diff --git a/.gitattributes b/.gitattributes
index cf6042a81f040471c5c960d7409b0201a96b6689..c8dc3a85a6d8d4fe506b41abf826d10159f0865e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4461,3 +4461,5 @@ dataset/kitchen_supplies/tableware/f7d08d58c6565237827d69bf31964904/mesh/spoon.g
 dataset/kitchen_supplies/tableware/f7d08d58c6565237827d69bf31964904/mesh/spoon_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/mesh/tray_054.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/tray_054.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mesh/plate_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/plate_036.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mesh/material.mtl b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7305c2b8958a9fdbc7045a7cb586d61c4f620e0e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl plate_036_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 plate_036_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mesh/material_0.png b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..59e644b30ed10f790bb358399c6658b228d8fee3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65e8a74712a2393dc67519a29c689abeac535eefc5bb7d281f9d3ddeded76bae
+size 11149083
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mesh/plate_036.glb b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mesh/plate_036.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8bc26c9faeb88bc3e40457a8a73e962115f7ef06
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mesh/plate_036.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1038037d80972080e2071a63dfc48f076b67ec096149ac90f452f67916a6a25e
+size 14558008
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mesh/plate_036.mtl b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mesh/plate_036.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c6e68ec81c80459592c220894f9e47ed851a1ba6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mesh/plate_036.mtl
@@ -0,0 +1,6 @@
+newmtl plate_036_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/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mesh/plate_036.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mesh/plate_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b84c621ccbfda32043c6462a2e2b45209babe8d6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mesh/plate_036.obj
@@ -0,0 +1,117938 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl plate_036_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mesh/plate_036_collision.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mesh/plate_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d14bb294e4c73ac1d4e7fa126fb268166db2e6f2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mesh/plate_036_collision.obj
@@ -0,0 +1,22007 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mesh/plate_036_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mesh/plate_036_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..59e644b30ed10f790bb358399c6658b228d8fee3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mesh/plate_036_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11149083
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..59e644b30ed10f790bb358399c6658b228d8fee3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65e8a74712a2393dc67519a29c689abeac535eefc5bb7d281f9d3ddeded76bae
+size 11149083
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e7dbe254c78496bce7e08eefa138233be40aa66
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b039e5dfdb7bc623ae96049e26fcd86f07a176b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision.obj
@@ -0,0 +1,22007 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_0.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a87a2ece9f853b0ebffe6dac7fd34ee0c7455ca1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_1.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e719b08ce618eb344dd7aa55b1f6bcbdd249ec3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_10.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f444bca89179bd79b8e4edb4f81026aaca796e3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_10.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_11.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9f7e911beb327c9a17de0996c51312ceb1b5cf3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_11.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_12.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..899d8fd4b79b7eb45bf082a410a0e84ddc742fee
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_12.obj
@@ -0,0 +1,229 @@
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_13.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc7c0d9f089d05f6211701e8bd7316d05e087af1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_13.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_14.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82f4b7e2b7ebc298aed3bf52a19e3d856b8d6241
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_14.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_15.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae54ce197f91097b532d5561cfdcf12a3d4f47a0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_15.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_16.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56be468192e193d9f62df532ca692be40b3fb94c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_16.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_17.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0ac212d815fead1d8d77203a616404c9f60c22c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_17.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_18.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50805913e0f5debedfd8c12231437b67d65dc007
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_18.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_19.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..706a4c252536327493dc62f1672d586833c4b432
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_19.obj
@@ -0,0 +1,184 @@
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_2.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15aee931433bba7a1d9ea274b08def66aa2d0be6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_2.obj
@@ -0,0 +1,1876 @@
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_20.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b822222316f9ca34fa8a01b502cef615eed8eaf6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_20.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.03610737 0.05494662 -0.00540083
+v 0.01895418 0.06304329 -0.00540080
+v 0.03610737 0.06350969 -0.00540080
+v 0.03610737 0.06476832 0.01358126
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+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_21.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71678152d09df7cadbeba6bf7797a0562a6e830d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_21.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.04004269 -0.05226594 -0.00539919
+v 0.05148531 -0.04099546 -0.00539915
+v 0.05105223 -0.05226594 -0.00539919
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+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_22.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a4a4faf6ab589c8a7d9915f9a04c6d4b773fa4d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_22.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.04210883 0.05045952 -0.00540283
+v -0.04210883 0.05961304 -0.00540280
+v -0.03009057 0.05848903 -0.00540281
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_23.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aa7bbb9eacc8fe7cc395c528535e64c3f2ca057
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_23.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_24.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c832cd3325abf57ac022df1e2ac3fa348b18c7c0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_24.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.07264461 -0.03436219 0.01607442
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+v 0.06914206 -0.04099554 0.01607440
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+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_25.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b945b815e9ba6e870db608222648c36106229d63
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_25.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.07716362 0.02668397 0.01609096
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+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_26.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d8e0d12a0c5a18b0188b660304ab5f0b8834039
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_26.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_27.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..351328021f60e9db1872abef1f0ff0b99d43dba7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_27.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+v -0.06080814 -0.04045170 -0.00540128
+v -0.05906588 -0.02904587 -0.00540124
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+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_28.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5ff7b8fde6067c155177a833e8c5c204658c216
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_28.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.09044631 -0.00158595 0.00687901
+v -0.08901387 -0.00158596 0.01101678
+v -0.09044631 -0.00107607 0.00687902
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+v -0.08461641 -0.00011013 0.00687902
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+v -0.09005757 -0.00963925 0.00687898
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+v -0.08531143 -0.00786886 0.01552202
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_29.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b46143fd934edac6ecbd25b72c096ff1a5704534
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_29.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_3.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb25a98b727545e0489bee1ae003fe6d28f8e002
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_3.obj
@@ -0,0 +1,1882 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_30.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d76971a8880303ad58b16c8484f5209e8223c2d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_30.obj
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_31.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0443fa960ae9cff40263fb029760ba5c2234ef86
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_31.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_32.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b5c60a4046e05437fac173c3b364c63a4770e96
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_32.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_33.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f36136fc615ad4851bf7a027f2f1cb1b80822686
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_33.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_34.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9d2a7f83c3343462fa275738ba507e4e618d74b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_34.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_35.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00e3213847ac6400c390387cb45280e3d93ec93d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_35.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_36.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f23e491721c3619db453506dec108ecb09fb779
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_36.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_37.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..659bf8f44e1abd147c32cb3d9898598a190f9457
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_37.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_38.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd684dd47f99841544a03175645f0448d2f0995f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_38.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.04966951 -0.05067678 0.00101695
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_39.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f98687b2d60617947073fdfeba5b99b02811915a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_39.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_4.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b376611799b99b30e961449a4244da273288f2d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_4.obj
@@ -0,0 +1,229 @@
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_40.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d98b775abe3e3ef9e5a427a3fb7d610d51252286
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_40.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.03610737 0.07722580 0.01525429
+v 0.03610737 0.07801269 0.01489764
+v 0.03455928 0.07843567 0.01526565
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+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_41.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d694188272e62d90d4c4310db48d1c5920b164b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_41.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.05729208 -0.05226782 0.00436812
+v 0.05650931 -0.05320274 0.00436811
+v 0.05674515 -0.05226781 0.00245330
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+v 0.05481080 -0.05286292 -0.00037529
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+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_42.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..146e41dd72db713818254added1fb0ddc4ce9421
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_42.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v -0.05211318 -0.05067999 0.00800987
+v -0.07397886 -0.05067999 0.00800987
+v -0.05234695 -0.05068000 0.00955076
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+v -0.03280689 -0.06545328 0.01101570
+v -0.03280689 -0.08319649 0.00800975
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+v -0.06951303 -0.05381548 0.01284679
+v -0.07181849 -0.05068001 0.01285233
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+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_43.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec53675901e3ce15c91178a3f879035bdfd5868a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_43.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.07112443 0.03482071 0.01009204
+v 0.07518711 0.03482071 0.01009822
+v 0.07112443 0.03482069 0.01599558
+v 0.07112443 0.04537860 0.00673496
+v 0.07158176 0.04537860 0.00536370
+v 0.07221169 0.04537861 0.00359249
+v 0.07292830 0.04537861 0.00217026
+v 0.07293705 0.04537861 0.00215637
+v 0.07518711 0.04333546 0.00078664
+v 0.07518711 0.04181729 0.00194633
+v 0.07518711 0.04136980 0.00238952
+v 0.07518711 0.04068668 0.00312302
+v 0.07518711 0.03482069 0.01590293
+v 0.07401475 0.03482069 0.01606970
+v 0.07112443 0.03610631 0.01605580
+v 0.07112443 0.04537856 0.01572692
+v 0.07457627 0.04537862 0.00047781
+v 0.07518711 0.04342124 0.00074649
+v 0.07518711 0.03602054 0.01588748
+v 0.07474847 0.03482069 0.01596624
+v 0.07401475 0.03610631 0.01605426
+v 0.07112443 0.03924701 0.01606971
+v 0.07112443 0.04236601 0.01599406
+v 0.07401475 0.03924701 0.01587977
+v 0.07395391 0.04213555 0.01558638
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+v 0.07518711 0.04124883 0.01539953
+v 0.07286427 0.04471094 0.01548447
+v 0.07372008 0.04537857 0.01444986
+v 0.07518711 0.04537862 0.00029559
+v 0.07518711 0.04466966 0.00040985
+v 0.07496242 0.04301503 0.01478649
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+v 0.07449435 0.04537857 0.01376577
+v 0.07518711 0.04494245 0.01333339
+v 0.07518711 0.04485563 0.01338897
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+f 38 40 41
+f 39 42 40
+f 40 42 41
+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_44.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ac41d7c24737a78629d89efdfdceccc4fb0ba0b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_44.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.07112443 0.02592223 -0.00135772
+v 0.07112443 0.02700493 -0.00065050
+v 0.07518711 0.03482071 0.01009783
+v 0.07166647 0.02592223 -0.00039939
+v 0.07112443 0.02592218 0.01491165
+v 0.07112443 0.02745613 -0.00028323
+v 0.07518711 0.03482069 0.01590246
+v 0.07518711 0.02592219 0.01030108
+v 0.07241212 0.02592223 0.00131399
+v 0.07200728 0.02592223 0.00029929
+v 0.07112443 0.02868167 0.00102530
+v 0.07112443 0.02991767 0.00236628
+v 0.07112443 0.02998822 0.00246365
+v 0.07112443 0.03482071 0.01009271
+v 0.07190826 0.02592217 0.01553686
+v 0.07112443 0.02632807 0.01503464
+v 0.07474847 0.03482069 0.01596567
+v 0.07518711 0.03296451 0.01601178
+v 0.07518711 0.02592217 0.01595880
+v 0.07112443 0.03482069 0.01599471
+v 0.07179094 0.02668345 0.01557957
+v 0.07112443 0.02894293 0.01561716
+v 0.07112443 0.02668345 0.01514055
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+v 0.07518711 0.02621484 0.01598272
+v 0.07112443 0.03296451 0.01592295
+v 0.07401475 0.02668345 0.01597759
+v 0.07401475 0.02982442 0.01607156
+v 0.07401475 0.03296451 0.01609378
+v 0.07518711 0.02668345 0.01602030
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+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_45.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8e917c5d43480c46ebf3f17668cd4522e050b67
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_45.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.00151673 0.07793098 0.00435920
+v 0.00002169 0.07793098 0.00436035
+v -0.00402032 0.07793098 0.00471750
+v -0.01422579 0.08249073 0.00802372
+v 0.00002169 0.08249072 0.01028030
+v 0.00002169 0.07793094 0.01576040
+v -0.00467168 0.07793098 0.00482430
+v -0.00609991 0.07793098 0.00530892
+v -0.00781686 0.07793098 0.00591642
+v -0.01422579 0.07793096 0.01014938
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+v -0.01311556 0.07793094 0.01594185
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+v -0.01422579 0.08007758 0.01608424
+v -0.01169290 0.08249070 0.01585343
+v -0.00225177 0.08249070 0.01596827
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+v -0.00539974 0.08249070 0.01595334
+v -0.00854632 0.08249070 0.01592004
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+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_46.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3350deab55fab3203d25d33fb52bf984f5409839
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_46.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.06812061 -0.05067680 0.00473466
+v -0.06602628 -0.04045273 0.00358653
+v -0.06602628 -0.05067682 0.00981155
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+v -0.06812061 -0.04045576 0.01018208
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+v -0.06602628 -0.05067684 0.01581773
+v -0.06754777 -0.05067684 0.01570401
+v -0.06812061 -0.04869709 0.01585075
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+v -0.06761871 -0.04045278 0.01597184
+v -0.06602628 -0.04121045 0.01577130
+v -0.06602628 -0.04869709 0.01600971
+v -0.06761871 -0.04869709 0.01593635
+v -0.06812061 -0.04558132 0.01602440
+v -0.06812061 -0.04241652 0.01606231
+v -0.06602628 -0.04239350 0.01588257
+v -0.06761871 -0.04241652 0.01606598
+v -0.06602628 -0.04555730 0.01604151
+v -0.06761871 -0.04555730 0.01607820
+f 1 2 3
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+f 2 8 3
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+f 8 14 15
+f 8 15 9
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+f 10 15 16
+f 11 17 19
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+f 12 20 18
+f 14 20 21
+f 14 21 15
+f 15 21 16
+f 16 21 17
+f 17 21 19
+f 19 21 20
+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_47.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ba4080eca1b0b143c1a7e1ffd282cb36db7d974
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_47.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.07998963 -0.05226597 0.00245317
+v 0.07953466 -0.05226596 0.00059052
+v 0.07990049 -0.05226597 0.00282070
+v 0.07885834 -0.05359882 0.00396448
+v 0.07904894 -0.05387245 0.00245316
+v 0.07903049 -0.05383713 0.00078214
+v 0.07719214 -0.05492283 0.00039841
+v 0.07716447 -0.05226596 -0.00007558
+v 0.07919035 -0.05226597 0.00406493
+v 0.07814820 -0.05226598 0.00436812
+v 0.07640515 -0.05482281 0.00436811
+v 0.07594403 -0.05705892 0.00406676
+v 0.07501870 -0.05909496 0.00245314
+v 0.07628833 -0.05752674 0.00245315
+v 0.07616536 -0.05734136 0.00064558
+v 0.06935300 -0.06603869 0.00097420
+v 0.07418252 -0.05827995 0.00029471
+v 0.07401344 -0.05498167 -0.00029268
+v 0.07401344 -0.05226596 -0.00034451
+v 0.06711808 -0.05226598 0.00436812
+v 0.07384129 -0.05810637 0.00436810
+v 0.07297130 -0.06038663 0.00408666
+v 0.06905173 -0.06574447 0.00331732
+v 0.07214742 -0.06254623 0.00245266
+v 0.06935300 -0.06603870 0.00141486
+v 0.07324797 -0.06070437 0.00062104
+v 0.07009695 -0.06440573 0.00068536
+v 0.06621734 -0.06918397 0.00096586
+v 0.06744701 -0.06727150 0.00071775
+v 0.07282066 -0.06088384 0.00054883
+v 0.07116061 -0.06155763 0.00026877
+v 0.06771753 -0.06440573 0.00003593
+v 0.07086549 -0.05812106 -0.00033204
+v 0.07078864 -0.05226596 0.00021512
+v 0.06771753 -0.06126340 -0.00034131
+v 0.06456959 -0.06440573 -0.00034549
+v 0.05198700 -0.07382391 -0.00036079
+v 0.04883905 -0.07382391 -0.00007149
+v 0.04858389 -0.07033146 0.00266278
+v 0.04858389 -0.06963415 0.00436805
+v 0.06795425 -0.05226597 0.00249436
+v 0.07099768 -0.06134874 0.00436808
+v 0.07094849 -0.06140465 0.00436808
+v 0.06998320 -0.06364959 0.00408850
+v 0.06695207 -0.06676544 0.00408154
+v 0.06589455 -0.06885738 0.00333351
+v 0.06621734 -0.06918398 0.00143106
+v 0.06084676 -0.07302656 0.00062052
+v 0.06456959 -0.06990776 0.00068117
+v 0.05762503 -0.07607475 0.00245261
+v 0.05397291 -0.07881399 0.00078992
+v 0.05746210 -0.07595999 0.00064829
+v 0.06456959 -0.06754218 0.00003175
+v 0.06990942 -0.05226596 0.00049840
+v 0.04858389 -0.07382686 -0.00002057
+v 0.06142471 -0.06754218 -0.00034318
+v 0.05827983 -0.07068157 -0.00033486
+v 0.04883905 -0.07696330 -0.00034553
+v 0.04858389 -0.07696330 -0.00034183
+v 0.04858389 -0.07042267 0.00244615
+v 0.04858389 -0.08166800 0.00436801
+v 0.06855371 -0.05226597 0.00170792
+v 0.06811718 -0.06447931 0.00436807
+v 0.06494463 -0.06761576 0.00436806
+v 0.06464644 -0.06790410 0.00436806
+v 0.06379797 -0.06978126 0.00408569
+v 0.06778825 -0.06481179 0.00436807
+v 0.06053320 -0.07275589 0.00408615
+v 0.05717620 -0.07573051 0.00405790
+v 0.05372391 -0.07864334 0.00395559
+v 0.06267897 -0.07192616 0.00245263
+v 0.05842124 -0.07397397 0.00029419
+v 0.05556841 -0.07764298 0.00245260
+v 0.05506424 -0.07698978 0.00040573
+v 0.05399443 -0.07882576 0.00245260
+v 0.04858389 -0.08232411 0.00245259
+v 0.04858389 -0.08134139 0.00049413
+v 0.05198700 -0.07943480 0.00054968
+v 0.05513495 -0.07382391 -0.00028858
+v 0.06885805 -0.05283088 0.00073725
+v 0.04858389 -0.07174962 0.00072329
+v 0.04858389 -0.08030865 0.00022196
+v 0.05198700 -0.07696330 -0.00013260
+v 0.04858389 -0.08187101 0.00414722
+v 0.05823679 -0.07359149 0.00436804
+v 0.06151693 -0.07074927 0.00436805
+v 0.04906961 -0.08034102 0.00030434
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+f 1 34 54
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+f 1 9 3
+f 1 3 4
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+f 47 71 50
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+f 51 73 75
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+f 72 74 83
+f 72 83 79
+f 74 78 83
+f 77 82 87
+f 77 87 83
+f 77 83 78
+f 82 83 87
+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_48.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..885b7f8bdfb451080c8091b790ff833d335eb386
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_48.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.03165995 -0.07744563 0.01579495
+v 0.02995087 -0.07744563 0.01591825
+v 0.03165995 -0.07825991 0.01565777
+v 0.03165995 -0.07744560 0.00811937
+v 0.02946233 -0.07744563 0.01594600
+v 0.02365732 -0.08010625 0.01586738
+v 0.02995087 -0.07928641 0.01560536
+v 0.03165995 -0.07899416 0.01550826
+v 0.03165995 -0.07866251 0.00434014
+v 0.01581598 -0.07744560 0.00914741
+v 0.02050899 -0.08010625 0.01600147
+v 0.02632176 -0.07744563 0.01603847
+v 0.02050899 -0.08181694 0.01570246
+v 0.02125498 -0.08181694 0.01567009
+v 0.02365732 -0.08181694 0.01550825
+v 0.02394579 -0.08181694 0.01548822
+v 0.02507019 -0.08181694 0.01538187
+v 0.02552460 -0.08176174 0.01535258
+v 0.03165995 -0.07950163 0.01518151
+v 0.03165995 -0.07952426 0.00236268
+v 0.01581598 -0.07744563 0.01592904
+v 0.03165995 -0.08095169 0.00055320
+v 0.02995087 -0.08128288 0.00072120
+v 0.02812080 -0.08159609 0.00095240
+v 0.02795331 -0.08181688 0.00087071
+v 0.02621630 -0.08181689 0.00172458
+v 0.02418463 -0.08181689 0.00304083
+v 0.01581598 -0.08181691 0.00886842
+v 0.01736222 -0.08010625 0.01605696
+v 0.01581598 -0.08164407 0.01585504
+v 0.01844165 -0.08181694 0.01578260
+v 0.02317654 -0.07744563 0.01606159
+v 0.02547032 -0.08181694 0.01530635
+v 0.02560060 -0.08181694 0.01526165
+v 0.02724144 -0.08181693 0.01465284
+v 0.02762142 -0.08131160 0.01507207
+v 0.02995087 -0.08085632 0.01459273
+v 0.03165995 -0.08047635 0.01427215
+v 0.01581598 -0.07850808 0.01600918
+v 0.01688144 -0.07744563 0.01596912
+v 0.03165995 -0.08181688 0.00031893
+v 0.02995087 -0.08181688 0.00051621
+v 0.01581598 -0.08181694 0.01582884
+v 0.01581598 -0.08010625 0.01606467
+v 0.02002822 -0.07744563 0.01603847
+v 0.02995087 -0.08181693 0.01356932
+v 0.03165995 -0.08111904 0.01358628
+v 0.01581598 -0.07875240 0.01601843
+v 0.03165995 -0.08181693 0.01280793
+v 0.03055106 -0.08181693 0.01331347
+f 1 2 3
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+f 37 46 38
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+f 39 45 40
+f 44 45 48
+f 46 50 47
+f 47 50 49
+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_49.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d165e8c88283b7f511b3b3801568023a76e5b288
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_49.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.00008951 -0.07676661 0.00030574
+v -0.00152101 -0.07676661 0.00030883
+v -0.00008951 -0.07676667 0.01537769
+v 0.01581273 -0.07744594 0.00914635
+v 0.01106056 -0.07744593 0.00537450
+v 0.01096967 -0.07744593 0.00530965
+v 0.00791517 -0.07744592 0.00360206
+v 0.01581273 -0.08181691 0.00886842
+v -0.00466964 -0.07676661 0.00066702
+v 0.01442344 -0.08181691 0.00891474
+v -0.01734210 -0.08123846 0.00902744
+v 0.01581273 -0.07744597 0.01592888
+v -0.01725770 -0.07676667 0.01592270
+v 0.01581273 -0.08181694 0.01582850
+v -0.00786048 -0.07676662 0.00139731
+v -0.00008951 -0.08181692 0.01034134
+v -0.01734210 -0.08123849 0.01588100
+v -0.01734210 -0.07676664 0.00835276
+v -0.01466413 -0.07676663 0.00530811
+v -0.01439147 -0.07676663 0.00504873
+v -0.01411231 -0.07676663 0.00478626
+v -0.01273600 -0.07676662 0.00369932
+v -0.01100587 -0.07676662 0.00245491
+v -0.01098315 -0.07676662 0.00244256
+v -0.01096367 -0.07676662 0.00243484
+v -0.00880182 -0.07676662 0.00167213
+v 0.01581273 -0.07850843 0.01600915
+v -0.01734210 -0.07677211 0.01592579
+v -0.01734210 -0.07696591 0.01596130
+v -0.01734210 -0.07676667 0.01578684
+v 0.01581273 -0.08164390 0.01585475
+v 0.01249855 -0.08181694 0.01590879
+v -0.00008951 -0.08181694 0.01599370
+v -0.01725770 -0.08123849 0.01588408
+v -0.01734210 -0.08013648 0.01604930
+v 0.01581273 -0.07875266 0.01601842
+v -0.01096367 -0.08010583 0.01607863
+v -0.01734210 -0.08010583 0.01605393
+v -0.01725770 -0.08010583 0.01605547
+v -0.01411231 -0.08010583 0.01607709
+v 0.01581273 -0.08010583 0.01606319
+v 0.00934991 -0.08181694 0.01595511
+v 0.00305588 -0.08181694 0.01599370
+v -0.01096367 -0.08123849 0.01597055
+v 0.01106381 -0.08010583 0.01607091
+v 0.01421244 -0.08010583 0.01606937
+v 0.00620452 -0.08181694 0.01598135
+f 1 2 9
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+f 1 15 26
+f 1 26 25
+f 1 25 24
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+f 1 23 22
+f 1 22 21
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+f 1 18 30
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+f 1 4 5
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+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_5.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e648738a2c7684a20757ac08c6f79eb658abf8cb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_5.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v 0.08031126 0.01097865 0.01609206
+v 0.08031126 0.01411768 0.01608884
+v 0.07884638 0.02040084 0.01604859
+v 0.07884638 0.01725926 0.01605019
+v 0.08031126 0.00155646 0.01608719
+v 0.08345801 -0.00010733 0.01596153
+v 0.08345801 0.00155646 0.01596154
+v 0.08031126 0.01725926 0.01607597
+v 0.08031126 0.02040084 0.01603248
+v 0.07884638 0.02353987 0.01600028
+v 0.07884638 -0.00010733 0.01589065
+v 0.08031126 -0.00010733 0.01608557
+v 0.08550852 -0.00010733 0.01556202
+v 0.08550852 0.00155646 0.01556203
+v 0.08345801 0.00469804 0.01594705
+v 0.08345801 0.00783962 0.01590679
+v 0.08345801 0.01097865 0.01583270
+v 0.08305997 0.01725926 0.01568129
+v 0.08031126 0.02353987 0.01592296
+v 0.07884638 0.02592217 0.01587786
+v 0.07884638 -0.00010730 0.00929556
+v 0.08708271 -0.00010732 0.01413959
+v 0.08708271 0.00155647 0.01413960
+v 0.08546938 0.00469804 0.01554755
+v 0.08538129 0.00783962 0.01550728
+v 0.08524263 0.01097865 0.01543319
+v 0.08267009 0.02040084 0.01563459
+v 0.08230795 0.02353987 0.01552184
+v 0.08044177 0.02592217 0.01573449
+v 0.07884638 0.02592219 0.01006407
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_50.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4af7ad94ce02ca38db2d83fc9edcee62ae373550
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_50.obj
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+f 143 153 145
+f 145 153 147
+f 145 147 146
+f 147 153 154
+f 148 154 149
+f 149 154 150
+f 150 154 153
+f 150 153 152
+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_51.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbadcc1f822143f5dbe08a2c70cfad23f4791161
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_51.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.08020849 0.01097844 0.01608859
+v -0.08075949 0.00728897 0.01606451
+v -0.08020849 0.00783924 0.01608753
+v -0.07832390 0.01600023 0.01603942
+v -0.08020849 0.01411923 0.01608650
+v -0.08075949 0.01042817 0.01605928
+v -0.08075949 0.00414818 0.01606240
+v -0.08075949 0.00155609 0.01605925
+v -0.08075949 -0.00010575 0.01605715
+v -0.08020849 -0.00010575 0.01607599
+v -0.07794664 0.01600023 0.01601954
+v -0.08020849 0.01600023 0.01607919
+v -0.08075949 0.01356896 0.01604464
+v -0.08075949 -0.00010573 0.01035167
+v -0.07794664 -0.00010575 0.01576623
+v -0.07794664 0.01600025 0.01030673
+v -0.08075949 0.01600023 0.01601012
+v -0.08075949 0.00474104 0.01026379
+v -0.07794664 -0.00010571 0.00539967
+v -0.08075949 0.01600025 0.01021778
+v -0.07794664 0.00471426 0.00615002
+v -0.08075949 0.00569021 0.01025123
+v -0.07794664 -0.00004107 0.00539967
+v -0.07794664 0.00155613 0.00540909
+f 1 2 3
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+f 1 4 5
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+f 2 13 17
+f 2 17 20
+f 2 20 22
+f 2 22 18
+f 2 18 14
+f 2 14 9
+f 2 9 8
+f 2 8 7
+f 2 7 3
+f 3 7 8
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+f 3 9 10
+f 3 10 4
+f 4 11 16
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+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_52.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5871c5a374a9a774a433b4925a02891b3923bafb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_52.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.01734686 -0.08010626 0.01605405
+v -0.02040859 -0.07696582 0.01603705
+v -0.02355508 -0.07696582 0.01607106
+v -0.02670157 -0.07696582 0.01606333
+v -0.02040859 -0.08010626 0.01599530
+v -0.01734686 -0.08013690 0.01604941
+v -0.01734686 -0.07696582 0.01596130
+v -0.02355508 -0.07676618 0.01604478
+v -0.02040859 -0.07676618 0.01600613
+v -0.02670157 -0.07676618 0.01605406
+v -0.02984958 -0.07676618 0.01599377
+v -0.02984958 -0.07696582 0.01599068
+v -0.02355508 -0.08010626 0.01585772
+v -0.02040859 -0.08123888 0.01579742
+v -0.01734686 -0.08123888 0.01588244
+v -0.01734686 -0.07677187 0.01592575
+v -0.02011347 -0.07676618 0.01599222
+v -0.03280537 -0.07676618 0.01575261
+v -0.03280537 -0.07721056 0.01574333
+v -0.02984958 -0.07926653 0.01560110
+v -0.02355508 -0.08123888 0.01562119
+v -0.01734686 -0.08123885 0.00902802
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+v -0.03280537 -0.08123882 0.00027834
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+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_53.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af266df7ee233031c745f83ac399f080031e042f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_53.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.01422579 0.08007758 0.01608509
+v -0.01726130 0.08007758 0.01606180
+v -0.02255793 0.07793094 0.01605404
+v -0.01941223 0.07793094 0.01605715
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+v -0.01422579 0.08249070 0.01574823
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+v -0.02040855 0.08007758 0.01599971
+v -0.02570518 0.07793094 0.01600437
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+v -0.02703825 0.08249071 0.01389624
+v -0.03007842 0.08202424 0.01322717
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+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_54.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b476ea01b8b9044ee7e3c37acccfdbaa3fefe301
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_54.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
+v -0.09016893 0.03121932 0.00245510
+v -0.08983408 0.03121932 0.00309044
+v -0.08829970 0.03524407 0.00403432
+v -0.08848735 0.03621834 0.00231244
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+v -0.08774776 0.03733448 0.00316730
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+v -0.08335065 0.04239499 -0.00005267
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_55.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c96929669f3217c30e3e7ff6c0c7b4f756be390e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_55.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_56.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef2cef2ed0704a629e725301f017dee5ac9582ea
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_56.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+v -0.07000206 -0.06465403 0.00101690
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+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_57.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..899a0531064943974160dbc915b7e339e46728cf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_57.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_58.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfe4dbd33ba22dcdd67bbf3bbb48ffc470f769dd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_58.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_59.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9229cc7b527c78835109b33bc6bc6c3138d5e195
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_59.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_6.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f3cc88736f6f112b0a499dea9e70c817643e27f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_6.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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+v -0.03280689 -0.05713594 -0.00540134
+v -0.03237774 -0.06563671 -0.00540137
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+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_60.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..721b5f98962bbff693eb0e017bc0de23793c755a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_60.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.08020820 -0.04241646 -0.00040772
+v -0.08020820 -0.04555724 -0.00035450
+v -0.08217557 -0.04045272 -0.00037223
+v -0.08020820 -0.04045272 -0.00028351
+v -0.07706222 -0.04555724 -0.00026740
+v -0.07507860 -0.05067678 -0.00036259
+v -0.07706222 -0.04869703 -0.00038516
+v -0.07706222 -0.05067678 -0.00025129
+v -0.07843396 -0.05067678 0.00000035
+v -0.08335599 -0.04241646 -0.00005124
+v -0.08335599 -0.04045272 -0.00023834
+v -0.07895919 -0.04045272 -0.00001736
+v -0.07381335 -0.05067678 -0.00016257
+v -0.07166910 -0.05067678 0.00027618
+v -0.07994468 -0.05067678 0.00041328
+v -0.08047172 -0.04895326 0.00025683
+v -0.08335780 -0.04534706 0.00046331
+v -0.08542624 -0.04241646 0.00065688
+v -0.08606699 -0.04045272 0.00056172
+v -0.08519702 -0.04045272 0.00026492
+v -0.07751525 -0.04045272 0.00044881
+v -0.07113123 -0.05067678 0.00045522
+v -0.08067568 -0.05067679 0.00167145
+v -0.08230913 -0.04807748 0.00064557
+v -0.08502194 -0.04416100 0.00093433
+v -0.08646407 -0.04045273 0.00167795
+v -0.07665972 -0.04045272 0.00108112
+v -0.07515802 -0.04339633 0.00078109
+v -0.07168173 -0.04925752 0.00063267
+v -0.06970353 -0.05067679 0.00157628
+v -0.08091212 -0.05067679 0.00245378
+v -0.08502194 -0.04416101 0.00174891
+v -0.08655793 -0.04045273 0.00248930
+v -0.08242104 -0.04831770 0.00245379
+v -0.06812062 -0.04045276 0.01019318
+v -0.06812062 -0.04045576 0.01018189
+v -0.07236941 -0.04716367 0.00106175
+v -0.06962953 -0.05067679 0.00166016
+v -0.07961980 -0.05067680 0.00419586
+v -0.08210698 -0.04776421 0.00407005
+v -0.08480354 -0.04387676 0.00365230
+v -0.08554717 -0.04045274 0.00412977
+v -0.08527823 -0.04178291 0.00408137
+v -0.06812062 -0.04045278 0.01596786
+v -0.06812062 -0.05067680 0.00473462
+v -0.06834623 -0.05067679 0.00406843
+v -0.06874151 -0.05067679 0.00317481
+v -0.06912415 -0.05067679 0.00244894
+v -0.07182252 -0.05067683 0.01285143
+v -0.07239648 -0.05034454 0.01251915
+v -0.07584389 -0.04457442 0.01291437
+v -0.07295240 -0.04869708 0.01314179
+v -0.07630595 -0.04218330 0.01386768
+v -0.07717773 -0.04045277 0.01390640
+v -0.06812062 -0.04241652 0.01606141
+v -0.07076664 -0.04045278 0.01607109
+v -0.06812062 -0.05067684 0.01559037
+v -0.07077024 -0.05067683 0.01389829
+v -0.07488187 -0.04307409 0.01481775
+v -0.07214018 -0.04688048 0.01520165
+v -0.07151568 -0.04869708 0.01456932
+v -0.07555871 -0.04098025 0.01533878
+v -0.07567784 -0.04045278 0.01538717
+v -0.06812062 -0.04558132 0.01602430
+v -0.07389457 -0.04045278 0.01577268
+v -0.07076664 -0.04241652 0.01603882
+v -0.06812062 -0.04869709 0.01585008
+v -0.06994179 -0.04869709 0.01554037
+v -0.06903030 -0.05067684 0.01541132
+v -0.06957358 -0.05067684 0.01501935
+v -0.07278454 -0.04478762 0.01549200
+v -0.06934255 -0.05047666 0.01537422
+v -0.07386569 -0.04218331 0.01559686
+v -0.07096157 -0.04572245 0.01572266
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
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+f 3 20 19
+f 3 19 26
+f 3 26 33
+f 3 33 42
+f 3 42 54
+f 3 54 63
+f 3 63 65
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+f 3 44 35
+f 3 35 27
+f 3 27 21
+f 3 21 12
+f 3 12 4
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+f 6 22 30
+f 6 30 38
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+f 10 17 18
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+f 10 16 17
+f 12 21 14
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+f 15 23 24
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+f 21 27 28
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+f 21 29 22
+f 22 29 30
+f 23 31 24
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+f 25 33 26
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+f 25 34 32
+f 27 35 36
+f 27 36 37
+f 27 37 28
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+f 30 37 36
+f 30 36 38
+f 31 39 40
+f 31 40 41
+f 31 41 34
+f 32 34 41
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+f 33 41 43
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+f 39 50 40
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+f 41 51 53
+f 41 53 54
+f 41 54 43
+f 42 43 54
+f 44 56 55
+f 49 58 50
+f 50 58 52
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+f 51 52 60
+f 51 60 59
+f 52 58 61
+f 52 61 60
+f 53 59 62
+f 53 62 54
+f 54 62 63
+f 55 56 64
+f 56 65 66
+f 56 66 64
+f 57 67 68
+f 57 68 69
+f 58 70 61
+f 59 60 62
+f 60 71 62
+f 60 61 72
+f 60 72 71
+f 61 70 72
+f 62 71 63
+f 63 71 73
+f 63 73 65
+f 64 66 67
+f 65 73 74
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+f 66 74 67
+f 67 74 68
+f 68 74 71
+f 68 71 72
+f 68 72 69
+f 69 72 70
+f 71 74 73
+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_61.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ae4c7cd590670286920c4b4cdbc9be779225591
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_61.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.02671555 0.07693637 0.01607446
+v 0.02671555 0.07721714 0.01603725
+v 0.02365613 0.07722402 0.01606482
+v 0.02365613 0.07693637 0.01608411
+v 0.02671555 0.07488109 0.01597937
+v 0.02392431 0.07722402 0.01604414
+v 0.02671555 0.07722404 0.01034279
+v 0.02050934 0.07722402 0.01604690
+v 0.02050934 0.07693637 0.01605103
+v 0.01895493 0.07693637 0.01601382
+v 0.02050934 0.07488109 0.01573820
+v 0.02671555 0.07488111 0.01022840
+v 0.02671555 0.07722404 0.01026699
+v 0.01909700 0.07722402 0.01601382
+v 0.01895493 0.07722402 0.01600969
+v 0.01895493 0.07488109 0.01567205
+v 0.02001020 0.07488114 0.00289809
+v 0.01938798 0.07488114 0.00235097
+v 0.01895493 0.07488114 0.00200505
+v 0.01895493 0.07495316 0.00219937
+v 0.01895493 0.07541446 0.00368362
+v 0.01895493 0.07722404 0.00987009
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 13
+f 1 13 7
+f 1 7 2
+f 2 6 3
+f 2 7 6
+f 3 6 7
+f 3 7 13
+f 3 13 22
+f 3 22 15
+f 3 15 14
+f 3 14 8
+f 3 8 4
+f 4 8 9
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+f 5 11 16
+f 5 16 19
+f 5 19 18
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+f 8 14 9
+f 9 14 10
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+f 10 21 20
+f 10 20 19
+f 10 19 16
+f 10 16 11
+f 12 17 13
+f 13 17 18
+f 13 18 19
+f 13 19 20
+f 13 20 21
+f 13 21 22
+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_62.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0983d65688d5816db44c0de22f6d86436453e0a1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_62.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.07354672 0.06064963 0.00245421
+v 0.07590828 0.05697072 0.00405168
+v 0.07495672 0.05897835 0.00245421
+v 0.07613626 0.05725327 0.00065900
+v 0.07317254 0.06064964 0.00067114
+v 0.07322210 0.06064963 0.00302976
+v 0.07883978 0.05353847 0.00395403
+v 0.07293217 0.06029684 0.00408323
+v 0.07043928 0.05791996 0.00581716
+v 0.07065983 0.05765537 0.00581716
+v 0.07226063 0.05560737 0.00581715
+v 0.07624281 0.05740723 0.00245420
+v 0.07900581 0.05377168 0.00079787
+v 0.07717703 0.05487191 0.00041276
+v 0.07415632 0.05821597 0.00030239
+v 0.07320228 0.06060330 0.00062383
+v 0.07309077 0.06064964 0.00060503
+v 0.07222842 0.06064962 0.00418209
+v 0.07870101 0.04625837 0.00581712
+v 0.08218015 0.04767403 0.00405590
+v 0.08248991 0.04820322 0.00245417
+v 0.07901820 0.05379260 0.00245419
+v 0.07781388 0.05536372 0.00245419
+v 0.07329148 0.05422760 0.00581715
+v 0.07455528 0.05248456 0.00581714
+v 0.07596527 0.05051729 0.00581714
+v 0.06780266 0.06064962 0.00581717
+v 0.08239326 0.04799694 0.00065472
+v 0.07913466 0.05336955 0.00074511
+v 0.07715968 0.05181039 -0.00015310
+v 0.07837887 0.05336955 0.00047583
+v 0.07559853 0.05336955 -0.00021860
+v 0.07401259 0.05495114 -0.00028410
+v 0.07189141 0.06064964 0.00028178
+v 0.07913962 0.04537938 0.00581712
+v 0.08257911 0.04537938 0.00424875
+v 0.08274762 0.04537938 0.00416627
+v 0.08358271 0.04537939 0.00308551
+v 0.08405354 0.04537939 0.00245234
+v 0.08404858 0.04537939 0.00239351
+v 0.05874054 0.06064962 0.00581717
+v 0.08054218 0.04889387 0.00027749
+v 0.07962531 0.05181039 0.00054253
+v 0.08341421 0.04537940 0.00050552
+v 0.08045793 0.04537940 -0.00030293
+v 0.08030677 0.04552889 -0.00031809
+v 0.07715968 0.04866964 -0.00037873
+v 0.07086798 0.05809040 -0.00032290
+v 0.07105631 0.06064964 0.00012833
+v 0.07143049 0.04537938 0.00581712
+v 0.05888179 0.06064962 0.00533198
+v 0.08030677 0.04537940 -0.00032112
+v 0.07731084 0.04537940 -0.00028776
+v 0.07401507 0.05181039 -0.00035325
+v 0.06830570 0.06064964 -0.00033927
+v 0.07158165 0.04537938 0.00536286
+v 0.05903295 0.06064962 0.00496506
+v 0.07221107 0.04537939 0.00359132
+v 0.07715225 0.04537940 -0.00025683
+v 0.07715968 0.04552889 -0.00028291
+v 0.06515862 0.06064964 -0.00021130
+v 0.06772089 0.06064964 -0.00032168
+v 0.05964502 0.06064963 0.00370721
+v 0.07291730 0.04537939 0.00218791
+v 0.07464449 0.04537940 0.00044851
+v 0.06233615 0.06064964 0.00052437
+v 0.06460106 0.06064964 -0.00006877
+v 0.06034877 0.06064963 0.00245421
+v 0.07292722 0.04537939 0.00217032
+v 0.07457510 0.04537940 0.00047701
+v 0.06203135 0.06064964 0.00065658
+v 0.06049002 0.06064963 0.00227287
+v 0.07293713 0.04537939 0.00215637
+v 0.07244152 0.04710151 0.00102892
+v 0.06275494 0.05940590 0.00086582
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 17
+f 1 17 34
+f 1 34 49
+f 1 49 55
+f 1 55 62
+f 1 62 61
+f 1 61 67
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+f 35 38 37
+f 35 37 36
+f 41 51 50
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+f 70 73 74
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+f 71 74 75
+f 72 75 74
+f 72 74 73
+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_63.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc2a2d61a483e667a767207d3ad739466ca93ee8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_63.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.03611085 0.08330632 0.00581726
+v 0.03611085 0.06275445 0.00581718
+v 0.03611085 0.08183095 0.00797245
+v 0.03854843 0.08242957 0.00581725
+v 0.04547519 0.05624641 0.00581716
+v 0.04568731 0.05624641 0.00675941
+v 0.04596549 0.05624640 0.00797236
+v 0.03611085 0.06297959 0.00714849
+v 0.03611085 0.06312263 0.00797238
+v 0.03698017 0.08143892 0.00797245
+v 0.03966811 0.08014103 0.00797244
+v 0.04186229 0.07902853 0.00797244
+v 0.04477973 0.07922456 0.00581724
+v 0.07163138 0.05624641 0.00581716
+v 0.06970148 0.05624640 0.00797236
+v 0.04330536 0.07825509 0.00797244
+v 0.04592724 0.07675854 0.00797243
+v 0.04769023 0.07568843 0.00797243
+v 0.05051726 0.07560897 0.00581723
+v 0.07065774 0.05765821 0.00581716
+v 0.07054646 0.05624640 0.00719446
+v 0.06842532 0.05792307 0.00797236
+v 0.04914373 0.07472162 0.00797242
+v 0.05155697 0.07305819 0.00797242
+v 0.05430404 0.07298668 0.00581722
+v 0.07043519 0.05792308 0.00581716
+v 0.06651629 0.06002885 0.00797237
+v 0.05299310 0.07204636 0.00797241
+v 0.05553500 0.07017897 0.00797241
+v 0.05778133 0.07040942 0.00581721
+v 0.06753165 0.06106188 0.00581717
+v 0.06601556 0.06265645 0.00581718
+v 0.06511146 0.06149363 0.00797238
+v 0.05833074 0.06802816 0.00797240
+v 0.05810819 0.07015779 0.00581721
+v 0.06432907 0.06433048 0.00581719
+v 0.06186019 0.06484433 0.00797239
+v 0.06132121 0.06536349 0.00797239
+v 0.06132121 0.06723619 0.00581720
+v 0.06283036 0.06580849 0.00581719
+f 1 2 8
+f 1 8 9
+f 1 9 3
+f 1 3 4
+f 1 4 13
+f 1 13 19
+f 1 19 25
+f 1 25 30
+f 1 30 35
+f 1 35 39
+f 1 39 40
+f 1 40 36
+f 1 36 32
+f 1 32 31
+f 1 31 26
+f 1 26 20
+f 1 20 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 7
+f 3 7 15
+f 3 15 22
+f 3 22 27
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+f 3 33 37
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+f 3 29 28
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+f 3 24 23
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+f 3 17 16
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+f 3 12 11
+f 3 11 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 14 21
+f 5 21 15
+f 5 15 7
+f 5 7 6
+f 7 9 8
+f 12 16 13
+f 13 16 17
+f 13 17 18
+f 13 18 19
+f 14 20 21
+f 15 21 22
+f 18 23 19
+f 19 23 24
+f 19 24 25
+f 20 26 22
+f 20 22 21
+f 22 26 27
+f 24 28 25
+f 25 29 30
+f 25 28 29
+f 26 31 27
+f 27 31 32
+f 27 32 33
+f 29 34 30
+f 30 34 35
+f 32 36 37
+f 32 37 33
+f 34 38 35
+f 35 38 39
+f 36 40 37
+f 37 40 38
+f 38 40 39
+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_64.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29f89c693755dd3120c14b87dc54f45008456522
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_64.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.03598891 0.07133558 0.01604094
+v -0.03598891 0.07367874 0.01602697
+v -0.03861027 0.07133558 0.01606774
+v -0.03598891 0.07133560 0.01019751
+v -0.03626213 0.07367874 0.01602580
+v -0.03598891 0.07367876 0.01020684
+v -0.04186974 0.07133558 0.01594889
+v -0.04210941 0.07133561 0.00935857
+v -0.04210941 0.07367878 0.00416417
+v -0.03990807 0.07367874 0.01575431
+v -0.04210941 0.07133558 0.01592908
+v -0.04210941 0.07367874 0.01553176
+v -0.04093684 0.07367874 0.01566809
+v -0.04210941 0.07333192 0.01562264
+v -0.04210941 0.07365489 0.01554341
+v -0.04209083 0.07367874 0.01553992
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 9
+f 2 9 12
+f 2 12 16
+f 2 16 13
+f 2 13 10
+f 2 10 5
+f 3 5 7
+f 4 8 9
+f 4 9 6
+f 5 10 7
+f 7 10 11
+f 8 11 14
+f 8 14 15
+f 8 15 12
+f 8 12 9
+f 10 13 11
+f 11 13 14
+f 12 15 16
+f 13 16 14
+f 14 16 15
+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_65.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6458a5b5a3c673afc5fce0cf32aea8bdf3900892
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_65.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.03007997 0.07367874 0.01604840
+v -0.03311426 0.07367874 0.01607634
+v -0.03546256 0.07133558 0.01604966
+v -0.03007997 0.07356589 0.01604078
+v -0.03007997 0.07367876 0.01022615
+v -0.03598891 0.07133558 0.01604077
+v -0.03598891 0.07367874 0.01602681
+v -0.03231549 0.07133558 0.01590236
+v -0.03007997 0.07133558 0.01570426
+v -0.03007997 0.07367487 0.01010171
+v -0.03008287 0.07367876 0.01010933
+v -0.03598891 0.07133560 0.01019694
+v -0.03598891 0.07367876 0.01020711
+v -0.03007997 0.07133563 0.00310357
+v -0.03565980 0.07367876 0.01018933
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 10
+f 1 10 5
+f 1 5 11
+f 1 11 15
+f 1 15 13
+f 1 13 7
+f 1 7 2
+f 2 6 3
+f 2 7 6
+f 3 6 12
+f 3 12 14
+f 3 14 9
+f 3 9 8
+f 3 8 4
+f 4 8 9
+f 5 10 11
+f 6 7 13
+f 6 13 12
+f 10 14 11
+f 11 14 15
+f 12 13 14
+f 13 15 14
+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_66.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da6129946a84eb8aa0660bdcddc426b2f2ff4068
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_66.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.03610737 0.07488109 0.01586807
+v 0.03610737 0.07644182 0.01563791
+v 0.02995157 0.07693637 0.01599977
+v 0.03317656 0.07488109 0.01596397
+v 0.03610737 0.07488112 0.00905416
+v 0.03610737 0.07722402 0.01525432
+v 0.03336227 0.07722402 0.01570312
+v 0.03334480 0.07720705 0.01570952
+v 0.02995157 0.07722402 0.01595118
+v 0.02679278 0.07722402 0.01603557
+v 0.02680381 0.07693637 0.01607393
+v 0.02995157 0.07488109 0.01603557
+v 0.02671647 0.07488111 0.01022795
+v 0.03610737 0.07640264 0.00510569
+v 0.03610737 0.07722407 0.00301255
+v 0.02671647 0.07721714 0.01603685
+v 0.02671647 0.07693637 0.01607521
+v 0.02671647 0.07722404 0.01034303
+v 0.02680381 0.07488109 0.01598698
+v 0.02671647 0.07722404 0.01026759
+v 0.02671647 0.07488109 0.01597931
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 19
+f 1 19 21
+f 1 21 13
+f 1 13 5
+f 1 5 14
+f 1 14 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 5 13 14
+f 6 15 20
+f 6 20 18
+f 6 18 10
+f 6 10 9
+f 6 9 7
+f 7 9 8
+f 10 16 17
+f 10 17 11
+f 10 18 16
+f 11 17 12
+f 12 17 19
+f 13 20 15
+f 13 15 14
+f 13 21 17
+f 13 17 16
+f 13 16 18
+f 13 18 20
+f 17 21 19
+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_67.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9559e1c9a0358a3e4686d03f8a036f2b43e12ada
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_67.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.06489903 -0.04561449 0.01016670
+v 0.06489903 -0.04166374 0.00231103
+v 0.06826228 -0.04561449 0.01033870
+v 0.06489903 -0.04561451 0.01602342
+v 0.06489903 -0.04099548 0.00130938
+v 0.06826228 -0.04307261 0.01028812
+v 0.06826228 -0.04561451 0.01601475
+v 0.06535932 -0.04099549 0.00238186
+v 0.06766832 -0.04561451 0.01607401
+v 0.06772002 -0.04555664 0.01607545
+v 0.06772002 -0.04241614 0.01606534
+v 0.06489903 -0.04523155 0.01602197
+v 0.06489903 -0.04099553 0.01351280
+v 0.06826228 -0.04099552 0.01024766
+v 0.06826228 -0.04501589 0.01606678
+v 0.06772002 -0.04561451 0.01607256
+v 0.06826228 -0.04187539 0.01606969
+v 0.06772002 -0.04099554 0.01599887
+v 0.06590521 -0.04099554 0.01579507
+v 0.06489903 -0.04194953 0.01572569
+v 0.06489903 -0.04100187 0.01560861
+v 0.06493360 -0.04099554 0.01562018
+v 0.06826228 -0.04099554 0.01602778
+v 0.06489903 -0.04109727 0.01562596
+f 1 2 3
+f 1 3 7
+f 1 7 16
+f 1 16 9
+f 1 9 4
+f 1 4 12
+f 1 12 20
+f 1 20 24
+f 1 24 21
+f 1 21 13
+f 1 13 5
+f 1 5 2
+f 2 5 3
+f 3 6 14
+f 3 14 23
+f 3 23 17
+f 3 17 15
+f 3 15 7
+f 3 5 8
+f 3 8 6
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 22
+f 5 22 19
+f 5 19 18
+f 5 18 23
+f 5 23 14
+f 5 14 8
+f 6 8 14
+f 7 15 16
+f 9 16 10
+f 10 16 15
+f 10 15 17
+f 10 17 11
+f 11 17 18
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 13 21 22
+f 17 23 18
+f 19 22 24
+f 19 24 20
+f 21 24 22
+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_68.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30e7f44f532651615c17d480183738c842ac4a8e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_68.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.06826228 -0.05226533 0.00216820
+v 0.06795312 -0.05226533 0.00249510
+v 0.06489903 -0.04561449 0.01016642
+v 0.06826228 -0.05186165 0.00250463
+v 0.06826228 -0.05226538 0.01498004
+v 0.06685542 -0.05226534 0.00487195
+v 0.06826228 -0.04577205 0.01012829
+v 0.06489903 -0.05226535 0.00912713
+v 0.06489903 -0.04561451 0.01602342
+v 0.06826228 -0.04561449 0.01033941
+v 0.06826228 -0.05119629 0.01550308
+v 0.06726961 -0.05226538 0.01554122
+v 0.06489903 -0.05226538 0.01590081
+v 0.06489903 -0.04837317 0.01608334
+v 0.06766832 -0.04561451 0.01607518
+v 0.06826228 -0.04561451 0.01601389
+v 0.06826228 -0.05081931 0.01556846
+v 0.06759852 -0.05162861 0.01558208
+v 0.06700357 -0.05226538 0.01559570
+v 0.06772002 -0.04869807 0.01592534
+v 0.06489903 -0.05151337 0.01599071
+v 0.06772002 -0.04561451 0.01607246
+v 0.06826228 -0.04820909 0.01589129
+v 0.06826228 -0.04869807 0.01583272
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 10
+f 1 10 16
+f 1 16 23
+f 1 23 24
+f 1 24 17
+f 1 17 11
+f 1 11 5
+f 1 5 12
+f 1 12 19
+f 1 19 13
+f 1 13 8
+f 1 8 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 13
+f 3 13 21
+f 3 21 14
+f 3 14 9
+f 3 9 15
+f 3 15 22
+f 3 22 16
+f 3 16 10
+f 3 10 7
+f 5 11 12
+f 9 14 15
+f 11 17 18
+f 11 18 12
+f 12 18 19
+f 13 19 20
+f 13 20 21
+f 14 21 15
+f 15 21 22
+f 16 22 23
+f 17 24 18
+f 18 24 20
+f 18 20 19
+f 20 22 21
+f 20 24 23
+f 20 23 22
+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_69.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43cc074a592c2ae02ae9e21ddfec4a91cc071b63
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_69.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.08020849 0.01600023 0.01607991
+v -0.08043153 0.01600023 0.01605165
+v -0.07832390 0.01600023 0.01603909
+v -0.07794664 0.01951896 0.01606736
+v -0.07794664 0.02265930 0.01607365
+v -0.08020849 0.01726054 0.01607468
+v -0.08075949 0.01600023 0.01600978
+v -0.08075949 0.01678085 0.01600664
+v -0.07794664 0.01600023 0.01601920
+v -0.07794664 0.01637713 0.01602966
+v -0.07794664 0.02579816 0.01604330
+v -0.08020849 0.02040237 0.01603386
+v -0.08075949 0.01600025 0.01021801
+v -0.08075949 0.01978413 0.01596478
+v -0.07794664 0.01600025 0.01030698
+v -0.07794664 0.02900553 0.01594283
+v -0.08020849 0.02354271 0.01593130
+v -0.08075949 0.02620340 0.00538617
+v -0.08075949 0.02281870 0.01586430
+v -0.07894595 0.03121782 0.00538618
+v -0.07828452 0.03121781 0.00727350
+v -0.07794664 0.03121781 0.00832341
+v -0.07794664 0.03121778 0.01582664
+v -0.08075949 0.02354271 0.01582348
+v -0.07845855 0.03121778 0.01574499
+v -0.07957542 0.02982339 0.01564032
+v -0.08075949 0.03121782 0.00538618
+v -0.08075949 0.02610951 0.01564763
+v -0.07932017 0.03121778 0.01556809
+v -0.08075949 0.02864353 0.01537234
+v -0.08075949 0.02651322 0.01561309
+v -0.08075949 0.03121779 0.01457157
+v -0.08019445 0.03121778 0.01510437
+v -0.08075949 0.03039248 0.01492747
+f 1 2 7
+f 1 7 13
+f 1 13 15
+f 1 15 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 10
+f 3 10 4
+f 4 10 9
+f 4 9 15
+f 4 15 22
+f 4 22 23
+f 4 23 16
+f 4 16 11
+f 4 11 5
+f 5 11 6
+f 6 12 8
+f 6 11 12
+f 7 8 14
+f 7 14 19
+f 7 19 24
+f 7 24 28
+f 7 28 31
+f 7 31 30
+f 7 30 34
+f 7 34 32
+f 7 32 27
+f 7 27 18
+f 7 18 13
+f 8 12 14
+f 11 16 12
+f 12 16 17
+f 12 17 14
+f 13 18 15
+f 14 17 19
+f 15 18 20
+f 15 20 21
+f 15 21 22
+f 16 23 17
+f 17 24 19
+f 17 23 25
+f 17 25 26
+f 17 26 24
+f 18 27 20
+f 20 27 32
+f 20 32 33
+f 20 33 29
+f 20 29 25
+f 20 25 23
+f 20 23 22
+f 20 22 21
+f 24 26 28
+f 25 29 26
+f 26 29 30
+f 26 30 31
+f 26 31 28
+f 29 33 30
+f 30 33 34
+f 32 34 33
+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_7.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb9636ef69fbeb6452855cced44b9bce83464c42
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_7.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v 0.08031086 -0.01100888 0.01608916
+v 0.08031086 -0.01414850 0.01608593
+v 0.08345816 -0.00158724 0.01596031
+v 0.08345816 -0.00011009 0.01596032
+v 0.08031086 -0.00011009 0.01608598
+v 0.07864475 -0.01895061 0.01606658
+v 0.07864475 -0.02209023 0.01606012
+v 0.08031086 -0.01728813 0.01607142
+v 0.08550902 -0.00158724 0.01556077
+v 0.08550902 -0.00011009 0.01556239
+v 0.08442249 -0.00011009 0.01577344
+v 0.08345816 -0.00472686 0.01594258
+v 0.07872401 -0.00011009 0.01587494
+v 0.07864475 -0.01580822 0.01604565
+v 0.08031086 -0.02042775 0.01602791
+v 0.07864475 -0.02523262 0.01600856
+v 0.08345816 -0.00786925 0.01590229
+v 0.08708101 -0.00158723 0.01414145
+v 0.08546443 -0.00472686 0.01554465
+v 0.08708101 -0.00011008 0.01413985
+v 0.07864475 -0.00011009 0.01586366
+v 0.08031086 -0.02357014 0.01592318
+v 0.08345816 -0.01100888 0.01583301
+v 0.07864475 -0.02836671 0.01587323
+v 0.08537692 -0.00786925 0.01550276
+v 0.08834093 -0.00158723 0.01271407
+v 0.08767382 -0.00011008 0.01346966
+v 0.08703808 -0.00472685 0.01405444
+v 0.07864475 -0.00011006 0.00853989
+v 0.08231714 -0.02357014 0.01552364
+v 0.08268207 -0.02042775 0.01563159
+v 0.08308167 -0.01728813 0.01567672
+v 0.07875703 -0.02836671 0.01586034
+v 0.08005657 -0.02836671 0.01565251
+v 0.08524812 -0.01100888 0.01543508
+v 0.07864475 -0.02836669 0.01161042
+v 0.09485017 -0.00158720 0.00415625
+v 0.08834093 -0.00011008 0.01271247
+v 0.08828808 -0.00472685 0.01262707
+v 0.09476596 -0.00786921 0.00410468
+v 0.09482705 -0.00472682 0.00414335
+v 0.08512923 -0.01328545 0.01536258
+v 0.08716688 -0.00788031 0.01363073
+v 0.08822534 -0.00684299 0.01252234
+v 0.07864475 -0.00078225 0.00853506
+v 0.08748392 -0.00011003 0.00047987
+v 0.08186800 -0.02836665 0.00101464
+v 0.08111503 -0.02836666 0.00253062
+v 0.08492778 -0.01537669 0.01524979
+v 0.08204964 -0.02573330 0.01539798
+v 0.08112328 -0.02836671 0.01529970
+v 0.07874382 -0.02836668 0.00916487
+v 0.07864475 -0.02836392 0.00939042
+v 0.09551233 -0.00158719 0.00245499
+v 0.09516062 -0.00011004 0.00335557
+v 0.09484852 -0.00011005 0.00415626
+v 0.09466689 -0.01100883 0.00403539
+v 0.09545453 -0.00472681 0.00245498
+v 0.09456285 -0.01335456 0.00395805
+v 0.08665003 -0.01100887 0.01386916
+v 0.08602586 -0.01425637 0.01412691
+v 0.07864475 -0.00158721 0.00853021
+v 0.08868439 -0.00011003 0.00010772
+v 0.08341853 -0.02836665 0.00025906
+v 0.07864475 -0.02696699 0.00927442
+v 0.08465532 -0.01728813 0.01506936
+v 0.08557507 -0.02042774 0.01324081
+v 0.08592018 -0.01728812 0.01364198
+v 0.08165333 -0.02782730 0.01517887
+v 0.08425571 -0.02042774 0.01466658
+v 0.08154270 -0.02836671 0.01507415
+v 0.09513419 -0.00158718 0.00047020
+v 0.09513419 -0.00011003 0.00046860
+v 0.09533399 -0.00011004 0.00152060
+v 0.09551068 -0.00011004 0.00245500
+v 0.09510116 -0.00472680 0.00048791
+v 0.09531748 -0.00786920 0.00245497
+v 0.09502355 -0.00786919 0.00053301
+v 0.09509291 -0.01100883 0.00245496
+v 0.09435150 -0.01544579 0.00366644
+v 0.09472798 -0.01429783 0.00261122
+v 0.08975110 -0.00011003 -0.00022254
+v 0.08660545 -0.02670970 -0.00033702
+v 0.08660545 -0.02836665 -0.00034991
+v 0.08526794 -0.02284262 0.01281228
+v 0.09133300 -0.02830581 0.00388873
+v 0.08275472 -0.02836670 0.01370638
+v 0.08296278 -0.02675402 0.01408336
+v 0.09289839 -0.00158718 -0.00023221
+v 0.09289839 -0.00472680 -0.00020645
+v 0.09289839 -0.00011003 -0.00023382
+v 0.09289839 -0.00786919 -0.00013879
+v 0.09472303 -0.01414844 0.00076820
+v 0.09489806 -0.01100882 0.00061838
+v 0.09289839 -0.01100882 -0.00003248
+v 0.09457111 -0.01627565 0.00176381
+v 0.09457111 -0.01627564 0.00091802
+v 0.09141887 -0.00011003 -0.00022898
+v 0.08975110 -0.01414844 -0.00034664
+v 0.08975110 -0.01728807 -0.00036920
+v 0.08975110 -0.02042769 -0.00034989
+v 0.08975110 -0.02357008 -0.00025968
+v 0.08975110 -0.02670970 -0.00000837
+v 0.08982705 -0.02836665 0.00023006
+v 0.09131153 -0.02836666 0.00384362
+v 0.09135116 -0.02836666 0.00363740
+v 0.09151298 -0.02836666 0.00245490
+v 0.09194231 -0.02670971 0.00245490
+v 0.09212890 -0.02357008 0.00044917
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+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_70.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4426b8a8e2d089b4f8686ca7ba2fec3bad83694d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_70.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.04211046 0.06763802 0.01605172
+v -0.04231540 0.06763802 0.01606315
+v -0.04211046 0.06751391 0.01604601
+v -0.04211046 0.06763804 0.01030551
+v -0.04243964 0.06751391 0.01606172
+v -0.04546259 0.06763802 0.01606458
+v -0.04558683 0.06751391 0.01606743
+v -0.04674214 0.06636107 0.01607456
+v -0.04574870 0.06421136 0.01600029
+v -0.04211046 0.06461957 0.01570748
+v -0.04211046 0.06462599 0.00245535
+v -0.04674214 0.06763804 0.00986844
+v -0.04674214 0.06437337 0.01603314
+v -0.04674214 0.06421136 0.01602600
+v -0.04674214 0.06763802 0.01599316
+v -0.04674214 0.06759240 0.01599887
+v -0.04674214 0.06751391 0.01600744
+v -0.04252081 0.06421136 0.01568320
+v -0.04211046 0.06440456 0.01566749
+v -0.04211046 0.06421141 0.00148265
+v -0.04236664 0.06421141 0.00187116
+v -0.04241924 0.06421141 0.00195114
+v -0.04273028 0.06421141 0.00245535
+v -0.04674214 0.06421138 0.01014410
+v -0.04247319 0.06421136 0.01567463
+v -0.04211046 0.06421136 0.01559607
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+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_71.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9f02a37eff7cf339dee5c2e3035123cac998f0e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_71.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.04674214 0.06636107 0.01607453
+v -0.04873462 0.06437337 0.01608666
+v -0.04674214 0.06437337 0.01603412
+v -0.04674214 0.06751391 0.01600718
+v -0.05188165 0.06437337 0.01599505
+v -0.05204340 0.06421136 0.01599639
+v -0.04889694 0.06421136 0.01608531
+v -0.04674214 0.06431400 0.01603142
+v -0.04674214 0.06763802 0.01599371
+v -0.04873462 0.06751391 0.01590479
+v -0.05258125 0.06436431 0.01591556
+v -0.05258125 0.06421136 0.01593442
+v -0.04674214 0.06421136 0.01602603
+v -0.04861745 0.06763802 0.01589671
+v -0.04674214 0.06763804 0.00986784
+v -0.05131980 0.06763802 0.01555990
+v -0.05164216 0.06738108 0.01556664
+v -0.05258125 0.06651503 0.01558818
+v -0.05258125 0.06421139 0.00934106
+v -0.04674214 0.06421138 0.01014401
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+v -0.05146841 0.06763802 0.01553430
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+v -0.05258125 0.06703934 0.00311416
+v -0.05258125 0.06739925 0.00250656
+v -0.05215657 0.06763807 0.00265475
+v -0.05258125 0.06763802 0.01507490
+v -0.05258125 0.06763807 0.00232333
+f 1 2 3
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+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_72.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd5e648577766c2c3929adaa4bd62bb9b27ff56c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_72.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.07041187 -0.05067815 0.00101695
+v -0.07112775 -0.05067815 0.00045510
+v -0.08029419 -0.05067815 0.00101695
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+v -0.07166578 -0.05067815 0.00027534
+v -0.05817736 -0.06465323 0.00055993
+v -0.05826184 -0.06465323 0.00052749
+v -0.07994292 -0.05067815 0.00041252
+v -0.08005852 -0.05133751 0.00101695
+v -0.05846860 -0.06465323 0.00101690
+v -0.07381121 -0.05067815 -0.00016406
+v -0.06107425 -0.06465050 -0.00017384
+v -0.05837078 -0.06465323 0.00050344
+v -0.07958720 -0.05184092 0.00051835
+v -0.07843111 -0.05067815 -0.00000079
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+v -0.07894023 -0.05385319 0.00077352
+v -0.07912031 -0.05356181 0.00101694
+v -0.05846860 -0.06465323 0.00052574
+v -0.07000502 -0.06465050 0.00101690
+v -0.07391125 -0.05184092 -0.00035099
+v -0.07507624 -0.05067815 -0.00036383
+v -0.06422013 -0.06465050 -0.00035442
+v -0.06737047 -0.06465050 -0.00000246
+v -0.06447358 -0.06465050 -0.00032739
+v -0.07709494 -0.05493251 0.00038873
+v -0.07705715 -0.05067815 -0.00025246
+v -0.07391125 -0.05498039 -0.00030423
+v -0.07408245 -0.05827854 0.00028667
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+v -0.06994277 -0.06465050 0.00069712
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+v -0.07314646 -0.06073266 0.00062050
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+
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_73.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c1d17aa398c30e7b4cf94e21f3ae38a4005cce9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_73.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.03610737 0.08825912 0.00245440
+v 0.03610737 0.08815104 0.00109996
+v 0.03610737 0.08672695 0.00421844
+v 0.04173615 0.08508401 0.00405941
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_74.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b232bb4e2838cff1fdc3a182d786565fc111453f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_74.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_8.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c062b2931356d30a82b139b15cfd53d9ecc9f07
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_8.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_9.obj b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00f91fbb96af869d0e244a61fc95a9776d158f96
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/mesh/plate_036_collision_9.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.00008942 -0.07330186 -0.00539927
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diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/plate_036.xml b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/plate_036.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3cf55d33f704f226f5d72a000072d288eaedb8af
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/mjcf/plate_036.xml
@@ -0,0 +1,164 @@
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+      <geom type="mesh" mesh="collision_mesh_0_61" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_62" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_63" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_64" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_65" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_66" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_67" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_68" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_69" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_70" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_71" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_72" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_73" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_74" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/plate_036.urdf b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/plate_036.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..82def318d1dad4e09914dec465c4b820592b968d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/plate_036.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="plate_036">
+   <link name="plate_036">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/plate_036.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/plate_036_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1400" />
+         <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>f63a980a7e3a5caeb25c91bddaa1fff9</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>plate</category>
+         <name>black plate</name>
+         <color>black</color>
+         <shape>disk</shape>
+         <material>plastic</material>
+         <description>shallow round black plate with slightly raised rim</description>
+         <min_height>0.0300</min_height>
+         <max_height>0.0300</max_height>
+         <real_height>0.0300</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611154353</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.094949 -0.094956 -0.013850</min>
+            <max>0.095051 0.094927 0.016128</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/plate_036.usd b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/plate_036.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/plate_036.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69163f8007c9ad5faa2acb7f62e67c439ea6d5937c4c3e9dc8ff6dd45194dc8a
+size 4953531
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/textures/material_0.png b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..59e644b30ed10f790bb358399c6658b228d8fee3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65e8a74712a2393dc67519a29c689abeac535eefc5bb7d281f9d3ddeded76bae
+size 11149083
diff --git a/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/video.mp4 b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2f439741293a96834c46376fb9f7c9d2cf023a4bb80f8bf0fe8e00c01148977
+size 176679