diff --git a/.gitattributes b/.gitattributes
index 3538ec528bfe4ddd78373fe5c936be430eae9fab..57d2f96dd4e7f4880a2e2831dfb29d2fb162530d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5471,3 +5471,5 @@ dataset/food/ingredients/df2faefff0d55f498765f387a19ac55b/mesh/carrot_007.glb fi
 dataset/food/ingredients/dffa628b99455c87b2a5070173b79414/dffa628b99455c87b2a5070173b79414.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/dffa628b99455c87b2a5070173b79414/mesh/onion.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/dffa628b99455c87b2a5070173b79414/mesh/onion_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/garlic_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mesh/garlic_009.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/garlic_009.urdf b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/garlic_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6b1a011ddc1f52ff6da1b37757a1c9aca7f04448
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/garlic_009.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="garlic_009">
+   <link name="garlic_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/garlic_009.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_009_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>e177166a57755bcaa2757b72a60b1ef7</uuid>
+         <domain>food</domain>
+         <super_category>ingredients</super_category>
+         <category>garlic</category>
+         <name>fresh garlic</name>
+         <color>white,green</color>
+         <shape>irregular</shape>
+         <material>organic</material>
+         <description>bulbous garlic with green stem and white cloves</description>
+         <min_height>0.0392</min_height>
+         <max_height>0.0392</max_height>
+         <real_height>0.0392</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506220518</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>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_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/e177166a57755bcaa2757b72a60b1ef7/garlic_009.usd b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/garlic_009.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ced259d4ab000ea71d04dd0995bb8f97a4c9807b
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/garlic_009.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1af3aeeb333ee0c0c93c6ac673a37ac253ed937411789cf3ae1d222be0f2866f
+size 5013629
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mesh/garlic_009.glb b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mesh/garlic_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0e843d18a033ecf9762d10282d8c5f69a7c20b07
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mesh/garlic_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e5142eca0e4e1e9f1451bdca3aa16b42fe288a4500aeed7c180304ddf075db1
+size 15388440
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mesh/garlic_009.mtl b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mesh/garlic_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6fdad2ed5378257ca8537747316f28b869a059c7
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mesh/garlic_009.mtl
@@ -0,0 +1,6 @@
+newmtl garlic_009_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/e177166a57755bcaa2757b72a60b1ef7/mesh/garlic_009.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mesh/garlic_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71a49bdc62c11932f043ab8b695af105b2627ae0
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mesh/garlic_009.obj
@@ -0,0 +1,117238 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl garlic_009_geometry_Looks_material_0
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mesh/garlic_009_collision.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mesh/garlic_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5cb9426ef70b5cf345767d41971524f8a67a4a0
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mesh/garlic_009_collision.obj
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mesh/garlic_009_geometry_Looks_material_0.png b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mesh/garlic_009_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..39779433a58a87331e307b56393e6ab225616a90
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mesh/garlic_009_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98ceb8f93205d874bf73a381187a10345dc91eadb2db82a1c978d8ca2bff2ffc
+size 11875472
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mesh/material.mtl b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..17e3efa521f6943b3f4bcb514af6171092df2a87
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl garlic_009_geometry_Looks_material_0
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mesh/material_0.png b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..39779433a58a87331e307b56393e6ab225616a90
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98ceb8f93205d874bf73a381187a10345dc91eadb2db82a1c978d8ca2bff2ffc
+size 11875472
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/garlic_009.xml b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/garlic_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f0e5d304286fbea34adb801bb39d1aca09b68ba8
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/garlic_009.xml
@@ -0,0 +1,166 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="garlic_009">
+  <asset>
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+    <texture name="texture_0_garlic_009_geometry_Looks_material_0" type="2d" file="mesh/garlic_009_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/garlic_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/garlic_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_8" file="mesh/garlic_009_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_15" file="mesh/garlic_009_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_36" file="mesh/garlic_009_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/garlic_009_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/garlic_009_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/garlic_009_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_41" file="mesh/garlic_009_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_51" file="mesh/garlic_009_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_53" file="mesh/garlic_009_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/garlic_009_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/garlic_009_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/garlic_009_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/garlic_009_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/garlic_009_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/garlic_009_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/garlic_009_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/garlic_009_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/garlic_009_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/garlic_009_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/garlic_009_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/garlic_009_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/garlic_009_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/garlic_009_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/garlic_009_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/garlic_009_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_70" file="mesh/garlic_009_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_71" file="mesh/garlic_009_collision_71.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_72" file="mesh/garlic_009_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_73" file="mesh/garlic_009_collision_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_74" file="mesh/garlic_009_collision_74.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_75" file="mesh/garlic_009_collision_75.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="garlic_009">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3908cfd5dcc1830a98ace72c6fa5514b3b7018f9
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009.obj
@@ -0,0 +1,117238 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl garlic_009_geometry_Looks_material_0
+v 0.018931 -0.002336 -0.004394
+v 0.019042 -0.001812 -0.004123
+v 0.019088 -0.002409 -0.003863
+v 0.018901 -0.001839 -0.004548
+v 0.019208 -0.001942 -0.003461
+v 0.019151 -0.001613 -0.003728
+v 0.019166 -0.002659 -0.003442
+v 0.019275 -0.002339 -0.002988
+v 0.018953 -0.002957 -0.004089
+v 0.019070 -0.003131 -0.003568
+v 0.019179 -0.003156 -0.003048
+v 0.019262 -0.002889 -0.002748
+v 0.018951 -0.003411 -0.003820
+v 0.018804 -0.002701 -0.004622
+v 0.019134 -0.003552 -0.002913
+v 0.019008 -0.003834 -0.003214
+v 0.018839 -0.003328 -0.004210
+v 0.019328 -0.002573 -0.002444
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58a1385019190605654c3a53ea7cb6d0390f4ead
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision.obj
@@ -0,0 +1,41136 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_0.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33ec686ab3fe575fba127558778127772e868824
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_0.obj
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_1.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bd692f5ae58a8cb1e3ed2fe46660affe5c668e8
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_1.obj
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_10.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..070b7fe92a96bb75a3895a94bc9767f5e3a9a745
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_10.obj
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_11.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e38e45d5767cc15d3f12f57c22ed0b58f361a3a4
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_11.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.00176259 -0.00448670 0.01533566
+v -0.00176259 -0.00666895 0.01533566
+v -0.00176259 -0.00448670 0.01508599
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+
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_12.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0929a69f501dfb3efd3a81e63f64e22888f89b8e
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_12.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00274628 0.01006377 -0.01075227
+v 0.00274628 0.01006377 0.01179716
+v 0.00274628 0.01106377 -0.01075227
+v 0.00274628 0.01106377 0.01179716
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+v 0.01517756 0.01106377 -0.01075227
+v 0.01517756 0.01106377 0.01179716
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+
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_13.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..982368db273e4a8aee21c2e189ae902f6671d7b8
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_13.obj
@@ -0,0 +1,781 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_14.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..091f593f008d0d41e0773ba0373db20b4507f356
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_14.obj
@@ -0,0 +1,2857 @@
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_15.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fe5ff15fb8633cbc8f04cd67f16f4ea189f8e08
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_15.obj
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_16.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bc8e2add36b7ea3ef4653bc491a9e751bd63340
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_16.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_17.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39d2495ba74aea07bd477de509780dc58daeaa98
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_17.obj
@@ -0,0 +1,784 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_18.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91990a05d85d9fb9f8c2fb06394ccef2fe693ce6
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_18.obj
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_19.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24a49ea7413dbe57a58e78644278c658ac1b1579
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_19.obj
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_2.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..356987222a79090d81d88a21c693d1dedfd45bda
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_2.obj
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_20.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f752c2ac3973c383ea8edab3a0cd21a6dc84ea5
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_20.obj
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_21.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b161246b10d6ca859e6a3aa67044cda1b788c61
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_21.obj
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_22.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26b4cbe6799355198cbefe3ac410e3100407ddff
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_22.obj
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_23.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5863ff66933782f39af575ecb42bdebc64733339
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_23.obj
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_24.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62328f02e886f02c03375ccfeb0265ebbd0ba8d5
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_24.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_25.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..335f33b86ef0269d754c5dc3cc682a99293b2c9c
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_25.obj
@@ -0,0 +1,736 @@
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_26.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..071bb401b99c1dc60c7c1c63c00fc172749022b8
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_26.obj
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_27.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03ade95c2b73967211f3d828d64f923cf1977dfd
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_27.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
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+v -0.00640703 -0.00015723 -0.01187692
+v -0.00640703 -0.00021164 -0.01190197
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+
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_28.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4d3eb6e9880d4db1fd238a18248af57a2e868c7
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_28.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_29.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3273a25b65331f5a21de36484c90a8db423d512
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_29.obj
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_3.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75d9f1f79f6778f6b1985bc0a97030464d104ad8
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_3.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_30.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06c9eb655a7aac87cae3438f9ca5b361a9a16205
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_30.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_31.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34188ff29c628ebcf463621b1c9e2decca52318d
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_31.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_32.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5614ffe996cfddb388a83c619fdc45a0cb25a87a
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_32.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_33.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..392d2fee37a3ee0215cb21b93678d64a35293fe9
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_33.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_34.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..878ad07f1a89c66783de9bc513252f87e2f36a8e
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_34.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_35.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b7d7232478b871917e5e3b32fb84c27aa21c902
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_35.obj
@@ -0,0 +1,22 @@
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+
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_36.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..811dcd178a7d87317680decaad1d0cd5afd13431
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_36.obj
@@ -0,0 +1,1129 @@
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_37.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5eed0140cfb568662be2dc7c4f05a5fe124fd42f
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_37.obj
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_38.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..046f7d14c53fcd4c25d7be29ea34417fa2fb1603
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_38.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_39.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ea4279ee5229109afae81b4918966b220873824
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_39.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_4.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09a9fb8f6788dde784372072aee6d8a6d1e570cd
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_4.obj
@@ -0,0 +1,3079 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_40.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aea408c38b58c4bf2b8041472e248039db8b12e
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_40.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00095721 -0.00711219 -0.01209265
+v 0.00095721 -0.00711219 0.00889401
+v 0.00095721 -0.00611219 -0.01209265
+v 0.00095721 -0.00611219 0.00889401
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+v 0.01850370 -0.00711219 0.00889401
+v 0.01850370 -0.00611219 -0.01209265
+v 0.01850370 -0.00611219 0.00889401
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+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_41.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abd817c619215451ad15dd907f030e24ac28ef62
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_41.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00330259 0.00147126 -0.01436665
+v -0.00330259 0.00147126 0.01125113
+v -0.00330259 0.00247126 -0.01436665
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+v 0.00676784 0.00247126 0.01125113
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+
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_42.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e934fef730489df9d4aaba6f016be29425df4d8a
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_42.obj
@@ -0,0 +1,778 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_43.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d70536f703270a96f16a293a2836a62582a844d0
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_43.obj
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_44.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d9c0d49d7403b09e114d7a98420e12cca35747c
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_44.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_45.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45c15b521ea94c65f165216991fe215d75722379
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_45.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_46.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9e750d39b65568dc2687c28baa1c512394d7b78
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_46.obj
@@ -0,0 +1,2680 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_47.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57d3eb13ca02a7b0e1e919d13d7f8fad51f48866
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_47.obj
@@ -0,0 +1,1468 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_48.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb43e08fd3b34dc8eeb93186979b1415df51e219
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_48.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_49.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91d758c3ef5862e29eb9607e85a8e7fd7579d0c4
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_49.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00640703 -0.00271352 -0.01441780
+v -0.00640703 -0.00271352 0.01533594
+v -0.00640703 -0.00171352 -0.01441780
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+v 0.00676784 -0.00271352 -0.01441780
+v 0.00676784 -0.00271352 0.01533594
+v 0.00676784 -0.00171352 -0.01441780
+v 0.00676784 -0.00171352 0.01533594
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+
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_5.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1095924b232a39a738b56b4954fb61dd62e5b7ad
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_5.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+f 35 38 36
+f 36 38 37
+
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_50.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8c6df69fdc28893b9222a5a6fbfc9143dfa97d0
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_50.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00194197 -0.00613665 0.01262825
+v -0.00187183 -0.00618990 0.01262825
+v -0.00252927 -0.00613664 0.01144891
+v -0.00419688 -0.00613665 0.01262825
+v -0.00163701 -0.00658989 0.01262825
+v -0.00160118 -0.00665526 0.01262825
+v -0.00208632 -0.00696363 0.01173565
+v -0.00237349 -0.00729765 0.01144890
+v -0.00419688 -0.00613664 0.01144891
+v -0.00419688 -0.00682912 0.01262824
+v -0.00160372 -0.00667076 0.01262825
+v -0.00208632 -0.00713273 0.01173565
+v -0.00252724 -0.00787646 0.01144890
+v -0.00419688 -0.00816617 0.01144890
+v -0.00419688 -0.00816617 0.01146783
+v -0.00397986 -0.00698252 0.01262824
+v -0.00178085 -0.00720069 0.01262824
+v -0.00196789 -0.00725155 0.01207066
+v -0.00213359 -0.00757444 0.01207066
+v -0.00298112 -0.00816438 0.01144890
+v -0.00298417 -0.00816617 0.01144890
+v -0.00378036 -0.00816617 0.01157658
+v -0.00299891 -0.00742324 0.01262824
+v -0.00312851 -0.00739045 0.01262824
+v -0.00322203 -0.00735548 0.01262824
+v -0.00369040 -0.00714764 0.01262824
+v -0.00180932 -0.00725633 0.01262824
+v -0.00245583 -0.00775108 0.01207066
+v -0.00298849 -0.00816617 0.01146956
+v -0.00370793 -0.00816617 0.01158570
+v -0.00280323 -0.00763803 0.01241675
+v -0.00244642 -0.00750709 0.01262824
+v -0.00236485 -0.00748901 0.01262824
+v -0.00241059 -0.00750709 0.01262824
+v -0.00257095 -0.00763803 0.01241675
+v -0.00300958 -0.00816617 0.01147545
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 16
+f 1 16 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 32
+f 1 32 34
+f 1 34 33
+f 1 33 27
+f 1 27 17
+f 1 17 11
+f 1 11 6
+f 1 6 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 3 8 13
+f 3 13 20
+f 3 20 21
+f 3 21 14
+f 3 14 9
+f 4 9 14
+f 4 14 15
+f 4 15 10
+f 6 11 12
+f 6 12 7
+f 7 12 8
+f 8 12 13
+f 10 15 16
+f 11 17 18
+f 11 18 12
+f 12 18 13
+f 13 19 20
+f 13 18 19
+f 14 21 29
+f 14 29 36
+f 14 36 30
+f 14 30 22
+f 14 22 15
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 17 27 18
+f 18 27 19
+f 19 27 28
+f 19 28 29
+f 19 29 20
+f 20 29 21
+f 22 30 31
+f 22 31 23
+f 23 31 32
+f 27 33 28
+f 28 34 29
+f 28 33 34
+f 29 34 35
+f 29 35 36
+f 30 36 35
+f 30 35 34
+f 30 34 32
+f 30 32 31
+
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_51.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc293e4c63d95565f9d4d52eb973442727479c36
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_51.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00350542 -0.01205902 0.00721663
+v 0.00350542 -0.01205902 0.01132181
+v 0.00350542 -0.00816635 0.00721663
+v 0.00350542 -0.00816635 0.01132181
+v 0.00450542 -0.01205902 0.00721663
+v 0.00450542 -0.01205902 0.01132181
+v 0.00450542 -0.00816635 0.00721663
+v 0.00450542 -0.00816635 0.01132181
+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/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_52.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..301f9d5a6e218bc1b87d7cd8640f66ab9476305c
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_52.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.00226701 -0.00816658 0.01153022
+v 0.00209439 -0.00816658 0.01153951
+v 0.00000503 -0.00879584 0.01245967
+v 0.00000503 -0.00904074 0.01245967
+v 0.00085629 -0.00925229 0.01199494
+v 0.00067546 -0.00971006 0.01190431
+v 0.00226701 -0.00841083 0.01125138
+v 0.00226701 -0.00816650 -0.01047926
+v 0.00018689 -0.00816658 0.01143959
+v -0.00024516 -0.00879584 0.01245967
+v -0.00024516 -0.00904074 0.01245967
+v 0.00016018 -0.00978175 0.01197402
+v 0.00019614 -0.00924838 0.01229934
+v 0.00016018 -0.01010443 0.01163012
+v 0.00016018 -0.01039225 0.01132108
+v 0.00022337 -0.01039225 0.01129320
+v 0.00049154 -0.01039225 0.01117004
+v 0.00057631 -0.01030554 0.01122116
+v 0.00225828 -0.01039224 0.00893703
+v 0.00226701 -0.01039224 0.00892541
+v 0.00226701 -0.01039217 -0.01012143
+v 0.00045455 -0.01039217 -0.01091378
+v 0.00014271 -0.01039217 -0.01101370
+v 0.00022080 -0.00990172 -0.01101138
+v 0.00016018 -0.00816650 -0.01108805
+v -0.00042394 -0.00816658 0.01136524
+v -0.00298131 -0.00816657 0.00812144
+v -0.00298131 -0.01039224 0.00906251
+v -0.00157676 -0.01039225 0.01052175
+v -0.00099521 -0.01039225 0.01093071
+v -0.00032735 -0.00970527 0.01189269
+v -0.00246963 -0.01039225 0.00969221
+v -0.00224153 -0.01039225 0.00993852
+v -0.00048404 -0.01039225 0.01120954
+v 0.00062151 -0.01039225 0.01103992
+v -0.00000627 -0.01039217 -0.01105320
+v -0.00048404 -0.00988233 -0.01119959
+v -0.00048404 -0.00923718 -0.01121352
+v -0.00048404 -0.00816650 -0.01122747
+v -0.00298131 -0.00816650 -0.01085104
+v -0.00298131 -0.01039217 -0.01085802
+v -0.00060888 -0.01039225 0.01114216
+v -0.00048404 -0.01039217 -0.01117636
+v -0.00112878 -0.01039217 -0.01124374
+v -0.00112878 -0.00988233 -0.01126465
+v -0.00112878 -0.00923718 -0.01127394
+v -0.00112878 -0.00816650 -0.01127859
+v -0.00278918 -0.00816650 -0.01094398
+v -0.00298131 -0.00820877 -0.01085336
+v -0.00298131 -0.01010392 -0.01086731
+v -0.00278815 -0.01039217 -0.01094399
+v -0.00177352 -0.01039217 -0.01120192
+v -0.00177352 -0.00988233 -0.01122051
+v -0.00177352 -0.00923718 -0.01122747
+v -0.00177352 -0.00859159 -0.01122282
+v -0.00177352 -0.00816650 -0.01121817
+v -0.00265920 -0.00816650 -0.01098581
+v -0.00241826 -0.00859159 -0.01107178
+v -0.00279842 -0.00859159 -0.01094863
+v -0.00298131 -0.00859159 -0.01086265
+v -0.00298131 -0.00988233 -0.01087428
+v -0.00280716 -0.00988233 -0.01095096
+v -0.00241826 -0.00988233 -0.01107644
+v -0.00241826 -0.01039217 -0.01106017
+v -0.00241826 -0.00923718 -0.01107875
+v -0.00241826 -0.00816650 -0.01106249
+v -0.00280818 -0.00923718 -0.01095095
+v -0.00298131 -0.00923718 -0.01087427
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 20
+f 1 20 21
+f 1 21 8
+f 1 8 25
+f 1 25 39
+f 1 39 47
+f 1 47 56
+f 1 56 66
+f 1 66 57
+f 1 57 48
+f 1 48 40
+f 1 40 27
+f 1 27 26
+f 1 26 9
+f 1 9 2
+f 2 9 10
+f 2 10 3
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 6
+f 6 13 12
+f 6 12 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 7
+f 8 21 22
+f 8 22 23
+f 8 23 24
+f 8 24 25
+f 9 26 10
+f 10 26 27
+f 10 27 28
+f 10 28 11
+f 11 29 30
+f 11 30 31
+f 11 31 12
+f 11 28 32
+f 11 32 33
+f 11 33 29
+f 12 31 34
+f 12 34 14
+f 14 34 15
+f 15 34 42
+f 15 42 30
+f 15 30 29
+f 15 29 33
+f 15 33 32
+f 15 32 28
+f 15 28 41
+f 15 41 51
+f 15 51 64
+f 15 64 52
+f 15 52 44
+f 15 44 43
+f 15 43 36
+f 15 36 23
+f 15 23 22
+f 15 22 21
+f 15 21 20
+f 15 20 19
+f 15 19 35
+f 15 35 17
+f 15 17 16
+f 17 35 18
+f 18 35 19
+f 23 36 37
+f 23 37 24
+f 24 37 25
+f 25 37 38
+f 25 38 39
+f 27 40 49
+f 27 49 60
+f 27 60 68
+f 27 68 61
+f 27 61 50
+f 27 50 41
+f 27 41 28
+f 30 42 31
+f 31 42 34
+f 36 43 37
+f 37 43 44
+f 37 44 45
+f 37 45 38
+f 38 45 46
+f 38 46 39
+f 39 46 47
+f 40 48 49
+f 41 50 51
+f 44 52 45
+f 45 52 53
+f 45 53 46
+f 46 53 54
+f 46 54 47
+f 47 54 55
+f 47 55 56
+f 48 57 58
+f 48 58 59
+f 48 59 60
+f 48 60 49
+f 50 61 51
+f 51 61 62
+f 51 62 63
+f 51 63 64
+f 52 64 53
+f 53 64 63
+f 53 63 54
+f 54 63 65
+f 54 65 55
+f 55 65 58
+f 55 58 56
+f 56 58 66
+f 57 66 58
+f 58 65 59
+f 59 67 68
+f 59 68 60
+f 59 65 67
+f 61 68 67
+f 61 67 62
+f 62 67 65
+f 62 65 63
+
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_53.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b8c72eb15475bfa25a580f6fbeae16612057559
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_53.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.00352080 -0.01014915 -0.01063886
+v 0.00226701 -0.01014915 -0.01015859
+v 0.00352080 -0.00974854 -0.01077671
+v 0.00352080 -0.01014922 0.00791147
+v 0.00226701 -0.01005327 -0.01017415
+v 0.00303266 -0.00816648 -0.01093901
+v 0.00305378 -0.00828779 -0.01092790
+v 0.00338088 -0.00816648 -0.01111689
+v 0.00352080 -0.00816648 -0.01118359
+v 0.00352080 -0.00855020 -0.01109910
+v 0.00352080 -0.00897274 -0.01099460
+v 0.00352080 -0.00913598 -0.01095235
+v 0.00352080 -0.00923691 -0.01092567
+v 0.00352080 -0.00942634 -0.01087231
+v 0.00226701 -0.01014922 0.00888757
+v 0.00352080 -0.01014069 0.00996372
+v 0.00226701 -0.00816648 -0.01047876
+v 0.00352080 -0.00816656 0.01132004
+v 0.00303598 -0.00957820 0.01046623
+v 0.00231709 -0.00900563 0.01055740
+v 0.00226701 -0.00892585 0.01060854
+v 0.00352080 -0.00959121 0.01047067
+v 0.00338407 -0.00959354 0.01047290
+v 0.00226701 -0.00816656 0.01153127
+v 0.00340113 -0.00816656 0.01136674
+v 0.00226701 -0.00841073 0.01125112
+v 0.00273944 -0.00816656 0.01152460
+f 1 2 3
+f 1 3 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 18
+f 1 18 22
+f 1 22 16
+f 1 16 4
+f 1 4 15
+f 1 15 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 3
+f 2 15 21
+f 2 21 26
+f 2 26 24
+f 2 24 17
+f 2 17 5
+f 4 16 15
+f 5 17 6
+f 6 17 24
+f 6 24 27
+f 6 27 25
+f 6 25 18
+f 6 18 9
+f 6 9 8
+f 6 8 7
+f 15 16 19
+f 15 19 20
+f 15 20 21
+f 16 22 23
+f 16 23 19
+f 18 25 22
+f 19 23 24
+f 19 24 26
+f 19 26 20
+f 20 26 21
+f 22 25 27
+f 22 27 23
+f 23 27 24
+
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_54.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..981139fd6ad7495614630d68c95e1a6ca9cc9779
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_54.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00159749 -0.00816617 0.00983218
+v -0.00159749 -0.00808589 0.00980951
+v -0.00237369 -0.00729765 0.01144890
+v -0.00252715 -0.00787646 0.01144890
+v -0.00298117 -0.00816438 0.01144890
+v -0.00298422 -0.00816617 0.01144890
+v -0.00159749 -0.00816609 -0.01123274
+v -0.00252944 -0.00613664 0.01144891
+v -0.00159749 -0.00775545 0.00966439
+v -0.00419714 -0.00816617 0.01144890
+v -0.00177385 -0.00816609 -0.01121914
+v -0.00159749 -0.00613656 -0.01171571
+v -0.00419714 -0.00613664 0.01144891
+v -0.00159749 -0.00740017 0.00941270
+v -0.00159749 -0.00701409 0.00911112
+v -0.00159749 -0.00669140 0.00879595
+v -0.00159749 -0.00613663 0.00825402
+v -0.00419714 -0.00816609 -0.01021011
+v -0.00241874 -0.00816609 -0.01106268
+v -0.00418238 -0.00613656 -0.01096744
+v -0.00419714 -0.00613656 -0.01095837
+v -0.00406429 -0.00816609 -0.01029400
+v -0.00278928 -0.00816609 -0.01094477
+v -0.00311147 -0.00816609 -0.01079058
+v -0.00350772 -0.00816609 -0.01058878
+v -0.00370800 -0.00816609 -0.01048674
+v -0.00393959 -0.00816609 -0.01036430
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 18
+f 1 18 22
+f 1 22 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 19
+f 1 19 11
+f 1 11 7
+f 1 7 12
+f 1 12 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 9
+f 1 9 2
+f 2 8 3
+f 2 9 8
+f 3 8 13
+f 3 13 10
+f 3 10 6
+f 3 6 5
+f 3 5 4
+f 7 11 12
+f 8 9 14
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 12
+f 8 12 20
+f 8 20 21
+f 8 21 13
+f 10 13 21
+f 10 21 18
+f 11 19 12
+f 12 19 20
+f 18 21 22
+f 19 23 20
+f 20 23 24
+f 20 24 25
+f 20 25 26
+f 20 26 27
+f 20 27 22
+f 20 22 21
+
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_55.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f923ed6f4ef7172c1860fbe7ffeb81a45fc03ee3
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_55.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00095721 -0.00711223 0.00889606
+v 0.00095721 -0.00711223 0.00996820
+v 0.00095721 -0.00611223 0.00889606
+v 0.00095721 -0.00611223 0.00996820
+v 0.00913865 -0.00711223 0.00889606
+v 0.00913865 -0.00711223 0.00996820
+v 0.00913865 -0.00611223 0.00889606
+v 0.00913865 -0.00611223 0.00996820
+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/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_56.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dddc5b6bffa75057ef8ace81e54c2c87079e027f
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_56.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00640703 -0.00448631 -0.01182788
+v -0.00640703 -0.00278055 -0.01205196
+v -0.00619239 -0.00263402 -0.01232250
+v -0.00569395 -0.00263402 -0.01257938
+v -0.00495312 -0.00263402 -0.01251653
+v -0.00495312 -0.00448631 -0.01164205
+v -0.00640703 -0.00448640 0.01257036
+v -0.00640703 -0.00263403 -0.01203556
+v -0.00495312 -0.00263413 0.01533321
+v -0.00495312 -0.00448640 0.01436853
+v -0.00495312 -0.00401984 0.01485770
+v -0.00495312 -0.00342781 0.01524849
+v -0.00640703 -0.00423743 0.01270153
+v -0.00640703 -0.00263412 0.01336014
+v -0.00498856 -0.00263413 0.01533321
+v -0.00495312 -0.00310432 0.01533321
+v -0.00495312 -0.00314403 0.01532501
+v -0.00640703 -0.00284501 0.01330822
+v -0.00640703 -0.00411703 0.01275619
+v -0.00640703 -0.00279242 0.01332188
+v -0.00499411 -0.00278228 0.01533321
+v -0.00499098 -0.00263413 0.01533047
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 7
+f 1 7 13
+f 1 13 19
+f 1 19 18
+f 1 18 20
+f 1 20 14
+f 1 14 8
+f 1 8 2
+f 2 8 3
+f 3 8 14
+f 3 14 22
+f 3 22 15
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+
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_57.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aa6e8bf5380a4eb3df39ac526953d0be303e332
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_57.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.00640703 0.00003166 0.01272776
+v -0.00640703 0.00003166 0.01344728
+v -0.00640703 0.00167429 0.01272777
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+
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_58.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..726c6715f3481bfd27397c97f7fa16002e109231
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_58.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00097025 -0.00711224 0.00996845
+v 0.00097025 -0.00711224 0.01262825
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+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_59.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..958a401bd4adc5568952388dce030e87acce94a8
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_59.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_6.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e18bb6454e7832e4c164dd9c79a711264930c70
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_6.obj
@@ -0,0 +1,1831 @@
+# https://github.com/mikedh/trimesh
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+f 589 609 590
+f 590 609 607
+f 591 610 592
+f 592 610 603
+f 592 603 609
+f 592 609 593
+f 593 608 596
+f 593 596 594
+f 593 609 608
+f 602 611 607
+f 602 607 603
+f 603 607 609
+f 603 610 604
+f 606 607 611
+
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_60.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a8c72ef28d3f0ecf4424996ab90ff39e9fcdc5c
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_60.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00640672 0.00147121 0.01125113
+v -0.00640672 0.00147121 0.01523971
+v -0.00640672 0.00247121 0.01125113
+v -0.00640672 0.00247121 0.01523971
+v -0.00328103 0.00147121 0.01125113
+v -0.00328103 0.00147121 0.01523971
+v -0.00328103 0.00247121 0.01125113
+v -0.00328103 0.00247121 0.01523971
+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/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_61.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7e9d60a5026a54adce7c9c3d11a0504715781c7
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_61.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.00208822 -0.00448655 0.01059172
+v 0.00143282 -0.00448655 0.01059172
+v 0.00208822 -0.00586881 0.01059172
+v 0.00208822 -0.00448647 -0.01197138
+v -0.00020514 -0.00563283 0.01049304
+v -0.00028484 -0.00593729 0.01059172
+v -0.00039437 -0.00448654 0.00947183
+v 0.00023410 -0.00613644 0.01059172
+v 0.00208822 -0.00598736 0.01014881
+v 0.00208822 -0.00519311 -0.01166387
+v 0.00149942 -0.00448646 -0.01228348
+v -0.00032232 -0.00601628 0.01059172
+v -0.00162949 -0.00534419 0.00811097
+v -0.00065967 -0.00613644 0.01016488
+v -0.00040966 -0.00613644 0.01054353
+v -0.00033833 -0.00605116 0.01059172
+v -0.00162949 -0.00448654 0.00720450
+v -0.00162949 -0.00475272 0.00750743
+v -0.00037472 -0.00613644 0.01059172
+v 0.00028577 -0.00613644 0.01055501
+v 0.00208822 -0.00599108 0.01012587
+v 0.00079234 -0.00448646 -0.01262312
+v 0.00208822 -0.00613459 -0.01113605
+v -0.00162949 -0.00613643 0.00819359
+v -0.00107416 -0.00613643 0.00935479
+v -0.00101411 -0.00613643 0.00947871
+v -0.00083289 -0.00613644 0.00985048
+v -0.00076229 -0.00613644 0.00998129
+v -0.00162949 -0.00448646 -0.01263230
+v 0.00208822 -0.00610575 0.00938233
+v 0.00208822 -0.00613643 0.00880402
+v 0.00012019 -0.00448646 -0.01285031
+v 0.00029232 -0.00613636 -0.01189794
+v 0.00208822 -0.00613636 -0.01083313
+v 0.00162606 -0.00613636 -0.01123932
+v 0.00073520 -0.00613636 -0.01168911
+v -0.00162949 -0.00613636 -0.01168223
+v -0.00148319 -0.00448646 -0.01267590
+v -0.00112875 -0.00613636 -0.01192089
+v -0.00157963 -0.00613636 -0.01173271
+v -0.00011635 -0.00571287 -0.01223070
+v -0.00026373 -0.00571287 -0.01223070
+v -0.00057196 -0.00448646 -0.01279983
+v 0.00013402 -0.00613636 -0.01194614
+v -0.00112875 -0.00448646 -0.01273098
+v -0.00048171 -0.00613636 -0.01198056
+v -0.00083143 -0.00448646 -0.01277229
+v -0.00048099 -0.00596063 -0.01207924
+v -0.00029648 -0.00613636 -0.01197138
+f 1 2 6
+f 1 6 12
+f 1 12 16
+f 1 16 19
+f 1 19 8
+f 1 8 3
+f 1 3 9
+f 1 9 21
+f 1 21 30
+f 1 30 31
+f 1 31 34
+f 1 34 23
+f 1 23 10
+f 1 10 4
+f 1 4 11
+f 1 11 22
+f 1 22 32
+f 1 32 43
+f 1 43 47
+f 1 47 45
+f 1 45 38
+f 1 38 29
+f 1 29 17
+f 1 17 7
+f 1 7 2
+f 2 5 6
+f 2 7 5
+f 3 8 9
+f 4 10 11
+f 5 7 6
+f 6 7 12
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 12
+f 7 17 18
+f 7 18 13
+f 8 19 15
+f 8 15 14
+f 8 14 28
+f 8 28 27
+f 8 27 26
+f 8 26 25
+f 8 25 24
+f 8 24 37
+f 8 37 40
+f 8 40 39
+f 8 39 46
+f 8 46 49
+f 8 49 44
+f 8 44 33
+f 8 33 36
+f 8 36 35
+f 8 35 34
+f 8 34 31
+f 8 31 20
+f 8 20 9
+f 9 20 21
+f 10 22 11
+f 10 23 22
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 14
+f 13 18 17
+f 13 17 29
+f 13 29 37
+f 13 37 24
+f 15 19 16
+f 20 30 21
+f 20 31 30
+f 22 23 33
+f 22 33 32
+f 23 34 35
+f 23 35 36
+f 23 36 33
+f 29 38 39
+f 29 39 40
+f 29 40 37
+f 32 41 42
+f 32 42 43
+f 32 33 44
+f 32 44 41
+f 38 45 39
+f 39 45 47
+f 39 47 42
+f 39 42 48
+f 39 48 46
+f 41 44 49
+f 41 49 46
+f 41 46 42
+f 42 46 48
+f 42 47 43
+
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_62.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5a29f957383564ffff2387a31a452010d3bd63f
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_62.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00350542 -0.01820456 -0.01160677
+v 0.00350542 -0.01820456 0.00721664
+v 0.00350542 -0.00816628 -0.01160677
+v 0.00350542 -0.00816628 0.00721664
+v 0.00450542 -0.01820456 -0.01160677
+v 0.00450542 -0.01820456 0.00721664
+v 0.00450542 -0.00816628 -0.01160677
+v 0.00450542 -0.00816628 0.00721664
+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/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_63.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41dac806ff6a51dac2dd5dc201ee9e402e16e9a0
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_63.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00432204 0.00410585 -0.01428848
+v -0.00432204 0.00410585 0.01418280
+v -0.00432204 0.00510584 -0.01428848
+v -0.00432204 0.00510584 0.01418280
+v 0.00676784 0.00410585 -0.01428848
+v 0.00676784 0.00410585 0.01418280
+v 0.00676784 0.00510584 -0.01428848
+v 0.00676784 0.00510584 0.01418280
+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/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_64.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..145c112e9efd39831ffa34b5dcbcdb5cf607bb6c
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_64.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00640682 0.00410580 0.01124678
+v -0.00640682 0.00410580 0.01320418
+v -0.00640682 0.00510580 0.01124678
+v -0.00640682 0.00510580 0.01320418
+v -0.00432205 0.00410580 0.01124678
+v -0.00432205 0.00410580 0.01320418
+v -0.00432205 0.00510580 0.01124678
+v -0.00432205 0.00510580 0.01320418
+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/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_65.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cafa7d1050a5e45ddfd209965d12a2c03eb6def7
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_65.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.00298131 -0.01039217 -0.01085770
+v -0.00311112 -0.01039217 -0.01080107
+v -0.00298131 -0.01010392 -0.01086746
+v -0.00298131 -0.01039224 0.00906260
+v -0.00370816 -0.01039217 -0.01050620
+v -0.00487847 -0.00816650 -0.01006877
+v -0.00298131 -0.00988233 -0.01087332
+v -0.00312969 -0.00988233 -0.01080693
+v -0.00298131 -0.00816657 0.00812137
+v -0.00373137 -0.00816657 0.00907433
+v -0.00392283 -0.00840602 0.00907433
+v -0.00419396 -0.00872871 0.00907433
+v -0.00431448 -0.00887077 0.00907433
+v -0.00451634 -0.00907623 0.00907433
+v -0.00487847 -0.00942811 0.00907433
+v -0.00318336 -0.01039224 0.00884584
+v -0.00378820 -0.01039217 -0.01046324
+v -0.00298131 -0.00816650 -0.01085183
+v -0.00298131 -0.00820877 -0.01085378
+v -0.00298131 -0.00834320 -0.01085769
+v -0.00298131 -0.00859159 -0.01086355
+v -0.00298131 -0.00923718 -0.01087526
+v -0.00407882 -0.01039217 -0.01030506
+v -0.00414661 -0.01039217 -0.01026210
+v -0.00440121 -0.01039217 -0.01009611
+v -0.00450427 -0.01039217 -0.01002777
+v -0.00487847 -0.01039217 -0.00977586
+v -0.00487847 -0.00816657 0.00907433
+v -0.00341790 -0.01039224 0.00855488
+v -0.00487847 -0.01039223 0.00663530
+f 1 2 3
+f 1 3 7
+f 1 7 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 9
+f 1 9 4
+f 1 4 16
+f 1 16 29
+f 1 29 30
+f 1 30 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 17
+f 1 17 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 8
+f 3 8 7
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 5 17 6
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 7
+f 6 7 8
+f 6 17 23
+f 6 23 24
+f 6 24 25
+f 6 25 26
+f 6 26 27
+f 6 27 30
+f 6 30 15
+f 6 15 28
+f 6 28 10
+f 6 10 9
+f 6 9 18
+f 10 28 15
+f 10 15 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
+f 15 29 16
+f 15 30 29
+
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_66.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99e134aa64236d06fab98d07629488d046c738d0
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_66.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00107238 -0.00547417 0.01059402
+v -0.00107238 -0.00547417 0.01262825
+v -0.00107238 -0.00447418 0.01059402
+v -0.00107238 -0.00447418 0.01262825
+v 0.00208822 -0.00547417 0.01059402
+v 0.00208822 -0.00547417 0.01262825
+v 0.00208822 -0.00447418 0.01059402
+v 0.00208822 -0.00447418 0.01262825
+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/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_67.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15251723b01d06b9628a6445b0deae8eac2b0fa4
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_67.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.00298381 -0.00816636 0.01144580
+v -0.00298863 -0.00816636 0.01146940
+v -0.00318689 -0.00838534 0.01124717
+v -0.00318392 -0.00845119 0.01077519
+v -0.00303203 -0.00816636 0.01078871
+v -0.00300977 -0.00816636 0.01147530
+v -0.00487828 -0.00969056 0.01052591
+v -0.00461345 -0.00960123 0.01048683
+v -0.00387086 -0.00903630 0.01059328
+v -0.00387086 -0.00903630 0.01029165
+v -0.00373121 -0.00816635 0.00907457
+v -0.00370822 -0.00816636 0.01158567
+v -0.00487828 -0.00963715 0.01056352
+v -0.00487828 -0.00977578 0.01019528
+v -0.00461345 -0.00960123 0.01032630
+v -0.00487828 -0.00977578 0.01016135
+v -0.00487828 -0.00942809 0.00907457
+v -0.00451626 -0.00907614 0.00907457
+v -0.00431448 -0.00887071 0.00907457
+v -0.00419394 -0.00872861 0.00907457
+v -0.00392279 -0.00840597 0.00907457
+v -0.00487828 -0.00816635 0.00907457
+v -0.00378073 -0.00816636 0.01157633
+v -0.00464405 -0.00816636 0.01135435
+v -0.00487828 -0.00816636 0.01127495
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 22
+f 1 22 25
+f 1 25 24
+f 1 24 23
+f 1 23 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 12 7
+f 7 13 25
+f 7 25 22
+f 7 22 17
+f 7 17 16
+f 7 16 14
+f 7 14 8
+f 7 12 13
+f 8 14 16
+f 8 16 15
+f 8 15 10
+f 8 10 9
+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 11
+f 11 21 20
+f 11 20 19
+f 11 19 18
+f 11 18 17
+f 11 17 22
+f 12 23 13
+f 13 23 24
+f 13 24 25
+
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_68.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0daececbe851d5bc8ea46371b0bea2edc7afa0f
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_68.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00640682 0.00410585 -0.01416858
+v -0.00640682 0.00410585 0.01124430
+v -0.00640682 0.00510585 -0.01416858
+v -0.00640682 0.00510585 0.01124430
+v -0.00432205 0.00410585 -0.01416858
+v -0.00432205 0.00410585 0.01124430
+v -0.00432205 0.00510585 -0.01416858
+v -0.00432205 0.00510585 0.01124430
+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/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_69.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb67dd54c43ca13dcd252cb86107852e164228b6
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_69.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00363584 0.00003232 0.01142193
+v -0.00363584 0.00003167 0.01132924
+v -0.00363584 0.00044201 0.01077047
+v -0.00392693 0.00167429 0.01272487
+v -0.00410462 0.00003166 0.01272486
+v -0.00363584 0.00003176 -0.01431621
+v -0.00363584 0.00167431 0.00857510
+v -0.00640675 0.00167429 0.01272487
+v -0.00640675 0.00003166 0.01272486
+v -0.00370827 0.00003176 -0.01431091
+v -0.00363584 0.00037280 -0.01432680
+v -0.00363584 0.00167439 -0.01431620
+v -0.00640675 0.00167438 -0.01199370
+v -0.00640675 0.00003175 -0.01175007
+v -0.00385504 0.00003176 -0.01427913
+v -0.00370827 0.00044532 -0.01432151
+v -0.00370827 0.00109073 -0.01432415
+v -0.00363584 0.00109073 -0.01432415
+v -0.00370827 0.00167439 -0.01431620
+v -0.00612028 0.00167439 -0.01296295
+v -0.00608257 0.00130313 -0.01294707
+v -0.00637339 0.00003175 -0.01181893
+v -0.00408590 0.00003176 -0.01421028
+v -0.00411628 0.00044532 -0.01423147
+v -0.00413555 0.00109073 -0.01423941
+v -0.00412497 0.00167439 -0.01422086
+v -0.00626324 0.00003175 -0.01195928
+f 1 2 6
+f 1 6 11
+f 1 11 18
+f 1 18 12
+f 1 12 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 14
+f 2 14 22
+f 2 22 27
+f 2 27 23
+f 2 23 15
+f 2 15 10
+f 2 10 6
+f 3 7 4
+f 4 8 9
+f 4 9 5
+f 4 7 12
+f 4 12 19
+f 4 19 26
+f 4 26 20
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_7.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e35fe861eaed681bfc1296ff45f86c493b34f78
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_7.obj
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diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_70.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9058a97813531d98e831c2d2a10698a05b711968
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_70.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.00676784 0.00003167 0.01220026
+v 0.00676784 0.00062451 0.01213932
+v 0.00592975 0.00003166 0.01272751
+v 0.00676784 0.00003175 -0.01143041
+v 0.00676784 0.00167430 0.01202276
+v 0.00585439 0.00026963 0.01272751
+v -0.00216508 0.00003166 0.01272751
+v 0.00354275 0.00003176 -0.01405869
+v 0.00676784 0.00067459 -0.01165032
+v 0.00530448 0.00167429 0.01272752
+v 0.00546233 0.00133438 0.01272751
+v 0.00567923 0.00076937 0.01272751
+v 0.00676784 0.00167438 -0.01163441
+v -0.00224043 0.00167429 0.01272752
+v -0.00363557 0.00003232 0.01142132
+v -0.00363455 0.00003167 0.01142132
+v 0.00321993 0.00003176 -0.01420971
+v 0.00356413 0.00044532 -0.01410638
+v 0.00676784 0.00098106 -0.01168211
+v 0.00676784 0.00104634 -0.01168211
+v 0.00580449 0.00167439 -0.01237891
+v -0.00363557 0.00167431 0.00857314
+v -0.00363557 0.00044201 0.01076955
+v -0.00363557 0.00003167 0.01133124
+v 0.00324132 0.00044532 -0.01420441
+v 0.00355293 0.00109073 -0.01411433
+v 0.00273927 0.00003176 -0.01427860
+v 0.00350710 0.00167439 -0.01407723
+v -0.00363557 0.00167439 -0.01431568
+v -0.00363557 0.00003176 -0.01431569
+v 0.00323113 0.00109073 -0.01419646
+v 0.00321586 0.00167439 -0.01418321
+v 0.00250709 0.00003176 -0.01428390
+v 0.00209466 0.00167439 -0.01427594
+v 0.00273927 0.00167439 -0.01424944
+v -0.00306326 0.00167439 -0.01432893
+v -0.00363557 0.00109073 -0.01432364
+v -0.00363557 0.00037280 -0.01432629
+v -0.00329442 0.00003176 -0.01433953
+v 0.00318429 0.00167439 -0.01419115
+v 0.00209466 0.00003176 -0.01428920
+f 1 2 3
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+f 1 7 16
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+f 1 41 33
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+f 37 39 38
+
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_71.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fd197dbf358d8434e0d3de905893e5766deac80
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_71.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00640703 0.00210325 -0.01439532
+v -0.00640703 0.00210325 0.01085309
+v -0.00640703 0.00310325 -0.01439532
+v -0.00640703 0.00310325 0.01085309
+v 0.00676784 0.00210325 -0.01439532
+v 0.00676784 0.00210325 0.01085309
+v 0.00676784 0.00310325 -0.01439532
+v 0.00676784 0.00310325 0.01085309
+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/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_72.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0754ad5e1bf70cd981152562d8e3397fd6cffda8
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_72.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.00302178 0.00293816 0.01085309
+v -0.00285293 0.00256232 0.01085309
+v -0.00328049 0.00167442 0.01310462
+v -0.00331999 0.00226837 0.01278209
+v -0.00331999 0.00241732 0.01269038
+v -0.00331999 0.00293815 0.01253065
+v 0.00676784 0.00293816 0.01085309
+v -0.00282824 0.00250764 0.01085309
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+v -0.00331999 0.00293815 0.01431704
+v 0.00676784 0.00293816 0.01191808
+v 0.00676784 0.00226838 0.01085309
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+v -0.00316694 0.00167441 0.01533596
+v 0.00676784 0.00167443 0.01125153
+v -0.00310670 0.00174381 0.01533596
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+v -0.00301783 0.00293815 0.01448642
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+v 0.00209521 0.00171053 0.01533596
+v 0.00214063 0.00167441 0.01533596
+v 0.00676784 0.00192730 0.01200364
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+v -0.00240660 0.00226836 0.01533596
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+v -0.00242240 0.00293815 0.01476682
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+v 0.00113935 0.00226836 0.01533596
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+v -0.00235130 0.00293815 0.01479798
+v 0.00016079 0.00293814 0.01499193
+v 0.00026447 0.00258172 0.01533596
+v 0.00086089 0.00239838 0.01533596
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+v -0.00177364 0.00293814 0.01497438
+v -0.00196817 0.00293815 0.01491602
+v -0.00112883 0.00268242 0.01533596
+v -0.00032208 0.00293814 0.01506434
+v 0.00016079 0.00260993 0.01533596
+v -0.00112883 0.00293814 0.01508277
+v -0.00048402 0.00269851 0.01533596
+v -0.00048402 0.00293814 0.01508803
+f 1 2 3
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+
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_73.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ba15978f45c7e180247adfbe48f5e57641ff529
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_73.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00057034 -0.00653691 0.01012370
+v -0.00057034 -0.00653691 0.01112370
+v -0.00057034 -0.00553691 0.01012370
+v -0.00057034 -0.00553691 0.01112370
+v 0.00042966 -0.00653691 0.01012370
+v 0.00042966 -0.00653691 0.01112370
+v 0.00042966 -0.00553691 0.01012370
+v 0.00042966 -0.00553691 0.01112370
+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/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_74.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8a8a5300bcc0062c42e9d1d01aba05b535987b3
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_74.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00640703 0.00210320 0.01085309
+v -0.00640703 0.00210320 0.01474670
+v -0.00640703 0.00310320 0.01085309
+v -0.00640703 0.00310320 0.01474670
+v -0.00331999 0.00210320 0.01085309
+v -0.00331999 0.00210320 0.01474670
+v -0.00331999 0.00310320 0.01085309
+v -0.00331999 0.00310320 0.01474670
+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/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_75.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..629b62f904899010499c11751dddb38784fc14df
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_75.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00640703 0.00147126 -0.01433176
+v -0.00640703 0.00147126 0.01125113
+v -0.00640703 0.00247126 -0.01433176
+v -0.00640703 0.00247126 0.01125113
+v -0.00330259 0.00147126 -0.01433176
+v -0.00330259 0.00147126 0.01125113
+v -0.00330259 0.00247126 -0.01433176
+v -0.00330259 0.00247126 0.01125113
+f 2 4 1
+f 5 2 1
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+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
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+
diff --git a/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_8.obj b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9298ce0c2f5d17278a37e61295b211f2d96f8170
--- /dev/null
+++ b/dataset/food/ingredients/e177166a57755bcaa2757b72a60b1ef7/mjcf/mesh/garlic_009_collision_8.obj
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