diff --git a/.gitattributes b/.gitattributes
index 129c4b277c6f83de4559f40dfe6d60fad1d55406..a4485aabea468f2b417bedaa86f98be2ebf23aff 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4445,3 +4445,6 @@ dataset/kitchen_supplies/tableware/f19a8e93a83553e5b98a8632bfe4745b/mesh/green_n
 dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/f35b2a5b4d3150e0805eddbac15ad366.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mesh/metal_tray.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/f35b2a5b4d3150e0805eddbac15ad366/mesh/metal_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/f436abb312125fbc899ddd71ceb6ce77.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mesh/white_dish.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mesh/white_dish_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/f436abb312125fbc899ddd71ceb6ce77.urdf b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/f436abb312125fbc899ddd71ceb6ce77.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d535459f65cc45239d055aa07409294d3d5b1e46
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/f436abb312125fbc899ddd71ceb6ce77.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="white_dish">
+   <link name="white_dish">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/white_dish.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/white_dish_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>0.330635</scale>
+         <version>v0.1.7</version>
+         <category>white dish</category>
+         <description>rectangular white dish with slightly flared edges and small side handles</description>
+         <min_height>0.08</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.1</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260120035539</generate_time>
+         <gs_model>mesh/white_dish_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.3085198402404785</ImageAestheticChecker>
+         <overall>NO</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/f436abb312125fbc899ddd71ceb6ce77/f436abb312125fbc899ddd71ceb6ce77.usd b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/f436abb312125fbc899ddd71ceb6ce77.usd
new file mode 100644
index 0000000000000000000000000000000000000000..666114a79056457ac76d0aee4d6c0fc08887ed15
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/f436abb312125fbc899ddd71ceb6ce77.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abf3abb65cf6a971e5124f1f659005736786da8f43bc7732827929447ae1a31c
+size 307617
diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mesh/material.mtl b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/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/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mesh/material_0.png b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d5dc9ba916f8abbcaceaf4516ab20dbc6f39283
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6448301abe3d8065b81d86b9cd300355bc9d723941187d2fdc344312d54ecdc2
+size 493610
diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mesh/white_dish.glb b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mesh/white_dish.glb
new file mode 100644
index 0000000000000000000000000000000000000000..56873e33dd06ec2d2292020b1c3b0510650f29b8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mesh/white_dish.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfa6e1e752f878c631e0773e61e7261975e2bcf83d6a1b25e9e6e862f577eb64
+size 698672
diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mesh/white_dish.obj b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mesh/white_dish.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5b9e6259179b9e4dda6e7b82d3ad23d237bac06
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mesh/white_dish.obj
@@ -0,0 +1,18626 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mesh/white_dish_collision.obj b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mesh/white_dish_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ccaf570ee58d990764ff143f04af76c0ea7e42c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mesh/white_dish_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mesh/white_dish_gs.ply b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mesh/white_dish_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e8a0abb1e5efe3b76853dbac93a5c1be83f6a0b5
--- /dev/null
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diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/f436abb312125fbc899ddd71ceb6ce77.xml b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/f436abb312125fbc899ddd71ceb6ce77.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0e73026641af153f48208df16747b77af69ec203
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+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish.obj b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish.obj
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish.obj
@@ -0,0 +1,18626 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision.obj b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8ba91a0db48921a216bc45b31ffeea6415c3dd5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision.obj
@@ -0,0 +1,6979 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_0.obj b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..789367ff22eef45fccb0068212d7bcb9ec22ef78
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_1.obj b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7995fa28f61f0be4e701f0305bd8a5105996675d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_10.obj b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..648cbda5265366d9a0f9f6c2dc61829572fb2d97
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_11.obj b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c4229aa0e8f850eac3444e67481064119ae0180
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_11.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_12.obj b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4ad9a9174f9f2d68dc296471c2c7e014345a7f9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_12.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.02994904 0.14039367 0.03444485
+v 0.03522968 0.14029111 0.03444485
+v 0.02451096 0.13536335 0.02638214
+v 0.00433300 0.13553673 0.02638214
+v 0.00275865 0.13554894 0.02638214
+v -0.00064589 0.13557336 0.02638214
+v -0.00064589 0.14031309 0.03444485
+v 0.02994904 0.13510451 0.02638214
+v 0.02631490 0.13527789 0.02638214
+v 0.06636250 0.13339269 0.03444482
+v 0.06571308 0.13101918 0.02638212
+v 0.06551629 0.13105581 0.02638212
+v 0.06257093 0.13149780 0.02638212
+v -0.00064589 0.12131256 0.02638209
+v -0.00064589 0.12548089 0.03444479
+v 0.06636250 0.11864840 0.03444477
+v 0.06636250 0.13085558 0.02638212
+v 0.06636250 0.11544951 0.02638206
+v 0.06636250 0.11779862 0.03289064
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 15
+f 1 15 16
+f 1 16 10
+f 1 10 2
+f 2 8 9
+f 2 9 3
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 8
+f 3 9 8
+f 3 8 13
+f 3 13 12
+f 3 12 11
+f 3 11 17
+f 3 17 18
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+f 3 14 6
+f 3 6 5
+f 3 5 4
+f 6 14 15
+f 6 15 7
+f 10 16 19
+f 10 19 18
+f 10 18 17
+f 10 17 11
+f 14 18 19
+f 14 19 15
+f 15 19 16
+
diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_13.obj b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f5a16d7d91faf12d2910038d2db442aab5b71b2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_13.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.06159694 -0.11766760 0.02638121
+v 0.06159694 -0.12066081 0.03444389
+v 0.06159694 -0.13156096 0.02638116
+v -0.00065244 -0.12141134 0.02638119
+v 0.04081871 -0.12228892 0.03444388
+v 0.06159694 -0.13415508 0.03444384
+v 0.03521895 -0.14075823 0.03444381
+v 0.02994822 -0.13497364 0.02638114
+v -0.00065244 -0.13542716 0.02638114
+v -0.00065244 -0.12564038 0.03444387
+v 0.03130703 -0.14083079 0.03444381
+v 0.02451298 -0.13527296 0.02638114
+v 0.02776072 -0.13509609 0.02638114
+v -0.00065244 -0.14022535 0.03444381
+v 0.00275982 -0.13540902 0.02638114
+v 0.02262405 -0.13528883 0.02638114
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 13
+f 1 13 12
+f 1 12 16
+f 1 16 15
+f 1 15 9
+f 1 9 4
+f 1 4 2
+f 2 5 10
+f 2 10 14
+f 2 14 11
+f 2 11 7
+f 2 7 6
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 9 14
+f 4 14 10
+f 4 10 5
+f 7 11 12
+f 7 12 13
+f 7 13 8
+f 9 15 11
+f 9 11 14
+f 11 15 16
+f 11 16 12
+
diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_14.obj b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ec89e7b44564b0edeff192a86879c4c3de7fe38
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_14.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.05161518 0.14299179 0.03444486
+v -0.04617816 0.14290887 0.03444485
+v -0.00066069 0.13557252 0.02638214
+v -0.05692019 0.13639082 0.02638214
+v -0.06249746 0.13640174 0.02638214
+v -0.06555836 0.13638209 0.02638214
+v -0.06249746 0.14286523 0.03444485
+v -0.00066069 0.14031430 0.03444485
+v -0.00066069 0.12131218 0.02638209
+v -0.06573162 0.13637336 0.02638214
+v -0.06807473 0.14266665 0.03444485
+v -0.00066069 0.12548006 0.03444479
+v -0.06599563 0.12069900 0.02638208
+v -0.07001358 0.12069897 0.03444477
+v -0.06991457 0.12069897 0.03433822
+v -0.06968356 0.12069897 0.03408012
+v -0.06899878 0.13608095 0.02638214
+v -0.07337149 0.14104095 0.03444485
+v -0.08247994 0.12069900 0.02638208
+v -0.08493856 0.12069897 0.03444477
+v -0.07352825 0.13464729 0.02638213
+v -0.07422128 0.14051723 0.03444485
+v -0.08455904 0.12273928 0.03444478
+v -0.08217468 0.12206502 0.02638209
+v -0.07708417 0.13231021 0.02638213
+v -0.07737294 0.13843546 0.03444484
+v -0.08312347 0.12839103 0.03444480
+v -0.08136613 0.12480144 0.02638210
+v -0.07824748 0.13054703 0.02638212
+v -0.08050809 0.13440504 0.03444482
+v -0.08192716 0.13186938 0.03444481
+v -0.07957579 0.12852637 0.02638211
+f 1 2 3
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+f 1 18 22
+f 1 22 26
+f 1 26 30
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+f 24 27 28
+f 25 29 30
+f 25 30 26
+f 27 31 28
+f 28 31 32
+f 29 32 30
+f 30 32 31
+
diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_15.obj b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a7c119db6a3b5185faaa656319cdd3777f0e161
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_15.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.07058306 -0.10924129 0.02638124
+v 0.06159694 -0.11766762 0.02638121
+v 0.07112390 -0.10924129 0.02842158
+v 0.08436570 -0.10924129 0.02638124
+v 0.06159694 -0.13156192 0.02638116
+v 0.06159694 -0.12066260 0.03444389
+v 0.07279044 -0.10924132 0.03444393
+v 0.07274150 -0.10924132 0.03427503
+v 0.08659755 -0.10924132 0.03444393
+v 0.08615460 -0.11179239 0.03444392
+v 0.08389829 -0.11179236 0.02638123
+v 0.06257582 -0.13146923 0.02638116
+v 0.06159694 -0.13415691 0.03444384
+v 0.08486738 -0.11724572 0.03444390
+v 0.08251562 -0.11696522 0.02638121
+v 0.06585262 -0.13100341 0.02638116
+v 0.06257582 -0.13400083 0.03444384
+v 0.08270405 -0.12263320 0.03444388
+v 0.08158324 -0.11991383 0.02662036
+v 0.08154897 -0.11981871 0.02638120
+v 0.06619523 -0.13092537 0.02638116
+v 0.06801595 -0.13303746 0.03444384
+v 0.06263455 -0.13399106 0.03444384
+v 0.08266245 -0.12270637 0.03444388
+v 0.08133852 -0.12500623 0.03444387
+v 0.08132873 -0.12016991 0.02638120
+v 0.06875011 -0.13032784 0.02638116
+v 0.06935701 -0.13055465 0.02765509
+v 0.07116795 -0.13106683 0.03113827
+v 0.07296664 -0.13149122 0.03444385
+v 0.07854626 -0.12783777 0.03444386
+v 0.07697515 -0.12615980 0.02638118
+v 0.07808618 -0.12476720 0.02638118
+v 0.07951780 -0.12291608 0.02638119
+v 0.07354663 -0.12832064 0.02638117
+v 0.07525477 -0.13042298 0.03444385
+f 1 2 3
+f 1 3 8
+f 1 8 7
+f 1 7 9
+f 1 9 4
+f 1 4 11
+f 1 11 15
+f 1 15 20
+f 1 20 26
+f 1 26 34
+f 1 34 33
+f 1 33 32
+f 1 32 35
+f 1 35 27
+f 1 27 21
+f 1 21 16
+f 1 16 12
+f 1 12 5
+f 1 5 2
+f 2 5 13
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+f 6 18 14
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+f 12 16 13
+f 13 16 17
+f 14 18 19
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+f 14 20 15
+f 16 21 22
+f 16 22 23
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+f 18 24 19
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+f 21 27 22
+f 22 27 28
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+f 25 31 32
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+f 25 34 26
+f 27 35 28
+f 28 35 29
+f 29 35 30
+f 30 35 36
+f 31 36 32
+f 32 36 35
+
diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_16.obj b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ceff830a43185aefa10e6ca4725b9e2cc0fca3e8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_16.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.06912332 -0.11553730 0.02638122
+v -0.07225790 -0.11553733 0.03444391
+v -0.08360830 -0.11553730 0.02638122
+v -0.07614902 -0.01354962 0.02638159
+v -0.07618663 -0.01119017 0.02639107
+v -0.07873057 -0.01119020 0.03444429
+v -0.08585139 -0.11553733 0.03444391
+v -0.08380740 -0.11433203 0.02638122
+v -0.08696852 -0.01119017 0.02638160
+v -0.09172237 -0.01119020 0.03444429
+v -0.08629603 -0.11215646 0.03444392
+v -0.08417018 -0.11178873 0.02638123
+v -0.08916295 -0.01119017 0.02638160
+v -0.09170688 -0.01275296 0.03444428
+v -0.08914525 -0.01362112 0.02638159
+v -0.08909216 -0.01907545 0.02638157
+v -0.08631151 -0.11201347 0.03444392
+v -0.08448431 -0.10887771 0.02638124
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+v -0.08686012 -0.08078897 0.02638134
+v -0.08705922 -0.07751025 0.02638136
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+
diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_17.obj b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93cad08e915b2869b5a98dcd32c90041100c691e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_17.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+v -0.08810547 0.05709113 0.02638185
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+v -0.09074321 0.04638867 0.03444450
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+
diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_18.obj b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..244f623ae44f0207a0d8124aa4b60341dba637b8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_18.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.09165181 0.03205395 0.03444445
+v 0.07871874 0.03205395 0.03444445
+v 0.09162705 0.03205395 0.03435842
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+
diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_19.obj b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3ef452c9cf044d707d64fcbcf6866db2bbf249b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_19.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.09200476 -0.00271029 0.03444432
+v 0.09198798 -0.00817306 0.03444430
+v 0.08953636 -0.00561452 0.02638162
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diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_2.obj b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2d13a25ff53371db655d60462393b866074181c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_2.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_3.obj b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dc7e6c46b552b10c591118807b62c1e0fef715a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_3.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.09401840 0.00033731 0.03961745
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+
diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_4.obj b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db0d786078d2a62803afdba2594a4bbde1381143
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_4.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
+v 0.09401887 -0.00271707 0.03961755
+v 0.09391340 -0.00271708 0.04484216
+v 0.09390825 -0.00817227 0.04484214
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diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_5.obj b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a00f76f7d8711f55f840a1009f1017137305e4bd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_5.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_6.obj b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6570c5ca3d342e16d32a334a9ecc0f66b7dcf1a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_6.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_7.obj b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93fd9f7b1b166cba38a2842ee4ccd7786e863574
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_8.obj b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffc97c9d3266b1d60a42e123a8fcf931a3be3b50
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_8.obj
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diff --git a/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_9.obj b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3bbe41e195dc9caa29c97715232b69ed54de600
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/mjcf/mesh/white_dish_collision_9.obj
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