diff --git a/.gitattributes b/.gitattributes
index 613a6ed1eff6022f0c76c5e3708ba229759f17f5..4b67ee2560d913abc7880ebcb808972a135283a6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4326,3 +4326,6 @@ dataset/kitchen_supplies/tableware/b36dd11340395cda824610743ff5740d/mesh/green_n
 dataset/kitchen_supplies/tableware/b36dd11340395cda824610743ff5740d/mesh/green_napkin_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/b15d1f25a76b502a99db8404ce755849/mesh/spoon_030.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/b15d1f25a76b502a99db8404ce755849/spoon_030.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/b39489cf47ae58dda87e25d90759a31f.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mesh/fruit_plate.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mesh/fruit_plate_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/b39489cf47ae58dda87e25d90759a31f.urdf b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/b39489cf47ae58dda87e25d90759a31f.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9e6a69358c01192e54827fbbb7b293edcc7a63c0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/b39489cf47ae58dda87e25d90759a31f.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fruit_plate">
+   <link name="fruit_plate">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/fruit_plate.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/fruit_plate_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.279107</scale>
+         <version>v0.1.7</version>
+         <category>fruit plate</category>
+         <description>flat circular plate with shallow depth and smooth edges</description>
+         <min_height>0.02</min_height>
+         <max_height>0.04</max_height>
+         <real_height>0.03</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <generate_time>20260117163551</generate_time>
+         <gs_model>mesh/fruit_plate_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.669631004333496</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</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/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/b39489cf47ae58dda87e25d90759a31f.usd b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/b39489cf47ae58dda87e25d90759a31f.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2505187189d476866b8b07727c798cc19e2749fc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/b39489cf47ae58dda87e25d90759a31f.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bc69cc6b8972e229ca597e57d53b0073dc6b5d13cdc595977e91891e165efd3
+size 428154
diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mesh/fruit_plate.glb b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mesh/fruit_plate.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c4f9b004545d082ea184bffc99212549ba42675a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mesh/fruit_plate.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f07c5d0d98d2dcd5323ef5e0f79b1752d9c14c2302032c185f6e92c0c8fb576d
+size 1051552
diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mesh/fruit_plate.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mesh/fruit_plate.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e47f6530f68f899bcc5d0d9c7f290cb562db7c8d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mesh/fruit_plate.obj
@@ -0,0 +1,25422 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mesh/fruit_plate_collision.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mesh/fruit_plate_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..580a5389c779cf372c714f7f377392cae431abe1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mesh/fruit_plate_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mesh/fruit_plate_gs.ply b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mesh/fruit_plate_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0172d5d9683249ef37bae56d9755f84b8e61fdd7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mesh/fruit_plate_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63dee13652e8da2202cefc4e49a60c9823bd077bd724093aa14069351c0375cd
+size 1774889
diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mesh/material.mtl b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+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/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mesh/material_0.png b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1e1ffe2bd2b117ce03f86b98d5d8dc5fd1138c3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4d2b09e9797f6fdf87d0e2a90acd0cb92664fed45860f5bfd6b6be0e7edfe46
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diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/b39489cf47ae58dda87e25d90759a31f.xml b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/b39489cf47ae58dda87e25d90759a31f.xml
new file mode 100644
index 0000000000000000000000000000000000000000..64eb6f5d00c463e142ed4c02b21bf495c252686f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/b39489cf47ae58dda87e25d90759a31f.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="fruit_plate">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
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+    <mesh name="collision_mesh_0_0" file="mesh/fruit_plate_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/fruit_plate_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/fruit_plate_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/fruit_plate_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/fruit_plate_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/fruit_plate_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/fruit_plate_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/fruit_plate_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/fruit_plate_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/fruit_plate_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/fruit_plate_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/fruit_plate_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/fruit_plate_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/fruit_plate_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/fruit_plate_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/fruit_plate_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/fruit_plate_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/fruit_plate_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/fruit_plate_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/fruit_plate_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/fruit_plate_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/fruit_plate_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/fruit_plate_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/fruit_plate_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/fruit_plate_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/fruit_plate_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/fruit_plate_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/fruit_plate_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="fruit_plate">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba07d721e439564330086f526e575ec8ac86220c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate.obj
@@ -0,0 +1,25422 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5b6f804bdb029fd29455477d419c59fbd5a4be0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision.obj
@@ -0,0 +1,6777 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_0.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc0743ef938ba86beb38b492e4b3a53887ea3144
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_1.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fde5982093043bae4745bc7b2fd1a8048994de26
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_1.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_10.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9af8ad1730fc3429463bb53c49d40c87687aff60
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_10.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_11.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..135572ad077661ee37bd23d910003f69c480a446
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_11.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_12.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9b8eefa5eaa504c0126644778eb2794b502c94e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_12.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_13.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d47ceb3c04b4eedc1d2dab1e7202afc24fb5df8f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_13.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_14.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..186a20435300cfe1cacaf5b2fb9c3b19c648eb08
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_14.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_15.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48132daaffdde811368ba01fb0122669fe29df02
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_15.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_16.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb30d84b1eaab2ef1ac8c42aeb20f76bc84a6c78
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_16.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_17.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc2b045fb22cb03504cd1b4e6b1b37e206044d5c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_17.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_18.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0e9e31d11c7ccc7430f2d268744444c9b61ae37
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_18.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_19.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86b0f039af2b387e252f34d09385d3984ef3b4ba
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_19.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_2.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0d006416d9503955fc6c390e21c656043f29269
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_2.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_20.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af7a384bee8d7606e11129fc8e809ee5992cf784
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_20.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_21.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8246b01d3f24c3786d87e1a22f9e2ec8b1bfedb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_21.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_22.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7667737d29977da2be1ec424f5c58dffc92325fd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_22.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.03900403 -0.08624362 -0.00426522
+v -0.03900403 -0.10047004 -0.00426527
+v -0.03900403 -0.09209469 0.00084460
+v -0.00006663 -0.09351008 -0.00426524
+v -0.03495170 -0.10213340 -0.00426528
+v -0.03900403 -0.11676966 0.00566846
+v -0.03900403 -0.09514247 0.00310925
+v -0.00006663 -0.10041496 0.00167886
+v -0.00006663 -0.10790523 -0.00426530
+v -0.03005689 -0.10350059 -0.00426528
+v -0.03447899 -0.11812308 0.00566846
+v -0.03900403 -0.09985707 0.00566852
+v -0.03900403 -0.09543521 0.00330567
+v -0.00006663 -0.10331122 0.00373543
+v -0.00006663 -0.12142570 0.00566844
+v -0.00233867 -0.12141193 0.00566844
+v -0.00136657 -0.10789491 -0.00426530
+v -0.02048455 -0.10594570 -0.00426529
+v -0.01619969 -0.12102278 0.00566845
+v -0.03900403 -0.09722944 0.00446959
+v -0.00006663 -0.10708565 0.00566850
+v -0.00233867 -0.10788113 -0.00426530
+f 1 2 6
+f 1 6 12
+f 1 12 20
+f 1 20 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 17
+f 1 17 22
+f 1 22 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 14
+f 4 14 21
+f 4 21 15
+f 4 15 9
+f 5 10 11
+f 5 11 6
+f 6 11 19
+f 6 19 16
+f 6 16 15
+f 6 15 21
+f 6 21 12
+f 7 13 14
+f 7 14 8
+f 9 15 16
+f 9 16 17
+f 10 18 11
+f 11 18 19
+f 12 21 20
+f 13 20 14
+f 14 20 21
+f 16 19 22
+f 16 22 17
+f 18 22 19
+
diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_23.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..634bc6167b2e5d175fd68649229cd5d3526e36cb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_23.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.03900783 -0.11676971 0.00566846
+v -0.03930205 -0.11668247 0.00566846
+v -0.03900783 -0.10046578 -0.00426527
+v -0.03900783 -0.09985511 0.00566852
+v -0.04844958 -0.11393425 0.00566847
+v -0.03926528 -0.10037853 -0.00426527
+v -0.03900783 -0.08624486 -0.00426522
+v -0.03900783 -0.09980603 0.00564616
+v -0.07316395 -0.07549741 0.00395237
+v -0.07316395 -0.07632625 0.00426742
+v -0.07316395 -0.07774943 0.00477791
+v -0.07316395 -0.07777124 0.00478568
+v -0.07316395 -0.07790756 0.00483333
+v -0.07316395 -0.07983240 0.00547607
+v -0.07316395 -0.08041040 0.00566859
+v -0.05778434 -0.11058623 0.00566848
+v -0.04836934 -0.09669789 -0.00426526
+v -0.03938898 -0.08581954 -0.00426522
+v -0.03900783 -0.09209030 0.00084460
+v -0.03900783 -0.09722685 0.00446959
+v -0.07316395 -0.07184949 0.00225170
+v -0.07316395 -0.10072756 0.00566852
+v -0.06202042 -0.10862322 0.00566849
+v -0.05757371 -0.09208482 -0.00426524
+v -0.03945919 -0.08574320 -0.00426521
+v -0.03900783 -0.09513842 0.00310925
+v -0.07316395 -0.06106926 -0.00426512
+v -0.03900783 -0.09542742 0.00330567
+v -0.07316395 -0.06913943 0.00089136
+v -0.07181991 -0.10177995 0.00566852
+v -0.07316395 -0.07984872 -0.00426519
+v -0.07110442 -0.08204620 -0.00426520
+v -0.06722943 -0.10530791 0.00566850
+v -0.06273591 -0.08837691 -0.00426522
+v -0.06871055 -0.10417918 0.00566851
+f 1 2 3
+f 1 3 7
+f 1 7 19
+f 1 19 26
+f 1 26 28
+f 1 28 20
+f 1 20 8
+f 1 8 4
+f 1 4 15
+f 1 15 22
+f 1 22 30
+f 1 30 35
+f 1 35 33
+f 1 33 23
+f 1 23 16
+f 1 16 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 17
+f 3 17 24
+f 3 24 34
+f 3 34 32
+f 3 32 31
+f 3 31 27
+f 3 27 25
+f 3 25 18
+f 3 18 7
+f 4 8 9
+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 5 16 6
+f 6 16 17
+f 7 18 19
+f 8 20 9
+f 9 21 29
+f 9 29 27
+f 9 27 31
+f 9 31 22
+f 9 22 15
+f 9 15 14
+f 9 14 13
+f 9 13 12
+f 9 12 11
+f 9 11 10
+f 9 20 21
+f 16 23 17
+f 17 23 24
+f 18 25 19
+f 19 25 27
+f 19 27 26
+f 20 28 27
+f 20 27 29
+f 20 29 21
+f 22 31 32
+f 22 32 30
+f 23 33 24
+f 24 33 34
+f 26 27 28
+f 30 32 35
+f 32 34 33
+f 32 33 35
+
diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_24.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..127445346830abd1e34b565d7437accd3ec3025d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_24.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.07540815 0.05893822 -0.00419994
+v 0.03944527 0.08568504 -0.00415058
+v 0.03944527 0.08562792 -0.00419985
+v 0.07540815 0.07813858 -0.00419987
+v 0.07540815 0.06522787 -0.00009908
+v 0.03944527 0.09176904 0.00102355
+v 0.03944527 0.10068086 -0.00419979
+v 0.07109541 0.08218887 -0.00419986
+v 0.07540815 0.09958970 0.00566926
+v 0.07540815 0.06758720 0.00138669
+v 0.03944527 0.09477962 0.00289961
+v 0.03944527 0.11729905 0.00566932
+v 0.04849673 0.11464264 0.00566931
+v 0.05270383 0.11338014 0.00566931
+v 0.04850024 0.09700760 -0.00419980
+v 0.06275161 0.08860994 -0.00419983
+v 0.06717348 0.10606218 0.00566928
+v 0.07540815 0.07827564 0.00566918
+v 0.07540815 0.07352269 0.00392933
+v 0.03944527 0.10026951 0.00566540
+v 0.03944527 0.09739602 0.00435254
+v 0.03944527 0.09531661 0.00323096
+v 0.03944527 0.09525949 0.00319812
+v 0.03944527 0.10801020 0.00566929
+v 0.06208974 0.10913561 0.00566929
+v 0.05761858 0.09230606 -0.00419982
+v 0.07540815 0.07637903 0.00500840
+v 0.03947696 0.10026951 0.00566926
+v 0.07540815 0.07551641 0.00470700
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 26
+f 1 26 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 27
+f 1 27 29
+f 1 29 19
+f 1 19 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 23
+f 2 23 22
+f 2 22 21
+f 2 21 20
+f 2 20 24
+f 2 24 12
+f 2 12 7
+f 2 7 3
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 8 16 17
+f 8 17 9
+f 9 17 25
+f 9 25 14
+f 9 14 13
+f 9 13 12
+f 9 12 24
+f 9 24 28
+f 9 28 18
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 11
+f 14 25 15
+f 15 25 26
+f 16 26 17
+f 17 26 25
+f 18 28 20
+f 18 20 27
+f 19 29 20
+f 20 28 24
+f 20 29 27
+
diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_25.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..856af4f3acb21436973ae5e877e714451acb1b1b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_25.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.11470962 -0.04791904 0.00566871
+v 0.09805347 -0.04791900 -0.00427014
+v 0.09766006 -0.04791904 0.00566871
+v 0.11351831 -0.05379561 0.00566869
+v 0.08340315 -0.04791900 -0.00427014
+v 0.11239904 -0.05686942 0.00566868
+v 0.09761019 -0.04904627 -0.00427014
+v 0.09597006 -0.04791904 0.00486609
+v 0.05810862 -0.09126643 0.00566855
+v 0.05810862 -0.07537995 -0.00427024
+v 0.09036815 -0.04791903 0.00150677
+v 0.11110799 -0.05967834 0.00566867
+v 0.09531623 -0.05314262 -0.00427016
+v 0.09370935 -0.04791903 0.00378232
+v 0.05810862 -0.09014532 0.00514905
+v 0.05810862 -0.11084267 0.00566848
+v 0.05810862 -0.09140807 -0.00427030
+v 0.05810862 -0.08242692 0.00104064
+v 0.09100536 -0.04791903 0.00195818
+v 0.10501846 -0.06845007 0.00566864
+v 0.09237397 -0.05800896 -0.00427017
+v 0.05810862 -0.08609209 0.00315467
+v 0.05810862 -0.09012684 0.00514029
+v 0.05958252 -0.11043611 0.00566848
+v 0.06002580 -0.09025000 -0.00427029
+v 0.06875282 -0.10574841 0.00566850
+v 0.09517216 -0.08161999 0.00566859
+v 0.08851191 -0.06299850 -0.00427019
+v 0.06533959 -0.08643701 -0.00427028
+v 0.08179626 -0.09583710 0.00566854
+v 0.08180734 -0.07137599 -0.00427022
+v 0.06774991 -0.08455207 -0.00427027
+v 0.07251514 -0.08068364 -0.00427026
+v 0.07741335 -0.07602674 -0.00427024
+f 1 2 5
+f 1 5 11
+f 1 11 19
+f 1 19 14
+f 1 14 8
+f 1 8 3
+f 1 3 9
+f 1 9 16
+f 1 16 24
+f 1 24 26
+f 1 26 30
+f 1 30 27
+f 1 27 20
+f 1 20 12
+f 1 12 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 13
+f 2 13 21
+f 2 21 28
+f 2 28 31
+f 2 31 34
+f 2 34 33
+f 2 33 32
+f 2 32 29
+f 2 29 25
+f 2 25 17
+f 2 17 10
+f 2 10 5
+f 3 8 9
+f 5 10 11
+f 6 12 7
+f 7 12 13
+f 8 14 9
+f 9 15 23
+f 9 23 22
+f 9 22 18
+f 9 18 10
+f 9 10 17
+f 9 17 16
+f 9 14 15
+f 10 18 11
+f 11 18 19
+f 12 20 21
+f 12 21 13
+f 14 19 18
+f 14 18 22
+f 14 22 23
+f 14 23 15
+f 16 17 24
+f 17 25 26
+f 17 26 24
+f 20 27 21
+f 21 27 28
+f 25 29 26
+f 26 29 30
+f 27 30 31
+f 27 31 28
+f 29 32 30
+f 30 32 33
+f 30 33 34
+f 30 34 31
+
diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_26.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2746c7789b3ca49f139c5269671bd896b60dcee2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_26.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.05788424 0.07604599 -0.00419328
+v -0.05788424 0.09178642 -0.00419322
+v -0.05788424 0.08233232 0.00092429
+v -0.08363688 0.04791702 -0.00419338
+v -0.06034986 0.09027008 -0.00419323
+v -0.06269303 0.10904929 0.00566929
+v -0.05903078 0.11044898 0.00566930
+v -0.05788424 0.11063316 0.00566930
+v -0.05788424 0.08240598 0.00098028
+v -0.09029349 0.04791699 0.00165690
+v -0.08823417 0.04791700 -0.00014259
+v -0.09803542 0.04791702 -0.00419338
+v -0.06850922 0.10546410 0.00566928
+v -0.06557052 0.08652529 -0.00419324
+v -0.05788424 0.09201967 0.00566923
+v -0.05788424 0.08554915 0.00270931
+v -0.09356058 0.04791699 0.00386282
+v -0.09083337 0.04791699 0.00203437
+v -0.09762913 0.04897907 -0.00419338
+v -0.11473819 0.04791698 0.00566907
+v -0.11069746 0.05933555 0.00566911
+v -0.08182245 0.09573377 0.00566924
+v -0.06803057 0.08466517 -0.00419325
+v -0.05788424 0.09187847 0.00566827
+v -0.09728962 0.04791698 0.00566907
+v -0.05788424 0.08564124 0.00275468
+v -0.09582027 0.04791698 0.00498171
+v -0.05788424 0.08852043 0.00414487
+v -0.09541953 0.05312905 -0.00419336
+v -0.10886077 0.06282251 0.00566912
+v -0.08637522 0.09119703 0.00566922
+v -0.07282267 0.08073620 -0.00419326
+v -0.07769824 0.07606440 -0.00419328
+v -0.09251422 0.05799114 -0.00419335
+v -0.10505381 0.06837218 0.00566914
+v -0.09096694 0.08647613 0.00566921
+v -0.08211187 0.07144787 -0.00419330
+v -0.09528039 0.08163859 0.00566919
+v -0.08879074 0.06290236 -0.00419333
+v -0.08565724 0.06693569 -0.00419331
+f 1 2 8
+f 1 8 15
+f 1 15 24
+f 1 24 28
+f 1 28 26
+f 1 26 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 12
+f 1 12 19
+f 1 19 29
+f 1 29 34
+f 1 34 39
+f 1 39 40
+f 1 40 37
+f 1 37 33
+f 1 33 32
+f 1 32 23
+f 1 23 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 10
+f 4 10 18
+f 4 18 17
+f 4 17 27
+f 4 27 25
+f 4 25 20
+f 4 20 12
+f 5 13 6
+f 5 14 13
+f 6 13 22
+f 6 22 31
+f 6 31 36
+f 6 36 38
+f 6 38 35
+f 6 35 30
+f 6 30 21
+f 6 21 20
+f 6 20 25
+f 6 25 15
+f 6 15 8
+f 6 8 7
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 12 20 21
+f 12 21 19
+f 13 14 22
+f 14 23 22
+f 15 25 24
+f 16 26 17
+f 17 26 28
+f 17 28 24
+f 17 24 27
+f 19 21 30
+f 19 30 29
+f 22 23 32
+f 22 32 33
+f 22 33 31
+f 24 25 27
+f 29 30 34
+f 30 35 34
+f 31 33 36
+f 33 37 36
+f 34 35 38
+f 34 38 39
+f 36 37 38
+f 37 40 38
+f 38 40 39
+
diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_27.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc3fd104ff88435b75bbc646bc08b23f948d533f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_27.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.12417319 -0.00696336 0.00566886
+v 0.12373810 -0.02085400 0.00566881
+v 0.10949214 -0.00225127 -0.00426997
+v 0.10952009 0.00032195 -0.00426996
+v 0.12400554 0.00032191 0.00566889
+v 0.12360239 -0.02168970 0.00566881
+v 0.10842639 -0.01622217 -0.00427002
+v 0.10896924 -0.01159039 -0.00427000
+v 0.10922870 -0.00696332 -0.00426999
+v 0.09673903 0.00032195 -0.00426996
+v 0.10942828 0.00032191 0.00566889
+v 0.10748437 -0.02085396 -0.00427004
+v 0.11950702 -0.03575032 0.00566876
+v 0.10510140 -0.03015058 -0.00427007
+v 0.10634278 -0.02588707 -0.00427006
+v 0.08339917 -0.04791285 -0.00427014
+v 0.10114974 0.00032193 0.00084053
+v 0.10667409 0.00032191 0.00424753
+v 0.09371341 -0.04791288 0.00378232
+v 0.09597664 -0.04791289 0.00486609
+v 0.09766508 -0.04791289 0.00566871
+v 0.11470914 -0.04791289 0.00566871
+v 0.10194406 -0.03972578 -0.00427011
+v 0.10375624 -0.03473988 -0.00427009
+v 0.09806025 -0.04791285 -0.00427014
+v 0.09037246 -0.04791288 0.00150677
+v 0.10393985 0.00032192 0.00270747
+v 0.09101112 -0.04791288 0.00195818
+v 0.10003608 -0.04391374 -0.00427012
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 21
+f 1 21 22
+f 1 22 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 8
+f 3 8 7
+f 3 7 12
+f 3 12 15
+f 3 15 14
+f 3 14 24
+f 3 24 23
+f 3 23 29
+f 3 29 25
+f 3 25 16
+f 3 16 10
+f 3 10 4
+f 4 10 17
+f 4 17 27
+f 4 27 18
+f 4 18 11
+f 4 11 5
+f 6 12 7
+f 6 13 14
+f 6 14 15
+f 6 15 12
+f 10 16 17
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 16 25 22
+f 16 22 21
+f 16 21 20
+f 16 20 19
+f 16 19 28
+f 16 28 26
+f 16 26 17
+f 17 26 28
+f 17 28 19
+f 17 19 27
+f 18 27 19
+f 22 25 29
+f 22 29 23
+
diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_3.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..239a6c0012002f251e452cb4cd6c38118b7feddf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_3.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
+v -0.00005209 0.00032197 -0.01144733
+v -0.00005209 -0.09493467 -0.01402887
+v -0.00005209 0.00032195 -0.00457345
+v 0.09469612 0.00032198 -0.01424843
+v 0.00228631 -0.09493467 -0.01403484
+v -0.00005209 -0.09922598 -0.01323283
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diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_4.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cc05d64089c83bdf05287c6da3dbf645f8e5abc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_4.obj
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diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_5.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45a0f5b9cca462a64c8dd9a4c5530d77b95073f2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_5.obj
@@ -0,0 +1,427 @@
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diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_6.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14dcc5a027533ac88858968ce422490254bb4f09
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_6.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_7.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6c798a6a80a4d909c08892a9e6b4321af4d0ebc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_7.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_8.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13724c1c172fff0583cbb3c2ce61c4e80ada17b3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_8.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_9.obj b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/fruit_plate_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/textures/material_0.png b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/video.mp4 b/dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/video.mp4
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