diff --git a/.gitattributes b/.gitattributes
index 708db76fa1083fd888bf4b6c97573cfe5703bec6..681703f4ce0132ccba9f1d15a2d20a6364553d23 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3492,3 +3492,5 @@ dataset/food/beverages/0023f22f7fb05e75b4406043827b9e75/coke_001.usdc filter=lfs
 dataset/food/beverages/0023f22f7fb05e75b4406043827b9e75/mesh/coke_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/0023f22f7fb05e75b4406043827b9e75/mesh/coke_001.obj filter=lfs diff=lfs merge=lfs -text
 dataset/food/beverages/0023f22f7fb05e75b4406043827b9e75/mjcf/mesh/coke_001.obj filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mesh/milk_carton_012.glb filter=lfs diff=lfs merge=lfs -text
+dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/milk_carton_012.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mesh/material.mtl b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..efa63bec97382c7def7ff16c53a11057eefaa2ff
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl milk_carton_012_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd milk_carton_012_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mesh/material_0.png b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9683ce3ab10d86aedec1606e61d15fe0484f4240
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96925b846b99b53053a7562105d8a46fc1178deaf6bed50597bb5bdfd6f71a4d
+size 14250102
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mesh/milk_carton_012.glb b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mesh/milk_carton_012.glb
new file mode 100644
index 0000000000000000000000000000000000000000..49cfd8d4c43c83ca70631868b52bc0b5dade53f6
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mesh/milk_carton_012.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:716dccd81b3e8dfd6e5a0a8650371e061cf59be2641e3853a9797ee58ca9daba
+size 16813712
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mesh/milk_carton_012.mtl b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mesh/milk_carton_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9b93aea59a252e5facb3651595ad54d088a67836
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mesh/milk_carton_012.mtl
@@ -0,0 +1,6 @@
+newmtl milk_carton_012_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mesh/milk_carton_012.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mesh/milk_carton_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10b775599fb8a78e237d2da2ec6fc6447f8afadf
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mesh/milk_carton_012.obj
@@ -0,0 +1,106588 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl milk_carton_012_geometry_Looks_material_0
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diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mesh/milk_carton_012_collision.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mesh/milk_carton_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bff4c5ad1afa9da9006a9eae56ebc1f4312585c5
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mesh/milk_carton_012_collision.obj
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diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mesh/milk_carton_012_geometry_Looks_material_0.png b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mesh/milk_carton_012_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9683ce3ab10d86aedec1606e61d15fe0484f4240
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mesh/milk_carton_012_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96925b846b99b53053a7562105d8a46fc1178deaf6bed50597bb5bdfd6f71a4d
+size 14250102
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/milk_carton_012.urdf b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/milk_carton_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..05a24ccdbe3cb6c1e9fafa7e1facce6d269f6180
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/milk_carton_012.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="milk_carton_012">
+   <link name="milk_carton_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/milk_carton_012.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/milk_carton_012_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>4b0f934a345f565f807e9b90c7bdab86</uuid>
+         <domain>food</domain>
+         <super_category>beverages</super_category>
+         <category>milk_carton</category>
+         <name>milk_carton</name>
+         <color>unknown</color>
+         <shape>unknown</shape>
+         <material>unknown</material>
+         <description>milk_carton</description>
+         <min_height>0.0966</min_height>
+         <max_height>0.0966</max_height>
+         <real_height>0.0966</real_height>
+         <min_mass>1</min_mass>
+         <max_mass>1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506215257</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/milk_carton_012.usd b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/milk_carton_012.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0f9abeeeea2524a4a9e94df0cd57eda62e23c646
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/milk_carton_012.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6da7bf1f39c5e9b8cd74a3358aaaee19d36c3b8d39877812723db8a5b08ca7e6
+size 4429289
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/material_0.png b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9683ce3ab10d86aedec1606e61d15fe0484f4240
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96925b846b99b53053a7562105d8a46fc1178deaf6bed50597bb5bdfd6f71a4d
+size 14250102
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a931d151a299fe3d5f53452025e79218d6d8f244
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012.obj
@@ -0,0 +1,106588 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl milk_carton_012_geometry_Looks_material_0
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diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af513164e75f176d5957f263b40d95358d2b28a3
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision.obj
@@ -0,0 +1,7476 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_0.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0422657b99e2a49a3d0ffcef3b15e4fed73448a6
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_0.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_1.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e14286a6fec18482f7634a88ac3603322eac8093
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_1.obj
@@ -0,0 +1,562 @@
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diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_10.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcb1f698c82feed4199bd0dbaf4c6f4c89733e2a
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_10.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_11.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad0b3b6aec02f95d432cd24ad655b86146885737
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_11.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_12.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e918798367df3f81c0bf5a21eb2b0319fd00332
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_12.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_13.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3589ef85f0f5a9b6c986e120937550da18d8fd74
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_13.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_14.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bbb19429e04847dd4e3a705b587bcc1a3943902
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_14.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_15.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa4426beca38e356658f5fc74785a174da43c67a
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_15.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.04156776 -0.02662379 0.00565042
+v 0.04029070 -0.02662380 0.00771126
+v 0.04347894 -0.02845866 0.00853210
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+
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_16.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4991e838980e3b6f1efd0650934609a69e833921
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_16.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.03105451 0.01744814 -0.05095168
+v -0.04216610 0.01462884 -0.05094585
+v -0.04216610 0.02458361 -0.05094581
+v 0.04201040 0.02458361 -0.05094581
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diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_17.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41fb59f0ed252e548f08fce8ddf2c29c1331464f
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_17.obj
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+
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_18.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99ce6815ca9ed25be1d3c80140991e7888f82486
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_18.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.03248876 0.01163495 0.01956668
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+
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_19.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7e62765028c03a92ea21d57151eac0a829f5acd
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_19.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.03231832 -0.01694985 0.01402907
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+
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_2.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8af9c593ebcfdb6466a91677ca29bd8eeea30fdc
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_2.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+f 16 22 18
+f 16 23 22
+f 17 24 29
+f 17 29 23
+f 20 26 27
+f 20 27 21
+f 22 23 28
+f 23 29 30
+f 23 30 28
+f 24 31 29
+f 24 32 31
+f 25 33 34
+f 25 34 35
+f 29 31 36
+f 31 32 36
+f 32 37 38
+f 32 38 39
+f 32 39 36
+f 33 40 41
+f 33 41 34
+f 37 42 43
+f 37 43 38
+f 38 44 39
+f 38 43 44
+f 39 44 45
+f 40 46 47
+f 40 47 41
+f 42 48 43
+f 42 49 50
+f 42 50 48
+f 43 48 51
+f 43 51 44
+f 44 51 52
+f 44 52 45
+f 45 52 53
+f 46 54 55
+f 46 55 47
+f 47 55 56
+f 48 57 52
+f 48 52 51
+f 48 50 57
+f 49 58 60
+f 49 60 50
+f 50 59 57
+f 52 57 59
+f 52 59 61
+f 52 61 53
+f 54 62 63
+f 54 63 55
+f 55 63 64
+f 55 64 65
+f 55 65 56
+f 58 66 67
+f 58 67 68
+f 58 68 69
+f 58 69 60
+f 62 70 71
+f 62 71 72
+f 62 72 63
+f 63 72 64
+f 64 73 65
+f 64 72 73
+f 66 74 75
+f 66 75 67
+f 67 75 72
+f 67 72 71
+f 67 71 76
+f 67 76 68
+f 70 76 71
+f 72 75 73
+f 73 75 74
+
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_20.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec78a600363d3d55230df1ae25baa8cf7a033094
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_20.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v -0.03460984 0.01462785 0.01159197
+v -0.03107676 0.01462783 0.01538118
+v -0.03397483 0.01682472 0.01538119
+v -0.03456931 0.01682474 0.01159198
+v 0.03440344 0.01462785 0.01159197
+v 0.02994487 0.01462783 0.01538118
+v 0.03196474 0.01682472 0.01538119
+v 0.03432913 0.01682474 0.01159198
+v 0.03207282 0.01682472 0.01538008
+v 0.03091765 0.01462784 0.01456213
+v 0.03026913 0.01462783 0.01511447
+v 0.03099871 0.01572810 0.01538119
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 10
+f 1 10 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 7
+f 2 7 3
+f 3 7 9
+f 3 9 8
+f 3 8 4
+f 5 8 9
+f 5 9 10
+f 6 11 9
+f 6 9 12
+f 7 12 9
+f 9 11 10
+
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_21.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..104b2265f794a45ff8b181337a829f1c09050d35
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_21.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.03029015 0.00819695 0.01538190
+v -0.02680756 0.00819694 0.01845531
+v -0.02945646 0.01163362 0.01913549
+v -0.03020737 0.01163363 0.01538191
+v 0.03011419 0.00819695 0.01538190
+v -0.02613942 0.00819694 0.01901348
+v -0.02595613 0.00819694 0.01913548
+v 0.02724653 0.01163362 0.01913549
+v 0.02991316 0.01163363 0.01538191
+v 0.03003733 0.00952035 0.01538190
+v 0.02572696 0.00819694 0.01913548
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 11
+f 1 11 7
+f 1 7 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 11
+f 3 11 8
+f 3 8 9
+f 3 9 4
+f 5 10 8
+f 5 8 11
+f 8 10 9
+
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_22.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68ddf87a973bf32cb5d4d30d9210ce783bb19035
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_22.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.02640106 -0.00951319 0.01895175
+v 0.02483809 -0.00951320 0.02076230
+v 0.04201346 -0.01224191 0.02076229
+v 0.04359370 -0.01260374 0.02076228
+v 0.04336918 -0.01303662 0.02035497
+v 0.04264383 -0.01303662 0.02021211
+v 0.04201346 -0.01303662 0.02014139
+v 0.02789495 -0.01224190 0.01895174
+v -0.02573814 -0.00951319 0.01895175
+v -0.02466738 -0.00951320 0.02076230
+v 0.04380094 -0.01276137 0.02076228
+v 0.04376640 -0.01303663 0.02047762
+v 0.02812810 -0.01303662 0.01895456
+v 0.02812810 -0.01303558 0.01895173
+v -0.02597129 -0.01006990 0.01895174
+v -0.04217088 -0.01303662 0.02015362
+v -0.04350070 -0.01303662 0.02039059
+v -0.04373385 -0.01267756 0.02076228
+v -0.04251629 -0.01234401 0.02076228
+v -0.04217088 -0.01225433 0.02076228
+v -0.02467602 -0.00951320 0.02074954
+v 0.04399092 -0.01303663 0.02076228
+v 0.02737684 -0.01303662 0.01895173
+v -0.02680891 -0.01255958 0.01895173
+v -0.02689525 -0.01303662 0.01895173
+v -0.04387201 -0.01303663 0.02054639
+v -0.04379430 -0.01270791 0.02076228
+v -0.04422605 -0.01303663 0.02076228
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 14
+f 1 14 23
+f 1 23 25
+f 1 25 24
+f 1 24 15
+f 1 15 9
+f 1 9 21
+f 1 21 10
+f 1 10 2
+f 2 10 20
+f 2 20 19
+f 2 19 18
+f 2 18 27
+f 2 27 28
+f 2 28 22
+f 2 22 11
+f 2 11 4
+f 2 4 3
+f 4 11 12
+f 4 12 5
+f 5 12 22
+f 5 22 28
+f 5 28 26
+f 5 26 17
+f 5 17 16
+f 5 16 25
+f 5 25 23
+f 5 23 13
+f 5 13 7
+f 5 7 6
+f 7 13 14
+f 7 14 8
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 10 21 20
+f 11 22 12
+f 13 23 14
+f 15 24 16
+f 16 24 25
+f 17 26 27
+f 17 27 18
+f 26 28 27
+
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_23.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb181c0e71beb83f51de1b5e1a388d9ef15bc63d
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_23.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.04505171 -0.02219003 0.01607301
+v -0.04504321 -0.02287779 0.01538142
+v -0.04491935 -0.02459177 0.01538141
+v -0.04504078 -0.02060466 0.01766687
+v -0.04503106 -0.01594065 0.02076192
+v -0.04500799 -0.01743394 0.01926023
+v -0.04495820 -0.01901930 0.01766688
+v -0.04484406 -0.02118140 0.01538142
+v -0.04473356 -0.02570464 0.01538141
+v -0.04485378 -0.02222524 0.01771638
+v -0.04496064 -0.01752601 0.02076192
+v -0.04500435 -0.01901931 0.01926022
+v -0.04484163 -0.01424697 0.02076193
+v -0.04480763 -0.01588378 0.01926392
+v -0.04477606 -0.02080097 0.01538142
+v -0.04462306 -0.02612433 0.01538140
+v -0.04471292 -0.02172025 0.01871136
+v -0.04473599 -0.02345182 0.01721809
+v -0.04480763 -0.02055864 0.01924968
+v -0.04474206 -0.01891913 0.02076191
+v -0.04483799 -0.01422937 0.02076193
+v -0.04470927 -0.01470998 0.01979750
+v -0.04474571 -0.01756120 0.01773326
+v -0.04466556 -0.01643480 0.01830791
+v -0.04471292 -0.01901930 0.01652758
+v -0.04458906 -0.01817449 0.01682992
+v -0.04435713 -0.01993315 0.01539039
+v -0.04434984 -0.01994127 0.01538143
+v -0.04457692 -0.02619473 0.01538140
+v -0.04466313 -0.02000085 0.02020411
+v -0.04473842 -0.01893673 0.02076191
+v -0.04445184 -0.01319503 0.02076193
+v -0.04424056 -0.01365262 0.02021993
+v -0.04387991 -0.01303798 0.02054597
+v -0.04373177 -0.01303798 0.02048487
+v -0.04376212 -0.01613965 0.01807932
+v -0.04376212 -0.01716993 0.01728238
+v -0.04376212 -0.01796329 0.01666927
+v -0.04345855 -0.01949450 0.01538143
+v -0.04438020 -0.02628409 0.01538140
+v -0.04445670 -0.02450918 0.01680936
+v -0.04416284 -0.01959606 0.02076191
+v -0.04422599 -0.01303798 0.02076193
+v -0.04349984 -0.01303797 0.02039059
+v -0.04318169 -0.01338456 0.01999080
+v -0.04217382 -0.01922102 0.01538143
+v -0.04376212 -0.02656298 0.01538140
+v -0.04376212 -0.02642489 0.01549570
+v -0.04339783 -0.02472445 0.01699529
+v -0.04376212 -0.01982757 0.02076191
+v -0.03264768 -0.01303798 0.02076193
+v -0.04217382 -0.01303797 0.02015356
+v -0.04217382 -0.01331551 0.01993708
+v -0.04217382 -0.01513103 0.01852229
+v -0.04217382 -0.01592439 0.01790655
+v -0.04217382 -0.01695602 0.01710962
+v -0.03264768 -0.01842495 0.01538249
+v -0.03405626 -0.01854409 0.01538143
+v -0.04217382 -0.02686760 0.01538140
+v -0.04303112 -0.02300371 0.01848013
+v -0.04217382 -0.02016197 0.02076191
+v -0.03264768 -0.01303797 0.01962473
+v -0.03264768 -0.02010917 0.02076191
+v -0.03592749 -0.01303797 0.01980329
+v -0.03264768 -0.02679991 0.01538140
+v -0.03423233 -0.01303797 0.01970901
+v -0.04217382 -0.02657517 0.01561948
+v -0.03318682 -0.02682292 0.01538140
+v -0.03264768 -0.02655350 0.01560105
+v -0.03264768 -0.02557873 0.01639799
+v -0.04217382 -0.02559362 0.01641642
+v -0.04217382 -0.02480026 0.01705692
+v -0.04217382 -0.02380654 0.01785385
+v -0.04217382 -0.02301318 0.01848803
+v -0.03264768 -0.02014843 0.02076138
+v -0.03380126 -0.02014843 0.02076191
+v -0.03264768 -0.02682021 0.01538140
+v -0.03740893 -0.02558550 0.01640852
+v -0.03264768 -0.02478537 0.01704270
+v -0.03740893 -0.02479214 0.01705060
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 15
+f 2 15 28
+f 2 28 39
+f 2 39 46
+f 2 46 58
+f 2 58 65
+f 2 65 77
+f 2 77 68
+f 2 68 59
+f 2 59 47
+f 2 47 40
+f 2 40 29
+f 2 29 16
+f 2 16 9
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 5
+f 5 12 11
+f 5 11 20
+f 5 20 31
+f 5 31 42
+f 5 42 50
+f 5 50 61
+f 5 61 76
+f 5 76 63
+f 5 63 51
+f 5 51 43
+f 5 43 32
+f 5 32 21
+f 5 21 13
+f 5 13 6
+f 6 13 7
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 18 17
+f 10 17 19
+f 10 19 11
+f 11 19 20
+f 13 21 22
+f 13 22 14
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 16 29 30
+f 16 30 17
+f 17 30 31
+f 17 31 20
+f 17 20 19
+f 21 32 22
+f 22 32 24
+f 22 24 23
+f 24 26 25
+f 24 32 26
+f 26 32 33
+f 26 33 34
+f 26 34 35
+f 26 35 36
+f 26 36 37
+f 26 37 38
+f 26 38 27
+f 27 39 28
+f 27 38 39
+f 29 40 41
+f 29 41 30
+f 30 41 42
+f 30 42 31
+f 32 43 34
+f 32 34 33
+f 34 43 51
+f 34 51 62
+f 34 62 66
+f 34 66 64
+f 34 64 52
+f 34 52 44
+f 34 44 35
+f 35 44 45
+f 35 45 36
+f 36 45 37
+f 37 45 38
+f 38 45 39
+f 39 45 46
+f 40 47 48
+f 40 48 41
+f 41 48 49
+f 41 49 50
+f 41 50 42
+f 44 52 45
+f 45 52 53
+f 45 53 54
+f 45 54 55
+f 45 55 56
+f 45 56 46
+f 46 56 57
+f 46 57 58
+f 47 59 49
+f 47 49 48
+f 49 60 50
+f 49 59 60
+f 50 60 61
+f 51 63 75
+f 51 75 79
+f 51 79 70
+f 51 70 69
+f 51 69 77
+f 51 77 65
+f 51 65 57
+f 51 57 62
+f 52 64 57
+f 52 57 53
+f 53 57 54
+f 54 57 55
+f 55 57 56
+f 57 65 58
+f 57 64 66
+f 57 66 62
+f 59 67 60
+f 59 68 69
+f 59 69 70
+f 59 70 67
+f 60 67 71
+f 60 71 72
+f 60 72 73
+f 60 73 74
+f 60 74 61
+f 61 75 76
+f 61 74 75
+f 63 76 75
+f 67 70 78
+f 67 78 71
+f 68 77 69
+f 70 79 78
+f 71 78 79
+f 71 79 80
+f 71 80 72
+f 72 80 73
+f 73 80 75
+f 73 75 74
+f 75 80 79
+
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_24.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bdff6afeb83b9c7ed37099ec70e453832478cd0
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_24.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v 0.02430784 0.00708794 0.02071480
+v 0.02417004 0.00708794 0.02249874
+v 0.02431768 0.00249469 0.02071478
+v -0.02449702 0.00708794 0.02071480
+v 0.02232454 0.00249469 0.02249872
+v 0.02401748 0.00249469 0.02098442
+v -0.02595865 0.00708794 0.02249874
+v -0.02431985 0.00249469 0.02071478
+v -0.02234148 0.00249469 0.02249872
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 9
+f 2 9 5
+f 3 6 5
+f 3 5 9
+f 3 9 8
+f 4 8 7
+f 7 8 9
+
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_25.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43d953aa191230290a42f76f964854c535a5f0cf
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_25.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v -0.04503778 0.02061809 0.01607328
+v -0.04502812 0.01903306 0.01766703
+v -0.04486380 0.02231518 0.01618499
+v -0.04494005 0.02226181 0.01538158
+v -0.04494542 0.02062609 0.01538158
+v -0.04496260 0.01744804 0.01766702
+v -0.04501415 0.01586301 0.01926027
+v -0.04502167 0.01428065 0.02071464
+v -0.04500771 0.01744803 0.01926027
+v -0.04478218 0.02378946 0.01538159
+v -0.04483803 0.02063942 0.01770463
+v -0.04477252 0.01923319 0.01538157
+v -0.04484984 0.01894767 0.01598191
+v -0.04481118 0.01431401 0.01926183
+v -0.04483695 0.01266894 0.02071464
+v -0.04496475 0.01586300 0.02071465
+v -0.04480151 0.01898102 0.01924149
+v -0.04473278 0.02186022 0.01719826
+v -0.04472312 0.02378946 0.01565618
+v -0.04462002 0.02451393 0.01538159
+v -0.04437623 0.01838598 0.01538157
+v -0.04458565 0.01660750 0.01683438
+v -0.04471238 0.01744804 0.01653056
+v -0.04466298 0.01486637 0.01831277
+v -0.04471345 0.01312391 0.01979378
+v -0.04477681 0.01256487 0.02071464
+v -0.04474567 0.01732127 0.02071465
+v -0.04470593 0.02012442 0.01869753
+v -0.04472634 0.01743868 0.02071465
+v -0.04442026 0.02291690 0.01679107
+v -0.04431502 0.02471406 0.01538159
+v -0.04465868 0.01841799 0.02019681
+v -0.04436120 0.01837130 0.01538157
+v -0.04436871 0.01836330 0.01538992
+v -0.04427528 0.01206723 0.02020774
+v -0.04410130 0.01163361 0.02071463
+v -0.04376194 0.01828723 0.02071466
+v -0.04336136 0.02313971 0.01698475
+v -0.04376194 0.02483814 0.01548182
+v -0.04376194 0.02496089 0.01538159
+v -0.04433005 0.01835396 0.01538157
+v -0.04347627 0.01790300 0.01538157
+v -0.04376194 0.01638602 0.01666420
+v -0.04321638 0.01179639 0.01997805
+v -0.04336351 0.01163362 0.02016598
+v -0.04401324 0.01163361 0.02043639
+v -0.03406746 0.01163361 0.02071463
+v -0.04217358 0.01861811 0.02071466
+v -0.04298333 0.02141592 0.01846784
+v -0.04217358 0.02526241 0.01538159
+v -0.04345479 0.02502092 0.01538159
+v -0.04283727 0.01771888 0.01538157
+v -0.04217358 0.01535736 0.01708966
+v -0.04217358 0.01432335 0.01788679
+v -0.04217358 0.01353084 0.01849861
+v -0.04217358 0.01269163 0.01914907
+v -0.04217358 0.01163362 0.01997074
+v -0.04302414 0.01163362 0.02007984
+v -0.03406746 0.01163362 0.01943409
+v -0.03406746 0.01859143 0.02071466
+v -0.04217358 0.01883825 0.02053874
+v -0.04217358 0.02320775 0.01703957
+v -0.04217358 0.02400027 0.01640060
+v -0.03406746 0.02503960 0.01551471
+v -0.03423285 0.02520371 0.01538159
+v -0.03406746 0.02318107 0.01701817
+v -0.03406746 0.02397358 0.01637815
+v -0.04217358 0.01759480 0.01538156
+v -0.04217358 0.01614987 0.01648462
+v -0.03406746 0.01681830 0.01539827
+v -0.04130583 0.01349081 0.01846833
+v -0.03740957 0.01252753 0.01895330
+v -0.03759644 0.01163362 0.01966326
+v -0.04024693 0.01344412 0.01843179
+v -0.03899793 0.01338942 0.01838951
+v -0.03423285 0.01163362 0.01944400
+v -0.03423285 0.01239411 0.01884942
+v -0.03406746 0.01238744 0.01884472
+v -0.03406746 0.01861544 0.02069535
+v -0.03406746 0.02520237 0.01538159
+v -0.03406746 0.01684098 0.01538156
+v -0.03582121 0.01246082 0.01890058
+v -0.03740957 0.01332004 0.01833678
+v -0.03582121 0.01163362 0.01954580
+v -0.03740957 0.01163362 0.01965073
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 10 4
+f 3 9 11
+f 3 11 10
+f 4 10 20
+f 4 20 31
+f 4 31 40
+f 4 40 51
+f 4 51 50
+f 4 50 65
+f 4 65 80
+f 4 80 81
+f 4 81 68
+f 4 68 52
+f 4 52 42
+f 4 42 41
+f 4 41 33
+f 4 33 21
+f 4 21 12
+f 4 12 5
+f 5 12 13
+f 5 13 6
+f 6 14 15
+f 6 15 7
+f 6 13 12
+f 6 12 14
+f 7 15 8
+f 8 16 9
+f 8 15 26
+f 8 26 36
+f 8 36 47
+f 8 47 60
+f 8 60 48
+f 8 48 37
+f 8 37 29
+f 8 29 27
+f 8 27 16
+f 9 16 17
+f 9 17 11
+f 10 11 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 14
+f 14 25 15
+f 15 25 26
+f 16 27 17
+f 17 28 18
+f 17 27 29
+f 17 29 28
+f 18 28 19
+f 19 28 20
+f 20 30 31
+f 20 28 32
+f 20 32 30
+f 21 33 34
+f 21 34 22
+f 22 35 24
+f 22 24 23
+f 22 34 35
+f 24 35 25
+f 25 35 26
+f 26 35 36
+f 28 29 32
+f 29 37 32
+f 30 38 39
+f 30 39 31
+f 30 32 37
+f 30 37 38
+f 31 39 40
+f 33 41 34
+f 34 41 42
+f 34 42 43
+f 34 43 44
+f 34 44 35
+f 35 44 45
+f 35 45 46
+f 35 46 36
+f 36 46 45
+f 36 45 58
+f 36 58 57
+f 36 57 73
+f 36 73 85
+f 36 85 84
+f 36 84 76
+f 36 76 59
+f 36 59 47
+f 37 48 49
+f 37 49 38
+f 38 49 50
+f 38 50 51
+f 38 51 40
+f 38 40 39
+f 42 52 44
+f 42 44 43
+f 44 52 53
+f 44 53 54
+f 44 54 55
+f 44 55 56
+f 44 56 57
+f 44 57 58
+f 44 58 45
+f 47 59 78
+f 47 78 70
+f 47 70 81
+f 47 81 80
+f 47 80 64
+f 47 64 67
+f 47 67 66
+f 47 66 79
+f 47 79 60
+f 48 60 61
+f 48 61 49
+f 49 62 63
+f 49 63 50
+f 49 61 62
+f 50 64 65
+f 50 63 66
+f 50 66 67
+f 50 67 64
+f 52 68 69
+f 52 69 53
+f 53 69 70
+f 53 70 54
+f 54 70 71
+f 54 71 55
+f 55 71 56
+f 56 71 57
+f 57 72 73
+f 57 71 74
+f 57 74 75
+f 57 75 72
+f 59 76 77
+f 59 77 78
+f 60 79 62
+f 60 62 61
+f 62 66 63
+f 62 79 66
+f 64 80 65
+f 68 81 70
+f 68 70 69
+f 70 78 77
+f 70 77 82
+f 70 82 83
+f 70 83 75
+f 70 75 74
+f 70 74 71
+f 72 82 84
+f 72 84 85
+f 72 85 73
+f 72 75 83
+f 72 83 82
+f 76 84 77
+f 77 84 82
+
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_26.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6005bc3cfde8c5a0ef077fca977bd43924f8be92
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_26.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.04431980 0.01163361 0.02071463
+v 0.04430249 0.01160367 0.02071463
+v 0.04428518 0.01163361 0.02067769
+v -0.04410219 0.01163361 0.02071463
+v 0.04361007 0.01116668 0.02071463
+v 0.04381779 0.01163362 0.02041522
+v -0.04400699 0.01163361 0.02043671
+v -0.04381657 0.01119561 0.02071463
+v 0.04356679 0.01114784 0.02071463
+v 0.04356679 0.01122320 0.02065559
+v 0.04318596 0.01163362 0.02021535
+v -0.04374733 0.01113775 0.02071463
+v -0.04335784 0.01163362 0.02016589
+v 0.04224254 0.01085282 0.02071463
+v 0.02572833 0.00819694 0.01913563
+v 0.04200885 0.01163362 0.02006201
+v -0.04217207 0.01068024 0.02071463
+v -0.04302029 0.01163362 0.02007995
+v 0.04200885 0.01080236 0.02071463
+v 0.02724300 0.01163362 0.01913564
+v 0.02467239 0.00819693 0.02071462
+v -0.02595214 0.00819694 0.01913563
+v -0.02490486 0.00819693 0.02071462
+v -0.04217207 0.01163362 0.01997112
+v -0.02945752 0.01163362 0.01913564
+v -0.03759345 0.01163362 0.01966352
+v -0.03740303 0.01163362 0.01965084
+v -0.03581912 0.01163362 0.01954604
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 16
+f 1 16 20
+f 1 20 25
+f 1 25 28
+f 1 28 27
+f 1 27 26
+f 1 26 24
+f 1 24 18
+f 1 18 13
+f 1 13 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 17
+f 1 17 23
+f 1 23 21
+f 1 21 19
+f 1 19 14
+f 1 14 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 8
+f 5 9 6
+f 6 9 10
+f 6 10 11
+f 7 12 8
+f 7 13 12
+f 9 11 10
+f 9 14 15
+f 9 15 11
+f 11 15 16
+f 12 13 17
+f 13 18 17
+f 14 19 15
+f 15 20 16
+f 15 19 21
+f 15 21 23
+f 15 23 22
+f 15 22 25
+f 15 25 20
+f 17 18 22
+f 17 22 23
+f 18 24 22
+f 22 24 26
+f 22 26 27
+f 22 27 28
+f 22 28 25
+
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_27.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8145e5ac686c34863e824982b79456e64098f8fb
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_27.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.02084678 -0.00077083 0.02412164
+v 0.01901330 -0.00077084 0.02628183
+v 0.02233675 -0.00390580 0.02628182
+v 0.02109153 -0.00390579 0.02412163
+v -0.02070073 -0.00077083 0.02412164
+v -0.01889730 -0.00077084 0.02628183
+v -0.02152945 -0.00390580 0.02628182
+v -0.02081666 -0.00390579 0.02412163
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 8 7
+f 5 7 6
+
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_28.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd3f90ccce3d18f90749d6ad9cbf879a45483dd3
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_28.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.03484768 -0.01694984 0.01145873
+v 0.03231928 -0.01694985 0.01402906
+v 0.03280185 -0.01839275 0.01402905
+v 0.03310770 -0.01984301 0.01402905
+v 0.03430394 -0.01984301 0.01235249
+v 0.03488166 -0.01984300 0.01145872
+v -0.03452027 -0.01694984 0.01145873
+v -0.03161805 -0.01694985 0.01402906
+v -0.03301818 -0.01984301 0.01402905
+v -0.03455425 -0.01984300 0.01145872
+v -0.03262397 -0.01891922 0.01402905
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 7
+f 1 7 8
+f 1 8 2
+f 2 8 11
+f 2 11 9
+f 2 9 4
+f 2 4 3
+f 4 9 10
+f 4 10 6
+f 4 6 5
+f 7 10 9
+f 7 9 11
+f 7 11 8
+
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_29.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f38f8016840fed4587c513303eb7373d9710662
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_29.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.04398822 -0.01303798 0.02076193
+v 0.04474827 -0.01416043 0.02076193
+v 0.04412503 -0.01358837 0.02015988
+v 0.04376781 -0.01303798 0.02047750
+v -0.03264767 -0.01303798 0.02076193
+v 0.04475587 -0.01417530 0.02076193
+v 0.04475587 -0.01417530 0.02075666
+v 0.04458866 -0.01464591 0.01975220
+v 0.04454306 -0.01638773 0.01826736
+v 0.04446706 -0.01811737 0.01678620
+v 0.04420864 -0.01976183 0.01538143
+v 0.03036052 -0.01303796 0.01538145
+v -0.03264767 -0.01303797 0.01962473
+v -0.03264767 -0.02010940 0.02076191
+v 0.04477108 -0.01427132 0.02076193
+v 0.04492309 -0.01901939 0.01766688
+v 0.04471787 -0.01585491 0.01923653
+v 0.04461906 -0.01901939 0.01644541
+v 0.04433025 -0.01992275 0.01538143
+v 0.04467227 -0.02072470 0.01538142
+v -0.02982789 -0.01303796 0.01538145
+v -0.03264767 -0.01842435 0.01538249
+v -0.03264767 -0.02014862 0.02076138
+v -0.03264007 -0.02014862 0.02076191
+v 0.04497629 -0.01584951 0.02076192
+v 0.04496869 -0.01743445 0.01926023
+v 0.04499909 -0.02218929 0.01607301
+v 0.04488508 -0.02217982 0.01538142
+v 0.04476347 -0.02047722 0.01594291
+v -0.03263247 -0.01842435 0.01538143
+v -0.03264767 -0.02679944 0.01538140
+v -0.03264767 -0.02478579 0.01704270
+v -0.03264007 -0.02478444 0.01704428
+v 0.04201209 -0.02479661 0.01705428
+v 0.04201209 -0.02380265 0.01785122
+v 0.04201209 -0.02301017 0.01848540
+v 0.04042359 -0.02042314 0.02054594
+v 0.03724658 -0.02015132 0.02076191
+v 0.04493069 -0.01743446 0.02076192
+v 0.04496109 -0.01901940 0.01926022
+v 0.04498389 -0.02060434 0.01766687
+v 0.04477868 -0.02392570 0.01622522
+v 0.04471027 -0.02536054 0.01538141
+v 0.04488508 -0.02385403 0.01538141
+v -0.03264767 -0.02682107 0.01538140
+v -0.03264767 -0.02557962 0.01639799
+v 0.04201209 -0.02558908 0.01641116
+v 0.04286335 -0.02299935 0.01847750
+v 0.04201209 -0.02014862 0.02076191
+v 0.04084921 -0.02015132 0.02076191
+v 0.04465707 -0.01892339 0.02076191
+v 0.04471027 -0.02058136 0.01926811
+v 0.04474827 -0.02224880 0.01774167
+v 0.04462667 -0.02536054 0.01573274
+v 0.04447465 -0.02622604 0.01538140
+v 0.04201209 -0.02685218 0.01538140
+v -0.03264767 -0.02655331 0.01560105
+v 0.04201209 -0.02656683 0.01561421
+v 0.04330418 -0.02471953 0.01699213
+v 0.04436065 -0.02455589 0.01685782
+v 0.04360060 -0.01987950 0.02076191
+v 0.04251373 -0.02006477 0.02076191
+v 0.04463427 -0.01900318 0.02076191
+v 0.04453546 -0.02003771 0.02023782
+v 0.04461906 -0.02349836 0.01725971
+v 0.04437585 -0.02628419 0.01538140
+v 0.04322057 -0.02666285 0.01538140
+v 0.04360060 -0.02660064 0.01538140
+v 0.04360060 -0.02644242 0.01551203
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 21
+f 1 21 13
+f 1 13 5
+f 1 5 14
+f 1 14 24
+f 1 24 38
+f 1 38 50
+f 1 50 49
+f 1 49 62
+f 1 62 61
+f 1 61 63
+f 1 63 51
+f 1 51 39
+f 1 39 25
+f 1 25 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 5 13 22
+f 5 22 31
+f 5 31 45
+f 5 45 57
+f 5 57 46
+f 5 46 32
+f 5 32 23
+f 5 23 14
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 8 18 9
+f 9 18 10
+f 10 19 11
+f 10 18 20
+f 10 20 19
+f 11 19 20
+f 11 20 28
+f 11 28 44
+f 11 44 43
+f 11 43 55
+f 11 55 66
+f 11 66 68
+f 11 68 67
+f 11 67 56
+f 11 56 45
+f 11 45 31
+f 11 31 30
+f 11 30 21
+f 11 21 12
+f 13 21 22
+f 14 23 24
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 20
+f 16 20 18
+f 16 18 17
+f 20 29 28
+f 21 30 22
+f 22 30 31
+f 23 32 24
+f 24 32 33
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 25 39 40
+f 25 40 41
+f 25 41 27
+f 25 27 26
+f 27 41 42
+f 27 42 43
+f 27 43 44
+f 27 44 28
+f 32 46 33
+f 33 46 47
+f 33 47 34
+f 34 47 48
+f 34 48 35
+f 35 48 36
+f 36 48 49
+f 36 49 50
+f 36 50 37
+f 37 50 38
+f 39 42 40
+f 39 51 52
+f 39 52 53
+f 39 53 42
+f 40 42 41
+f 42 53 43
+f 43 53 52
+f 43 52 54
+f 43 54 55
+f 45 56 57
+f 46 57 56
+f 46 56 58
+f 46 58 47
+f 47 58 48
+f 48 59 60
+f 48 60 61
+f 48 61 62
+f 48 62 49
+f 48 58 56
+f 48 56 59
+f 51 63 64
+f 51 64 65
+f 51 65 52
+f 52 65 54
+f 54 65 55
+f 55 65 64
+f 55 64 60
+f 55 60 66
+f 56 67 59
+f 59 67 68
+f 59 68 69
+f 59 69 60
+f 60 69 68
+f 60 68 66
+f 60 64 61
+f 61 64 63
+
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_3.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1c8cc030b3058dba3875c0cd8b64fb292c4ccac
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_3.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.03011198 0.00819695 0.01538153
+v 0.02466951 0.00819693 0.02071461
+v 0.02812316 -0.01303454 0.01895123
+v 0.03012985 0.00786024 0.01538153
+v -0.03028519 0.00819695 0.01538153
+v 0.02483624 -0.00951156 0.02076195
+v -0.02490822 0.00819693 0.02071461
+v 0.02443133 -0.00077163 0.02076198
+v 0.02812316 -0.01303662 0.01814437
+v 0.03036208 -0.01303661 0.01538145
+v 0.03039780 0.00159160 0.01538151
+v 0.03039185 0.00176203 0.01538151
+v 0.03027871 0.00476125 0.01538152
+v 0.03020726 0.00634712 0.01538152
+v 0.02737884 -0.01303662 0.01895123
+v -0.03029710 0.00793298 0.01538153
+v -0.02467004 -0.00951156 0.02076195
+v -0.03033878 0.00634712 0.01538152
+v -0.03043406 0.00159160 0.01538151
+v -0.02689109 -0.01303662 0.01895123
+v -0.02429490 -0.00077163 0.02076198
+v -0.02982669 -0.01303661 0.01538145
+v -0.03038046 0.00022397 0.01538150
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 22
+f 1 22 23
+f 1 23 19
+f 1 19 18
+f 1 18 16
+f 1 16 5
+f 1 5 7
+f 1 7 2
+f 2 6 3
+f 2 7 21
+f 2 21 8
+f 2 8 6
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 3 6 15
+f 3 15 9
+f 5 16 7
+f 6 8 21
+f 6 21 17
+f 6 17 20
+f 6 20 15
+f 7 16 18
+f 7 18 19
+f 7 19 20
+f 7 20 17
+f 7 17 21
+f 9 15 20
+f 9 20 22
+f 9 22 10
+f 19 23 20
+f 20 23 22
+
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_30.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ef1a52e06ac0aa1a60d43aecc66da13819164cf
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_30.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.04216966 0.03345934 0.00865949
+v -0.04375555 0.03316392 0.00865949
+v -0.04327097 0.03103507 0.01058533
+v -0.04216966 0.03187764 0.00997133
+v 0.04200526 0.03344554 0.00865949
+v -0.04375555 0.03269263 0.00905218
+v -0.04416963 0.03299954 0.00865949
+v -0.04456610 0.03253170 0.00891755
+v -0.04376435 0.02956489 0.01159175
+v -0.04216966 0.02991893 0.01159175
+v -0.04216966 0.03108565 0.01062753
+v 0.04200526 0.03107646 0.01061978
+v 0.04316824 0.03102588 0.01057816
+v 0.04359995 0.03320875 0.00865949
+v -0.04461016 0.03270873 0.00865949
+v -0.04472469 0.02974651 0.01081211
+v -0.04432822 0.03080403 0.01037664
+v -0.04479518 0.02842346 0.01159174
+v 0.04200526 0.02989479 0.01159175
+v 0.04200526 0.03013158 0.01139712
+v 0.04359995 0.03271562 0.00906969
+v 0.04362638 0.02962926 0.01159175
+v 0.04422549 0.03086035 0.01043291
+v 0.04443695 0.03256849 0.00894827
+v 0.04448981 0.03276045 0.00865949
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+
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_31.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f802cc229eae218d554918f22e8f877eb8f9db94
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_31.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.03780045 0.02171557 0.00865945
+v 0.03607336 0.02171556 0.01159172
+v 0.03790467 0.01757592 0.00865943
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+v -0.03460321 0.01462764 0.01159169
+v -0.03525831 0.01462764 0.01104399
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+
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_32.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..855c4342fdc2a38f4bdf6b7c6af54e6bd0108efc
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_32.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_33.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e696f0c5b0e0dcd2371d2290fa33e8ea5533cb3
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_33.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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+v -0.04376785 0.02956518 0.01159203
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diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_34.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f3c6d640279bf0d3127deb93ac5216a26a4cac3
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_34.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_35.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97375f4624e25ffea19259f3a6fa6ec5050a2ac9
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_35.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_36.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1591032d0ce9976957b9421f3e2da9a10882df71
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_36.obj
@@ -0,0 +1,589 @@
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diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_4.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88fcb1806aa77a8fac717be917e9db80066478e5
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_4.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 10
+f 4 10 11
+f 4 11 9
+f 5 12 13
+f 5 13 6
+f 7 14 20
+f 7 20 28
+f 7 28 27
+f 7 27 26
+f 7 26 23
+f 7 23 17
+f 7 17 11
+f 7 11 10
+f 7 10 8
+f 9 15 16
+f 9 11 15
+f 11 17 15
+f 12 18 26
+f 12 26 27
+f 12 27 19
+f 12 19 13
+f 14 19 20
+f 15 21 22
+f 15 22 16
+f 15 17 21
+f 17 23 24
+f 17 24 21
+f 18 25 32
+f 18 32 30
+f 18 30 23
+f 18 23 26
+f 19 27 28
+f 19 28 20
+f 21 24 22
+f 22 24 29
+f 23 30 31
+f 23 31 24
+f 24 31 29
+f 25 31 32
+f 30 32 31
+
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_5.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f8e7132e1d92bb8148ae6bb92bd5481f0be5def
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_5.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.03105438 -0.02060481 -0.05095248
+v -0.04090680 -0.02662357 -0.05094667
+v -0.04216627 -0.02060481 -0.05094665
+v -0.04216627 -0.01695056 -0.05094663
+v 0.04201256 -0.01695056 -0.05094663
+v 0.04201256 -0.02662357 -0.05094667
+v -0.04216627 -0.02662357 -0.05094085
+v -0.04249677 -0.02662357 -0.05085933
+v -0.04265755 -0.01695056 -0.05081854
+v 0.04311124 -0.01695056 -0.05065550
+v 0.04359359 -0.02536035 -0.05052743
+v 0.04327203 -0.02662357 -0.05060896
+v -0.04375624 -0.02662357 -0.05052744
+v -0.04375624 -0.01695056 -0.05052740
+v 0.04359359 -0.01695056 -0.05052740
+v 0.04416526 -0.01695057 -0.05022462
+v 0.04441537 -0.02662358 -0.05009074
+v 0.04359359 -0.02662357 -0.05052162
+v -0.04456909 -0.02662358 -0.05009074
+v -0.04457802 -0.01901964 -0.05009653
+v -0.04400634 -0.01695056 -0.05039930
+v 0.04441537 -0.01695057 -0.05009070
+v 0.04480839 -0.01695057 -0.04952590
+v 0.04486199 -0.02662358 -0.04944442
+v -0.04469414 -0.02662358 -0.04992771
+v -0.04475666 -0.01695057 -0.04984615
+v -0.04457802 -0.01695057 -0.05009652
+v 0.04497811 -0.01695057 -0.04927552
+v 0.04497811 -0.02662358 -0.04927556
+v -0.04514969 -0.02662358 -0.04927556
+v -0.04514969 -0.01695057 -0.04927552
+v 0.04536220 -0.01695057 -0.04816921
+v 0.04541580 -0.02662358 -0.04801204
+v -0.04531940 -0.01695057 -0.04879224
+v -0.04570349 -0.02662358 -0.04768597
+v 0.04552299 -0.01695057 -0.04768593
+v 0.04552299 -0.02662358 -0.04768597
+v -0.04570349 -0.01695057 -0.04768593
+v -0.04571243 -0.02377526 -0.02855842
+v -0.04570349 -0.02662376 0.00012996
+v 0.04553192 -0.01695058 -0.04657962
+v 0.04553192 -0.02536037 -0.04609054
+v 0.04553192 -0.02662360 -0.04482121
+v -0.04570349 -0.01695075 0.00013000
+v -0.04565883 -0.02662376 0.00045603
+v 0.04554085 -0.01695075 0.00013000
+v 0.04553192 -0.02662376 0.00012996
+v -0.04547125 -0.01695076 0.00172542
+v -0.04547125 -0.02662377 0.00172538
+v 0.04533540 -0.02377537 0.00172539
+v 0.04533540 -0.01695076 0.00172542
+v 0.04537114 -0.02662377 0.00139931
+v -0.04535513 -0.02662377 0.00195247
+v -0.04489065 -0.01695076 0.00284920
+v 0.04475480 -0.01901983 0.00289577
+v 0.04475480 -0.02377537 0.00288993
+v 0.04475480 -0.02662377 0.00288410
+v 0.04532647 -0.02662377 0.00172538
+v 0.04475480 -0.01695076 0.00289578
+v -0.04489065 -0.02662377 0.00284334
+v -0.04489065 -0.02377537 0.00284917
+v -0.04460481 -0.01695076 0.00309375
+v -0.03868264 -0.02662379 0.00852628
+v 0.04028861 -0.02662379 0.00771110
+v 0.04414740 -0.01695076 0.00344894
+v 0.03943110 -0.02662379 0.00852628
+v -0.04395275 -0.01695076 0.00364691
+v -0.03803057 -0.01695078 0.00852632
+v -0.03856652 -0.01695078 0.00808962
+v 0.04387049 -0.01695076 0.00369349
+v 0.03883262 -0.01695078 0.00800228
+v 0.03821629 -0.01695078 0.00852632
+f 1 2 3
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+f 1 5 6
+f 1 6 2
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+f 2 12 18
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+f 37 42 43
+f 38 39 44
+f 39 40 44
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+f 42 46 43
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+f 45 49 48
+f 46 50 47
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+f 47 50 52
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+f 50 51 59
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+f 50 56 57
+f 50 57 58
+f 50 58 52
+f 53 60 61
+f 53 61 54
+f 54 61 63
+f 54 63 62
+f 55 64 56
+f 55 59 64
+f 56 64 57
+f 59 65 66
+f 59 66 64
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+f 63 68 69
+f 63 69 67
+f 63 66 72
+f 63 72 68
+f 65 70 66
+f 66 70 71
+f 66 71 72
+
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_6.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d474241328bf348cdf4aa8b0e280adc49763ef37
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_6.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.02443673 -0.00077082 0.02076250
+v 0.02084850 -0.00077083 0.02412164
+v 0.02420769 -0.00662651 0.02412162
+v 0.02444627 -0.00157901 0.02076249
+v -0.02430019 -0.00077082 0.02076250
+v -0.02070242 -0.00077083 0.02412164
+v 0.02440333 -0.00662650 0.02076248
+v -0.02293074 -0.00662651 0.02412162
+v -0.02427156 -0.00139043 0.02076249
+v -0.02387552 -0.00662650 0.02076248
+v -0.02426202 -0.00157901 0.02076249
+v -0.02417612 -0.00270475 0.02076249
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 10
+f 1 10 12
+f 1 12 11
+f 1 11 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 3
+f 3 7 4
+f 3 8 10
+f 3 10 7
+f 5 9 8
+f 5 8 6
+f 8 9 11
+f 8 11 12
+f 8 12 10
+
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_7.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f302161ac1283ddf71c0cab61dd4dd105226002e
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_7.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.03821815 -0.01694983 0.00853243
+v 0.03484818 -0.01694984 0.01145848
+v 0.03711226 -0.02339865 0.01145845
+v 0.03830034 -0.02339864 0.00853240
+v -0.03803583 -0.01694983 0.00853243
+v -0.03451641 -0.01694984 0.01145848
+v -0.03512166 -0.02339865 0.01145845
+v -0.03802088 -0.02339864 0.00853240
+v -0.03802835 -0.02082505 0.00853241
+v -0.03648160 -0.02339865 0.01145673
+v -0.03590624 -0.01694984 0.01030897
+v -0.03506188 -0.01694984 0.01101077
+v -0.03592866 -0.02245431 0.01145846
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 11
+f 1 11 12
+f 1 12 6
+f 1 6 2
+f 2 6 13
+f 2 13 7
+f 2 7 3
+f 3 7 10
+f 3 10 8
+f 3 8 4
+f 5 9 10
+f 5 10 11
+f 6 12 10
+f 6 10 13
+f 7 13 10
+f 8 10 9
+f 10 12 11
+
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_8.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0004ba3165e1724f8adf38738cfb78172043304
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_8.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v 0.02439626 -0.00662650 0.02076248
+v 0.02420236 -0.00662651 0.02412162
+v 0.04200674 -0.00795542 0.02412161
+v 0.04350513 -0.00828401 0.02412161
+v 0.04359327 -0.01167185 0.02148519
+v 0.04359327 -0.01260461 0.02076245
+v -0.02386948 -0.00662650 0.02076248
+v -0.02292637 -0.00662651 0.02412162
+v 0.04467739 -0.00938635 0.02412161
+v 0.04450993 -0.01010578 0.02309801
+v 0.04442179 -0.01183880 0.02161606
+v 0.04359327 -0.00906837 0.02353172
+v 0.04359327 -0.00986199 0.02290697
+v 0.04379599 -0.01276228 0.02076245
+v -0.04372753 -0.01267881 0.02076245
+v -0.04375397 -0.01170630 0.02151150
+v -0.04366583 -0.00835688 0.02412161
+v -0.04316343 -0.00821908 0.02412161
+v -0.04216745 -0.00796602 0.02412161
+v -0.03794552 -0.00766924 0.02412161
+v -0.03735497 -0.00762816 0.02412161
+v 0.04471265 -0.00954667 0.02412160
+v 0.04469502 -0.00954932 0.02404729
+v 0.04458925 -0.01267748 0.02130368
+v 0.04474791 -0.01415876 0.02076245
+v -0.04379805 -0.01270928 0.02076245
+v -0.04455605 -0.01188384 0.02165091
+v -0.04463538 -0.01015480 0.02313517
+v -0.04424756 -0.00875171 0.02412161
+v 0.04495063 -0.01109287 0.02412160
+v 0.04495945 -0.01109287 0.02404236
+v 0.04488893 -0.01267748 0.02244860
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+v -0.04445028 -0.01319421 0.02076245
+v -0.04468826 -0.01267748 0.02137437
+v -0.04471471 -0.01125053 0.02254166
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+v 0.04497707 -0.01267617 0.02412159
+v 0.04498589 -0.01267749 0.02404235
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+v -0.04504082 -0.01426210 0.02244860
+v -0.04499676 -0.01101337 0.02412160
+v 0.04463333 -0.01900140 0.02076243
+v 0.04461570 -0.01743267 0.02207999
+v 0.04428958 -0.01659930 0.02320617
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+v -0.04474115 -0.01891793 0.02076243
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+v -0.04502320 -0.01259932 0.02412159
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+v 0.01182743 -0.01593551 0.02412158
+v -0.04216745 -0.01594346 0.02412158
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+f 68 82 69
+f 69 83 70
+f 69 82 83
+f 70 83 84
+f 74 85 75
+f 75 85 76
+f 76 85 86
+f 76 86 77
+f 77 86 87
+f 77 87 88
+f 77 88 78
+f 80 89 81
+f 81 89 90
+f 81 90 91
+f 81 91 92
+f 81 92 93
+f 81 93 94
+f 81 94 82
+f 82 94 83
+f 83 94 95
+f 83 95 84
+f 85 96 86
+f 86 96 97
+f 86 97 87
+f 87 97 98
+f 87 98 88
+f 88 98 99
+f 88 99 100
+f 90 101 92
+f 90 92 91
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+f 92 104 105
+f 92 105 106
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+f 92 107 93
+f 93 107 108
+f 93 108 94
+f 94 108 95
+f 96 109 97
+f 97 99 98
+f 97 109 105
+f 97 105 104
+f 97 104 99
+f 99 104 103
+f 99 103 102
+f 99 102 100
+f 100 102 101
+f 105 110 106
+f 105 109 110
+
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_9.obj b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ad152d841d3ee8ca13357a55cc6e61df32c7ec3
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/mesh/milk_carton_012_collision_9.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.02438901 0.00000710 0.02071508
+v -0.02436508 0.00159232 0.02071509
+v -0.02435073 -0.00077082 0.02071508
+v -0.02119773 0.00249423 0.02567166
+v -0.02432202 0.00249424 0.02071509
+v -0.01928393 -0.00077083 0.02567165
+v 0.02448961 -0.00077082 0.02071508
+v 0.02084860 0.00249423 0.02567166
+v 0.02431737 0.00249424 0.02071509
+v 0.01950893 -0.00077083 0.02567165
+v 0.02448004 0.00002627 0.02071508
+v 0.02439392 0.00152169 0.02071509
+v 0.02438914 0.00159232 0.02071509
+f 1 2 5
+f 1 5 9
+f 1 9 13
+f 1 13 12
+f 1 12 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 4
+f 3 7 10
+f 3 10 6
+f 4 6 10
+f 4 10 8
+f 4 8 9
+f 4 9 5
+f 7 11 8
+f 7 8 10
+f 8 11 12
+f 8 12 13
+f 8 13 9
+
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/milk_carton_012.xml b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/milk_carton_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ac7935d9e22df89ee9491eb140723cf6a69f4eb4
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/mjcf/milk_carton_012.xml
@@ -0,0 +1,88 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="milk_carton_012">
+  <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" />
+    <mesh name="visual_mesh_0" file="mesh/milk_carton_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/milk_carton_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/milk_carton_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/milk_carton_012_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/milk_carton_012_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/milk_carton_012_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/milk_carton_012_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/milk_carton_012_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/milk_carton_012_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/milk_carton_012_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/milk_carton_012_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/milk_carton_012_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/milk_carton_012_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/milk_carton_012_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/milk_carton_012_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/milk_carton_012_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/milk_carton_012_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/milk_carton_012_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/milk_carton_012_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/milk_carton_012_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/milk_carton_012_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/milk_carton_012_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/milk_carton_012_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/milk_carton_012_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/milk_carton_012_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/milk_carton_012_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/milk_carton_012_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/milk_carton_012_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/milk_carton_012_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/milk_carton_012_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/milk_carton_012_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/milk_carton_012_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/milk_carton_012_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/milk_carton_012_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/milk_carton_012_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/milk_carton_012_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/milk_carton_012_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/milk_carton_012_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="milk_carton_012">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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/beverages/4b0f934a345f565f807e9b90c7bdab86/textures/material_0.png b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9683ce3ab10d86aedec1606e61d15fe0484f4240
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96925b846b99b53053a7562105d8a46fc1178deaf6bed50597bb5bdfd6f71a4d
+size 14250102
diff --git a/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/video.mp4 b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0694052313e1e69e191e9ee29e2b6ed2afc2e43b
--- /dev/null
+++ b/dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd7b5dd803f598dcd5340d35502f325c486c0e040bd50b8233bc2e4bed42ae80
+size 1012672