diff --git a/.gitattributes b/.gitattributes
index 016de7f6424fef32938b580cfa4c473c9787614e..cfe7a4448d6d7b83d24e90340cedc3b09165a656 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5456,3 +5456,6 @@ dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/mesh/tomato_010.glb fi
 dataset/food/ingredients/cd8b68ca2cd05bbdbfb96f939ccc4293/tomato_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/d0213701033552fdb970ddfbb799a5c4/mesh/tomato_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/ingredients/d0213701033552fdb970ddfbb799a5c4/tomato_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/d31a6a4dbb3859f5983e68aa8b27cc8c.usd filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mesh/tomato.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mesh/tomato_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/d31a6a4dbb3859f5983e68aa8b27cc8c.urdf b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/d31a6a4dbb3859f5983e68aa8b27cc8c.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..516fc55375500b2660850f6b4aa684b4e3b270a8
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/d31a6a4dbb3859f5983e68aa8b27cc8c.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tomato">
+   <link name="tomato">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/tomato.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/tomato_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.094283</scale>
+         <version>v0.1.5</version>
+         <category>tomato</category>
+         <description>round red tomato with green stem and smooth surface</description>
+         <min_height>0.07</min_height>
+         <max_height>0.1</max_height>
+         <real_height>0.085</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20251006062249</generate_time>
+         <gs_model>mesh/tomato_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.0413817167282104</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/d31a6a4dbb3859f5983e68aa8b27cc8c.usd b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/d31a6a4dbb3859f5983e68aa8b27cc8c.usd
new file mode 100644
index 0000000000000000000000000000000000000000..98873c498d48c2b6bd992c13e00d32e10018aa40
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/d31a6a4dbb3859f5983e68aa8b27cc8c.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5970efd41fff1ce7cce26e137c820ad6349d56748cf1039fa8134e434c684426
+size 1017463
diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mesh/material.mtl b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mesh/material_0.png b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f372688cc537fe3508d8b1a8a646f04e526706f5
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1897381fd499e79203bd3ac3aaa68641b949b8cab21d3122364f9a93d8d05cee
+size 1227201
diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mesh/tomato.glb b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mesh/tomato.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e8cd6b12a826f74e852683c3856736bce696bf5b
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mesh/tomato.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaff5d1c19bec8f00500622af548423fd6f955bf71e973769e2175b808f8f64d
+size 1925568
diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mesh/tomato.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mesh/tomato.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74eb80412c3aa6beafea25c43c55ecf9af9b49db
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mesh/tomato.obj
@@ -0,0 +1,63978 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mesh/tomato_collision.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mesh/tomato_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79ad62062a02cd9caabe6bc0f777a47ffa52d34e
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mesh/tomato_collision.obj
@@ -0,0 +1,54963 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mesh/tomato_gs.ply b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mesh/tomato_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..93bf8973f576735e0476d89f6d3aff826ee87c64
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mesh/tomato_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/d31a6a4dbb3859f5983e68aa8b27cc8c.xml b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/d31a6a4dbb3859f5983e68aa8b27cc8c.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ffc2e99a5a9fb688de299a25efab8d52c7834427
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/d31a6a4dbb3859f5983e68aa8b27cc8c.xml
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+    <mesh name="collision_mesh_0_1" file="mesh/tomato_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tomato_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tomato_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tomato_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tomato_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tomato_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tomato_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tomato_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tomato_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_16" file="mesh/tomato_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/tomato_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/tomato_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/tomato_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/material_0.png b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1897381fd499e79203bd3ac3aaa68641b949b8cab21d3122364f9a93d8d05cee
+size 1227201
diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato.obj
new file mode 100644
index 0000000000000000000000000000000000000000..123c2e139c81c1c1a6682fbbc56e5bf2c99bb463
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato.obj
@@ -0,0 +1,63978 @@
+# https://github.com/mikedh/trimesh
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+usemtl material_0
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0496effb0b099d147fb0452af8667d5632140c50
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision.obj
@@ -0,0 +1,54963 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_0.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59b3ee1588fc3a7cce1525b5f6edb66de0df792a
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_0.obj
@@ -0,0 +1,94 @@
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_1.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42d895dbb16c9e66565729d441a4e1a2c5e8a76c
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_1.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_10.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8a5a11a25480c72bca26ff34af9e4f631f7964e
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_10.obj
@@ -0,0 +1,6172 @@
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_11.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4169e8d919318ba832a9e0bcb780c4bb6f78238
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_11.obj
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_12.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc5234520ca29d5f2355d2a5f88bf1159eff867e
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_12.obj
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_13.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dabdd9f89091dc9ba6fec812bf2774addb38f3ff
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_13.obj
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_14.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f121202fca9f17a7d3203840ed09e64c56c20f70
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_14.obj
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_15.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d9f71e3860f61b87577479c1637050d9d2494a4
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_15.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_16.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8460361fe485ea83802b3367d58e993da2f32842
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_16.obj
@@ -0,0 +1,1525 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_17.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e8c1efce4a8ecc325837320baf7f56e12281be7
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_17.obj
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_18.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2f5753554e75030ba0845c12391d50a5a3a7874
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_18.obj
@@ -0,0 +1,2512 @@
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_19.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09bfca9775f03b401f21d740cb89cf9351e91dfd
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_19.obj
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_2.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4798a2ce7a90bf740407fe4dbc2b348e72991f03
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_2.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_20.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da34ebdce66ce64b8228aca469e7d9b3db5ea507
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_20.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_21.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13129b76978ce28bc0b06f95f7650636015b1f94
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_21.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_22.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d7bbe02f4d5d520df716c37b3b802a643658708
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_22.obj
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_23.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1627d4cbfbba4c6188de4dddaa49758c47a2581c
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_23.obj
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_24.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46c82abf90b9b9456811a2623151a2f6fd329741
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_24.obj
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_25.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa3b6fe556a914b1f7a9fd7ce2e27653ddca5851
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_25.obj
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_26.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be7ba691f0f22633437a60848474566439303823
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_26.obj
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_27.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0947dee62e7a977bbd602be2040f49c9350212b
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_27.obj
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_28.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0bbc101d0b2db7c8cc53d3e0491d5c0e5fef367
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_28.obj
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_29.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18b83b1cf173028ac69b3365e7a7d6fd683d913f
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_29.obj
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+
diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_3.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ee311c436d9547696348f921faed9616a206bc2
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_3.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.00455512 -0.01651360 0.03322702
+v -0.00467217 -0.01834644 0.03322701
+v -0.00485932 -0.01537735 0.03322702
+v -0.00600008 -0.02249366 0.03618024
+v -0.00595710 -0.02404482 0.03636777
+v -0.00479650 -0.01898213 0.03322701
+v -0.00606621 -0.02500407 0.03626920
+v -0.00534737 -0.01514705 0.03322702
+v -0.00738685 -0.02455300 0.03769590
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+v -0.00585327 -0.02249365 0.03393683
+v -0.00564430 -0.02097865 0.03322700
+v -0.00606621 -0.02500407 0.03580452
+v -0.00916842 -0.03279033 0.03924802
+v -0.00678241 -0.01581129 0.03322702
+v -0.00940054 -0.02772955 0.03919683
+v -0.00805742 -0.02455300 0.03769590
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+v -0.01080781 -0.03416259 0.03753072
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+v -0.01107961 -0.03180254 0.03868412
+v -0.00828624 -0.01884129 0.03322701
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+
diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_30.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa5c74f10e32d430fb9cba912433c367fb0d990e
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_30.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00309070 0.00006235 -0.04269212
+v 0.00309457 0.00006235 -0.04270671
+v 0.00309070 -0.00076397 -0.04269212
+v 0.00309070 0.00006207 0.03181091
+v 0.00392077 0.00006235 -0.04264835
+v 0.00392077 -0.00076397 -0.04264106
+v 0.00309070 -0.00148648 -0.04267024
+v 0.00309070 -0.00076425 0.03180361
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+v 0.00803244 0.00006208 0.02968829
+v 0.00464636 0.00006235 -0.04259000
+v 0.00547256 -0.00076397 -0.04251706
+v 0.00392077 -0.00231552 -0.04259001
+v 0.00309070 -0.00231552 -0.04264107
+v 0.00309070 -0.00422770 0.03150453
+v 0.00309070 -0.00456811 0.03143888
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+v 0.00803244 -0.00456784 -0.04203566
+v 0.00803244 0.00006235 -0.04221800
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+v 0.00702436 -0.00076397 -0.04234929
+v 0.00702436 -0.00231552 -0.04230553
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+v 0.00309070 -0.00303803 -0.04260460
+v 0.00309070 -0.00456783 -0.04251708
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+v 0.00702436 -0.00456784 -0.04216696
+v 0.00702436 -0.00386752 -0.04222530
+v 0.00803244 -0.00383444 -0.04208671
+v 0.00803244 -0.00076397 -0.04221800
+v 0.00803244 -0.00231553 -0.04217424
+v 0.00547256 -0.00386752 -0.04239306
+v 0.00309070 -0.00386752 -0.04256083
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+
diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_31.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd8a7121b6ca49288d82dbcb6ede4536ed943bfc
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_31.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.02877546 -0.01123904 0.03312873
+v -0.02877546 -0.01128072 0.03307145
+v -0.02877546 -0.01014114 0.03308241
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+
diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_32.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84ae4be5add04104913abe5a5ca9326ff026e03a
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_32.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.00309070 0.00006285 0.03180568
+v 0.00803244 0.00006286 0.02968542
+v 0.00803244 0.00272564 0.03168790
+v 0.00803244 0.00356085 0.03225477
+v 0.00803244 0.00387913 0.03241673
+v 0.00803244 0.00518667 0.03249773
+v 0.00309070 0.00030293 0.03180568
+v 0.00309070 0.00006313 -0.04269795
+v 0.00803244 0.00006313 -0.04221942
+v 0.00803244 0.00544709 0.03245356
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+v 0.00309457 0.00006313 -0.04270531
+v 0.00702436 0.00006313 -0.04235193
+v 0.00702436 0.00078807 -0.04235930
+v 0.00803244 0.00078807 -0.04221942
+v 0.00309070 0.00152524 0.03159955
+v 0.00803244 0.00805124 0.03089282
+v 0.00309070 0.00805124 0.02953821
+v 0.00309070 0.00078807 -0.04271267
+v 0.00392077 0.00078807 -0.04265378
+v 0.00392077 0.00006313 -0.04264642
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+v 0.00547256 0.00078807 -0.04252862
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_33.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..450c995cff3cb00405cc5dc0c59a0495429bcc15
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_33.obj
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_34.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40810706c44a0c1216b06c9731ac1eb26141f181
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_34.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_35.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af70f26b101204d9817ae1296828b54ab505556c
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_35.obj
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+f 541 556 542
+f 542 556 557
+f 542 557 558
+f 542 558 559
+f 542 559 560
+f 542 560 561
+f 542 561 543
+f 543 561 562
+f 543 562 544
+f 544 562 563
+f 544 563 564
+f 544 564 545
+f 545 564 546
+f 550 565 551
+f 551 566 567
+f 551 567 552
+f 551 565 568
+f 551 568 566
+f 552 567 553
+f 553 567 569
+f 553 569 554
+f 554 569 570
+f 558 571 559
+f 559 572 560
+f 559 571 572
+f 560 572 573
+f 560 573 574
+f 560 574 575
+f 560 575 561
+f 561 575 562
+f 562 575 576
+f 562 576 563
+f 563 576 577
+f 563 577 578
+f 563 578 564
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+f 569 580 581
+f 569 581 570
+f 571 582 572
+f 572 582 583
+f 572 583 573
+f 573 583 580
+
diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_36.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe28255280f07a93828310f6fef2e7476b71be76
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_36.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00101562 0.00536606 0.03094865
+v -0.00101562 0.00823625 0.03050268
+v -0.00537208 0.01102390 0.03012145
+v -0.00240948 0.00536606 0.03072566
+v -0.00101562 0.00536633 -0.04253768
+v -0.00101562 0.00848106 0.03043794
+v -0.00537208 0.00536606 0.02999914
+v -0.00101562 0.01102390 0.02952440
+v -0.00537208 0.01102416 -0.04148745
+v -0.00220987 0.00536633 -0.04250171
+v -0.00228750 0.00544442 -0.04249452
+v -0.00101562 0.00544442 -0.04253049
+v -0.00537208 0.00536633 -0.04230030
+v -0.00101562 0.01102416 -0.04169605
+v -0.00381742 0.01102416 -0.04159535
+v -0.00537208 0.01009808 -0.04166008
+v -0.00376155 0.00536633 -0.04242259
+v -0.00383917 0.00544442 -0.04241540
+v -0.00228750 0.00699639 -0.04232188
+v -0.00101562 0.00699639 -0.04235784
+v -0.00537208 0.00544442 -0.04229311
+v -0.00531364 0.00536633 -0.04230750
+v -0.00101562 0.01061374 -0.04177518
+v -0.00151891 0.01102416 -0.04168886
+v -0.00228750 0.01102416 -0.04166728
+v -0.00228750 0.01026203 -0.04181114
+v -0.00378159 0.00997512 -0.04178956
+v -0.00426057 0.00919526 -0.04189747
+v -0.00537208 0.00891833 -0.04185431
+v -0.00537208 0.00699638 -0.04212046
+v -0.00383917 0.00699639 -0.04223556
+v -0.00228750 0.00854778 -0.04209889
+v -0.00101562 0.00854778 -0.04213485
+v -0.00101562 0.00972699 -0.04194062
+v -0.00322584 0.00937472 -0.04191905
+v -0.00537208 0.00814401 -0.04196941
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 13
+f 1 13 22
+f 1 22 17
+f 1 17 10
+f 1 10 5
+f 1 5 12
+f 1 12 20
+f 1 20 33
+f 1 33 34
+f 1 34 23
+f 1 23 14
+f 1 14 8
+f 1 8 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
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+f 3 8 14
+f 3 14 24
+f 3 24 25
+f 3 25 15
+f 3 15 9
+f 3 9 16
+f 3 16 29
+f 3 29 36
+f 3 36 30
+f 3 30 21
+f 3 21 13
+f 3 13 7
+f 5 10 11
+f 5 11 12
+f 9 15 16
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 13 21 22
+f 14 23 24
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 17 22 18
+f 18 22 30
+f 18 30 31
+f 18 31 19
+f 19 31 28
+f 19 28 32
+f 19 32 33
+f 19 33 20
+f 21 30 22
+f 23 34 24
+f 24 34 26
+f 24 26 25
+f 26 34 32
+f 26 32 35
+f 26 35 27
+f 27 35 28
+f 28 35 32
+f 28 31 36
+f 28 36 29
+f 30 36 31
+f 32 34 33
+
diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_4.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91df642a85a308bff85175cbf0944abcdac35185
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_4.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.01012879 -0.00551149 0.03322706
+v 0.01012879 -0.00567868 0.03343971
+v 0.01247617 -0.00774009 0.03599342
+v 0.01041069 -0.00558616 0.03322706
+v 0.00870408 -0.00577526 0.03322706
+v 0.01240995 -0.00774009 0.03599342
+v 0.01478417 -0.01056439 0.03948303
+v 0.01168059 -0.00596192 0.03322706
+v 0.01416399 -0.00920743 0.03768232
+v 0.00858058 -0.00582638 0.03322706
+v 0.01379171 -0.01063580 0.03930012
+v 0.01475464 -0.01108218 0.03982948
+v 0.01516899 -0.01118119 0.03982948
+v 0.01575874 -0.01068531 0.03940871
+v 0.01222380 -0.00625733 0.03322706
+v 0.00793713 -0.00700155 0.03322705
+v 0.01377381 -0.01162755 0.03939190
+v 0.01432955 -0.01158292 0.03982948
+v 0.01640935 -0.01161782 0.03982948
+v 0.01580349 -0.01058061 0.03831832
+v 0.01307935 -0.00695204 0.03322705
+v 0.01271333 -0.00660550 0.03322706
+v 0.00808659 -0.00754287 0.03322705
+v 0.01391252 -0.01250324 0.03928718
+v 0.01475822 -0.01311842 0.03982947
+v 0.01641204 -0.01162350 0.03982948
+v 0.01707875 -0.01321419 0.03982947
+v 0.01568536 -0.01065609 0.03731583
+v 0.01413894 -0.00897612 0.03420110
+v 0.01364941 -0.00850134 0.03322705
+v 0.00836849 -0.00812801 0.03322705
+v 0.00937796 -0.00919848 0.03322705
+v 0.00969386 -0.00946549 0.03322705
+v 0.01479849 -0.01314764 0.03982947
+v 0.01700537 -0.01380177 0.03982947
+v 0.01413894 -0.00958237 0.03420109
+v 0.01350533 -0.00897854 0.03322705
+v 0.01008047 -0.00962943 0.03322704
+v 0.01397159 -0.01242370 0.03749615
+v 0.01390894 -0.01249350 0.03831831
+v 0.01640667 -0.01375307 0.03982947
+v 0.01320374 -0.00989806 0.03322704
+v 0.01170833 -0.01018779 0.03322704
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 22
+f 1 22 21
+f 1 21 30
+f 1 30 37
+f 1 37 42
+f 1 42 43
+f 1 43 38
+f 1 38 33
+f 1 33 32
+f 1 32 31
+f 1 31 23
+f 1 23 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 6
+f 3 8 4
+f 3 6 7
+f 3 7 9
+f 3 9 8
+f 5 10 11
+f 5 11 7
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 7 14 9
+f 8 9 14
+f 8 14 15
+f 10 16 11
+f 11 17 18
+f 11 18 12
+f 11 16 17
+f 12 18 25
+f 12 25 34
+f 12 34 41
+f 12 41 35
+f 12 35 27
+f 12 27 26
+f 12 26 19
+f 12 19 13
+f 13 19 14
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 14 22 15
+f 16 23 24
+f 16 24 17
+f 17 24 25
+f 17 25 18
+f 19 26 20
+f 20 26 27
+f 20 27 28
+f 20 28 21
+f 21 28 29
+f 21 29 30
+f 23 31 24
+f 24 31 32
+f 24 32 33
+f 24 33 25
+f 25 33 34
+f 27 35 36
+f 27 36 30
+f 27 30 29
+f 27 29 28
+f 30 36 37
+f 33 38 39
+f 33 39 40
+f 33 40 34
+f 34 40 39
+f 34 39 41
+f 35 42 36
+f 35 41 43
+f 35 43 42
+f 36 42 37
+f 38 43 39
+f 39 43 41
+
diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_5.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d88cebab9a4d9b4012f0a35ee8ae5ab6f8d92ce
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_5.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.02935050 0.01408440 0.04028398
+v 0.02147380 0.01103117 0.03716853
+v 0.02935050 0.01408440 0.04078947
+v 0.03030398 0.01407793 0.04029270
+v 0.01957170 0.00982557 0.03503210
+v 0.01785544 0.00961615 0.03503210
+v 0.02147380 0.01103117 0.03784367
+v 0.02298321 0.01113386 0.03933574
+v 0.02595677 0.01110798 0.04076622
+v 0.03030398 0.01320304 0.04096785
+v 0.03030398 0.01407793 0.04077960
+v 0.03111201 0.01400597 0.04054370
+v 0.03030398 0.01320304 0.03963672
+v 0.02099222 0.00992907 0.03548530
+v 0.02067547 0.00854234 0.03503209
+v 0.01768413 0.00954580 0.03503210
+v 0.01592586 0.00841701 0.03503209
+v 0.01478492 0.00709577 0.03503209
+v 0.01470088 0.00699631 0.03503209
+v 0.01469441 0.00690818 0.03503209
+v 0.02298321 0.01038268 0.03933574
+v 0.02595677 0.01073441 0.04076622
+v 0.03030398 0.01223758 0.04084350
+v 0.03120413 0.01229984 0.04077321
+v 0.03119605 0.01320304 0.04076740
+v 0.03111201 0.01400597 0.04068722
+v 0.02677288 0.01073441 0.04076622
+v 0.03119605 0.01320304 0.04024680
+v 0.03120413 0.01229984 0.04022240
+v 0.02031670 0.00808872 0.03503209
+v 0.01525034 0.00596455 0.03503208
+v 0.01662076 0.00582386 0.03503208
+v 0.02701206 0.01057269 0.03987668
+v 0.01788937 0.00620147 0.03503208
+v 0.01941332 0.00697044 0.03503209
+f 1 2 7
+f 1 7 3
+f 1 3 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
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+f 3 10 11
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+f 4 12 13
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+f 5 16 6
+f 5 13 14
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+f 10 26 11
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+f 20 31 22
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+f 24 29 28
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+f 24 27 33
+f 24 33 34
+f 24 34 29
+f 27 32 34
+f 27 34 33
+f 29 34 35
+f 29 35 30
+
diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_6.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9401212a450782d9e30f56c55726a1063889c7c4
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_6.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01857814 0.01031178 0.03322665
+v 0.01788770 0.01027970 0.03322665
+v 0.01957065 0.00982470 0.03503210
+v 0.01950353 0.01029611 0.03322665
+v 0.01785294 0.00961584 0.03503210
+v 0.01638095 0.00982769 0.03322665
+v 0.02067464 0.00854101 0.03503209
+v 0.02110977 0.00971282 0.03322665
+v 0.02027908 0.01017155 0.03322665
+v 0.01768272 0.00954498 0.03503210
+v 0.01227305 0.00800695 0.03322664
+v 0.02031624 0.00808825 0.03503209
+v 0.02084606 0.00389184 0.03322662
+v 0.02099110 0.00412232 0.03322663
+v 0.02149455 0.00544405 0.03322663
+v 0.02180501 0.00699552 0.03322664
+v 0.02173069 0.00854698 0.03322664
+v 0.02154129 0.00908328 0.03322664
+v 0.01391285 0.00783390 0.03447234
+v 0.01592425 0.00841644 0.03503209
+v 0.01190265 0.00774440 0.03322664
+v 0.01941123 0.00696940 0.03503209
+v 0.01944000 0.00297663 0.03322662
+v 0.01470039 0.00699551 0.03503209
+v 0.01478550 0.00709471 0.03503209
+v 0.01135246 0.00733938 0.03322664
+v 0.01058290 0.00675534 0.03322663
+v 0.01012860 0.00615564 0.03322663
+v 0.00960477 0.00544405 0.03322663
+v 0.01357123 0.00699551 0.03459288
+v 0.01788770 0.00620113 0.03503208
+v 0.01788770 0.00269244 0.03322662
+v 0.01661949 0.00582445 0.03503208
+v 0.01012860 0.00544405 0.03342794
+v 0.01168090 0.00544405 0.03398310
+v 0.01469559 0.00690749 0.03503209
+v 0.00955922 0.00492864 0.03322663
+v 0.01478550 0.00475707 0.03437053
+v 0.01638694 0.00283192 0.03322662
+v 0.01525059 0.00596468 0.03503208
+v 0.01478550 0.00553280 0.03478570
+v 0.01019812 0.00414246 0.03322663
+v 0.01352208 0.00575881 0.03460082
+v 0.01158261 0.00375310 0.03333090
+v 0.01323320 0.00389184 0.03365275
+v 0.01251279 0.00335554 0.03322662
+v 0.01309535 0.00532246 0.03433376
+v 0.01049540 0.00399925 0.03322662
+v 0.01132369 0.00367329 0.03322662
+v 0.01145794 0.00362108 0.03322662
+v 0.01170487 0.00354947 0.03322662
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 23
+f 1 23 32
+f 1 32 39
+f 1 39 46
+f 1 46 51
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+f 1 50 49
+f 1 49 48
+f 1 48 42
+f 1 42 37
+f 1 37 29
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+f 1 27 26
+f 1 26 21
+f 1 21 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 7 8
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+f 3 24 36
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+f 3 33 31
+f 3 31 22
+f 3 22 12
+f 3 12 7
+f 5 6 10
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+f 7 18 8
+f 10 11 19
+f 10 19 20
+f 11 21 19
+f 12 22 13
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+f 19 24 25
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+f 19 21 26
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+f 19 29 30
+f 19 30 24
+f 22 31 23
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+f 23 33 32
+f 24 30 29
+f 24 29 34
+f 24 34 35
+f 24 35 36
+f 29 37 34
+f 32 33 38
+f 32 38 39
+f 33 40 41
+f 33 41 38
+f 34 37 35
+f 35 37 42
+f 35 42 43
+f 35 43 36
+f 36 43 40
+f 38 41 44
+f 38 44 45
+f 38 45 39
+f 39 45 46
+f 40 43 41
+f 41 43 47
+f 41 47 42
+f 41 42 48
+f 41 48 44
+f 42 47 43
+f 44 48 49
+f 44 49 50
+f 44 50 51
+f 44 51 45
+f 45 51 46
+
diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_7.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2aa2903597ef82bb4767a3a4fd4de4d0eafeb81
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_7.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.00391948 -0.01592928 0.03206029
+v -0.00399136 -0.01628432 0.03208702
+v -0.00401547 -0.01601787 0.03115820
+v -0.00399727 -0.01592927 0.03115820
+v -0.00442035 -0.01592928 0.03307576
+v -0.00440215 -0.01628432 0.03310511
+v -0.00448859 -0.01783615 0.03306138
+v -0.00459004 -0.01869118 0.03293343
+v -0.00427068 -0.01722225 0.03115820
+v -0.00407370 -0.01629634 0.03115820
+v -0.00459004 -0.01869118 0.03277613
+v -0.00800016 -0.01592927 0.03115820
+v -0.00458049 -0.01592928 0.03315248
+v -0.00455546 -0.01651343 0.03322638
+v -0.00467193 -0.01834499 0.03322637
+v -0.00479612 -0.01898104 0.03322637
+v -0.00564410 -0.02097842 0.03322636
+v -0.00609084 -0.02196572 0.03322636
+v -0.00445083 -0.01788677 0.03115819
+v -0.00856655 -0.01787791 0.03115819
+v -0.00795149 -0.01592928 0.03193215
+v -0.00473516 -0.01592928 0.03322638
+v -0.00678870 -0.02238468 0.03322636
+v -0.00620821 -0.02170560 0.03287511
+v -0.00533612 -0.01940949 0.03115819
+v -0.00849421 -0.01860699 0.03115819
+v -0.00846692 -0.02054616 0.03322636
+v -0.00828631 -0.01883991 0.03322637
+v -0.00808933 -0.01783615 0.03322637
+v -0.00806613 -0.01772603 0.03322637
+v -0.00800335 -0.01627483 0.03209491
+v -0.00786505 -0.01678557 0.03301907
+v -0.00757936 -0.01592928 0.03268828
+v -0.00686148 -0.01592928 0.03322638
+v -0.00682600 -0.02239481 0.03322636
+v -0.00694292 -0.01986074 0.03115819
+v -0.00834454 -0.01940253 0.03115819
+v -0.00817213 -0.02187774 0.03322636
+v -0.00801063 -0.01752794 0.03322638
+v -0.00728547 -0.01645140 0.03322638
+v -0.00684465 -0.02239481 0.03322636
+v -0.00782911 -0.02184230 0.03278806
+v -0.00757799 -0.01966454 0.03115819
+v -0.00804429 -0.02213912 0.03322636
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 21
+f 1 21 33
+f 1 33 34
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_8.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6294b574ba141c7a49bee9255c9fed4928919e78
--- /dev/null
+++ b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_8.obj
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diff --git a/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_9.obj b/dataset/food/ingredients/d31a6a4dbb3859f5983e68aa8b27cc8c/mjcf/mesh/tomato_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20235612b61b5835364abdb7c1f56125a86dde70
--- /dev/null
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