973 0.01430639
+v 0.00445322 -0.00530423 0.01019688
+v 0.00368076 -0.00530423 0.01003028
+v 0.00172545 -0.00530422 0.00874991
+v 0.00385886 -0.00625147 0.01430640
+v 0.00391199 -0.00714973 0.01430639
+v 0.00445322 -0.00714962 -0.01721226
+v 0.00445322 -0.00530413 -0.01701171
+v 0.00384311 -0.00700411 0.01430639
+v 0.00172545 -0.00530413 -0.01653967
+v 0.00172545 -0.00714806 0.00298362
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+v 0.00372268 -0.00714962 -0.01709811
+v 0.00299909 -0.00655542 -0.01699012
+v 0.00299909 -0.00630212 -0.01699012
+v 0.00445322 -0.00685441 -0.01718758
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+v 0.00293127 -0.00530413 -0.01683894
+v 0.00172545 -0.00594658 -0.01657978
+v 0.00172545 -0.00714962 -0.01661990
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+v 0.00172545 -0.00696263 -0.01663224
+v 0.00326983 -0.00561705 -0.01695001
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+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_47.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdfc7948f9c0b424deaf36ff073cdf89d42ab374
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_47.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.02124894 -0.00725055 0.00742023
+v 0.01996311 -0.00725054 0.00570579
+v 0.01954024 -0.00779991 0.00404864
+v 0.01954024 -0.00798254 0.00350853
+v 0.01954024 -0.00811768 0.00303185
+v 0.01954024 -0.00833579 0.00214804
+v 0.02124894 -0.00776698 0.00512681
+v 0.02124894 -0.00725047 -0.01272744
+v 0.01954024 -0.00725054 0.00425527
+v 0.01954024 -0.00725075 0.00511863
+v 0.02124894 -0.00833579 0.00234853
+v 0.02124894 -0.00820788 0.00305435
+v 0.02124894 -0.00800368 0.00405683
+v 0.01954024 -0.00833574 -0.01223643
+v 0.02124894 -0.00732346 -0.01265174
+v 0.02099318 -0.00725047 -0.01286451
+v 0.01954024 -0.00725047 -0.01348032
+v 0.02124894 -0.00833574 -0.01137308
+v 0.01954024 -0.00813026 -0.01247989
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+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_48.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7acbe25245d921b7423aa017627142bdff5bc096
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_48.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00559253 -0.00289921 0.01622159
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+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_49.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d019242796974e4032886bc393d751bbb1d6a6e6
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_49.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_5.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f90a4adae3a8ca9988bb4b29e3c97131b6e8339
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_5.obj
@@ -0,0 +1,913 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_50.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8797cd6d3f52e2c56958b600f029b18dde095ad1
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_50.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_51.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a602c002004e5db8939122380121c1bd3888e538
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_51.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
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+v 0.00445322 -0.00477977 0.00884509
+v 0.00445322 -0.00360825 -0.01672322
+v 0.00831213 -0.00477968 -0.01672829
+v 0.00641006 -0.00477968 -0.01702719
+v 0.00627407 -0.00477968 -0.01703226
+v 0.00559484 -0.00436420 -0.01698666
+v 0.00503574 -0.00435778 -0.01698666
+v 0.00461831 -0.00360825 -0.01672828
+v 0.00445322 -0.00477968 -0.01691574
+v 0.00445322 -0.00377534 -0.01676375
+v 0.00545771 -0.00477968 -0.01702972
+v 0.00477886 -0.00477968 -0.01699679
+v 0.00446229 -0.00477968 -0.01691827
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 13
+f 1 13 7
+f 1 7 2
+f 2 6 3
+f 2 7 15
+f 2 15 14
+f 2 14 6
+f 3 6 14
+f 3 14 18
+f 3 18 17
+f 3 17 16
+f 3 16 10
+f 3 10 9
+f 3 9 8
+f 3 8 4
+f 5 8 9
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 7 13 12
+f 7 12 15
+f 10 16 12
+f 10 12 11
+f 12 16 17
+f 12 17 15
+f 14 15 18
+f 15 17 18
+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_52.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e05dbe2b335b360a978ce912fa6f570c00393c00
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_52.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.00998723 -0.00879077 -0.01770250
+v -0.00998723 -0.00800008 -0.01775609
+v -0.00982107 -0.00800008 -0.01774418
+v -0.00982107 -0.00879078 -0.01768761
+v -0.00998723 -0.00879089 0.01264017
+v -0.00998723 -0.00697222 -0.01777396
+v -0.00982107 -0.00697222 -0.01776205
+v -0.00879315 -0.00697223 -0.01765188
+v -0.00879315 -0.00800009 -0.01761913
+v -0.00879315 -0.00879078 -0.01754767
+v -0.00982067 -0.00879089 0.01264017
+v -0.00998723 -0.00541914 0.01264018
+v -0.00998723 -0.00594485 -0.01772631
+v -0.00982107 -0.00594485 -0.01772036
+v -0.00879315 -0.00594486 -0.01762508
+v -0.00776605 -0.00594486 -0.01748216
+v -0.00776605 -0.00697223 -0.01748813
+v -0.00776605 -0.00800009 -0.01744644
+v -0.00776605 -0.00879078 -0.01734819
+v -0.00957346 -0.00879089 0.01234541
+v -0.00875284 -0.00697089 0.01264017
+v -0.00990538 -0.00537394 0.01264018
+v -0.00998723 -0.00382655 0.00941865
+v -0.00998723 -0.00491701 -0.01761019
+v -0.00982107 -0.00491701 -0.01760721
+v -0.00879315 -0.00491701 -0.01753873
+v -0.00776605 -0.00491701 -0.01743155
+v -0.00673813 -0.00491701 -0.01726779
+v -0.00582709 -0.00582774 -0.01712785
+v -0.00582709 -0.00594486 -0.01713083
+v -0.00673813 -0.00697223 -0.01729757
+v -0.00582709 -0.00693724 -0.01711000
+v -0.00673813 -0.00800009 -0.01721718
+v -0.00675890 -0.00879078 -0.01708618
+v -0.00948956 -0.00879088 0.01223822
+v -0.00820467 -0.00659229 0.01195836
+v -0.00851459 -0.00594497 0.01264018
+v -0.00920815 -0.00879088 0.01187796
+v -0.00582709 -0.00879087 0.00731658
+v -0.00975673 -0.00529230 0.01264018
+v -0.00998723 -0.00382646 -0.01739283
+v -0.00889578 -0.00531805 0.01264018
+v -0.00984021 -0.00382655 0.00937398
+v -0.00998723 -0.00475032 -0.01758041
+v -0.00998723 -0.00387895 -0.01740772
+v -0.00982107 -0.00382646 -0.01738985
+v -0.00879315 -0.00382646 -0.01733030
+v -0.00782877 -0.00382646 -0.01726182
+v -0.00776605 -0.00388915 -0.01726778
+v -0.00673813 -0.00388915 -0.01717846
+v -0.00584624 -0.00382646 -0.01704745
+v -0.00582709 -0.00388915 -0.01705043
+v -0.00582709 -0.00491749 -0.01709808
+v -0.00582709 -0.00728326 -0.01706534
+v -0.00586130 -0.00879078 -0.01684799
+v -0.00715842 -0.00528986 0.00986525
+v -0.00621317 -0.00438883 0.00766793
+v -0.00826616 -0.00541913 0.01178269
+v -0.00674017 -0.00594495 0.00918640
+v -0.00614190 -0.00491710 0.00782275
+v -0.00582709 -0.00494140 0.00715284
+v -0.00612195 -0.00594495 0.00787634
+v -0.00634961 -0.00594495 0.00839143
+v -0.00582709 -0.00879078 -0.01683310
+v -0.00676094 -0.00382655 0.00737615
+v -0.00750703 -0.00382655 0.00810859
+v -0.00779659 -0.00382655 0.00837953
+v -0.00827268 -0.00382655 0.00864452
+v -0.00879315 -0.00382655 0.00893333
+v -0.00931485 -0.00382655 0.00915366
+v -0.00679840 -0.00382646 -0.01717250
+v -0.00673813 -0.00382646 -0.01716655
+v -0.00582709 -0.00382646 -0.01704150
+v -0.00585275 -0.00879078 -0.01684501
+v -0.00582709 -0.00491710 0.00714986
+v -0.00582709 -0.00489669 0.00713497
+v -0.00582709 -0.00399275 0.00635490
+v -0.00606982 -0.00421388 0.00713497
+v -0.00582709 -0.00382654 0.00607503
+v -0.00657034 -0.00382655 0.00712605
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 19
+f 1 19 34
+f 1 34 55
+f 1 55 74
+f 1 74 64
+f 1 64 39
+f 1 39 38
+f 1 38 35
+f 1 35 20
+f 1 20 11
+f 1 11 5
+f 1 5 12
+f 1 12 23
+f 1 23 41
+f 1 41 45
+f 1 45 44
+f 1 44 24
+f 1 24 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 5 11 21
+f 5 21 37
+f 5 37 42
+f 5 42 40
+f 5 40 22
+f 5 22 12
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 11 20 21
+f 12 22 23
+f 13 24 25
+f 13 25 14
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 17
+f 17 30 31
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 19 33 34
+f 20 35 21
+f 21 36 37
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+f 21 39 36
+f 22 40 23
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+f 23 70 69
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+f 26 48 49
+f 26 49 50
+f 26 50 27
+f 27 50 51
+f 27 51 52
+f 27 52 28
+f 28 52 53
+f 28 53 29
+f 29 53 52
+f 29 52 73
+f 29 73 79
+f 29 79 77
+f 29 77 76
+f 29 76 75
+f 29 75 61
+f 29 61 39
+f 29 39 64
+f 29 64 54
+f 29 54 32
+f 29 32 30
+f 30 32 31
+f 32 54 33
+f 33 54 55
+f 33 55 34
+f 36 39 37
+f 37 56 57
+f 37 57 58
+f 37 58 42
+f 37 39 59
+f 37 59 60
+f 37 60 56
+f 39 61 62
+f 39 62 63
+f 39 63 59
+f 41 46 45
+f 42 58 57
+f 42 57 65
+f 42 65 66
+f 42 66 67
+f 42 67 68
+f 42 68 69
+f 42 69 70
+f 42 70 43
+f 48 71 49
+f 49 71 50
+f 50 71 72
+f 50 72 51
+f 51 73 52
+f 54 64 74
+f 54 74 55
+f 56 60 57
+f 57 60 75
+f 57 75 76
+f 57 76 77
+f 57 77 78
+f 57 78 79
+f 57 79 80
+f 57 80 65
+f 59 63 60
+f 60 63 61
+f 60 61 75
+f 61 63 62
+f 77 79 78
+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_53.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f844ec0a7af3b589b666c2ebcc6a7fc9c0649f8
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_53.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.00445305 0.00552152 0.01167968
+v 0.00445305 0.00565116 0.01165189
+v 0.00272740 0.00681729 0.00856762
+v 0.00401041 0.00552152 0.01092111
+v 0.00445305 0.00552162 -0.01667349
+v 0.00445305 0.00633145 0.01139348
+v 0.00375022 0.00681728 0.01015422
+v 0.00272740 0.00552153 0.00858428
+v 0.00396715 0.00552152 0.01084609
+v 0.00272740 0.00681738 -0.01670683
+v 0.00440727 0.00552162 -0.01666793
+v 0.00412816 0.00681738 -0.01666792
+v 0.00445305 0.00681738 -0.01662347
+v 0.00445305 0.00648354 0.01130178
+v 0.00445305 0.00662776 0.01120453
+v 0.00445305 0.00681728 0.01107672
+v 0.00272740 0.00552162 -0.01634839
+v 0.00272740 0.00673099 -0.01669016
+v 0.00272740 0.00613481 -0.01656790
+v 0.00272740 0.00619430 -0.01658180
+v 0.00272740 0.00638964 -0.01662348
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 17
+f 1 17 11
+f 1 11 5
+f 1 5 13
+f 1 13 16
+f 1 16 15
+f 1 15 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 9
+f 3 9 4
+f 3 7 16
+f 3 16 13
+f 3 13 12
+f 3 12 10
+f 3 10 18
+f 3 18 21
+f 3 21 20
+f 3 20 19
+f 3 19 17
+f 3 17 8
+f 5 11 10
+f 5 10 12
+f 5 12 13
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 10 11 18
+f 11 19 20
+f 11 20 21
+f 11 21 18
+f 11 17 19
+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_54.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..239dcc6580822682196f698fcc30bcea6ed09d26
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_54.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.01393212 0.00743631 -0.01679572
+v -0.01290456 0.00743631 -0.01677553
+v -0.01402574 0.00743631 -0.01679235
+v -0.01174660 0.01160679 -0.01628089
+v -0.01282008 0.00743631 -0.01677217
+v -0.01433832 0.00743631 -0.01677890
+v -0.01174660 0.00743631 -0.01670151
+v -0.01184504 0.00743631 -0.01671160
+v -0.01179963 0.01160679 -0.01625398
+v -0.01174660 0.01160670 0.00754191
+v -0.01433832 0.00749592 -0.01674861
+v -0.01193156 0.01160679 -0.01617995
+v -0.01433832 0.00743619 0.01757911
+v -0.01174660 0.00743619 0.01531796
+v -0.01433832 0.01160672 0.00257883
+v -0.01433832 0.01113390 0.01226609
+v -0.01433832 0.01111349 0.01254874
+v -0.01433832 0.01105715 0.01328899
+v -0.01433832 0.01095100 0.01391485
+v -0.01350689 0.00991930 0.01451378
+v -0.01233801 0.00800287 0.01593372
+v -0.01175066 0.00743619 0.01533142
+v -0.01433832 0.00784866 -0.01654672
+v -0.01234563 0.01160679 -0.01591750
+v -0.01390193 0.00743619 0.01741423
+v -0.01433832 0.00750845 0.01753200
+v -0.01433832 0.01160678 -0.01433267
+v -0.01433832 0.01017323 0.01508580
+v -0.01419218 0.01015282 0.01502860
+v -0.01337673 0.00899333 0.01588998
+v -0.01322628 0.00919093 0.01534151
+v -0.01298246 0.00838542 0.01612215
+v -0.01290456 0.00771585 0.01667734
+v -0.01218198 0.00743619 0.01626684
+v -0.01280435 0.01160679 -0.01556083
+v -0.01412266 0.00812249 0.01703064
+v -0.01433832 0.00799103 0.01720562
+v -0.01290456 0.00743619 0.01690278
+v -0.01343762 0.00791917 0.01687250
+v -0.01433832 0.01007688 0.01520693
+v -0.01393212 0.00914480 0.01603803
+v -0.01384078 0.00845727 0.01661005
+v -0.01232710 0.00743619 0.01639470
+v -0.01433832 0.00820006 0.01705420
+v -0.01433832 0.00864467 0.01668407
+v -0.01433832 0.00977394 0.01554341
+v -0.01433832 0.00923748 0.01613224
+v -0.01433832 0.00898149 0.01638124
+f 1 2 5
+f 1 5 8
+f 1 8 7
+f 1 7 14
+f 1 14 22
+f 1 22 34
+f 1 34 43
+f 1 43 38
+f 1 38 25
+f 1 25 13
+f 1 13 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 4
+f 4 7 8
+f 4 8 5
+f 4 6 9
+f 4 9 12
+f 4 12 24
+f 4 24 35
+f 4 35 27
+f 4 27 15
+f 4 15 10
+f 4 10 14
+f 4 14 7
+f 6 11 12
+f 6 12 9
+f 6 13 26
+f 6 26 37
+f 6 37 44
+f 6 44 45
+f 6 45 48
+f 6 48 47
+f 6 47 46
+f 6 46 40
+f 6 40 28
+f 6 28 19
+f 6 19 18
+f 6 18 17
+f 6 17 16
+f 6 16 15
+f 6 15 27
+f 6 27 23
+f 6 23 11
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 14
+f 11 23 24
+f 11 24 12
+f 13 25 26
+f 19 28 29
+f 19 29 30
+f 19 30 20
+f 20 30 31
+f 20 31 21
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+f 21 30 32
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 23 27 35
+f 23 35 24
+f 25 36 37
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+f 25 39 36
+f 28 40 29
+f 29 40 30
+f 30 41 42
+f 30 42 39
+f 30 39 33
+f 30 33 32
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+f 33 39 38
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+f 33 43 34
+f 36 44 37
+f 36 39 42
+f 36 42 45
+f 36 45 44
+f 40 46 41
+f 41 47 48
+f 41 48 45
+f 41 45 42
+f 41 46 47
+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_55.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85b0ec7c26dd93012799921b21a1d50caeab3d34
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_55.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00443679 -0.00714989 -0.01681545
+v -0.00443679 -0.00714989 0.00910353
+v -0.00443679 -0.00453411 -0.01681545
+v -0.00443679 -0.00453411 0.00910353
+v -0.00343678 -0.00714989 -0.01681545
+v -0.00343678 -0.00714989 0.00910353
+v -0.00343678 -0.00453411 -0.01681545
+v -0.00343678 -0.00453411 0.00910353
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_56.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32514103324ea2dc2686f71de494c2070a13bc61
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_56.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.01954023 -0.00986623 0.00690315
+v 0.01954023 -0.00725080 0.00511972
+v 0.01911142 -0.00986624 0.01108338
+v 0.01954023 -0.00986616 -0.01107278
+v 0.01425635 -0.00725082 0.01017123
+v 0.01425635 -0.00726182 0.01021212
+v 0.01425635 -0.00744540 0.01088208
+v 0.01425635 -0.00751018 0.01108653
+v 0.01425635 -0.00762028 0.01140422
+v 0.01666061 -0.00940974 0.01400861
+v 0.01762169 -0.00947912 0.01300208
+v 0.01860295 -0.00986625 0.01226290
+v 0.01906900 -0.00986624 0.01123121
+v 0.01954023 -0.00725073 -0.01347900
+v 0.01868778 -0.00986616 -0.01208875
+v 0.01425635 -0.00725072 -0.01545431
+v 0.01425635 -0.00793035 0.01226606
+v 0.01484448 -0.00890330 0.01431686
+v 0.01586867 -0.00927557 0.01433573
+v 0.01552365 -0.00943201 0.01493964
+v 0.01734495 -0.00962046 0.01368462
+v 0.01777118 -0.00986625 0.01342670
+v 0.01768376 -0.00986615 -0.01316132
+v 0.01720063 -0.00986615 -0.01367402
+v 0.01668699 -0.00986615 -0.01419616
+v 0.01615265 -0.00986615 -0.01470886
+v 0.01605747 -0.00986615 -0.01479379
+v 0.01563849 -0.00986614 -0.01515236
+v 0.01495673 -0.00986614 -0.01567135
+v 0.01480672 -0.00986614 -0.01578144
+v 0.01445291 -0.00986614 -0.01602678
+v 0.01425635 -0.00986614 -0.01614001
+v 0.01425635 -0.00936303 -0.01602362
+v 0.01895521 -0.00725073 -0.01370547
+v 0.01425635 -0.00829853 0.01324428
+v 0.01425635 -0.00873533 0.01433573
+v 0.01484448 -0.00930400 0.01512837
+v 0.01425635 -0.00849056 0.01373496
+v 0.01425635 -0.00958949 0.01578889
+v 0.01425635 -0.00960075 0.01579833
+v 0.01484448 -0.00982248 0.01564106
+v 0.01484448 -0.00986626 0.01567566
+v 0.01569125 -0.00986626 0.01515038
+v 0.01606834 -0.00986625 0.01489245
+v 0.01620903 -0.00972646 0.01469115
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_57.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d2c944d4f890e4cc84e0e073cd738894796bd7f
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_57.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_58.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..980912a0b796c60894e32808abe313c93f416c63
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_58.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_59.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..744a1055556644d73a50ab73d0c4779eacdabbc4
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_59.obj
@@ -0,0 +1,595 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_6.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc58039cec526ddc62bac46a0cdf033f79e551ff
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_6.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.01050369 0.00859785 0.01759125
+v 0.00985813 0.00859785 0.01744604
+v 0.00771003 0.00745307 0.01707958
+v 0.00871331 0.00745307 0.01727664
+v 0.01050369 0.00821559 0.01757396
+v 0.01050369 0.00859798 -0.01772102
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+v 0.00801563 0.00812739 0.01697240
+v 0.00768811 0.00745307 0.01706920
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+v 0.01050369 0.00745307 0.01744604
+v 0.01050369 0.00844546 -0.01772794
+v 0.01038524 0.00859798 -0.01772102
+v 0.00869435 0.00859785 0.01708649
+v 0.00725340 0.00745307 0.01657828
+v 0.00820870 0.00859785 0.01654716
+v 0.00445382 0.00859787 0.01137513
+v 0.01050369 0.00745319 -0.01765879
+v 0.00970533 0.00844546 -0.01771757
+v 0.00970533 0.00859798 -0.01771411
+v 0.00970533 0.00745319 -0.01766917
+v 0.00445382 0.00745309 0.01064565
+v 0.00445382 0.00859797 -0.01686709
+v 0.00867777 0.00844545 -0.01764842
+v 0.00867777 0.00745319 -0.01762076
+v 0.00867777 0.00859797 -0.01764151
+v 0.00445382 0.00745319 -0.01664237
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+v 0.00765021 0.00745319 -0.01751359
+v 0.00662265 0.00745319 -0.01730616
+v 0.00445382 0.00753321 -0.01665965
+v 0.00864223 0.00745319 -0.01761731
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+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_60.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..791e6cdcd28a6626b65ea152c65b496106453d15
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_60.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.00859969 -0.00382597 -0.01731900
+v -0.00859969 0.00227767 -0.01745619
+v -0.00782830 -0.00382597 -0.01726476
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+v -0.00673826 -0.00382597 -0.01716584
+v -0.00679852 -0.00382597 -0.01717222
+v -0.00779627 -0.00382606 0.00838051
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+v -0.00582709 0.00635441 -0.01693606
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+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_61.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fca483ef5c35e08537f1b6aa2fe97d3c5a1b10e2
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_61.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.00859969 -0.00059332 0.01639770
+v -0.00776560 -0.00049570 0.01644350
+v -0.00859969 -0.00059332 0.01727248
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+v -0.00582709 0.00098434 0.01564334
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+v -0.00582709 0.00054312 0.01564334
+v -0.00671574 0.00056790 0.01512928
+f 1 2 8
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+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_62.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47b9c79907c23cbdf55efe5796aa920b244430cc
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_62.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01096730 -0.01942744 -0.01479841
+v -0.01096730 -0.01942744 0.00846786
+v -0.01096730 -0.01650737 -0.01479841
+v -0.01096730 -0.01650737 0.00846786
+v -0.00996730 -0.01942744 -0.01479841
+v -0.00996730 -0.01942744 0.00846786
+v -0.00996730 -0.01650737 -0.01479841
+v -0.00996730 -0.01650737 0.00846786
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_63.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9617d2b8b59fee5d7cf311a9c1cd2783862a239d
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_63.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.00445322 -0.00364252 0.01630029
+v 0.00445322 -0.00357895 0.01660857
+v 0.00445322 -0.00355051 0.01553956
+v 0.00514952 -0.00339047 0.01582675
+v 0.00514952 -0.00339047 0.01589342
+v 0.00445322 -0.00335144 0.01713338
+v 0.00445322 -0.00245251 0.01193308
+v 0.00559227 -0.00283842 0.01535493
+v 0.00559227 -0.00289920 0.01622165
+v 0.00445322 -0.00303359 0.01760691
+v 0.00445322 0.00205426 0.01193310
+v 0.00559227 -0.00076791 0.01193309
+v 0.00559227 -0.00195736 0.01628889
+v 0.00445322 -0.00286073 0.01774082
+v 0.00559227 0.00105499 0.01193309
+v 0.00445322 0.00190370 0.01221916
+v 0.00559227 0.00108676 0.01228924
+v 0.00559227 -0.00195345 0.01628832
+v 0.00445322 -0.00183302 0.01774595
+v 0.00445322 -0.00219157 0.01775450
+v 0.00445322 0.00124847 0.01326080
+v 0.00445322 -0.00080362 0.01638520
+v 0.00445322 -0.00154638 0.01741716
+f 1 2 6
+f 1 6 10
+f 1 10 14
+f 1 14 20
+f 1 20 19
+f 1 19 23
+f 1 23 22
+f 1 22 21
+f 1 21 16
+f 1 16 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 5
+f 5 9 6
+f 6 9 10
+f 7 11 15
+f 7 15 12
+f 7 12 8
+f 8 12 15
+f 8 15 17
+f 8 17 18
+f 8 18 13
+f 8 13 9
+f 9 13 14
+f 9 14 10
+f 11 16 17
+f 11 17 15
+f 13 18 19
+f 13 19 20
+f 13 20 14
+f 16 21 17
+f 17 21 22
+f 17 22 23
+f 17 23 18
+f 18 23 19
+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_64.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..011309d519f750ecb0c4dc64d534faf0afedd3d3
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_64.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.00582709 0.00743621 0.01057554
+v -0.00859969 0.00743624 0.00402520
+v -0.00859969 0.00635433 0.00520409
+v -0.00582709 0.00736112 0.01017444
+v -0.00582709 0.00743631 -0.01704591
+v -0.00859969 0.00743631 -0.01683723
+v -0.00582709 0.00635433 0.00436124
+v -0.00859969 0.00635441 -0.01674780
+v -0.00582709 0.00723869 -0.01703507
+v -0.00608820 0.00638978 -0.01700798
+v -0.00673826 0.00743631 -0.01711095
+v -0.00821128 0.00743631 -0.01694834
+v -0.00582709 0.00635441 -0.01693480
+v -0.00773005 0.00743631 -0.01706759
+v -0.00737367 0.00680905 -0.01701067
+v -0.00659712 0.00635441 -0.01701611
+v -0.00582709 0.00638978 -0.01694022
+v -0.00609065 0.00635441 -0.01700527
+v -0.00665304 0.00643574 -0.01702153
+v -0.00737285 0.00743631 -0.01708385
+v -0.00657921 0.00635441 -0.01701611
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 13
+f 1 13 17
+f 1 17 9
+f 1 9 5
+f 1 5 11
+f 1 11 20
+f 1 20 14
+f 1 14 12
+f 1 12 6
+f 1 6 2
+f 2 6 8
+f 2 8 3
+f 3 7 4
+f 3 8 16
+f 3 16 21
+f 3 21 18
+f 3 18 13
+f 3 13 7
+f 5 9 10
+f 5 10 11
+f 6 12 8
+f 8 12 14
+f 8 14 15
+f 8 15 16
+f 9 17 18
+f 9 18 10
+f 10 18 11
+f 11 19 20
+f 11 18 21
+f 11 21 16
+f 11 16 19
+f 13 18 17
+f 14 20 19
+f 14 19 16
+f 14 16 15
+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_65.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..494dbe89fb048abe40ddca9690f359bd86697938
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_65.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.00998764 -0.01426965 -0.01610355
+v -0.00998764 -0.01417686 -0.01615139
+v -0.00828670 -0.01394998 -0.01604076
+v -0.00828670 -0.01426965 -0.01586734
+v -0.00998764 -0.01426974 0.00793305
+v -0.00998764 -0.01313311 -0.01665371
+v -0.00828670 -0.01358687 -0.01621418
+v -0.00828670 -0.01426975 0.00973602
+v -0.00998764 -0.01324959 0.00928453
+v -0.00998764 -0.01298025 -0.01672248
+v -0.00828670 -0.01260320 -0.01653710
+v -0.00998764 -0.01249002 -0.01692580
+v -0.00914042 -0.01171392 -0.01701250
+v -0.00828670 -0.00879196 0.01043868
+v -0.00835797 -0.00879088 0.01057921
+v -0.00862722 -0.00879088 0.01101874
+v -0.00920852 -0.00879088 0.01187687
+v -0.00948977 -0.00879088 0.01223866
+v -0.00957369 -0.00879089 0.01234630
+v -0.00983778 -0.00879089 0.01266324
+v -0.00998764 -0.00879143 0.01284264
+v -0.00998764 -0.00938410 0.01255560
+v -0.00998764 -0.00991349 0.01228350
+v -0.00998764 -0.00997462 0.01225061
+v -0.00998764 -0.01065686 0.01183500
+v -0.00998764 -0.01124149 0.01139846
+v -0.00998764 -0.01155687 0.01111740
+v -0.00998764 -0.01188994 0.01081541
+v -0.00998764 -0.01230294 0.01040577
+v -0.00998764 -0.01269394 0.00996624
+v -0.00845538 -0.01145271 -0.01692878
+v -0.00828670 -0.01161362 -0.01683908
+v -0.00998764 -0.01197512 -0.01708725
+v -0.00982113 -0.01192685 -0.01707828
+v -0.00982113 -0.01108424 -0.01731150
+v -0.00879624 -0.01109979 -0.01710818
+v -0.00828670 -0.00879088 0.01002008
+v -0.00998714 -0.00879089 0.01283965
+v -0.00998764 -0.00879089 0.01261839
+v -0.00828670 -0.01086594 -0.01705436
+v -0.00998764 -0.01108424 -0.01733243
+v -0.00982113 -0.01005605 -0.01752977
+v -0.00879357 -0.01005605 -0.01735635
+v -0.00828670 -0.00879078 -0.01744604
+v -0.00998764 -0.00879077 -0.01770318
+v -0.00828670 -0.01055593 -0.01712612
+v -0.00998764 -0.01005605 -0.01754771
+v -0.00879357 -0.00902839 -0.01752378
+v -0.00982113 -0.00902839 -0.01767029
+v -0.00828670 -0.00902839 -0.01742212
+v -0.00828670 -0.01006034 -0.01723675
+v -0.00879357 -0.00879078 -0.01754770
+v -0.00982113 -0.00879078 -0.01768823
+v -0.00998764 -0.00902839 -0.01768823
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 39
+f 1 39 45
+f 1 45 54
+f 1 54 47
+f 1 47 41
+f 1 41 33
+f 1 33 12
+f 1 12 10
+f 1 10 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 11
+f 3 11 32
+f 3 32 40
+f 3 40 46
+f 3 46 51
+f 3 51 50
+f 3 50 44
+f 3 44 37
+f 3 37 14
+f 3 14 8
+f 3 8 4
+f 5 8 9
+f 6 10 7
+f 7 10 12
+f 7 12 13
+f 7 13 11
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 24
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 8 27 28
+f 8 28 29
+f 8 29 30
+f 8 30 9
+f 11 13 31
+f 11 31 32
+f 12 33 34
+f 12 34 13
+f 13 34 35
+f 13 35 36
+f 13 36 31
+f 14 37 15
+f 15 37 44
+f 15 44 52
+f 15 52 53
+f 15 53 45
+f 15 45 39
+f 15 39 38
+f 15 38 20
+f 15 20 19
+f 15 19 18
+f 15 18 17
+f 15 17 16
+f 20 38 21
+f 21 38 39
+f 31 36 40
+f 31 40 32
+f 33 41 35
+f 33 35 34
+f 35 41 42
+f 35 42 43
+f 35 43 36
+f 36 43 40
+f 40 43 46
+f 41 47 42
+f 42 48 43
+f 42 47 54
+f 42 54 49
+f 42 49 48
+f 43 48 50
+f 43 50 51
+f 43 51 46
+f 44 50 48
+f 44 48 52
+f 45 53 54
+f 48 49 52
+f 49 54 53
+f 49 53 52
+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_66.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a3602f0a9d26d00fac9b995416260e7f32967e6
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_66.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01096730 -0.01650744 -0.01783240
+v -0.01096730 -0.01650744 0.01570382
+v -0.01096730 -0.00382722 -0.01783240
+v -0.01096730 -0.00382722 0.01570382
+v -0.00996730 -0.01650744 -0.01783240
+v -0.00996730 -0.01650744 0.01570382
+v -0.00996730 -0.00382722 -0.01783240
+v -0.00996730 -0.00382722 0.01570382
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_67.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab296931b3162cb484ba934255a931d9a347a9eb
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_67.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.00172545 -0.00568363 0.00623457
+v 0.00153626 -0.00568364 0.00713539
+v 0.00172545 -0.00581309 0.00614167
+v 0.00172545 -0.00568355 -0.01656453
+v 0.00127443 -0.00568364 0.00816007
+v 0.00091017 -0.00714989 0.00816006
+v 0.00127130 -0.00714988 0.00610788
+v 0.00137686 -0.00714988 0.00538442
+v 0.00172545 -0.00714800 0.00298318
+v 0.00110929 -0.00714989 0.00713538
+v 0.00172545 -0.00594649 -0.01658142
+v 0.00064730 -0.00714980 -0.01692768
+v 0.00025011 -0.00714980 -0.01699524
+v 0.00019472 -0.00568355 -0.01668277
+v 0.00065514 -0.00714989 0.00902428
+v 0.00090181 -0.00568364 0.00920164
+v 0.00058040 -0.00714989 0.00924385
+v 0.00172545 -0.00714987 0.00294377
+v 0.00172545 -0.00696264 -0.01663210
+v 0.00172545 -0.00701144 -0.01662929
+v 0.00172545 -0.00714980 -0.01662084
+v 0.00012991 -0.00714980 -0.01700369
+v -0.00205983 -0.00636486 -0.01698679
+v -0.00164958 -0.00568355 -0.01674188
+v 0.00076123 -0.00568364 0.00952537
+v 0.00051926 -0.00714989 0.00938460
+v -0.00057196 -0.00714980 -0.01704029
+v -0.00065296 -0.00714980 -0.01704310
+v -0.00165847 -0.00714980 -0.01707688
+v -0.00217219 -0.00636486 -0.01698679
+v -0.00287302 -0.00568355 -0.01675032
+v 0.00042362 -0.00568365 0.01009401
+v 0.00013200 -0.00714990 0.01022067
+v 0.00026057 -0.00714990 0.00997295
+v -0.00241730 -0.00714980 -0.01706562
+v -0.00256938 -0.00714980 -0.01705999
+v -0.00282964 -0.00714980 -0.01702340
+v -0.00361356 -0.00568355 -0.01663772
+v -0.00006345 -0.00568365 0.01074991
+v -0.00057509 -0.00714990 0.01116653
+v -0.00344528 -0.00714980 -0.01686012
+v -0.00361356 -0.00568362 0.00254122
+v -0.00361356 -0.00714980 -0.01679256
+v -0.00056516 -0.00568365 0.01087378
+v -0.00159889 -0.00714990 0.01168169
+v -0.00361356 -0.00693388 0.00819665
+v -0.00151841 -0.00568365 0.01061761
+v -0.00361356 -0.00714989 0.00910591
+v -0.00119648 -0.00568365 0.01072458
+v -0.00191350 -0.00714990 0.01157471
+v -0.00359579 -0.00714989 0.00916503
+v -0.00358847 -0.00714989 0.00918755
+v -0.00355293 -0.00714989 0.00927482
+v -0.00326654 -0.00714990 0.00997576
+v -0.00294566 -0.00714990 0.01056130
+v -0.00260962 -0.00714990 0.01097511
+f 1 2 3
+f 1 3 9
+f 1 9 18
+f 1 18 21
+f 1 21 20
+f 1 20 19
+f 1 19 11
+f 1 11 4
+f 1 4 14
+f 1 14 24
+f 1 24 31
+f 1 31 38
+f 1 38 42
+f 1 42 47
+f 1 47 49
+f 1 49 44
+f 1 44 39
+f 1 39 32
+f 1 32 25
+f 1 25 16
+f 1 16 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 7 8
+f 3 8 9
+f 3 6 10
+f 3 10 7
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 5 15 6
+f 5 16 17
+f 5 17 15
+f 6 15 17
+f 6 17 26
+f 6 26 34
+f 6 34 33
+f 6 33 40
+f 6 40 45
+f 6 45 50
+f 6 50 56
+f 6 56 55
+f 6 55 54
+f 6 54 53
+f 6 53 52
+f 6 52 51
+f 6 51 48
+f 6 48 43
+f 6 43 41
+f 6 41 37
+f 6 37 36
+f 6 36 35
+f 6 35 29
+f 6 29 28
+f 6 28 27
+f 6 27 22
+f 6 22 13
+f 6 13 12
+f 6 12 21
+f 6 21 18
+f 6 18 8
+f 6 8 7
+f 6 7 10
+f 8 18 9
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 16 25 17
+f 17 25 26
+f 22 27 23
+f 23 27 28
+f 23 28 29
+f 23 29 30
+f 23 30 31
+f 23 31 24
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 29 35 30
+f 30 35 36
+f 30 36 37
+f 30 37 38
+f 30 38 31
+f 32 39 33
+f 33 39 40
+f 37 41 38
+f 38 41 43
+f 38 43 48
+f 38 48 46
+f 38 46 42
+f 39 44 45
+f 39 45 40
+f 42 46 47
+f 44 49 45
+f 45 49 47
+f 45 47 50
+f 46 48 47
+f 47 48 51
+f 47 51 52
+f 47 52 53
+f 47 53 54
+f 47 54 55
+f 47 55 56
+f 47 56 50
+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_68.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d12387b823045f882ec3f4248851018f9c5dc28
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_68.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00831230 -0.00360814 -0.01683240
+v 0.00655891 -0.00360814 -0.01671746
+v 0.00831230 -0.00337657 -0.01693586
+v 0.00831230 -0.00360823 0.00797316
+v 0.00620663 -0.00360814 -0.01665711
+v 0.00696871 -0.00244607 -0.01701919
+v 0.00765019 -0.00263448 -0.01707667
+v 0.00831230 -0.00283140 -0.01711690
+v 0.00831230 -0.00332613 -0.01695597
+v 0.00831230 -0.00248446 0.01193021
+v 0.00727565 -0.00360823 0.00757085
+v 0.00620663 -0.00182736 -0.01681229
+v 0.00620663 -0.00360822 0.00661104
+v 0.00620663 -0.00140982 -0.01684102
+v 0.00620663 0.00022206 -0.01693297
+v 0.00674361 0.00022206 -0.01707666
+v 0.00765019 0.00022206 -0.01729218
+v 0.00831230 0.00022206 -0.01742437
+v 0.00831230 -0.00043981 -0.01738989
+v 0.00831230 -0.00182979 -0.01726058
+v 0.00831230 0.00160222 0.01193023
+v 0.00803464 -0.00239633 0.01193021
+v 0.00661581 -0.00360823 0.00725187
+v 0.00755970 -0.00217571 0.01193021
+v 0.00620663 -0.00250694 0.00903355
+v 0.00620663 0.00025974 -0.01693297
+v 0.00620663 0.00137562 -0.01690423
+v 0.00629197 0.00125042 -0.01693010
+v 0.00765019 0.00125042 -0.01721747
+v 0.00680586 0.00125042 -0.01704792
+v 0.00831230 0.00058794 -0.01739563
+v 0.00620663 0.00260080 0.00738695
+v 0.00695634 0.00135728 0.01193022
+v 0.00831230 0.00245737 0.00710533
+v 0.00760732 0.00260080 0.00703924
+v 0.00689533 -0.00163418 0.01193021
+v 0.00620663 -0.00203532 0.01002209
+v 0.00620663 0.00260089 -0.01677778
+v 0.00831230 0.00125042 -0.01733241
+v 0.00694501 0.00183570 -0.01701342
+v 0.00620663 0.00111964 0.01193022
+v 0.00831230 0.00254733 0.00610817
+v 0.00831230 0.00260081 0.00507077
+v 0.00620663 -0.00092248 0.01193022
+v 0.00620663 -0.00185541 0.01033245
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_69.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b734a5effbcb0e78019e4b29123b22cc7d6f59d
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_69.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_7.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d75aca8809e985e0a40f90ae22f33a2ad1b1b237
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_7.obj
@@ -0,0 +1,646 @@
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+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_70.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ab476a58cf811b6e7be704f0a9386bd60758ed9
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_70.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00582688 -0.00369227 -0.01702317
+v -0.00582688 0.00246656 -0.01683606
+v -0.00361356 -0.00369227 -0.01667047
+v -0.00582688 -0.00369235 0.00589665
+v -0.00582688 0.00317586 -0.01679313
+v -0.00361356 0.00324856 -0.01637295
+v -0.00361356 -0.00369238 0.01430641
+v -0.00397995 -0.00369238 0.01430641
+v -0.00438253 -0.00308771 0.01430641
+v -0.00446400 -0.00294979 0.01430641
+v -0.00582688 -0.00078179 0.01222085
+v -0.00582688 0.00324856 -0.01676553
+v -0.00361356 0.00324845 0.01364702
+v -0.00361356 0.00299367 0.01430643
+v -0.00481089 -0.00183284 0.01430641
+v -0.00582688 0.00031816 0.01346912
+v -0.00582688 0.00023120 0.01338325
+v -0.00582688 0.00324846 0.01080696
+v -0.00361356 0.00305142 0.01417455
+v -0.00399555 0.00256700 0.01430643
+v -0.00582688 0.00306977 0.01123941
+v -0.00582688 0.00247257 0.01219632
+v -0.00582688 0.00236386 0.01235274
+v -0.00498337 -0.00080558 0.01430642
+v -0.00582688 0.00112394 0.01346299
+v -0.00582688 0.00316693 0.01100632
+v -0.00432966 0.00206220 0.01430643
+v -0.00582688 0.00145277 0.01322377
+v -0.00582688 0.00122449 0.01342312
+v -0.00495932 0.00022237 0.01430642
+v -0.00468782 0.00125031 0.01430642
+v -0.00434093 0.00204046 0.01430643
+v -0.00433465 0.00205337 0.01430643
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 11
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+f 1 17 16
+f 1 16 25
+f 1 25 29
+f 1 29 28
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+f 25 32 33
+f 25 33 29
+f 27 29 33
+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_71.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bbd2e1b42a15701b08f0cb7361bcc936be4d868
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_71.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.02124894 -0.00833590 0.00234799
+v 0.01954024 -0.00833590 0.00214750
+v 0.01954024 -0.00986609 0.00690488
+v 0.01967991 -0.00986608 0.00609731
+v 0.02124894 -0.00866529 0.00117129
+v 0.02124894 -0.00833585 -0.01137330
+v 0.01954024 -0.00833585 -0.01223521
+v 0.01954024 -0.00986602 -0.01107351
+v 0.01971336 -0.00986608 0.00589682
+v 0.02124894 -0.00892534 0.00019134
+v 0.02124894 -0.00986603 -0.00944337
+v 0.02119474 -0.00986603 -0.00950145
+v 0.02104988 -0.00986602 -0.00964386
+v 0.01965147 -0.00986602 -0.01101168
+v 0.02101057 -0.00833585 -0.01151195
+v 0.02000977 -0.00833585 -0.01203659
+v 0.02083995 -0.00833585 -0.01160189
+v 0.01973176 -0.00986608 0.00577690
+v 0.02124894 -0.00986604 -0.00472158
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
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+f 1 19 11
+f 1 11 6
+f 1 6 15
+f 1 15 17
+f 1 17 16
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+f 1 7 2
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+f 6 14 15
+f 7 16 8
+f 8 16 17
+f 8 17 15
+f 8 15 14
+f 9 18 10
+f 10 18 19
+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_72.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9b60e4483e83ac07292ed15a945c713a6c5fef8
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_72.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00942484 0.00910455 0.00534028
+v -0.01174634 0.00910455 0.00487558
+v -0.01174634 0.00895625 0.00918747
+v -0.01174634 0.00890332 0.01021170
+v -0.01174634 0.00878753 0.01123909
+v -0.01174634 0.00859006 0.01226332
+v -0.01174634 0.00854123 0.01244035
+v -0.01174634 0.00833104 0.01319272
+v -0.01174634 0.00826832 0.01337291
+v -0.01174634 0.00789627 0.01431811
+v -0.01156521 0.00767791 0.01431811
+v -0.01136909 0.00743620 0.01431811
+v -0.01099819 0.00743620 0.01324962
+v -0.01092069 0.00743620 0.01297143
+v -0.01073933 0.00743620 0.01231390
+v -0.01050502 0.00743621 0.01123909
+v -0.01043912 0.00743621 0.01086607
+v -0.00942484 0.00883524 0.00523280
+v -0.00942484 0.00910463 -0.01697469
+v -0.01174634 0.00910463 -0.01581453
+v -0.01174634 0.00743619 0.01532021
+v -0.01033480 0.00743621 0.01021170
+v -0.00942484 0.00743623 0.00418960
+v -0.00942484 0.00743631 -0.01667438
+v -0.01174634 0.00743631 -0.01670283
+v -0.01174453 0.00910463 -0.01610536
+v -0.01174634 0.00909859 -0.01610536
+f 1 2 3
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+f 1 6 7
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+f 1 9 10
+f 1 10 11
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+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_73.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0701349b5312a16767f9a2590996006f6c27380b
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_73.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00582733 -0.01427031 0.01633813
+v -0.00582733 -0.01409786 0.01629255
+v -0.00594506 -0.01427031 0.01626326
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+v -0.00582733 -0.01408016 0.01628604
+v -0.00621421 -0.01427031 0.01609074
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+v -0.00582733 -0.01419440 -0.01681422
+v -0.00582733 -0.01405384 0.01627628
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+v -0.00637358 -0.01427031 0.01597682
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+v -0.00621782 -0.01366516 0.01583360
+v -0.00582733 -0.01299058 0.01556994
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+v -0.00795070 -0.01427029 0.01113010
+v -0.00828654 -0.01317185 0.00902085
+v -0.00792205 -0.01427029 0.01124728
+v -0.00766157 -0.01427030 0.01226610
+v -0.00739169 -0.01427030 0.01321331
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+v -0.00609889 -0.01195250 0.01354859
+v -0.00592147 -0.01195250 0.01386432
+f 1 2 3
+f 1 3 6
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+f 1 32 31
+f 1 31 30
+f 1 30 29
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+f 1 28 26
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+f 17 25 23
+f 17 23 33
+f 23 24 35
+f 23 35 33
+f 24 34 36
+f 24 36 35
+f 26 28 27
+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_74.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08b9da9a49517f37952305e0b10c2baa58a3c682
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_74.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.01708991 -0.00477978 0.01019755
+v 0.01543247 -0.00477978 0.01019755
+v 0.01708991 -0.00544488 0.01019755
+v 0.01708991 -0.00477968 -0.01620754
+v 0.01425583 -0.00725056 0.01017393
+v 0.01587194 -0.00497133 0.01019755
+v 0.01425583 -0.00477976 0.00582949
+v 0.01672591 -0.00531113 0.01019755
+v 0.01488701 -0.00725055 0.00943936
+v 0.01498023 -0.00725055 0.00932130
+v 0.01589080 -0.00725055 0.00808828
+v 0.01697311 -0.00725054 0.00656143
+v 0.01708991 -0.00724957 0.00626498
+v 0.01708991 -0.00488682 -0.01615245
+v 0.01681580 -0.00477968 -0.01626001
+v 0.01671869 -0.00530847 0.01019755
+v 0.01425583 -0.00725046 -0.01545462
+v 0.01425583 -0.00477968 -0.01659843
+v 0.01708797 -0.00725054 0.00626498
+v 0.01708991 -0.00725054 0.00495063
+v 0.01708991 -0.00534054 -0.01587436
+v 0.01708048 -0.00533231 -0.01588223
+v 0.01661742 -0.00477968 -0.01629411
+v 0.01462483 -0.00477968 -0.01656958
+v 0.01484456 -0.00477968 -0.01654859
+v 0.01567828 -0.00477968 -0.01644365
+v 0.01587194 -0.00477968 -0.01641742
+v 0.01708991 -0.00612729 -0.01526047
+v 0.01708991 -0.00650435 -0.01496140
+v 0.01688155 -0.00725047 -0.01441048
+v 0.01708991 -0.00725047 -0.01429767
+f 1 2 6
+f 1 6 16
+f 1 16 8
+f 1 8 3
+f 1 3 13
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+f 1 20 31
+f 1 31 29
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+f 1 28 21
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+f 17 26 27
+f 17 27 23
+f 17 22 21
+f 17 21 28
+f 17 28 29
+f 17 29 30
+f 29 31 30
+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_75.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbd68e88f0c7f751b725de9f6ef8db73ec2f742e
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_75.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.00942484 0.00910480 -0.01697218
+v -0.01174453 0.00910480 -0.01610556
+v -0.00946256 0.00947345 -0.01703288
+v -0.00942484 0.00932746 -0.01701602
+v -0.00942484 0.00910472 0.00534074
+v -0.01174634 0.00910480 -0.01581219
+v -0.01174634 0.00947345 -0.01601789
+v -0.01174634 0.01159863 -0.01628090
+v -0.01082547 0.01160720 -0.01679345
+v -0.01058343 0.01160720 -0.01691485
+v -0.01039935 0.01160720 -0.01700252
+v -0.01032435 0.01104872 -0.01696880
+v -0.01021367 0.01050101 -0.01692496
+v -0.00969983 0.01050101 -0.01711380
+v -0.00942484 0.01050101 -0.01719473
+v -0.00942484 0.00947345 -0.01704299
+v -0.00942484 0.01020280 0.01329207
+v -0.01174634 0.00910472 0.00487540
+v -0.01174634 0.01160720 -0.01628090
+v -0.01019640 0.01160720 -0.01707333
+v -0.00991755 0.01144627 -0.01715426
+v -0.00942484 0.01103181 -0.01725205
+v -0.00942484 0.01034634 0.01431717
+v -0.00942484 0.01048962 0.01533891
+v -0.01046548 0.01095747 0.01596274
+v -0.01171748 0.01160708 0.01540635
+v -0.01174225 0.01160709 0.01447229
+v -0.01174634 0.01160711 0.00754270
+v -0.00990368 0.01160720 -0.01717112
+v -0.00942484 0.01160720 -0.01731275
+v -0.00942484 0.01157340 -0.01730938
+v -0.00942484 0.01073849 0.01634378
+v -0.00942484 0.01096776 0.01677203
+v -0.01093478 0.01160708 0.01628983
+v -0.00942484 0.01160708 0.01713621
+v -0.00942484 0.01112600 0.01692040
+v -0.00975573 0.01160708 0.01701482
+v -0.00973801 0.01160708 0.01702156
+v -0.00942484 0.01157377 0.01712273
+f 1 2 3
+f 1 3 4
+f 1 4 16
+f 1 16 15
+f 1 15 22
+f 1 22 31
+f 1 31 30
+f 1 30 35
+f 1 35 39
+f 1 39 36
+f 1 36 33
+f 1 33 32
+f 1 32 24
+f 1 24 23
+f 1 23 17
+f 1 17 5
+f 1 5 18
+f 1 18 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
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+f 2 10 11
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+f 3 14 15
+f 3 15 16
+f 3 16 4
+f 5 17 18
+f 6 18 28
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+f 6 19 8
+f 6 8 7
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+f 9 20 11
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+f 12 21 14
+f 12 14 13
+f 14 21 15
+f 15 21 22
+f 17 23 18
+f 18 23 24
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 20 29 21
+f 21 29 30
+f 21 30 31
+f 21 31 22
+f 24 32 25
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 33 36 34
+f 34 36 37
+f 35 38 39
+f 36 39 38
+f 36 38 37
+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_76.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dba2b26aac982a3c5ad47af4b3ed6a6c27507fb
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_76.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.01220602 -0.02598261 0.00097951
+v -0.01229834 -0.02580982 0.00097952
+v -0.01220602 -0.02597397 0.00073601
+v -0.01220602 -0.02593160 0.00178853
+v -0.01228039 -0.02577897 0.00200533
+v -0.01256545 -0.02529556 0.00097952
+v -0.01228962 -0.02578925 -0.00004473
+v -0.01220602 -0.02594599 -0.00004474
+v -0.01255191 -0.02526471 0.00200533
+v -0.01220602 -0.02591720 0.00200532
+v -0.01251334 -0.02518408 0.00303115
+v -0.01294007 -0.02444559 0.00097952
+v -0.01294530 -0.02444559 -0.00004473
+v -0.01255212 -0.02527540 -0.00004473
+v -0.01225321 -0.02570697 -0.00107055
+v -0.01220602 -0.02592049 -0.00023325
+v -0.01288447 -0.02444560 0.00200533
+v -0.01220602 -0.02576128 0.00295103
+v -0.01281041 -0.02444560 0.00303115
+v -0.01223279 -0.02569834 0.00303115
+v -0.01245436 -0.02507258 0.00387631
+v -0.01264731 -0.02454681 0.00415437
+v -0.01325386 -0.02338333 -0.00108940
+v -0.01325386 -0.02356599 -0.00209794
+v -0.01220602 -0.02579665 -0.00107055
+v -0.01277174 -0.02341832 0.00610860
+v -0.01220602 -0.02574688 0.00303115
+v -0.01260884 -0.02433124 0.00508278
+v -0.01220602 -0.02542928 0.00414651
+v -0.01220602 -0.02542229 0.00416850
+v -0.01238881 -0.02495658 0.00456124
+v -0.01325386 -0.02238279 -0.00005729
+v -0.01325386 -0.02328829 -0.00312061
+v -0.01220602 -0.02560616 -0.00179789
+v -0.01220602 -0.02577526 -0.00115538
+v -0.01247765 -0.02407657 0.00610860
+v -0.01252709 -0.02338048 0.00703231
+v -0.01244800 -0.02301227 0.00778322
+v -0.01244800 -0.02264406 0.00778322
+v -0.01256104 -0.02249390 0.00713600
+v -0.01268475 -0.02250993 0.00610861
+v -0.01325386 -0.02177966 -0.00005572
+v -0.01220602 -0.02505285 0.00508278
+v -0.01220602 -0.02552429 -0.00209794
+v -0.01325386 -0.02240910 -0.00619491
+v -0.01220602 -0.02453118 0.00610860
+v -0.01239076 -0.02393217 0.00662230
+v -0.01225259 -0.02369768 0.00730722
+v -0.01220602 -0.02381287 0.00725852
+v -0.01220602 -0.02324677 0.00801100
+v -0.01220602 -0.02233962 0.00819167
+v -0.01220602 -0.02231452 0.00816967
+v -0.01325386 -0.02177963 -0.00746265
+v -0.01220602 -0.02222854 0.00715642
+v -0.01220602 -0.02177966 0.00067477
+v -0.01220602 -0.02550783 -0.00214663
+v -0.01325386 -0.02232599 -0.00647925
+v -0.01220602 -0.02412225 0.00681238
+v -0.01220602 -0.02177963 -0.00785538
+v -0.01220602 -0.02236424 -0.00727885
+v -0.01220602 -0.02329239 -0.00619178
+v -0.01220602 -0.02397039 -0.00517539
+v -0.01220602 -0.02415964 -0.00488791
+v -0.01325386 -0.02198328 -0.00714846
+v -0.01220602 -0.02523507 -0.00288968
+v -0.01220602 -0.02495943 -0.00348978
+v -0.01220602 -0.02512029 -0.00315203
+v -0.01220602 -0.02517706 -0.00302636
+v -0.01220602 -0.02452332 -0.00430038
+v -0.01220602 -0.02456200 -0.00423754
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 25
+f 1 25 35
+f 1 35 34
+f 1 34 44
+f 1 44 56
+f 1 56 65
+f 1 65 68
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+f 1 70 69
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+f 1 61 60
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+f 1 54 52
+f 1 52 51
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+f 1 50 49
+f 1 49 58
+f 1 58 46
+f 1 46 43
+f 1 43 30
+f 1 30 29
+f 1 29 27
+f 1 27 18
+f 1 18 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 5 9
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+f 4 10 5
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+f 10 18 11
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+f 11 22 19
+f 12 17 23
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+f 14 24 15
+f 15 25 16
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+f 17 19 26
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+f 18 27 20
+f 19 22 28
+f 19 28 26
+f 20 27 21
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+f 21 30 31
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+f 21 28 22
+f 23 26 32
+f 23 32 42
+f 23 42 53
+f 23 53 64
+f 23 64 57
+f 23 57 45
+f 23 45 33
+f 23 33 24
+f 24 33 34
+f 24 34 35
+f 24 35 25
+f 26 28 36
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+f 26 38 39
+f 26 39 40
+f 26 40 41
+f 26 41 42
+f 26 42 32
+f 28 31 43
+f 28 43 36
+f 30 43 31
+f 33 44 34
+f 33 45 44
+f 36 46 47
+f 36 47 37
+f 36 43 46
+f 37 47 38
+f 38 48 49
+f 38 49 50
+f 38 50 51
+f 38 51 39
+f 38 47 48
+f 39 51 52
+f 39 52 40
+f 40 52 42
+f 40 42 41
+f 42 52 54
+f 42 54 55
+f 42 55 59
+f 42 59 53
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+f 44 57 56
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+f 47 58 49
+f 47 49 48
+f 53 59 60
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+f 53 63 64
+f 56 57 65
+f 57 64 66
+f 57 66 67
+f 57 67 68
+f 57 68 65
+f 63 69 64
+f 64 69 70
+f 64 70 66
+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_77.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a26e3ea47a4261f1f75374bf481ddf553e1d6a7f
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_77.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.02124911 -0.00477978 0.01019759
+v 0.01709019 -0.00477978 0.01019759
+v 0.02124911 -0.00688076 0.01019758
+v 0.02124911 -0.00477969 -0.01488385
+v 0.01709019 -0.00544488 0.01019759
+v 0.01709019 -0.00477968 -0.01621005
+v 0.01723308 -0.00549712 0.01019759
+v 0.01709019 -0.00724957 0.00626551
+v 0.02124911 -0.00725055 0.00741851
+v 0.02124911 -0.00481210 -0.01486317
+v 0.02101055 -0.00477968 -0.01500019
+v 0.01750828 -0.00477968 -0.01613250
+v 0.01709019 -0.00488682 -0.01615059
+v 0.01758278 -0.00725054 0.00627327
+v 0.01709019 -0.00725054 0.00495224
+v 0.02124911 -0.00725047 -0.01272782
+v 0.02101055 -0.00516883 -0.01474167
+v 0.02124911 -0.00511103 -0.01466411
+v 0.02063561 -0.00477968 -0.01515271
+v 0.02038809 -0.00537271 -0.01488127
+v 0.01792759 -0.00477968 -0.01604460
+v 0.01709019 -0.00533062 -0.01588173
+v 0.01709019 -0.00725047 -0.01429961
+v 0.02099304 -0.00725047 -0.01286484
+v 0.02124911 -0.00672758 -0.01328362
+v 0.02124911 -0.00529967 -0.01453227
+v 0.01981164 -0.00477968 -0.01547586
+v 0.01970295 -0.00553958 -0.01500536
+v 0.02124911 -0.00581942 -0.01412122
+v 0.02092180 -0.00594615 -0.01417034
+v 0.02051999 -0.00646952 -0.01390665
+v 0.02002048 -0.00590721 -0.01457880
+v 0.01792759 -0.00518623 -0.01578608
+v 0.01890788 -0.00477968 -0.01577833
+v 0.01783436 -0.00598726 -0.01520441
+v 0.01742971 -0.00646275 -0.01492521
+v 0.01709019 -0.00612729 -0.01526129
+v 0.01709019 -0.00650435 -0.01496141
+v 0.01811485 -0.00635803 -0.01483473
+v 0.01895551 -0.00676579 -0.01419619
+v 0.01804972 -0.00725047 -0.01399973
+v 0.02018576 -0.00725047 -0.01322676
+v 0.02092180 -0.00677982 -0.01339479
+v 0.02124911 -0.00630579 -0.01370759
+v 0.01899704 -0.00488319 -0.01568526
+v 0.01906787 -0.00477968 -0.01572921
+v 0.01895551 -0.00620784 -0.01470806
+v 0.01895551 -0.00569413 -0.01512945
+v 0.02124911 -0.00627290 -0.01373603
+v 0.02120514 -0.00628958 -0.01374379
+v 0.01998262 -0.00657642 -0.01401265
+v 0.02007788 -0.00716655 -0.01335860
+v 0.01895551 -0.00725047 -0.01370502
+v 0.02002415 -0.00725047 -0.01329139
+v 0.01924740 -0.00725047 -0.01359386
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 9
+f 1 9 16
+f 1 16 25
+f 1 25 44
+f 1 44 49
+f 1 49 29
+f 1 29 26
+f 1 26 18
+f 1 18 10
+f 1 10 4
+f 1 4 11
+f 1 11 19
+f 1 19 27
+f 1 27 46
+f 1 46 34
+f 1 34 21
+f 1 21 12
+f 1 12 6
+f 1 6 2
+f 2 6 13
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+f 2 22 37
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+f 2 23 15
+f 2 15 8
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+f 3 7 8
+f 3 8 9
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+f 19 20 27
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+f 22 33 35
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+f 22 36 37
+f 23 38 36
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+f 24 31 43
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+f 28 32 47
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+f 28 48 45
+f 29 49 50
+f 29 50 30
+f 30 50 31
+f 31 51 32
+f 31 50 44
+f 31 44 43
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+f 31 52 51
+f 32 51 47
+f 33 34 45
+f 33 45 48
+f 33 48 35
+f 34 46 45
+f 35 48 39
+f 35 39 36
+f 36 38 37
+f 39 48 47
+f 39 47 40
+f 40 51 53
+f 40 53 41
+f 40 47 51
+f 42 54 52
+f 44 50 49
+f 51 52 55
+f 51 55 53
+f 52 54 55
+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_78.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad9810cb17e77a04c07bc2bada6c50bd96ba1e61
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_78.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.01220602 -0.02177940 -0.00785546
+v -0.01325386 -0.02177940 -0.00746257
+v -0.01325386 -0.02166474 -0.00775115
+v -0.01220602 -0.02161869 -0.00825356
+v -0.01220602 -0.02177943 0.00067340
+v -0.01325386 -0.02177943 -0.00005675
+v -0.01325386 -0.02129081 -0.00862907
+v -0.01220602 -0.02122104 -0.00922188
+v -0.01220602 -0.01942743 0.00243794
+v -0.01325386 -0.01942744 0.00564365
+v -0.01325386 -0.02103523 -0.00920623
+v -0.01325386 -0.02092333 -0.00944788
+v -0.01325386 -0.02072024 -0.00984599
+v -0.01220602 -0.02113055 -0.00939920
+v -0.01220602 -0.01942738 -0.01178261
+v -0.01325386 -0.01942738 -0.01211640
+v -0.01325386 -0.02048976 -0.01028234
+v -0.01220602 -0.02032236 -0.01053788
+v -0.01325386 -0.01999679 -0.01119328
+v -0.01325386 -0.01989755 -0.01137408
+v -0.01325386 -0.01972233 -0.01167831
+v -0.01287380 -0.01942738 -0.01200687
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 18
+f 1 18 15
+f 1 15 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 16
+f 2 16 21
+f 2 21 20
+f 2 20 19
+f 2 19 17
+f 2 17 13
+f 2 13 12
+f 2 12 11
+f 2 11 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 10
+f 5 10 6
+f 7 11 8
+f 8 11 12
+f 8 12 13
+f 8 13 14
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+f 9 22 16
+f 9 16 10
+f 13 17 14
+f 14 17 19
+f 14 19 20
+f 14 20 21
+f 14 21 16
+f 14 16 22
+f 14 22 18
+f 15 18 22
+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_79.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87a1a4cb1f47c369e42620a3b5a32170aaf641d0
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_79.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.00287302 -0.00568355 -0.01675161
+v -0.00361356 -0.00392965 -0.01669080
+v -0.00164958 -0.00568355 -0.01674249
+v -0.00361356 -0.00568355 -0.01663609
+v -0.00361356 -0.00495698 -0.01667561
+v -0.00361356 0.00324856 -0.01637157
+v 0.00019472 -0.00568355 -0.01668169
+v -0.00361356 -0.00568362 0.00254108
+v 0.00172545 0.00324856 -0.01604931
+v -0.00361356 0.00324845 0.01364672
+v 0.00172545 -0.00568355 -0.01656313
+v -0.00151841 -0.00568365 0.01061568
+v -0.00136371 -0.00553240 0.01430640
+v -0.00187796 -0.00534267 0.01430640
+v -0.00189207 -0.00533568 0.01430640
+v -0.00262791 -0.00492912 0.01430640
+v -0.00263679 -0.00492387 0.01430640
+v -0.00325034 -0.00450419 0.01430640
+v -0.00361356 -0.00410812 0.01430640
+v 0.00172545 0.00324845 0.01430643
+v -0.00361356 0.00319424 0.01379265
+v -0.00348186 0.00314003 0.01430643
+v -0.00347141 0.00315052 0.01430643
+v -0.00337315 0.00324845 0.01430643
+v 0.00172545 -0.00568363 0.00623484
+v -0.00119648 -0.00568365 0.01072512
+v -0.00057196 -0.00568016 0.01430640
+v -0.00058345 -0.00567929 0.01430640
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_8.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4135b5704cf132826981bacfdeda3758b477b76
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_8.obj
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diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_80.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be0ef8604e61e7e915f0f5cc0e618f518e3c6bdc
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_80.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.00461816 -0.00360814 -0.01672852
+v 0.00445322 -0.00360814 -0.01672286
+v 0.00620663 0.00022206 -0.01693479
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+v 0.00620663 0.00260080 0.00738930
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+v 0.00620663 -0.00203532 0.01002005
+v 0.00620663 -0.00185541 0.01033371
+v 0.00620663 -0.00092248 0.01193309
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+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_81.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91a2e3d6f84dd3953b3817d116be126adc2df2d7
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_81.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00443679 -0.00461323 -0.01679280
+v -0.00443679 -0.00461323 0.01430641
+v -0.00443679 -0.00361322 -0.01679280
+v -0.00443679 -0.00361322 0.01430641
+v -0.00343678 -0.00461323 -0.01679280
+v -0.00343678 -0.00461323 0.01430641
+v -0.00343678 -0.00361322 -0.01679280
+v -0.00343678 -0.00361322 0.01430641
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+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_82.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7f963f7d36e2145bae335d0971af011d626fa79
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_82.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.00582694 -0.00714980 -0.01708174
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+
diff --git a/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_9.obj b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd82b6a4ed20e1479426d3bf4b1dcd14b43aaad2
--- /dev/null
+++ b/dataset/food/ingredients/b959bf8370e15424891dfb76028f4734/mjcf/mesh/garlic_006_collision_9.obj
@@ -0,0 +1,1579 @@
+# https://github.com/mikedh/trimesh
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