diff --git a/.gitattributes b/.gitattributes
index 36a4b17110299e5251bcf09c44713c51a8050d8c..4fa339af57e0e08c7289f014bfa2f6ff1707bac9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4314,3 +4314,6 @@ dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/plate_023.us
 dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/b17fb14e7ba958409554d7fa1ce390ae.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mesh/metal_tray.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/b17fb14e7ba958409554d7fa1ce390ae/mesh/metal_tray_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/ae0d2ae4ea975974b6d39bdcea8ea8fb.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mesh/fruit_plate.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mesh/fruit_plate_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/ae0d2ae4ea975974b6d39bdcea8ea8fb.urdf b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/ae0d2ae4ea975974b6d39bdcea8ea8fb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..84c0a38c8d233c93cf353330b08ab69b510c5a71
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/ae0d2ae4ea975974b6d39bdcea8ea8fb.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="fruit_plate">
+   <link name="fruit_plate">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/fruit_plate.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/fruit_plate_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.210706</scale>
+         <version>v0.1.7</version>
+         <category>fruit plate</category>
+         <description>flat circular plate with slightly raised edges</description>
+         <min_height>0.02</min_height>
+         <max_height>0.04</max_height>
+         <real_height>0.03</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.6</max_mass>
+         <generate_time>20260117163231</generate_time>
+         <gs_model>mesh/fruit_plate_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.345387935638428</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/ae0d2ae4ea975974b6d39bdcea8ea8fb.usd b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/ae0d2ae4ea975974b6d39bdcea8ea8fb.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5b6ad439024551a2577e5e4993020a86c35ba5ac
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/ae0d2ae4ea975974b6d39bdcea8ea8fb.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d081ff66add534634e9e268fea9c97bfdc3d39aab7dfa452a6e59549781d454
+size 477203
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mesh/fruit_plate.glb b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mesh/fruit_plate.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cca9353265b4db8a86cef152220bf6598ae10c0e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mesh/fruit_plate.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2e31078e6f6bc0785668484ea911e05049783741afd68ee8339574bafbfc8ae
+size 1166820
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mesh/fruit_plate.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mesh/fruit_plate.obj
new file mode 100644
index 0000000000000000000000000000000000000000..444c27c6a10c58b344733d9149c507b6559e163c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mesh/fruit_plate.obj
@@ -0,0 +1,29292 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mesh/fruit_plate_collision.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mesh/fruit_plate_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5154d8501dfa4b5e980b4df8f73c590a207f400d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mesh/fruit_plate_collision.obj
@@ -0,0 +1,15486 @@
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mesh/fruit_plate_gs.ply b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mesh/fruit_plate_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4156df99f50bca589eaa909a150edb04f397a3e3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mesh/fruit_plate_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15852b5e8899d3c37f3b762bbd175d4d373c9e6ad99cde3239c60bc842750eb2
+size 2077289
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mesh/material.mtl b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mesh/material_0.png b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:7e2eca0124be5f7dc3b8e9f80dd13dc304c6e105c7c73ce958d628392afdcaf8
+size 845753
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/ae0d2ae4ea975974b6d39bdcea8ea8fb.xml b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/ae0d2ae4ea975974b6d39bdcea8ea8fb.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+  </asset>
+  <worldbody>
+    <body name="fruit_plate">
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+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_62" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9b89768975f9c8293464eebbe40aab4e86e91df
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate.obj
@@ -0,0 +1,29292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..113905c4757129a6f1d4156c7cc6a7f042de99fd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision.obj
@@ -0,0 +1,15486 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_0.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1bd581694cb74ba3a93c111a903b9261e7a4d92
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_1.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef828072fac64d08ca2fa8269dc71442b2949389
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_10.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..676c4b3352a7f4357a5c7b24659e6724ba721597
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_10.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_11.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..218177019ba6f83ddcc2b9fe78cdfb9d10229fa3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_11.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_12.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec9ca8ed443e345ab58857db2d661ca808eac772
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_12.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_13.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8823428f1649fbbad865d8715ce0b187ce6ae4b7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_13.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_14.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..787a989d9bd72dc5b62d7acff052264ea4ec32c6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_14.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_15.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57d2ddba19cff7b6cc057c43cf00ecd41f8d469e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_15.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.08275635 -0.00172556 0.01555320
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+v 0.08275635 -0.00172553 0.00793065
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+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_16.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26271114b68a2f50c05ef745ab1d1c8f98fc38c7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_16.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v 0.10586615 0.00172059 0.00552706
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+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_17.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37ff46de3528dd326b8f3d1431878d6fbcdd143b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_17.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v 0.05879670 -0.02553884 -0.00616253
+v 0.05786514 -0.02674614 -0.00616254
+v 0.06688275 -0.02553887 0.00272352
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_18.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b164e241ce5f712d53eeb575ed08f6661ee7d8b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_18.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_19.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c06ef9fe70ba5510d333e041f697ccec09429e1a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_19.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_2.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..130427b1e1963ba55848798eed82e42d21339b9c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_2.obj
@@ -0,0 +1,532 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_20.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87eb6c61ec35470047156b6d9a703b8c5b84eb29
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_20.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_21.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39a801549163e39dfb14570de71c95b02f467141
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_21.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_22.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2321361ac24d9089a394da2e6e4df3a91d4b2d34
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_22.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_23.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45473926a85dc0490a23233a219f7f622e7ad316
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_23.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_24.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b117397678dc403e3bfe936dc57eb9d1da0ca12
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_24.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_25.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dfd1b7e1e4e8ac1f8440a48e2194dc6454c6dcd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_25.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_26.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4835a9f72f63d87847aa61511d5c03a2cf13cf8c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_26.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_27.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03b3634f5a63f0eb16eb043d877264b48a6819d0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_27.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_28.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad7e5406f0debfc55ae3ce6c281b7dd75726e3df
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_28.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_29.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b805e70d628869ee1633afb119faa09ca7f6198
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_29.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_3.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60673b819186450768bd5e6853c0656ce44d7d9c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_3.obj
@@ -0,0 +1,553 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_30.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42e98f80c617446daa580de1dc48e78e0eaafc81
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_30.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_31.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..431a60e7109f31d0ce28addf4608eea75d9ee997
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_31.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.00002823 -0.08273657 0.00793944
+v -0.00002823 -0.09088290 0.00418421
+v -0.00002823 -0.08273660 0.01544353
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+v 0.02428671 -0.08705211 0.00392924
+v -0.00002823 -0.09262497 0.00347734
+v -0.00002823 -0.08531008 0.01562402
+v 0.01475975 -0.08273660 0.01556470
+v 0.02045402 -0.08273657 0.00792934
+v 0.02428671 -0.08273657 0.00800129
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+v -0.00002823 -0.09575121 0.00294592
+v 0.02428671 -0.08874890 0.00344579
+v -0.00002823 -0.08879197 0.01448923
+v 0.00173576 -0.08879197 0.01449302
+v 0.00173576 -0.08531008 0.01562528
+v 0.01824249 -0.08273660 0.01556092
+v 0.02428671 -0.08273660 0.01527944
+v -0.00002823 -0.09746837 0.00287901
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+v 0.02263461 -0.09227157 0.00294845
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+v 0.00522089 -0.10510955 0.00762379
+v 0.00870363 -0.10504612 0.00759349
+v 0.00522089 -0.08879197 0.01441350
+v 0.00870363 -0.08531008 0.01550789
+v 0.00522089 -0.08531008 0.01558236
+v 0.02172762 -0.08273660 0.01545741
+v 0.02428671 -0.08365635 0.01501940
+v 0.01566674 -0.08531008 0.01521505
+v 0.01914948 -0.08531007 0.01497270
+v -0.00002823 -0.09923311 0.00281085
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+v 0.02428671 -0.08540748 0.01440216
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+v 0.01218399 -0.10271275 0.00294968
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+v 0.01218399 -0.10487620 0.00353156
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+v 0.01566674 -0.10490565 0.00552466
+v 0.01801158 -0.10456131 0.00552467
+v 0.02428671 -0.10285774 0.00552467
+v 0.01566674 -0.10271275 0.00311756
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+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_32.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61bd787040f016054314886913ba99568d44a73b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_32.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.04687325 -0.09500127 0.00552408
+v 0.04687325 -0.09449686 0.00359261
+v 0.04687325 -0.09456363 0.00736460
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+v 0.04185012 -0.09751590 0.00652960
+v 0.04173737 -0.09744420 0.00440106
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+v 0.04687325 -0.09226905 0.00301785
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+v 0.04005046 -0.09782004 0.00738228
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+v 0.03184809 -0.10112836 0.00552533
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+v 0.02960184 -0.10135831 0.00358375
+v 0.03656611 -0.09834422 0.00338922
+v 0.03656611 -0.09575046 0.00282836
+v 0.04353260 -0.09226905 0.00280436
+v 0.04687325 -0.08879010 0.00279932
+v 0.04687325 -0.07759918 0.01355069
+v 0.04655709 -0.07759918 0.01368080
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+v 0.04005046 -0.07834837 0.01479876
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+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_33.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7296aa7b5cb1375ee870d403d59f4865e790ec7d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_33.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.04023397 0.06596201 0.00272385
+v 0.04023397 0.05902637 0.00272383
+v 0.04023397 0.06596197 0.01274300
+v 0.04394490 0.06596201 0.00272385
+v 0.04023397 0.06530113 0.01179375
+v 0.05186294 0.04941658 0.00272379
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+v 0.06137106 0.04941654 0.01416935
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+v 0.05746627 0.06438273 0.01543465
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+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_34.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52464f1ef79528c94d8dff4e962a994ba6e28870
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_34.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.07488363 0.03797614 0.01571218
+v 0.07488363 0.03653408 0.01570073
+v 0.07733479 0.03305181 0.01561935
+v 0.07733479 0.03653408 0.01552655
+v 0.07733479 0.03754979 0.01539052
+v 0.07733479 0.03797614 0.01533331
+v 0.07139961 0.03797614 0.01512608
+v 0.07488363 0.03305181 0.01541974
+v 0.07733479 0.02957206 0.01549347
+v 0.07733479 0.03797617 0.00828223
+v 0.06864535 0.03797615 0.01400344
+v 0.07139961 0.03653409 0.01487560
+v 0.07488363 0.02957207 0.01495187
+v 0.07733479 0.02516688 0.01503957
+v 0.07733479 0.02612867 0.01516926
+v 0.07733479 0.02516692 0.00598352
+v 0.07633654 0.02516692 0.00438158
+v 0.07525262 0.02516693 0.00272370
+v 0.07487210 0.02630553 0.00272371
+v 0.07462830 0.02696762 0.00272371
+v 0.07364981 0.02957211 0.00272372
+v 0.07233198 0.03269448 0.00272373
+v 0.07213266 0.03311832 0.00272373
+v 0.07054962 0.03635857 0.00272374
+v 0.07025805 0.03691659 0.00272375
+v 0.06966008 0.03797619 0.00272375
+v 0.06775582 0.03797615 0.01319358
+v 0.06958431 0.03464562 0.01357117
+v 0.07300243 0.02747168 0.01363089
+v 0.07506813 0.02516689 0.01420682
+v 0.06685475 0.02516693 0.00272370
+v 0.06050776 0.03797619 0.00272375
+v 0.06705902 0.03797615 0.01226674
+v 0.07354768 0.02516689 0.01296468
+v 0.07358557 0.02516689 0.01300155
+v 0.07257413 0.02516690 0.01152420
+f 1 2 3
+f 1 3 4
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+f 1 32 33
+f 1 33 27
+f 1 27 11
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+f 14 31 18
+f 14 18 17
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+f 18 20 19
+f 27 33 28
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+f 29 35 30
+f 31 36 32
+f 32 36 34
+f 32 34 33
+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_35.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..872bace81a1c3e4663e7fd4d17594e931de995f2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_35.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.07488439 0.04001641 0.01572664
+v 0.07836853 0.03797739 0.01525942
+v 0.07488439 0.04349764 0.01541811
+v 0.07286045 0.04349764 0.01562086
+v 0.07488439 0.03797739 0.01571151
+v 0.07836853 0.04001641 0.01498741
+v 0.08158602 0.03797740 0.01411343
+v 0.07488439 0.04697777 0.01479853
+v 0.07286045 0.04697776 0.01529723
+v 0.07286045 0.04001641 0.01558307
+v 0.07286045 0.03797739 0.01523171
+v 0.07849296 0.04348086 0.01421797
+v 0.09450930 0.04697779 0.00744155
+v 0.09821183 0.03797742 0.00754730
+v 0.09787408 0.04001644 0.00739368
+v 0.07482345 0.04941653 0.01420414
+v 0.07286045 0.04941653 0.01479351
+v 0.09331322 0.04941655 0.00736096
+v 0.07286045 0.03797742 0.00730677
+v 0.09755157 0.04182032 0.00715063
+v 0.09410299 0.04883877 0.00718466
+v 0.09869179 0.03797743 0.00630057
+v 0.07286045 0.04941655 0.00752342
+v 0.09373223 0.04941656 0.00571250
+v 0.07589256 0.04941656 0.00452496
+v 0.07658075 0.04941657 0.00392048
+v 0.08303604 0.03797744 0.00367236
+v 0.09880098 0.03797743 0.00550719
+v 0.09755157 0.04182033 0.00650711
+v 0.09410299 0.04883878 0.00608275
+v 0.09365605 0.04941656 0.00456022
+v 0.07833806 0.04941657 0.00344194
+v 0.08422197 0.03797744 0.00339530
+v 0.09812549 0.03797744 0.00353005
+v 0.09791217 0.03937374 0.00362450
+v 0.09747285 0.04169380 0.00437885
+v 0.09803661 0.04032662 0.00547572
+v 0.09403697 0.04871339 0.00395449
+v 0.09206635 0.04941657 0.00337394
+v 0.07901101 0.04941657 0.00331853
+v 0.08533425 0.03797744 0.00318752
+v 0.09749062 0.03797744 0.00339153
+v 0.09524575 0.04349769 0.00341170
+v 0.09453724 0.04639331 0.00358927
+v 0.09008811 0.04941657 0.00301503
+v 0.08185266 0.04941657 0.00297347
+v 0.08185266 0.04697781 0.00306161
+v 0.08533425 0.04001646 0.00304522
+v 0.08737090 0.03797744 0.00298602
+v 0.09590347 0.03797744 0.00306158
+v 0.09229998 0.04349769 0.00287900
+v 0.08881585 0.04941657 0.00287146
+v 0.08289638 0.04941657 0.00292436
+v 0.08533425 0.04349769 0.00294071
+v 0.08881585 0.03797744 0.00292809
+v 0.09433916 0.03797744 0.00289157
+v 0.09229998 0.04001646 0.00287899
+v 0.08881585 0.04697781 0.00286138
+v 0.08637543 0.04941657 0.00286643
+v 0.08533425 0.04941657 0.00287650
+v 0.08533425 0.04697781 0.00289538
+v 0.08881585 0.04001646 0.00290544
+v 0.09085503 0.03797744 0.00289409
+v 0.09229998 0.03797744 0.00288276
+v 0.08881585 0.04349769 0.00287648
+f 1 2 3
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+f 1 5 2
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+f 2 19 27
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+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_36.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da8591c89c17766e2a2d897e4a7b9bda251344d1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_36.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.07141421 -0.04451271 0.01576024
+v -0.07141421 -0.04701601 0.01566951
+v -0.06887929 -0.05049611 0.01560020
+v -0.06887929 -0.04701601 0.01567707
+v -0.06887929 -0.04451271 0.01530414
+v -0.07489875 -0.04451271 0.01522728
+v -0.07141421 -0.05049611 0.01515291
+v -0.06887929 -0.05399022 0.01507856
+v -0.06887929 -0.04451268 0.00727443
+v -0.07489875 -0.04701600 0.01477242
+v -0.07811728 -0.04451270 0.01407820
+v -0.07153391 -0.05402756 0.01424069
+v -0.06887929 -0.05643400 0.01444731
+v -0.06887929 -0.05643397 0.00631429
+v -0.06940329 -0.05643397 0.00570070
+v -0.07042738 -0.05643397 0.00466879
+v -0.07206324 -0.05643396 0.00361295
+v -0.07955898 -0.04451266 0.00368734
+v -0.09108985 -0.05321411 0.00746842
+v -0.08838468 -0.05643398 0.00764481
+v -0.09533247 -0.04451268 0.00752138
+v -0.09449990 -0.04701598 0.00743192
+v -0.07054175 -0.05643400 0.01389041
+v -0.07255799 -0.05643396 0.00350081
+v -0.08056710 -0.04451266 0.00348070
+v -0.09411155 -0.04886690 0.00717739
+v -0.08956570 -0.05643397 0.00552556
+v -0.08912681 -0.05643397 0.00657385
+v -0.09592563 -0.04451267 0.00634458
+v -0.07487747 -0.05643396 0.00317700
+v -0.08165235 -0.04451266 0.00330431
+v -0.09605065 -0.04451267 0.00563271
+v -0.09411155 -0.04886689 0.00626393
+v -0.09131860 -0.05362607 0.00552557
+v -0.09023335 -0.05536613 0.00552557
+v -0.09401845 -0.04872101 0.00413586
+v -0.09104729 -0.05311140 0.00359028
+v -0.08827562 -0.05643396 0.00344537
+v -0.07592283 -0.05643396 0.00304723
+v -0.08186515 -0.04701596 0.00305861
+v -0.08436816 -0.04451266 0.00300696
+v -0.09496539 -0.04451266 0.00347314
+v -0.09454246 -0.04639976 0.00358905
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+v -0.09177346 -0.05049606 0.00341263
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+v -0.07838062 -0.05643396 0.00296155
+v -0.07838062 -0.05397734 0.00300566
+v -0.08534436 -0.04451266 0.00297672
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+v -0.09239588 -0.04451266 0.00300318
+v -0.08882889 -0.05049606 0.00289353
+v -0.08534436 -0.05643396 0.00295651
+v -0.07940736 -0.05643396 0.00293887
+v -0.08785004 -0.04451266 0.00293010
+v -0.09133457 -0.04451266 0.00289860
+v -0.08534436 -0.05397734 0.00288848
+v -0.08288657 -0.05643396 0.00289477
+v -0.08186515 -0.05643396 0.00290611
+v -0.08882889 -0.04451266 0.00291624
+v -0.08882889 -0.04701596 0.00290111
+f 1 2 3
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+f 1 5 9
+f 1 9 18
+f 1 18 25
+f 1 25 31
+f 1 31 41
+f 1 41 49
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+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_37.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f3c7b92be9c769d23e5478b21d0f88d5d2a6e54
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_37.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.07836755 0.02957206 0.01572120
+v 0.07836755 0.03305181 0.01570356
+v 0.07733892 0.03305181 0.01561909
+v 0.07733892 0.02957206 0.01549300
+v 0.07836755 0.02609105 0.01554216
+v 0.08185099 0.02516688 0.01563419
+v 0.07836755 0.03653408 0.01545268
+v 0.07733892 0.03653408 0.01552580
+v 0.08185099 0.02609105 0.01559764
+v 0.07836755 0.02516688 0.01548037
+v 0.07733892 0.02612867 0.01516898
+v 0.08555805 0.02516689 0.01452094
+v 0.07836755 0.03797614 0.01525979
+v 0.07733892 0.03754979 0.01539091
+v 0.08185099 0.02957206 0.01533036
+v 0.08185099 0.03305182 0.01491054
+v 0.07733892 0.02516688 0.01503911
+v 0.08566240 0.02638073 0.01432931
+v 0.10188450 0.02516691 0.00764980
+v 0.10178263 0.02609108 0.00764098
+v 0.10141987 0.02957209 0.00746953
+v 0.07733892 0.03797614 0.01533292
+v 0.08201995 0.03653409 0.01422344
+v 0.08158762 0.03797615 0.01411376
+v 0.08496174 0.02957207 0.01418812
+v 0.09821223 0.03797617 0.00754647
+v 0.07733892 0.02516692 0.00598307
+v 0.10217520 0.02516691 0.00707993
+v 0.10271933 0.02516692 0.00552542
+v 0.10114657 0.03177907 0.00725899
+v 0.07733892 0.03797617 0.00828149
+v 0.09869176 0.03797618 0.00630084
+v 0.08303616 0.03797619 0.00367215
+v 0.08422380 0.03797619 0.00339478
+v 0.08872843 0.02516693 0.00347164
+v 0.10252056 0.02609109 0.00552543
+v 0.10184226 0.02516693 0.00339221
+v 0.10174536 0.02609110 0.00340231
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+v 0.09433870 0.03797619 0.00289174
+v 0.09085526 0.03797619 0.00289426
+v 0.09578227 0.02516693 0.00286017
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_38.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..442eb666aca5156fd35d5e2cfc8d448f4e43f846
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_38.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_39.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ea29dc104089f7198c5f599e8221fc0857c0738
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_39.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_4.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cec86612e7434c67a46c2574a69a659d8a9d1c17
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_4.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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+f 92 100 93
+f 93 100 101
+f 94 102 95
+f 95 102 103
+f 95 103 104
+f 95 104 105
+f 95 105 106
+f 95 106 107
+f 95 107 96
+f 98 108 99
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+f 100 112 113
+f 100 113 101
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+f 102 104 103
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+f 110 112 111
+f 110 113 112
+f 113 115 116
+f 113 116 114
+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_40.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2417c25f518ac998c137ffe9287ec2f3b4c45056
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_40.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.06808117 -0.02234897 0.00272353
+v 0.05805186 -0.04177650 0.00272346
+v 0.07381133 -0.02234900 0.01191857
+v 0.07615780 -0.02234897 0.00272353
+v 0.06735246 -0.04177650 0.00272346
+v 0.06450870 -0.04177653 0.01192621
+v 0.06593565 -0.04137905 0.01370846
+v 0.07570109 -0.02234901 0.01420674
+v 0.07878438 -0.02234898 0.00677084
+v 0.07878438 -0.04177651 0.00603886
+v 0.07610908 -0.02252394 0.00272353
+v 0.06866372 -0.03963120 0.00272346
+v 0.06581184 -0.04177654 0.01377780
+v 0.07589595 -0.02234901 0.01430818
+v 0.06661159 -0.04177654 0.01421180
+v 0.07878438 -0.02234902 0.01554086
+v 0.06956293 -0.03812492 0.00272347
+v 0.07023074 -0.03688110 0.00272347
+v 0.07049664 -0.03637901 0.00272348
+v 0.07207990 -0.03308308 0.00272349
+v 0.07213674 -0.03296137 0.00272349
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+v 0.07306233 -0.03084079 0.00272350
+v 0.07357181 -0.02961028 0.00272350
+v 0.07366316 -0.02938016 0.00272350
+v 0.07485263 -0.02633147 0.00272351
+v 0.07510026 -0.02563349 0.00272352
+v 0.07596497 -0.02302794 0.00272353
+v 0.07878438 -0.04177654 0.01443394
+v 0.07836623 -0.02234902 0.01547152
+v 0.06789036 -0.04177654 0.01477165
+v 0.07878438 -0.02570961 0.01573217
+v 0.07866462 -0.02234902 0.01552930
+v 0.07836623 -0.02612802 0.01571675
+v 0.07878438 -0.04153120 0.01448531
+v 0.07842916 -0.04177654 0.01457647
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+v 0.07139991 -0.04005156 0.01563067
+v 0.07836623 -0.02961033 0.01584130
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+v 0.07139991 -0.04177655 0.01572697
+v 0.07488307 -0.03657115 0.01582458
+v 0.07878438 -0.04005155 0.01479219
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+v 0.07663887 -0.04177655 0.01517741
+v 0.07836623 -0.03308884 0.01576938
+v 0.07315570 -0.04177655 0.01579503
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+v 0.07878438 -0.03267043 0.01571930
+v 0.07878438 -0.03964455 0.01487180
+v 0.07878438 -0.03615274 0.01539828
+v 0.07836623 -0.03657115 0.01546633
+v 0.07488307 -0.04177655 0.01558573
+f 1 2 3
+f 1 3 8
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+f 1 14 30
+f 1 30 33
+f 1 33 16
+f 1 16 9
+f 1 9 4
+f 1 4 11
+f 1 11 28
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+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 17
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+f 48 54 49
+f 49 54 53
+f 50 53 52
+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_41.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4459c1e5cc8645dfee89765b34b82eb128328cf9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_41.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.07838225 -0.03098813 0.01571948
+v -0.07838225 -0.03309156 0.01570064
+v -0.07623257 -0.03657170 0.01561152
+v -0.07623257 -0.03309156 0.01556760
+v -0.07623257 -0.03098813 0.01528270
+v -0.08186409 -0.03098813 0.01509444
+v -0.07838225 -0.03657170 0.01541949
+v -0.07623257 -0.04005183 0.01542449
+v -0.07623257 -0.03098810 0.00742834
+v -0.08459490 -0.03098812 0.01402134
+v -0.08186409 -0.03309155 0.01482458
+v -0.07838225 -0.04005182 0.01492873
+v -0.07623257 -0.04350681 0.01495005
+v -0.07623257 -0.04451019 0.00720112
+v -0.07771986 -0.04451018 0.00549419
+v -0.07802519 -0.04451018 0.00516536
+v -0.07955928 -0.04451017 0.00368812
+v -0.08352375 -0.03461250 0.00386888
+v -0.08601078 -0.03098808 0.00357897
+v -0.10123337 -0.03098810 0.00731664
+v -0.09842622 -0.03657167 0.00765047
+v -0.09786972 -0.04005180 0.00737684
+v -0.07847828 -0.04346312 0.01418445
+v -0.09533098 -0.04451019 0.00752117
+v -0.07623257 -0.04451021 0.01472916
+v -0.08056886 -0.04451017 0.00348103
+v -0.08752516 -0.03098808 0.00328905
+v -0.10135156 -0.03098809 0.00663889
+v -0.10113980 -0.03173602 0.00724258
+v -0.09754469 -0.04180842 0.00712959
+v -0.07811631 -0.04451021 0.01407777
+v -0.09592442 -0.04451018 0.00634515
+v -0.08165232 -0.04451017 0.00330406
+v -0.08534839 -0.03657165 0.00325640
+v -0.08882777 -0.03098808 0.00309074
+v -0.10138850 -0.03098809 0.00552562
+v -0.10117181 -0.03183264 0.00552561
+v -0.09754469 -0.04180842 0.00700282
+v -0.09605001 -0.04451018 0.00563225
+v -0.08436835 -0.04451017 0.00300786
+v -0.08534839 -0.04005178 0.00305933
+v -0.08882777 -0.03309151 0.00302923
+v -0.09093066 -0.03098808 0.00299410
+v -0.10117919 -0.03098808 0.00378104
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+v -0.09802731 -0.04030198 0.00577409
+v -0.09739694 -0.04162838 0.00487419
+v -0.09496655 -0.04451017 0.00347350
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+v -0.08534839 -0.04353324 0.00298778
+v -0.09231207 -0.03098808 0.00296147
+v -0.10050942 -0.03098808 0.00356642
+v -0.09833019 -0.03657165 0.00344591
+v -0.09791405 -0.03930784 0.00362915
+v -0.09518570 -0.04353324 0.00341325
+v -0.09453316 -0.04451017 0.00338564
+v -0.08785266 -0.04451017 0.00293004
+v -0.09231207 -0.03309151 0.00294514
+v -0.09441497 -0.03098808 0.00292758
+v -0.09930284 -0.03098808 0.00326520
+v -0.09579391 -0.03657165 0.00293384
+v -0.09231207 -0.04353324 0.00289866
+v -0.09239580 -0.04451017 0.00300284
+v -0.08882777 -0.04451017 0.00291624
+v -0.08882777 -0.04353324 0.00292251
+v -0.09579391 -0.03098808 0.00291252
+v -0.09789927 -0.03098808 0.00303677
+v -0.09579391 -0.03309151 0.00291000
+v -0.09133450 -0.04451017 0.00289866
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+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_42.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac2b9cf44270ecffe148c9684fce47b87e4bad2d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_42.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.06380809 0.06596201 0.00351841
+v 0.06380809 0.04941657 0.00461796
+v 0.06380809 0.06596197 0.01282093
+v 0.06453456 0.06596201 0.00340492
+v 0.06380809 0.04941653 0.01499360
+v 0.06633902 0.06596201 0.00313254
+v 0.08184977 0.04941658 0.00297359
+v 0.06380809 0.06535295 0.01324337
+v 0.08143674 0.06596199 0.00762428
+v 0.06437052 0.04941653 0.01521932
+v 0.06380809 0.05046125 0.01529499
+v 0.06791792 0.06596201 0.00304049
+v 0.06982198 0.06596201 0.00294465
+v 0.08289261 0.04941658 0.00292315
+v 0.06380809 0.06379154 0.01394953
+v 0.08418444 0.06345304 0.00746664
+v 0.08254402 0.06596200 0.00598874
+v 0.06383738 0.06378183 0.01394448
+v 0.06477184 0.06123725 0.01443501
+v 0.06443496 0.05045962 0.01550053
+v 0.06791792 0.04941653 0.01571364
+v 0.06380809 0.05394040 0.01566322
+v 0.07140381 0.06596201 0.00291691
+v 0.08533273 0.04941658 0.00287650
+v 0.06380809 0.06115302 0.01469604
+v 0.08738033 0.05962241 0.00736197
+v 0.08271978 0.06596200 0.00552595
+v 0.06815227 0.05763661 0.01436942
+v 0.07149463 0.05396633 0.01422944
+v 0.06443496 0.05742280 0.01544633
+v 0.06791792 0.05394040 0.01534544
+v 0.06443496 0.05394040 0.01573888
+v 0.07140381 0.04941653 0.01529372
+v 0.06791792 0.05045962 0.01573508
+v 0.06380809 0.05742280 0.01548795
+v 0.07330494 0.06596201 0.00288664
+v 0.08533273 0.05045967 0.00286768
+v 0.08637557 0.04941658 0.00286641
+v 0.07482233 0.04941654 0.01420420
+v 0.09108005 0.05317268 0.00747166
+v 0.09331220 0.04941656 0.00736067
+v 0.09373109 0.04941657 0.00571252
+v 0.09129975 0.05357438 0.00552591
+v 0.08747113 0.05976171 0.00552593
+v 0.08618223 0.06150291 0.00552594
+v 0.08443929 0.06381749 0.00552594
+v 0.08304493 0.06555868 0.00552595
+v 0.07140381 0.05045962 0.01513988
+v 0.08413171 0.06339961 0.00359280
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+v 0.07488678 0.06596201 0.00287529
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+v 0.08533273 0.05394045 0.00285634
+v 0.08881569 0.04941658 0.00287145
+v 0.09365492 0.04941657 0.00455995
+v 0.08730123 0.05950095 0.00374664
+v 0.08530930 0.06075785 0.00340112
+v 0.08196401 0.06448968 0.00330026
+v 0.08059895 0.06596201 0.00329774
+v 0.07678791 0.06596201 0.00286521
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+v 0.08184977 0.06090200 0.00287023
+v 0.08881569 0.05045967 0.00287651
+v 0.09008995 0.04941658 0.00301521
+v 0.09206723 0.04941658 0.00337460
+v 0.09177723 0.05045967 0.00341370
+v 0.09102733 0.05306094 0.00360033
+v 0.08790760 0.05742285 0.00352217
+v 0.08533273 0.05742285 0.00298371
+v 0.08900024 0.05410890 0.00329896
+v 0.07847226 0.06596201 0.00304553
+f 1 2 5
+f 1 5 11
+f 1 11 22
+f 1 22 35
+f 1 35 25
+f 1 25 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 17
+f 1 17 27
+f 1 27 50
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+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_43.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c62e3bc19cbb660afbaafb104ba36525c32c262
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_43.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.04023167 0.09804836 0.00543116
+v 0.04023167 0.09799158 0.00521855
+v 0.04023167 0.09781879 0.00741061
+v 0.04193364 0.09751518 0.00718431
+v 0.04193364 0.09751519 0.00642710
+v 0.04034681 0.09800886 0.00542868
+v 0.04170335 0.09737448 0.00429970
+v 0.04023167 0.09622669 0.00335473
+v 0.04023167 0.07831352 0.01471657
+v 0.04702158 0.09450620 0.00749266
+v 0.04898263 0.09408904 0.00723528
+v 0.04896824 0.09408165 0.00552565
+v 0.04881711 0.09400267 0.00390057
+v 0.04702158 0.09437787 0.00364941
+v 0.04023167 0.09608106 0.00332240
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_44.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa411a317e47f175cc7497995a98f0d55b3bd4c6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_44.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_45.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b89996ec1f07153182f56808d116795c729c356e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_45.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+f 72 78 81
+f 72 81 73
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+f 75 79 78
+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_46.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..896f466c6aa4abc6bdf27accbd22a7951f372f77
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_46.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.07139900 0.04349764 0.01576757
+v 0.07139900 0.04001641 0.01548028
+v 0.07286045 0.04001641 0.01558242
+v 0.07286045 0.04349764 0.01562074
+v 0.07139900 0.04697776 0.01565650
+v 0.06791702 0.04941652 0.01571396
+v 0.06791702 0.04697776 0.01566416
+v 0.07139900 0.03797739 0.01512659
+v 0.07286045 0.03797739 0.01523257
+v 0.06436925 0.04941652 0.01521856
+v 0.07286045 0.04697776 0.01529772
+v 0.07139900 0.04941652 0.01529390
+v 0.06864260 0.03797740 0.01400429
+v 0.06137236 0.04941653 0.01417031
+v 0.07286045 0.03797742 0.00730619
+v 0.07286045 0.04941653 0.01479339
+v 0.06594992 0.04137129 0.01368510
+v 0.06775463 0.03797740 0.01319352
+v 0.05984513 0.04941653 0.01292798
+v 0.06206506 0.04779853 0.01389835
+v 0.07226641 0.03797743 0.00642137
+v 0.07286045 0.04941655 0.00752328
+v 0.05974236 0.04931576 0.01279136
+v 0.05959437 0.04941653 0.01270582
+v 0.05186370 0.04941657 0.00272379
+v 0.06705782 0.03797740 0.01226784
+v 0.07004033 0.03797744 0.00323830
+v 0.06966006 0.03797744 0.00272375
+v 0.06874332 0.03960328 0.00272376
+v 0.06718321 0.04213835 0.00272376
+v 0.06659739 0.04308228 0.00272377
+v 0.06582864 0.04429270 0.00272377
+v 0.06406504 0.04700132 0.00272378
+v 0.06356145 0.04776946 0.00272379
+v 0.06238366 0.04941657 0.00272379
+v 0.06050906 0.03797744 0.00272375
+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 8 9
+f 2 9 3
+f 2 7 10
+f 2 10 8
+f 3 9 15
+f 3 15 22
+f 3 22 16
+f 3 16 11
+f 3 11 4
+f 4 11 5
+f 5 11 12
+f 5 12 6
+f 6 12 16
+f 6 16 22
+f 6 22 35
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+f 6 14 10
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+f 8 36 28
+f 8 28 27
+f 8 27 21
+f 8 21 15
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+f 11 16 12
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+f 19 24 23
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+f 22 30 31
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+f 25 35 34
+f 25 34 33
+f 25 33 32
+f 25 32 31
+f 25 31 30
+f 25 30 29
+f 25 29 28
+f 25 28 36
+f 25 36 26
+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_47.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc05673ee7a4f5d0491ee6c91dd2a94a27824d48
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_47.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.00003061 0.10585741 0.00552547
+v -0.00003061 0.10514985 0.00771210
+v 0.00173549 0.10514985 0.00770962
+v 0.00173549 0.10585137 0.00552547
+v -0.00003061 0.10512568 0.00337858
+v -0.00003061 0.08875319 0.01452275
+v 0.00173549 0.08875319 0.01453144
+v 0.00521886 0.10513171 0.00770341
+v 0.00521886 0.10580299 0.00552547
+v 0.00521886 0.10508941 0.00339845
+v 0.00173549 0.10511963 0.00338479
+v -0.00003061 0.10392023 0.00310043
+v 0.00521886 0.10267647 0.00283471
+v -0.00003061 0.08698934 0.01501818
+v 0.00173549 0.08527187 0.01549871
+v 0.00521886 0.08527187 0.01548008
+v 0.00870223 0.08527187 0.01542296
+v 0.00521886 0.08875319 0.01446315
+v 0.00870223 0.10506721 0.00766740
+v 0.00870223 0.10565382 0.00552547
+v 0.00870223 0.10500473 0.00344066
+v 0.00870223 0.10267647 0.00287817
+v 0.00173549 0.10267647 0.00282105
+v -0.00003061 0.10267647 0.00281608
+v 0.02075567 0.09919516 0.00284710
+v -0.00003061 0.08527187 0.01549498
+v 0.00173143 0.08526582 0.01549871
+v 0.00521479 0.08526582 0.01548008
+v 0.00869816 0.08526582 0.01542296
+v 0.01218357 0.08527187 0.01531990
+v 0.01566694 0.08527187 0.01516593
+v 0.01218357 0.08850122 0.01423095
+v 0.00871648 0.08906161 0.01418004
+v 0.01218357 0.10491602 0.00756682
+v 0.01566694 0.10471445 0.00741284
+v 0.01819604 0.10454512 0.00725639
+v 0.01218357 0.10534742 0.00552547
+v 0.01789898 0.10451086 0.00383055
+v 0.01566694 0.10465802 0.00369148
+v 0.01218357 0.10484952 0.00353876
+v 0.01218357 0.10267647 0.00297874
+v -0.00003061 0.10096101 0.00283221
+v 0.01566694 0.10267647 0.00313271
+v 0.02075567 0.10114244 0.00315257
+v 0.02075567 0.09759258 0.00287939
+v 0.00521886 0.09919516 0.00285331
+v -0.00003061 0.08526582 0.01549498
+v 0.01217950 0.08526582 0.01531990
+v 0.01566287 0.08526582 0.01516717
+v 0.01915031 0.08527188 0.01494118
+v 0.01566694 0.08817465 0.01410677
+v 0.01836695 0.10458342 0.00552546
+v 0.01566694 0.10495634 0.00552547
+v 0.01915031 0.08780173 0.01394287
+v 0.02075567 0.08527188 0.01479963
+v 0.02075567 0.08761426 0.01384602
+v 0.02075567 0.10262202 0.00771458
+v 0.02075567 0.10391619 0.00552546
+v 0.02010864 0.10411575 0.00552546
+v 0.02075567 0.10358963 0.00497539
+v 0.02075567 0.10248699 0.00340092
+v -0.00003061 0.09919516 0.00285704
+v 0.02075567 0.09571384 0.00292656
+v -0.00003061 0.08526585 0.00875877
+v 0.01914624 0.08526583 0.01494118
+v 0.02075567 0.08526583 0.01479963
+v -0.00003061 0.09747969 0.00291912
+v 0.02075567 0.09411329 0.00298120
+v -0.00003061 0.09094441 0.00426882
+v 0.02075567 0.08879758 0.00397081
+v 0.02075567 0.08785820 0.00476300
+v 0.02075567 0.08526585 0.00756054
+v -0.00003061 0.09571384 0.00298616
+v 0.02075567 0.09223454 0.00307680
+v -0.00003061 0.09268408 0.00349525
+v 0.02075567 0.08959786 0.00355360
+v -0.00003061 0.09422012 0.00323699
+v 0.01915031 0.09223454 0.00311281
+v 0.02075567 0.09089403 0.00329905
+f 1 2 3
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+f 1 24 42
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+f 1 62 67
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+f 75 77 79
+f 75 79 76
+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_48.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..938db555584f1f0a47464c402ef707801685dd53
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_48.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.03323665 0.09571313 0.00284377
+v -0.04354605 0.09223258 0.00291129
+v -0.03658083 0.09571313 0.00290380
+v -0.03323665 0.09915367 0.00345403
+v -0.03323665 0.09223258 0.00289003
+v -0.04492354 0.08875203 0.00291628
+v -0.04492354 0.09223258 0.00299883
+v -0.04354605 0.09515304 0.00342275
+v -0.03658083 0.09824353 0.00343902
+v -0.03938042 0.09781846 0.00364160
+v -0.03323665 0.10038886 0.00530226
+v -0.03323665 0.08875203 0.00299256
+v -0.03658083 0.08875203 0.00295255
+v -0.04492354 0.08527148 0.00297879
+v -0.04492354 0.09484549 0.00351529
+v -0.04170178 0.09737338 0.00443316
+v -0.03323665 0.10041386 0.00552610
+v -0.03323665 0.08572655 0.00349774
+v -0.04492354 0.08175592 0.00334142
+v -0.04006344 0.08527148 0.00309633
+v -0.04354605 0.08527148 0.00299379
+v -0.04492354 0.09586564 0.00551608
+v -0.04188827 0.09749090 0.00656150
+v -0.04034946 0.09794847 0.00550858
+v -0.03323665 0.09924367 0.00770820
+v -0.04188827 0.09749089 0.00715923
+v -0.04006344 0.09780094 0.00740433
+v -0.03323665 0.07486982 0.00674524
+v -0.04492354 0.07974560 0.00376033
+v -0.04492354 0.09569061 0.00638142
+v -0.03658083 0.09835602 0.00768944
+v -0.03323665 0.08179589 0.01465463
+v -0.04492354 0.09516302 0.00756188
+v -0.04006344 0.07831033 0.01485845
+v -0.03639777 0.08189340 0.01409941
+v -0.03323665 0.07486978 0.01539615
+v -0.04492354 0.07486981 0.00804825
+v -0.03323665 0.08165336 0.01470340
+v -0.04492354 0.07697512 0.01441951
+v -0.04349228 0.07843286 0.01417068
+v -0.04492354 0.07486978 0.01511479
+v -0.04350487 0.07486978 0.01534488
+v -0.03658083 0.07831032 0.01529362
+v -0.03654078 0.07486978 0.01560873
+v -0.03323665 0.07817280 0.01555872
+v -0.03323665 0.07831032 0.01554622
+v -0.04002111 0.07486978 0.01561874
+f 1 2 3
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+f 1 17 25
+f 1 25 32
+f 1 32 38
+f 1 38 46
+f 1 46 45
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+f 1 18 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
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+f 2 6 7
+f 3 7 8
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+f 6 22 15
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+f 34 43 38
+f 36 45 44
+f 38 43 46
+f 42 47 43
+f 43 47 46
+f 44 45 47
+f 45 46 47
+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_49.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40babfead72db1e0b7a4cb18b37998ddb56227cf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_49.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.06444644 -0.05397739 0.01579283
+v -0.06444644 -0.05643401 0.01558299
+v -0.06096153 -0.05643401 0.01567895
+v -0.06792889 -0.04701601 0.01568027
+v -0.06792889 -0.05049611 0.01576725
+v -0.06792889 -0.05397739 0.01537701
+v -0.06808438 -0.05643400 0.01471681
+v -0.06096153 -0.05397739 0.01541284
+v -0.05748402 -0.05643401 0.01504435
+v -0.06792889 -0.04451271 0.01530668
+v -0.06887663 -0.04451271 0.01530412
+v -0.06887663 -0.04519192 0.01540519
+v -0.06887663 -0.04701601 0.01567643
+v -0.06887663 -0.05049611 0.01560092
+v -0.06887663 -0.05399022 0.01507890
+v -0.06887663 -0.05643400 0.01444813
+v -0.05457170 -0.05643400 0.01407582
+v -0.06494746 -0.04451270 0.01417694
+v -0.06887663 -0.04451268 0.00727440
+v -0.06887663 -0.05643397 0.00631349
+v -0.05270583 -0.05643400 0.01261726
+v -0.05521587 -0.05519693 0.01381482
+v -0.06407624 -0.04451270 0.01366389
+v -0.06797332 -0.04451267 0.00602823
+v -0.06585571 -0.04451266 0.00311368
+v -0.06556941 -0.04451266 0.00272345
+v -0.06394296 -0.04698444 0.00272344
+v -0.06353079 -0.04758897 0.00272344
+v -0.06170442 -0.05005959 0.00272343
+v -0.06120094 -0.05070496 0.00272342
+v -0.06099114 -0.05096988 0.00272342
+v -0.06044323 -0.05165844 0.00272342
+v -0.05890809 -0.05350119 0.00272341
+v -0.05802947 -0.05452702 0.00272341
+v -0.05692870 -0.05570572 0.00272341
+v -0.05620309 -0.05643396 0.00272340
+v -0.04366283 -0.05643396 0.00272340
+v -0.06320253 -0.04451270 0.01272478
+v -0.05600812 -0.04451266 0.00272345
+f 1 2 3
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+f 2 7 16
+f 2 16 20
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+f 26 33 32
+f 26 32 31
+f 26 31 30
+f 26 30 29
+f 26 29 28
+f 26 28 27
+f 37 39 38
+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_5.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91f0d3982f864cc248bcb5013908b46544632c47
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_5.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v 0.00173671 0.07949906 0.00272390
+v 0.00173671 0.07919148 0.00219917
+v 0.00000569 0.07948974 0.00272390
+v 0.00506755 0.07931886 0.00272390
+v 0.00516913 0.07924740 0.00261531
+v 0.00521992 0.07734286 -0.00044447
+v 0.00173671 0.07745160 -0.00059824
+v 0.00000569 0.07744539 -0.00059564
+v 0.00000569 0.07918526 0.00220525
+v 0.00000569 0.07170686 0.00272387
+v 0.00525378 0.07930643 0.00272390
+v 0.00814446 0.07899263 0.00272390
+v 0.00870312 0.07868815 0.00233209
+v 0.00870312 0.07713469 -0.00013433
+v 0.00870312 0.07609077 -0.00172937
+v 0.00521992 0.07628962 -0.00203952
+v 0.00173671 0.07638903 -0.00219329
+v 0.00000569 0.07638903 -0.00219068
+v 0.00000569 0.06341446 -0.00615140
+v 0.04324315 0.04775858 -0.00615145
+v 0.04324315 0.05696131 0.00272382
+v 0.00870312 0.07892739 0.00272390
+v 0.01218633 0.07808851 0.00233209
+v 0.01218633 0.07682710 0.00033741
+v 0.01074311 0.07313918 -0.00573001
+v 0.00870312 0.07454662 -0.00405157
+v 0.00870312 0.07314851 -0.00615136
+v 0.00521992 0.07349337 -0.00615136
+v 0.00145315 0.07367358 -0.00615136
+v 0.00173671 0.07367358 -0.00615136
+v 0.00000569 0.07366426 -0.00615136
+v 0.04324315 0.05984458 -0.00615141
+v 0.04324315 0.06640331 0.00272385
+v 0.01218633 0.07832775 0.00272390
+v 0.01552987 0.07765976 0.00272390
+v 0.01550024 0.07733041 0.00218092
+v 0.01422631 0.07662826 0.00064147
+v 0.01306242 0.07292791 -0.00540684
+v 0.01218633 0.07578938 -0.00125850
+v 0.01201704 0.07388796 -0.00422619
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+v 0.01117480 0.07278499 -0.00615136
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+v 0.04293843 0.06006829 -0.00615141
+v 0.04324315 0.06634427 0.00263784
+v 0.04315004 0.06646234 0.00272385
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+v 0.01412050 0.07223506 -0.00615136
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+v 0.04230781 0.06298258 -0.00291528
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+v 0.03935788 0.06676372 -0.00020560
+v 0.04198192 0.06717072 0.00272386
+v 0.01566954 0.07192437 -0.00615137
+v 0.01915274 0.07683020 0.00272389
+v 0.01915274 0.07605657 0.00151632
+v 0.01846287 0.07336909 -0.00289873
+v 0.01729052 0.07153601 -0.00615137
+v 0.04324315 0.06355736 -0.00127419
+v 0.04065720 0.06161864 -0.00615140
+v 0.03876535 0.06293910 -0.00603151
+v 0.03997580 0.06366300 -0.00400817
+v 0.04033131 0.06553648 -0.00110651
+v 0.03682271 0.06542465 -0.00419321
+v 0.03440182 0.06591244 -0.00535127
+v 0.03583235 0.06665499 -0.00322281
+v 0.03657301 0.06786979 -0.00086238
+v 0.03731366 0.06908460 0.00151281
+v 0.03963298 0.06857816 0.00272386
+v 0.03654761 0.06415080 -0.00615139
+v 0.04031862 0.06817115 0.00272386
+v 0.02242433 0.07590122 0.00272389
+v 0.02078642 0.07305529 -0.00240962
+v 0.01943631 0.07239972 -0.00399858
+v 0.01912312 0.07108860 -0.00615137
+v 0.03889232 0.06276200 -0.00615140
+v 0.03851141 0.06299813 -0.00615140
+v 0.03529061 0.06484365 -0.00615139
+v 0.03388124 0.06559864 -0.00615139
+v 0.03208674 0.06648412 -0.00615139
+v 0.03317868 0.06730124 -0.00419320
+v 0.03499011 0.06968735 0.00060931
+v 0.03680578 0.07014095 0.00272387
+v 0.03631906 0.07023417 0.00247888
+v 0.02285180 0.07576762 0.00272389
+v 0.02463361 0.06969048 -0.00577954
+v 0.02305495 0.06993593 -0.00615137
+v 0.02263172 0.07006642 -0.00615137
+v 0.03308133 0.06906908 -0.00165469
+v 0.02956427 0.06760262 -0.00615138
+v 0.03113870 0.06951648 -0.00232362
+v 0.03604397 0.07052933 0.00272387
+v 0.03634023 0.07038330 0.00272387
+v 0.03308133 0.07012854 -0.00005877
+v 0.03293744 0.07188395 0.00250842
+v 0.03305171 0.07197094 0.00272387
+v 0.02557318 0.07490390 0.00272389
+v 0.02592447 0.07036469 -0.00409850
+v 0.02695716 0.06929590 -0.00519401
+v 0.02502721 0.06930833 -0.00615138
+v 0.02811681 0.06818362 -0.00615138
+v 0.02881515 0.07000738 -0.00306554
+v 0.02982667 0.06888578 -0.00409851
+v 0.02959813 0.07346228 0.00272388
+v 0.03270889 0.07212940 0.00272387
+v 0.02627998 0.07467398 0.00272388
+v 0.02763433 0.07301178 0.00084736
+v 0.02641118 0.06883918 -0.00615138
+v 0.02853158 0.07385375 0.00272388
+f 1 2 3
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+f 1 33 46
+f 1 46 58
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+f 104 113 105
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+f 104 106 113
+f 107 112 109
+f 109 112 114
+f 111 114 112
+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_50.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7226876815329e3015b8d64c8868ec124fb5325
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_50.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.04023166 0.05902958 0.00272383
+v 0.02075757 0.06830853 0.00272386
+v 0.04023166 0.06822279 0.00272386
+v 0.04023166 0.06530385 0.01179407
+v 0.02075757 0.07423595 0.01192499
+v 0.02075757 0.07636963 0.00272389
+v 0.03963305 0.06858132 0.00272386
+v 0.04023166 0.07893389 0.00703688
+v 0.04023166 0.06629565 0.01321872
+v 0.02075757 0.07591363 0.01397892
+v 0.02075757 0.07686651 0.00345761
+v 0.02242760 0.07590003 0.00272389
+v 0.03680773 0.07014210 0.00272387
+v 0.02960337 0.07346241 0.00272388
+v 0.02853386 0.07385601 0.00272388
+v 0.02628047 0.07467440 0.00272388
+v 0.02557701 0.07490433 0.00272389
+v 0.02285273 0.07576948 0.00272389
+v 0.02075757 0.07893390 0.00673987
+v 0.04023166 0.07893387 0.01446975
+v 0.03634066 0.07038372 0.00272387
+v 0.03604516 0.07052986 0.00272387
+v 0.03305208 0.07196983 0.00272387
+v 0.03271274 0.07212961 0.00272387
+v 0.04023166 0.06775121 0.01419284
+v 0.02075757 0.07830837 0.01506629
+v 0.02075757 0.07893386 0.01512167
+v 0.04005055 0.07893387 0.01450625
+v 0.04023166 0.07831228 0.01471642
+v 0.04023166 0.06784863 0.01423563
+v 0.02263540 0.07830837 0.01521732
+v 0.04005055 0.07134625 0.01540481
+v 0.02263540 0.07893386 0.01527269
+v 0.04005055 0.07830838 0.01475292
+v 0.03651986 0.07893386 0.01502099
+v 0.04023166 0.07482634 0.01555333
+v 0.04023166 0.07134625 0.01541739
+v 0.02611843 0.07830837 0.01542875
+v 0.02611843 0.07893386 0.01541617
+v 0.03656752 0.07830837 0.01522990
+v 0.03308449 0.07893386 0.01534191
+v 0.04005055 0.07482634 0.01556843
+v 0.03656752 0.07482634 0.01558101
+v 0.02960337 0.07830837 0.01556090
+v 0.02960337 0.07893386 0.01547280
+v 0.03308449 0.07830837 0.01550049
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+f 1 16 15
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+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_51.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da5cb6d2e35d943ba1c3eec76ea5a8dc5b940b71
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_51.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.07141198 -0.04353329 0.01579562
+v -0.07141198 -0.04005183 0.01552820
+v -0.07489626 -0.03309156 0.01548472
+v -0.07489626 -0.03657170 0.01573039
+v -0.07489626 -0.04005183 0.01573421
+v -0.07141198 -0.04451022 0.01575979
+v -0.06792968 -0.04451022 0.01530682
+v -0.07489626 -0.03098813 0.01519939
+v -0.07623257 -0.03309156 0.01556789
+v -0.07623257 -0.03657170 0.01561139
+v -0.07623257 -0.04005183 0.01542455
+v -0.07489626 -0.04353329 0.01540535
+v -0.07489626 -0.04451022 0.01522749
+v -0.06495022 -0.04451021 0.01417695
+v -0.06792968 -0.04353329 0.01516095
+v -0.07215833 -0.03098812 0.01401322
+v -0.07623257 -0.03098813 0.01528256
+v -0.07623257 -0.04350681 0.01494982
+v -0.07623257 -0.04393835 0.01485513
+v -0.07623257 -0.04451021 0.01472845
+v -0.06407915 -0.04451021 0.01366384
+v -0.06957679 -0.03464696 0.01359094
+v -0.07140406 -0.03098812 0.01326978
+v -0.07623257 -0.03098810 0.00742851
+v -0.07623257 -0.04451019 0.00720069
+v -0.06320412 -0.04451021 0.01272463
+v -0.07057456 -0.03098811 0.01214375
+v -0.07294031 -0.03098808 0.00272350
+v -0.07219198 -0.03271027 0.00272349
+v -0.07203955 -0.03304121 0.00272349
+v -0.07042213 -0.03634529 0.00272348
+v -0.07020238 -0.03675697 0.00272347
+v -0.06857110 -0.03963348 0.00272346
+v -0.06819100 -0.04026491 0.00272346
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+v -0.06644094 -0.04313347 0.00272345
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+v -0.06557185 -0.04451017 0.00272345
+v -0.05600789 -0.04451017 0.00272345
+v -0.06435235 -0.03098808 0.00272350
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+f 1 3 4
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+f 1 5 6
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+f 2 7 3
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+f 28 36 35
+f 28 35 34
+f 28 34 33
+f 28 33 32
+f 28 32 31
+f 28 31 30
+f 28 30 29
+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_52.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dafdb9a2bdeef8f551c51f7b57e7acbf797fc0d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_52.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.06227509 0.05251532 0.01532806
+v -0.05894657 0.05251533 0.01427084
+v -0.05557015 0.05933088 0.01525457
+v -0.06227509 0.05262999 0.01535848
+v -0.06227509 0.05251536 0.00563306
+v -0.05826985 0.05251533 0.01397041
+v -0.05557015 0.05596276 0.01422649
+v -0.05557015 0.06090188 0.01544725
+v -0.05557015 0.06281152 0.01566783
+v -0.06227509 0.05611171 0.01567415
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+v -0.06171388 0.05251536 0.00494473
+v -0.05557015 0.05460286 0.01346969
+v -0.05557015 0.05505830 0.01383731
+v -0.05662102 0.05251533 0.01245303
+v -0.05640179 0.05289790 0.01261529
+v -0.05557015 0.06346093 0.01562853
+v -0.06096298 0.06090188 0.01544725
+v -0.06227509 0.05959128 0.01544345
+v -0.05557015 0.06346096 0.00776529
+v -0.05557015 0.05726269 0.00272382
+v -0.05647530 0.05642896 0.00272382
+v -0.05813923 0.05461041 0.00272381
+v -0.05968172 0.05277578 0.00272380
+v -0.05988848 0.05251537 0.00272380
+v -0.06009918 0.05251537 0.00297860
+v -0.06227509 0.06346094 0.01450159
+v -0.05557015 0.05341766 0.01220204
+v -0.05591213 0.05251534 0.01161764
+v -0.05557015 0.05287327 0.01160624
+v -0.05840309 0.06346093 0.01543585
+v -0.06119337 0.06346094 0.01476780
+v -0.06227509 0.06278689 0.01466639
+v -0.05557015 0.05251537 0.00272380
+v -0.05557015 0.05251534 0.01107762
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 19
+f 1 19 33
+f 1 33 27
+f 1 27 11
+f 1 11 5
+f 1 5 12
+f 1 12 26
+f 1 26 25
+f 1 25 34
+f 1 34 35
+f 1 35 29
+f 1 29 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 14
+f 3 14 13
+f 3 13 28
+f 3 28 30
+f 3 30 35
+f 3 35 34
+f 3 34 21
+f 3 21 20
+f 3 20 17
+f 3 17 9
+f 3 9 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 6 13 14
+f 6 14 7
+f 6 15 16
+f 6 16 13
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 11 27 32
+f 11 32 31
+f 11 31 17
+f 11 17 20
+f 13 16 28
+f 15 29 16
+f 16 29 30
+f 16 30 28
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 21 34 25
+f 21 25 24
+f 21 24 23
+f 21 23 22
+f 27 33 32
+f 29 35 30
+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_53.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d89d478d36ec2eec6bb7c9490d6c1b56bb036d98
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_53.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.00003061 0.08526585 0.00875862
+v -0.00003061 0.07949065 0.00272390
+v -0.00003061 0.08526582 0.01549455
+v 0.02075567 0.08526585 0.00755972
+v 0.00060014 0.07949396 0.00272390
+v -0.00003061 0.07170846 0.00272387
+v 0.00173143 0.08526582 0.01549832
+v -0.00003061 0.08350619 0.01537768
+v 0.01915031 0.08178973 0.01556241
+v 0.02075567 0.08526583 0.01479960
+v 0.02075567 0.07637146 0.00272389
+v 0.01915031 0.07682963 0.00272389
+v 0.01762430 0.07718488 0.00272389
+v 0.01552654 0.07766130 0.00272390
+v 0.01218357 0.07833029 0.00272390
+v 0.00870223 0.07892790 0.00272390
+v 0.00814270 0.07899430 0.00272390
+v 0.00525549 0.07930638 0.00272390
+v 0.00506423 0.07932132 0.00272390
+v 0.00173549 0.07949894 0.00272390
+v -0.00003061 0.07638471 0.01068763
+v 0.02075567 0.06830707 0.00272386
+v 0.00521479 0.08526582 0.01547947
+v -0.00003061 0.08178973 0.01525828
+v 0.02075567 0.07830866 0.01506600
+v 0.02075567 0.08178973 0.01554481
+v 0.01914624 0.08526583 0.01494160
+v -0.00003061 0.07738736 0.01228364
+v 0.02075567 0.07423664 0.01192422
+v 0.00869816 0.08526582 0.01542292
+v -0.00003061 0.08043682 0.01469905
+v 0.02075567 0.07591658 0.01397894
+v -0.00003061 0.07912706 0.01415363
+v 0.01566287 0.08526582 0.01516656
+v 0.01217950 0.08526582 0.01531987
+f 1 2 6
+f 1 6 21
+f 1 21 28
+f 1 28 33
+f 1 33 31
+f 1 31 24
+f 1 24 8
+f 1 8 3
+f 1 3 7
+f 1 7 23
+f 1 23 30
+f 1 30 35
+f 1 35 34
+f 1 34 27
+f 1 27 10
+f 1 10 4
+f 1 4 2
+f 2 5 20
+f 2 20 19
+f 2 19 18
+f 2 18 17
+f 2 17 16
+f 2 16 15
+f 2 15 14
+f 2 14 13
+f 2 13 12
+f 2 12 11
+f 2 11 22
+f 2 22 6
+f 2 4 5
+f 3 8 9
+f 3 9 7
+f 4 10 26
+f 4 26 25
+f 4 25 32
+f 4 32 29
+f 4 29 22
+f 4 22 11
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+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
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+f 4 19 20
+f 4 20 5
+f 6 22 21
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+f 9 25 26
+f 9 26 23
+f 9 24 25
+f 10 27 26
+f 21 22 28
+f 22 29 28
+f 23 26 30
+f 24 31 25
+f 25 31 33
+f 25 33 32
+f 26 27 34
+f 26 34 35
+f 26 35 30
+f 28 29 32
+f 28 32 33
+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_54.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d3b21c634c9d295f2c37c1d6166c91b69311bc0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_54.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.05399595 0.08526987 0.00289852
+v -0.05556846 0.08179230 0.00292849
+v -0.05556846 0.08526987 0.00293225
+v -0.05051330 0.08875244 0.00290728
+v -0.04703064 0.08875244 0.00290353
+v -0.05399595 0.08179230 0.00294348
+v -0.05556846 0.07830973 0.00299719
+v -0.04492354 0.08875244 0.00291728
+v -0.05556846 0.08856744 0.00338577
+v -0.05422417 0.08898995 0.00331206
+v -0.04703064 0.09223251 0.00313342
+v -0.04492354 0.09223251 0.00299974
+v -0.04703064 0.08526987 0.00295598
+v -0.04492354 0.08526987 0.00297847
+v -0.05399595 0.07830973 0.00303217
+v -0.05556846 0.07483466 0.00331450
+v -0.05556846 0.09021496 0.00552584
+v -0.05321543 0.09097999 0.00360440
+v -0.05020901 0.09217751 0.00350071
+v -0.04492354 0.09484507 0.00351572
+v -0.04492354 0.08175480 0.00334201
+v -0.04703064 0.08179230 0.00312213
+v -0.05406264 0.07483966 0.00349065
+v -0.05556846 0.07258461 0.00372552
+v -0.05556846 0.09017496 0.00561329
+v -0.05328003 0.09103497 0.00747977
+v -0.04897414 0.09408003 0.00722368
+v -0.05548614 0.09026746 0.00552584
+v -0.04884492 0.09401005 0.00389301
+v -0.04703064 0.09437256 0.00365689
+v -0.04492354 0.09586508 0.00551587
+v -0.04492354 0.07974475 0.00376052
+v -0.04703064 0.07908724 0.00359311
+v -0.04492354 0.07032704 0.00802190
+v -0.05556846 0.07092206 0.00518846
+v -0.05556846 0.08863242 0.00775711
+v -0.04703064 0.09448004 0.00747979
+v -0.05409390 0.07149955 0.01426971
+v -0.05028300 0.07478461 0.01403360
+v -0.04703064 0.07482961 0.01478694
+v -0.04492354 0.09516256 0.00756224
+v -0.04492354 0.09569007 0.00638164
+v -0.04897830 0.09408004 0.00552586
+v -0.04492354 0.07032701 0.01565520
+v -0.05556846 0.07032705 0.00585559
+v -0.05556846 0.07091453 0.01405358
+v -0.04492354 0.07697466 0.01441965
+v -0.05537151 0.07032702 0.01431219
+v -0.05051330 0.07134704 0.01516672
+v -0.04492354 0.07482960 0.01512800
+v -0.04805084 0.07032701 0.01564645
+v -0.04492354 0.07134704 0.01566144
+v -0.05556846 0.07032702 0.01425597
+v -0.05153350 0.07032701 0.01522293
+v -0.04703064 0.07134704 0.01562271
+v -0.04492354 0.07345458 0.01545782
+f 1 2 3
+f 1 3 4
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+f 1 5 2
+f 2 6 7
+f 2 7 16
+f 2 16 24
+f 2 24 35
+f 2 35 45
+f 2 45 53
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+f 2 46 36
+f 2 36 25
+f 2 25 17
+f 2 17 9
+f 2 9 3
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+f 2 8 6
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+f 38 48 49
+f 38 49 40
+f 38 40 39
+f 40 49 50
+f 40 50 47
+f 44 52 51
+f 46 53 48
+f 48 54 49
+f 49 54 55
+f 49 55 56
+f 49 56 50
+f 51 52 55
+f 51 55 54
+f 52 56 55
+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_55.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c3e0fe1c6b6ce4d3f5c25c5bd51d40ada20c758
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_55.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.03636803 0.07042009 0.00272387
+v -0.03685884 0.07016392 0.00272387
+v -0.04492354 0.07486981 0.00804809
+v -0.03323665 0.07192484 0.00272768
+v -0.03323665 0.06560414 0.00272385
+v -0.03811849 0.06950358 0.00272387
+v -0.04492354 0.07486978 0.01511446
+v -0.03323665 0.07486982 0.00674496
+v -0.03965615 0.06862882 0.00272386
+v -0.04038379 0.06820187 0.00272386
+v -0.04220632 0.06712786 0.00272386
+v -0.04284587 0.06675025 0.00272386
+v -0.04438810 0.06580148 0.00272385
+v -0.04492354 0.06543525 0.00272385
+v -0.03323665 0.06310318 0.00272384
+v -0.04492354 0.07482613 0.01512841
+v -0.04350487 0.07486978 0.01534540
+v -0.03323665 0.07486978 0.01539615
+v -0.04492354 0.05548644 0.00272381
+v -0.03323665 0.06915441 0.01179505
+v -0.04354605 0.07482613 0.01535173
+v -0.04492354 0.07345042 0.01545832
+v -0.04002111 0.07486978 0.01561820
+v -0.03654078 0.07486978 0.01560805
+v -0.03658083 0.07482613 0.01560931
+v -0.03323665 0.07482613 0.01539360
+v -0.04492354 0.06302913 0.01295479
+v -0.03462901 0.06949975 0.01359940
+v -0.03323665 0.07124738 0.01402955
+v -0.04006344 0.07482613 0.01562200
+v -0.04492354 0.07134604 0.01566133
+v -0.04354605 0.07134604 0.01568670
+v -0.04492354 0.06997033 0.01565245
+v -0.04492354 0.06786405 0.01527304
+v -0.03323665 0.07468951 0.01536442
+v -0.04492354 0.06354526 0.01350675
+v -0.03323665 0.07136882 0.01414883
+v -0.04492354 0.06477487 0.01419956
+v -0.04492354 0.06629860 0.01481370
+v -0.04354605 0.06786405 0.01505860
+v -0.03658083 0.07134605 0.01486574
+v -0.03323665 0.07142196 0.01417294
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 19
+f 1 19 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
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+f 2 6 3
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+f 27 28 36
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+f 30 31 32
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+f 34 39 40
+f 34 40 35
+f 35 41 42
+f 35 40 39
+f 35 39 41
+f 37 42 38
+f 38 42 39
+f 39 42 41
+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_56.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d26f8f1c4f5373ba2b56506df4b40d2c65512287
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_56.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.08956722 -0.05643397 0.00552545
+v -0.08912784 -0.05643397 0.00657451
+v -0.08827750 -0.05643396 0.00344602
+v -0.08734445 -0.05958291 0.00372136
+v -0.08751762 -0.05984826 0.00552544
+v -0.08740389 -0.05968139 0.00736815
+v -0.08838347 -0.05643398 0.00764475
+v -0.08806556 -0.05746027 0.00758246
+v -0.08794408 -0.05746025 0.00350956
+v -0.08648376 -0.05643396 0.00308346
+v -0.08533620 -0.06082280 0.00337998
+v -0.08447810 -0.06390669 0.00552543
+v -0.08622013 -0.06158878 0.00552543
+v -0.08417053 -0.06347948 0.00357433
+v -0.07664669 -0.07313495 0.00392065
+v -0.08002479 -0.06954711 0.00552540
+v -0.07667770 -0.07316333 0.00715380
+v -0.08420413 -0.06351788 0.00746408
+v -0.06816395 -0.05767389 0.01438266
+v -0.07054181 -0.05643400 0.01389053
+v -0.08534395 -0.05643396 0.00295637
+v -0.08534395 -0.05746025 0.00298503
+v -0.08198911 -0.06455249 0.00329773
+v -0.08091390 -0.06723587 0.00358178
+v -0.07745309 -0.07138274 0.00366400
+v -0.07593333 -0.07348205 0.00381600
+v -0.07630294 -0.07348206 0.00417980
+v -0.07634946 -0.07348206 0.00551916
+v -0.07667512 -0.07316165 0.00552539
+v -0.07619180 -0.07348207 0.00720239
+v -0.06316271 -0.06407527 0.01407739
+v -0.06477034 -0.06126173 0.01444619
+v -0.07750737 -0.07138276 0.00741795
+v -0.08097077 -0.06727927 0.00748275
+v -0.06444727 -0.05746030 0.01549527
+v -0.06808641 -0.05643400 0.01471657
+v -0.08288856 -0.05643396 0.00289408
+v -0.08186246 -0.06094129 0.00287663
+v -0.07489690 -0.07138274 0.00314446
+v -0.07867562 -0.06819874 0.00330519
+v -0.07489690 -0.07348205 0.00356308
+v -0.07539056 -0.07348205 0.00366399
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+v -0.06316271 -0.06583414 0.01339213
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+v -0.08186246 -0.05643396 0.00290654
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+v -0.06583263 -0.07348205 0.00292267
+v -0.06931411 -0.07348205 0.00289900
+v -0.07316520 -0.07348205 0.00323291
+v -0.07141541 -0.07348207 0.00808949
+v -0.06316271 -0.07348207 0.00910615
+v -0.06316271 -0.05708149 0.01556379
+v -0.06316271 -0.05643401 0.01549278
+v -0.07940448 -0.05643396 0.00293893
+v -0.06316271 -0.07266602 0.00296504
+v -0.06316271 -0.05643398 0.00799361
+v -0.07837839 -0.05643396 0.00296136
+v -0.06316271 -0.07215705 0.00298871
+v -0.07592300 -0.05643396 0.00304608
+v -0.06316271 -0.06541524 0.00370639
+v -0.06587398 -0.06236641 0.00377243
+v -0.06935546 -0.05884032 0.00376870
+v -0.07206157 -0.05643396 0.00361297
+v -0.06316271 -0.06918498 0.00312703
+v -0.07487881 -0.05643396 0.00317815
+v -0.06316271 -0.06602935 0.00356684
+v -0.07255781 -0.05643396 0.00350084
+f 1 2 7
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+f 19 35 36
+f 19 36 20
+f 19 34 32
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+f 22 38 23
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+f 26 51 50
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+f 39 52 41
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+f 43 53 44
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+f 62 68 67
+f 63 69 66
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+f 67 68 70
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+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_57.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf63d6fccf23fbb27194f6ff4214e0f5eecbb916
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_57.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.07878641 -0.02234898 0.00677012
+v 0.08197615 -0.04177650 0.00344194
+v 0.08037530 -0.04177650 0.00395298
+v 0.08024369 -0.04177650 0.00403858
+v 0.08015037 -0.04177651 0.00415995
+v 0.07878641 -0.04177651 0.00603928
+v 0.07878641 -0.02234902 0.01554203
+v 0.08893951 -0.02234897 0.00354933
+v 0.08533579 -0.04005151 0.00297818
+v 0.08533579 -0.04177650 0.00293474
+v 0.08881748 -0.02612797 0.00327974
+v 0.08881748 -0.02961028 0.00304465
+v 0.07878641 -0.04177654 0.01443429
+v 0.07878641 -0.02570961 0.01573238
+v 0.08185172 -0.02234902 0.01584482
+v 0.09229915 -0.02234897 0.00294120
+v 0.09229915 -0.02264756 0.00293737
+v 0.09578322 -0.02234897 0.00283644
+v 0.08881748 -0.04005151 0.00285681
+v 0.08881748 -0.04177650 0.00284403
+v 0.07878641 -0.04153120 0.01448539
+v 0.09756115 -0.04177652 0.00715589
+v 0.07878641 -0.02919192 0.01581923
+v 0.08185172 -0.02264761 0.01584226
+v 0.08215083 -0.02234902 0.01579371
+v 0.09926491 -0.02234897 0.00279428
+v 0.09926491 -0.02264756 0.00279300
+v 0.09229915 -0.04177650 0.00282743
+v 0.07878641 -0.04005155 0.01479202
+v 0.09756834 -0.04177651 0.00552569
+v 0.10116248 -0.03183737 0.00552572
+v 0.10111941 -0.03169284 0.00723257
+v 0.09785070 -0.04005153 0.00737819
+v 0.07878641 -0.03964455 0.01487250
+v 0.07878641 -0.03267043 0.01571957
+v 0.08185172 -0.02612802 0.01566593
+v 0.08533579 -0.02234902 0.01500416
+v 0.10215315 -0.02234897 0.00336408
+v 0.09926491 -0.02612797 0.00282748
+v 0.09578322 -0.03657110 0.00284661
+v 0.09578322 -0.04005151 0.00312255
+v 0.09576887 -0.04177650 0.00332441
+v 0.09753723 -0.04177650 0.00394787
+v 0.10110266 -0.03165669 0.00383164
+v 0.10175592 -0.02961029 0.00552573
+v 0.10247858 -0.02612798 0.00552574
+v 0.10323235 -0.02234898 0.00552576
+v 0.10138981 -0.02961030 0.00743827
+v 0.08493379 -0.02961032 0.01418648
+v 0.08185172 -0.03308883 0.01490319
+v 0.08199769 -0.03652930 0.01420434
+v 0.07878641 -0.03615274 0.01539889
+v 0.08185172 -0.02961033 0.01535547
+v 0.08533579 -0.02264761 0.01497861
+v 0.08557748 -0.02234901 0.01490451
+v 0.10227518 -0.02234897 0.00356977
+v 0.10175113 -0.02612797 0.00339472
+v 0.10208614 -0.02264756 0.00335642
+v 0.09926491 -0.02961028 0.00304338
+v 0.09838671 -0.03657110 0.00340236
+v 0.09784352 -0.04005151 0.00367574
+v 0.09753244 -0.04177650 0.00392104
+v 0.10137545 -0.02961028 0.00360807
+v 0.10213640 -0.02234899 0.00763505
+v 0.10173678 -0.02612799 0.00761076
+v 0.08565645 -0.02640188 0.01434108
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 21
+f 1 21 29
+f 1 29 34
+f 1 34 52
+f 1 52 35
+f 1 35 23
+f 1 23 14
+f 1 14 7
+f 1 7 15
+f 1 15 25
+f 1 25 37
+f 1 37 55
+f 1 55 64
+f 1 64 47
+f 1 47 56
+f 1 56 38
+f 1 38 26
+f 1 26 18
+f 1 18 16
+f 1 16 8
+f 1 8 2
+f 2 9 10
+f 2 10 20
+f 2 20 28
+f 2 28 42
+f 2 42 62
+f 2 62 43
+f 2 43 30
+f 2 30 22
+f 2 22 13
+f 2 13 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 2 8 11
+f 2 11 12
+f 2 12 9
+f 7 14 15
+f 8 16 11
+f 9 12 16
+f 9 16 10
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+f 10 19 20
+f 11 16 12
+f 13 22 21
+f 14 23 15
+f 15 24 25
+f 15 23 24
+f 16 18 17
+f 18 26 27
+f 18 27 20
+f 18 20 19
+f 20 27 28
+f 21 22 29
+f 22 30 31
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+f 22 32 33
+f 22 33 34
+f 22 34 29
+f 23 35 24
+f 24 36 25
+f 24 35 36
+f 25 36 37
+f 26 38 27
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+f 27 39 40
+f 27 40 28
+f 28 40 41
+f 28 41 42
+f 30 43 31
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+f 31 44 45
+f 31 45 32
+f 32 45 46
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+f 32 48 33
+f 33 48 49
+f 33 49 50
+f 33 50 51
+f 33 51 34
+f 34 51 50
+f 34 50 52
+f 35 52 53
+f 35 53 36
+f 36 53 54
+f 36 54 37
+f 37 54 55
+f 38 56 57
+f 38 57 58
+f 38 58 39
+f 39 59 40
+f 39 58 57
+f 39 57 59
+f 40 59 60
+f 40 60 41
+f 41 60 42
+f 42 60 61
+f 42 61 62
+f 43 62 44
+f 44 63 47
+f 44 47 46
+f 44 46 45
+f 44 62 61
+f 44 61 63
+f 47 63 57
+f 47 57 56
+f 47 64 65
+f 47 65 48
+f 48 65 55
+f 48 55 54
+f 48 54 66
+f 48 66 49
+f 49 66 54
+f 49 54 50
+f 50 54 53
+f 50 53 52
+f 55 65 64
+f 57 63 60
+f 57 60 59
+f 60 63 61
+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_58.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..beab5c6884cc771bb3dfdcee3c2758fa389d1789
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_58.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.03421522 -0.07348210 0.01497398
+v -0.03421522 -0.07348206 0.00602277
+v -0.03421522 -0.07138779 0.01433791
+v -0.03658058 -0.07138278 0.01488568
+v -0.04006519 -0.07138279 0.01550129
+v -0.03658058 -0.07348210 0.01535026
+v -0.04945945 -0.07348207 0.00751251
+v -0.03421522 -0.07262098 0.00471221
+v -0.03421522 -0.07017293 0.01377350
+v -0.04945945 -0.06126840 0.01422660
+v -0.04945945 -0.06434395 0.01529269
+v -0.04702993 -0.06790175 0.01570863
+v -0.04354681 -0.07138279 0.01579821
+v -0.04006519 -0.07348210 0.01561134
+v -0.04314239 -0.06631137 0.00272337
+v -0.04151574 -0.06729594 0.00272336
+v -0.04019054 -0.06809027 0.00272336
+v -0.03964584 -0.06841234 0.00272336
+v -0.03660744 -0.07011114 0.00272335
+v -0.03627913 -0.07028469 0.00272335
+v -0.03421522 -0.07129931 0.00272335
+v -0.03421522 -0.07238568 0.00435770
+v -0.04945945 -0.07348209 0.01458491
+v -0.04945945 -0.06210608 0.00272338
+v -0.04756568 -0.06347781 0.00272338
+v -0.04698366 -0.06386496 0.00272338
+v -0.04417956 -0.06566055 0.00272337
+v -0.03421522 -0.06968231 0.01341003
+v -0.03466143 -0.06955048 0.01358792
+v -0.04945945 -0.05956460 0.01301204
+v -0.04945945 -0.06790175 0.01577006
+v -0.04702993 -0.07138279 0.01568047
+v -0.04354681 -0.07348210 0.01554735
+v -0.03421522 -0.06255499 0.00272338
+v -0.04702993 -0.07348210 0.01513268
+v -0.04945945 -0.07291470 0.01478329
+v -0.04945945 -0.05643396 0.00272340
+v -0.04945945 -0.05643398 0.00870794
+v -0.04945945 -0.05781573 0.01065330
+v -0.04945945 -0.05937436 0.01278678
+v -0.04945945 -0.07138279 0.01531827
+v -0.04366172 -0.05643396 0.00272340
+f 1 2 8
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+f 1 22 21
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+f 1 34 28
+f 1 28 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
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+f 1 23 7
+f 1 7 2
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+f 13 33 14
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+f 15 42 34
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+f 15 19 18
+f 15 18 17
+f 15 17 16
+f 23 35 36
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+f 28 38 39
+f 28 39 40
+f 28 40 30
+f 28 30 29
+f 31 41 32
+f 32 41 35
+f 32 35 33
+f 34 42 38
+f 35 41 36
+f 37 38 42
+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_59.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d612e6180a58a639510fe7f8b235e6bb2f913b3f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_59.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.05398513 0.06596358 0.01552893
+v 0.05398513 0.06786535 0.01533679
+v 0.05295060 0.06786535 0.01543844
+v 0.05295060 0.06596358 0.01545207
+v 0.05757827 0.06596358 0.01498968
+v 0.05404632 0.07147194 0.01423972
+v 0.05295060 0.07143363 0.01450624
+v 0.05772981 0.06813762 0.01437731
+v 0.05295060 0.06596361 0.00818530
+v 0.06080715 0.06596359 0.01417400
+v 0.05331196 0.07283054 0.01391742
+v 0.05295060 0.07283054 0.01400172
+v 0.05674191 0.07039569 0.01386535
+v 0.07685244 0.07283056 0.00722833
+v 0.05295060 0.07283057 0.00532920
+v 0.05532855 0.07283058 0.00378213
+v 0.05534021 0.07280908 0.00378460
+v 0.06243324 0.06596363 0.00380565
+v 0.08143640 0.06596361 0.00762374
+v 0.08092933 0.06727044 0.00748367
+v 0.07754018 0.07134626 0.00744277
+v 0.08254668 0.06596362 0.00598866
+v 0.07698941 0.07283056 0.00687875
+v 0.05629313 0.07283058 0.00357139
+v 0.06326377 0.06596363 0.00360359
+v 0.08272153 0.06596362 0.00552627
+v 0.07996766 0.06946466 0.00552629
+v 0.07698358 0.07283057 0.00552630
+v 0.05946664 0.07283058 0.00313875
+v 0.06633819 0.06596363 0.00313252
+v 0.06453434 0.06596363 0.00340524
+v 0.08135479 0.06596363 0.00345731
+v 0.08087979 0.06711249 0.00357880
+v 0.07675919 0.07283058 0.00387262
+v 0.06294904 0.07283058 0.00294413
+v 0.06791766 0.06596363 0.00304079
+v 0.08060003 0.06596363 0.00329740
+v 0.07488248 0.07134628 0.00311643
+v 0.07738282 0.07134628 0.00365195
+v 0.07595780 0.07283058 0.00365072
+v 0.06643436 0.07283058 0.00288958
+v 0.07140007 0.06596363 0.00291683
+v 0.06981769 0.06596363 0.00294410
+v 0.07846979 0.06596363 0.00304575
+v 0.07365562 0.07283058 0.00318338
+v 0.07488248 0.07283058 0.00342015
+v 0.07678541 0.06596363 0.00286476
+v 0.06991386 0.07283058 0.00286603
+v 0.07488248 0.06596363 0.00287592
+v 0.07330301 0.06596363 0.00288707
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 18
+f 1 18 25
+f 1 25 31
+f 1 31 30
+f 1 30 36
+f 1 36 43
+f 1 43 42
+f 1 42 50
+f 1 50 49
+f 1 49 47
+f 1 47 44
+f 1 44 37
+f 1 37 32
+f 1 32 26
+f 1 26 22
+f 1 22 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 8
+f 2 8 6
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+f 3 12 15
+f 3 15 9
+f 3 9 4
+f 5 10 8
+f 6 11 12
+f 6 12 7
+f 6 8 13
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+f 6 14 11
+f 8 10 14
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+f 11 35 29
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+f 11 24 16
+f 11 16 15
+f 11 15 12
+f 14 21 20
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+f 19 22 20
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+f 29 36 30
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+f 35 43 36
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+f 38 47 48
+f 38 48 45
+f 39 46 40
+f 41 48 49
+f 41 49 50
+f 41 50 42
+f 47 49 48
+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_6.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0f15846aa3fd8e726e7835ba3936dd7dbbed705
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_6.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v -0.04781191 -0.04319320 -0.00615287
+v -0.05700904 -0.04319323 0.00272345
+v -0.05979051 -0.04319320 -0.00615287
+v -0.06342471 0.00016019 -0.00615271
+v -0.07169779 0.00016016 0.00272361
+v -0.06640463 -0.04319323 0.00272345
+v -0.06047890 -0.04319320 -0.00527967
+v -0.06003547 -0.04284094 -0.00615287
+v -0.07368233 0.00016019 -0.00615271
+v -0.07949024 0.00016016 0.00272361
+v -0.06726977 -0.04178419 0.00272346
+v -0.06607904 -0.03812152 -0.00229857
+v -0.06557361 -0.04319323 0.00153658
+v -0.06124791 -0.04319320 -0.00429611
+v -0.06219677 -0.04103720 -0.00499032
+v -0.06159831 -0.04057035 -0.00615286
+v -0.07513974 0.00016018 -0.00405180
+v -0.07368544 -0.00176239 -0.00615272
+v -0.07922667 0.00016016 0.00227354
+v -0.07922667 -0.00176242 0.00228048
+v -0.07948714 -0.00078628 0.00272361
+v -0.06819072 -0.04026481 0.00272346
+v -0.06680154 -0.03931412 -0.00017159
+v -0.06856903 -0.03963244 0.00272346
+v -0.06912408 -0.03731941 0.00154790
+v -0.06792715 -0.03655971 -0.00085190
+v -0.06673022 -0.03580000 -0.00322390
+v -0.06545577 -0.03680584 -0.00419356
+v -0.06297508 -0.03871568 -0.00599472
+v -0.06367898 -0.03994648 -0.00397636
+v -0.06301229 -0.04225102 -0.00286161
+v -0.06554880 -0.04030724 -0.00108564
+v -0.06356115 -0.04319322 -0.00125769
+v -0.06269291 -0.04319321 -0.00244108
+v -0.06273632 -0.03888545 -0.00615285
+v -0.07572270 0.00016018 -0.00320900
+v -0.07513974 -0.00176240 -0.00405181
+v -0.07352729 -0.00524254 -0.00615273
+v -0.07748399 0.00016017 -0.00057286
+v -0.07748399 -0.00176241 -0.00057287
+v -0.07738785 -0.00524256 -0.00044255
+v -0.07928558 -0.00490729 0.00264974
+v -0.07933209 -0.00483089 0.00272359
+v -0.07948093 -0.00176242 0.00272360
+v -0.07020318 -0.03675494 0.00272347
+v -0.06975975 -0.03499788 0.00059650
+v -0.06917059 -0.03308803 -0.00170772
+v -0.06740311 -0.03318563 -0.00419354
+v -0.06597051 -0.03441218 -0.00535262
+v -0.06416271 -0.03651300 -0.00615284
+v -0.06304950 -0.03838889 -0.00615285
+v -0.07644210 0.00016018 -0.00216810
+v -0.07644210 -0.00176240 -0.00216811
+v -0.07498160 -0.00524255 -0.00405182
+v -0.07350249 -0.00555236 -0.00615273
+v -0.07701885 0.00016017 -0.00128707
+v -0.07636148 -0.00524255 -0.00203779
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+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_60.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0295fb3babc8122e458df16eb04736eeeaef4e5e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_60.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.05843328 -0.04177991 0.00272474
+v 0.05843328 -0.04177991 0.00321099
+v 0.06735157 -0.04177991 0.00272474
+v 0.05843328 -0.05431825 0.00272469
+v 0.06450798 -0.04177994 0.01192511
+v 0.05843328 -0.05014537 0.01213238
+v 0.06721261 -0.04200796 0.00272474
+v 0.06764982 -0.04177991 0.00316493
+v 0.06997486 -0.05720742 0.00461082
+v 0.05914051 -0.05351326 0.00272469
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+v 0.05843328 -0.05139136 0.01335696
+v 0.06675619 -0.04275555 0.00272473
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+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_61.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7a342c916c5042d9c8c8661aa0a371f079971e3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_61.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.05804976 -0.04177840 0.00272346
+v 0.05843328 -0.04177840 0.00321080
+v 0.05843328 -0.04177840 0.00272346
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+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_62.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8bea44c9fb65a08868ed1cae0786a4e65d72829
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_62.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.05050142 -0.08878736 0.00278552
+v 0.04701913 -0.08878736 0.00279823
+v 0.05398370 -0.08530732 0.00279062
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+v 0.05843328 -0.06628519 0.00698764
+v 0.05843328 -0.06779189 0.00546193
+v 0.05843328 -0.06947006 0.00390189
+v 0.04687659 -0.07500499 0.01466315
+v 0.05843328 -0.06786219 0.01423217
+v 0.05769225 -0.06814611 0.01435931
+v 0.05402216 -0.07149402 0.01422199
+v 0.05050142 -0.07138441 0.01510054
+v 0.04687659 -0.07486724 0.01471146
+v 0.04687659 -0.06790437 0.01572481
+v 0.04863696 -0.06628522 0.01568287
+v 0.05843328 -0.06628521 0.01469370
+v 0.05843328 -0.06743773 0.01437075
+v 0.05807012 -0.06628521 0.01478524
+v 0.05758025 -0.06628521 0.01490857
+v 0.05560265 -0.06628522 0.01539680
+v 0.05398370 -0.06790437 0.01534212
+v 0.04701913 -0.07138441 0.01561546
+v 0.04687659 -0.07152777 0.01560275
+v 0.04687659 -0.06804773 0.01574516
+v 0.04701913 -0.06790437 0.01574388
+v 0.05212037 -0.06628522 0.01577441
+v 0.05050142 -0.06790437 0.01575914
+v 0.04687659 -0.07138441 0.01562309
+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 3
+f 3 10 4
+f 4 10 11
+f 4 11 22
+f 4 22 30
+f 4 30 39
+f 4 39 49
+f 4 49 48
+f 4 48 47
+f 4 47 58
+f 4 58 59
+f 4 59 51
+f 4 51 43
+f 4 43 40
+f 4 40 32
+f 4 32 23
+f 4 23 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 18 25
+f 7 25 36
+f 7 36 41
+f 7 41 50
+f 7 50 55
+f 7 55 65
+f 7 65 70
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+f 7 38 26
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+f 33 37 34
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+f 38 61 60
+f 38 60 58
+f 38 58 47
+f 38 47 48
+f 38 48 49
+f 38 49 39
+f 41 42 50
+f 42 45 50
+f 43 51 52
+f 43 52 53
+f 43 53 54
+f 43 54 45
+f 43 45 44
+f 45 54 55
+f 45 55 50
+f 46 56 57
+f 51 59 52
+f 52 59 58
+f 52 58 60
+f 52 60 61
+f 52 61 62
+f 52 62 63
+f 52 63 53
+f 53 63 54
+f 54 63 64
+f 54 64 65
+f 54 65 55
+f 56 66 67
+f 56 67 57
+f 57 67 68
+f 62 68 69
+f 62 69 63
+f 63 69 64
+f 64 70 65
+f 64 69 70
+f 66 69 68
+f 66 68 67
+f 66 70 69
+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_63.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98debdfeaf969328b29bbcd716251cd6dd874e5c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_63.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.06095150 -0.08182486 0.00279099
+v 0.06457124 -0.08196230 0.00325263
+v 0.05843328 -0.08530979 0.00299573
+v 0.05843328 -0.08182486 0.00279735
+v 0.06997486 -0.07138535 0.00280757
+v 0.06791758 -0.07486416 0.00280374
+v 0.06997486 -0.07486416 0.00296271
+v 0.06350362 -0.08416748 0.00355402
+v 0.06088598 -0.08531895 0.00331494
+v 0.06821470 -0.07864230 0.00325773
+v 0.06725102 -0.08089330 0.00355785
+v 0.05843328 -0.08775931 0.00353875
+v 0.05843328 -0.07834604 0.00283551
+v 0.06095150 -0.07834604 0.00280754
+v 0.06791758 -0.07138535 0.00281647
+v 0.06997486 -0.06790348 0.00283682
+v 0.06997486 -0.07797342 0.00346629
+v 0.05968166 -0.08737142 0.00366338
+v 0.06953877 -0.07996481 0.00552522
+v 0.06997486 -0.07956470 0.00552522
+v 0.05843328 -0.08840683 0.00552519
+v 0.05843328 -0.07486416 0.00295889
+v 0.06095150 -0.07486416 0.00285970
+v 0.06791758 -0.06790348 0.00286480
+v 0.06997486 -0.06442161 0.00293221
+v 0.06388096 -0.08443627 0.00552520
+v 0.06163501 -0.08617721 0.00552519
+v 0.05989293 -0.08751803 0.00552519
+v 0.06997486 -0.07937228 0.00596015
+v 0.06346634 -0.08412474 0.00745060
+v 0.05964890 -0.08735006 0.00735648
+v 0.05843328 -0.08826939 0.00633528
+v 0.05843328 -0.07145254 0.00337857
+v 0.06095150 -0.07138535 0.00303012
+v 0.06443341 -0.06790348 0.00302504
+v 0.06791758 -0.06442161 0.00303395
+v 0.06997486 -0.06100387 0.00323491
+v 0.06726232 -0.08086584 0.00745824
+v 0.06997486 -0.07797649 0.00754473
+v 0.05843328 -0.06786381 0.01423152
+v 0.05843328 -0.08770741 0.00746585
+v 0.06107578 -0.06803787 0.00350830
+v 0.06457124 -0.06454378 0.00351339
+v 0.06805540 -0.06108328 0.00351723
+v 0.05843328 -0.05720742 0.00571479
+v 0.06997486 -0.05840468 0.00366476
+v 0.05843328 -0.06743927 0.01437141
+v 0.06126219 -0.06473319 0.01441720
+v 0.06997486 -0.05720745 0.01383097
+v 0.06921905 -0.05720745 0.01411838
+v 0.06815934 -0.05768392 0.01436128
+v 0.06715951 -0.06030754 0.01391362
+v 0.06475087 -0.06125742 0.01441721
+v 0.05843328 -0.05720746 0.01547277
+v 0.06997486 -0.05720742 0.00461093
+v 0.05843328 -0.06450107 0.01519423
+v 0.06095150 -0.06094284 0.01548802
+v 0.05843328 -0.06345650 0.01546766
+v 0.06859317 -0.05720745 0.01434347
+v 0.06812771 -0.05720745 0.01448718
+v 0.06443341 -0.05746097 0.01546132
+v 0.06095150 -0.05720746 0.01575891
+v 0.05843328 -0.05997769 0.01577797
+v 0.05843328 -0.06094284 0.01569658
+v 0.06443341 -0.05720746 0.01548549
+v 0.06120344 -0.05720746 0.01578307
+v 0.06468535 -0.05720746 0.01545242
+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 8 9
+f 2 9 3
+f 2 7 10
+f 2 10 11
+f 2 11 8
+f 3 9 12
+f 3 12 21
+f 3 21 32
+f 3 32 41
+f 3 41 40
+f 3 40 47
+f 3 47 56
+f 3 56 58
+f 3 58 64
+f 3 64 63
+f 3 63 54
+f 3 54 45
+f 3 45 33
+f 3 33 22
+f 3 22 13
+f 3 13 4
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 25
+f 5 25 37
+f 5 37 46
+f 5 46 55
+f 5 55 49
+f 5 49 39
+f 5 39 29
+f 5 29 20
+f 5 20 17
+f 5 17 7
+f 5 7 6
+f 7 17 10
+f 8 18 9
+f 8 11 19
+f 8 19 18
+f 9 18 12
+f 10 17 11
+f 11 17 20
+f 11 20 19
+f 12 18 21
+f 13 22 23
+f 13 23 24
+f 13 24 16
+f 13 16 15
+f 13 15 14
+f 16 24 25
+f 18 26 27
+f 18 27 28
+f 18 28 21
+f 18 19 26
+f 19 20 29
+f 19 29 30
+f 19 30 31
+f 19 31 26
+f 21 28 32
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 25
+f 22 25 24
+f 22 24 23
+f 25 36 37
+f 26 31 27
+f 27 31 28
+f 28 31 32
+f 29 38 30
+f 29 39 38
+f 30 38 40
+f 30 40 31
+f 31 41 32
+f 31 40 41
+f 33 42 43
+f 33 43 44
+f 33 44 37
+f 33 37 35
+f 33 35 34
+f 33 45 42
+f 35 37 36
+f 37 44 46
+f 38 47 40
+f 38 39 48
+f 38 48 47
+f 39 49 50
+f 39 50 51
+f 39 51 52
+f 39 52 53
+f 39 53 48
+f 42 45 43
+f 43 45 44
+f 44 45 46
+f 45 54 62
+f 45 62 66
+f 45 66 65
+f 45 65 67
+f 45 67 60
+f 45 60 59
+f 45 59 50
+f 45 50 49
+f 45 49 55
+f 45 55 46
+f 47 48 56
+f 48 53 57
+f 48 57 58
+f 48 58 56
+f 50 59 51
+f 51 59 60
+f 51 60 61
+f 51 61 53
+f 51 53 52
+f 53 61 57
+f 54 63 62
+f 57 64 58
+f 57 61 65
+f 57 65 66
+f 57 66 64
+f 60 67 61
+f 61 67 65
+f 62 63 66
+f 63 64 66
+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_64.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f7a54edb60d2fa304db675d24945c9776120dc8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_64.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.07141328 0.04349663 0.01578730
+v -0.06974978 0.04515808 0.01572976
+v -0.07141328 0.04515808 0.01573232
+v -0.07489605 0.04001503 0.01570033
+v -0.07678592 0.03464633 0.01566707
+v -0.07489605 0.03653450 0.01567218
+v -0.06792844 0.04515808 0.01541008
+v -0.07489605 0.03413030 0.01549827
+v -0.07323254 0.04515808 0.01553795
+v -0.07489605 0.04349663 0.01541391
+v -0.07678592 0.03812794 0.01553792
+v -0.07678592 0.03413030 0.01562870
+v -0.07381819 0.03413030 0.01525404
+v -0.06792844 0.04349663 0.01517606
+v -0.06601364 0.04515809 0.01483337
+v -0.07489605 0.04515808 0.01512492
+v -0.07678592 0.04160847 0.01516071
+v -0.07678592 0.03413033 0.00789877
+v -0.07141120 0.03413031 0.01434102
+v -0.06469904 0.04515809 0.01428352
+v -0.07674853 0.04515809 0.01449834
+v -0.07678592 0.04512247 0.01449195
+v -0.07678592 0.04515812 0.00632341
+v -0.07167080 0.03413035 0.00272374
+v -0.07081309 0.03413031 0.01407505
+v -0.06523485 0.04349664 0.01404694
+v -0.06294623 0.04515809 0.01317102
+v -0.07022951 0.03413031 0.01378989
+v -0.06957325 0.03459884 0.01359168
+v -0.07678592 0.04515809 0.01448428
+v -0.06880068 0.03959512 0.00272376
+v -0.06964386 0.03820032 0.00272375
+v -0.07029389 0.03698797 0.00272375
+v -0.07060749 0.03639313 0.00272374
+v -0.07078194 0.03602607 0.00272374
+v -0.06527015 0.04515813 0.00272378
+v -0.06584543 0.04430851 0.00272377
+v -0.06682359 0.04277229 0.00272377
+v -0.06718287 0.04219688 0.00272376
+v -0.06269287 0.03413035 0.00272374
+v -0.06592642 0.04130296 0.01371063
+v -0.05556950 0.04515813 0.00297058
+v -0.06971032 0.03413031 0.01339860
+v -0.05556950 0.04515813 0.00272378
+v -0.05556950 0.04488500 0.00272377
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 15
+f 2 15 20
+f 2 20 27
+f 2 27 42
+f 2 42 44
+f 2 44 36
+f 2 36 23
+f 2 23 30
+f 2 30 21
+f 2 21 16
+f 2 16 9
+f 2 9 3
+f 2 6 8
+f 2 8 7
+f 3 9 4
+f 4 10 11
+f 4 11 5
+f 4 9 10
+f 5 12 8
+f 5 8 6
+f 5 11 17
+f 5 17 22
+f 5 22 30
+f 5 30 23
+f 5 23 18
+f 5 18 12
+f 7 8 13
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+f 7 14 15
+f 8 12 18
+f 8 18 24
+f 8 24 40
+f 8 40 43
+f 8 43 28
+f 8 28 25
+f 8 25 19
+f 8 19 13
+f 9 16 10
+f 10 16 17
+f 10 17 11
+f 13 19 15
+f 13 15 14
+f 15 19 20
+f 16 21 17
+f 17 21 22
+f 18 23 24
+f 19 25 20
+f 20 26 27
+f 20 25 28
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+f 20 29 26
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+f 23 33 34
+f 23 34 35
+f 23 35 24
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+f 23 37 38
+f 23 38 39
+f 23 39 31
+f 24 35 34
+f 24 34 33
+f 24 33 32
+f 24 32 31
+f 24 31 39
+f 24 39 38
+f 24 38 37
+f 24 37 36
+f 24 36 44
+f 24 44 45
+f 24 45 40
+f 26 41 27
+f 26 29 41
+f 27 41 29
+f 27 29 43
+f 27 43 42
+f 28 43 29
+f 40 45 43
+f 42 45 44
+f 42 43 45
+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_65.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a01b1d96b0475829fbdc2e81de5a56d5d73158e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_65.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.04023167 0.06822237 0.00272386
+v 0.05294936 0.07283057 0.00532920
+v 0.04031881 0.06817194 0.00272386
+v 0.04023167 0.06596363 0.00272385
+v 0.04023167 0.07283056 0.00804740
+v 0.04394302 0.06596363 0.00272385
+v 0.04315244 0.06646311 0.00272385
+v 0.04198463 0.06717367 0.00272386
+v 0.05294936 0.07283054 0.01400131
+v 0.05294936 0.06596361 0.00818562
+v 0.04023167 0.06596359 0.01274302
+v 0.04023167 0.07283053 0.01545872
+v 0.05037096 0.07283054 0.01461396
+v 0.05294936 0.07143363 0.01450613
+v 0.05294936 0.06596358 0.01545235
+v 0.04122642 0.06596359 0.01360681
+v 0.04023167 0.06629501 0.01321867
+v 0.04023167 0.07134623 0.01541685
+v 0.04353590 0.07134623 0.01564770
+v 0.04353590 0.07283053 0.01548155
+v 0.05050044 0.07134623 0.01510355
+v 0.04701693 0.07283053 0.01517459
+v 0.05294936 0.06786535 0.01543840
+v 0.05050044 0.06786535 0.01568194
+v 0.05050044 0.06596358 0.01554494
+v 0.04137084 0.06596359 0.01369560
+v 0.04023167 0.06775041 0.01419282
+v 0.04701693 0.06786535 0.01557285
+v 0.04023167 0.06784923 0.01423595
+v 0.04353590 0.06786535 0.01506168
+v 0.04701693 0.07134623 0.01554242
+v 0.04692355 0.06596358 0.01500460
+v 0.04353590 0.06596359 0.01429048
+f 1 2 3
+f 1 3 8
+f 1 8 7
+f 1 7 6
+f 1 6 4
+f 1 4 11
+f 1 11 17
+f 1 17 27
+f 1 27 29
+f 1 29 18
+f 1 18 12
+f 1 12 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 5 12
+f 2 12 20
+f 2 20 22
+f 2 22 13
+f 2 13 9
+f 2 9 14
+f 2 14 23
+f 2 23 15
+f 2 15 10
+f 2 10 6
+f 4 6 10
+f 4 10 15
+f 4 15 25
+f 4 25 32
+f 4 32 33
+f 4 33 26
+f 4 26 16
+f 4 16 11
+f 9 13 14
+f 11 16 17
+f 12 18 19
+f 12 19 20
+f 13 21 14
+f 13 22 21
+f 14 21 23
+f 15 23 24
+f 15 24 25
+f 16 26 17
+f 17 26 27
+f 18 28 19
+f 18 29 30
+f 18 30 28
+f 19 24 31
+f 19 31 20
+f 19 28 24
+f 20 31 22
+f 21 22 31
+f 21 31 23
+f 23 31 24
+f 24 28 25
+f 25 28 30
+f 25 30 32
+f 26 33 27
+f 27 33 29
+f 29 33 30
+f 30 33 32
+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_66.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0440393b07a22642d345de49b9538d3f8f161ef6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_66.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.06316271 -0.07348204 0.00295255
+v -0.06316271 -0.07266644 0.00296513
+v -0.06234716 -0.07348204 0.00296135
+v -0.06316271 -0.07348206 0.00910544
+v -0.06316271 -0.07138318 0.00302423
+v -0.05886367 -0.07348204 0.00308582
+v -0.05493217 -0.07348208 0.01290730
+v -0.05526617 -0.07276384 0.01328824
+v -0.05908365 -0.06952457 0.01344415
+v -0.06269190 -0.06615042 0.01349949
+v -0.06316271 -0.06583599 0.01339137
+v -0.06316271 -0.06918615 0.00312733
+v -0.05546201 -0.07348204 0.00348688
+v -0.05322999 -0.07348208 0.01369056
+v -0.05676177 -0.07044312 0.01386784
+v -0.06037001 -0.06720465 0.01393197
+v -0.06187099 -0.06533003 0.01406524
+v -0.06228546 -0.06533003 0.01389426
+v -0.06316271 -0.06533003 0.01353092
+v -0.06316271 -0.06603147 0.00356611
+v -0.05475109 -0.07348204 0.00362517
+v -0.05299928 -0.07348208 0.01377228
+v -0.05406163 -0.07151569 0.01425003
+v -0.05774499 -0.06818066 0.01440217
+v -0.06108629 -0.06533003 0.01433429
+v -0.06316271 -0.06532999 0.00378487
+v -0.06316271 -0.06541618 0.00370566
+v -0.05518032 -0.07269836 0.00372198
+v -0.04945945 -0.06533001 0.00692543
+v -0.05296441 -0.07348205 0.00451403
+v -0.05035816 -0.07348208 0.01445118
+v -0.05051376 -0.07138323 0.01516153
+v -0.05399725 -0.06790294 0.01540544
+v -0.05754379 -0.06533004 0.01525710
+v -0.04945945 -0.07348206 0.00751253
+v -0.05037023 -0.07348205 0.00636593
+v -0.04945945 -0.06533004 0.01535139
+v -0.04945945 -0.07348208 0.01458445
+v -0.04945945 -0.07291547 0.01478309
+v -0.04945945 -0.07138323 0.01531868
+v -0.05051376 -0.06790294 0.01579644
+v -0.05399725 -0.06533004 0.01572478
+v -0.05051376 -0.06533004 0.01564307
+v -0.04945945 -0.06790294 0.01577003
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 21
+f 1 21 30
+f 1 30 36
+f 1 36 35
+f 1 35 38
+f 1 38 31
+f 1 31 22
+f 1 22 14
+f 1 14 7
+f 1 7 4
+f 1 4 11
+f 1 11 19
+f 1 19 26
+f 1 26 27
+f 1 27 20
+f 1 20 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 6
+f 6 12 13
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 12 20 13
+f 13 20 21
+f 14 22 15
+f 15 22 23
+f 15 23 24
+f 15 24 16
+f 16 24 25
+f 16 25 17
+f 17 25 34
+f 17 34 42
+f 17 42 43
+f 17 43 37
+f 17 37 29
+f 17 29 26
+f 17 26 19
+f 17 19 18
+f 20 27 21
+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 22 31 23
+f 23 31 32
+f 23 32 24
+f 24 32 33
+f 24 33 34
+f 24 34 25
+f 26 29 27
+f 27 29 28
+f 29 35 36
+f 29 36 30
+f 29 37 44
+f 29 44 40
+f 29 40 39
+f 29 39 38
+f 29 38 35
+f 31 38 39
+f 31 39 40
+f 31 40 32
+f 32 40 33
+f 33 40 41
+f 33 41 42
+f 33 42 34
+f 37 43 44
+f 40 44 41
+f 41 44 43
+f 41 43 42
+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_67.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da9d522726586872d5a69db54a5a25d0fa7ee194
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_67.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.06316271 -0.06532833 0.00378508
+v -0.05620243 -0.05643396 0.00272340
+v -0.05572759 -0.05690850 0.00272340
+v -0.05454989 -0.05801083 0.00272340
+v -0.05352375 -0.05889025 0.00272339
+v -0.05165927 -0.06043142 0.00272339
+v -0.05071764 -0.06117588 0.00272339
+v -0.05008587 -0.06165129 0.00272338
+v -0.04945945 -0.06210494 0.00272338
+v -0.04945945 -0.06257687 0.00328954
+v -0.04945945 -0.06312803 0.00399821
+v -0.04945945 -0.06532835 0.00692529
+v -0.06316271 -0.06532837 0.01353051
+v -0.06316271 -0.05643398 0.00799345
+v -0.04945945 -0.05643396 0.00272340
+v -0.04945945 -0.06532838 0.01535224
+v -0.06228546 -0.06532837 0.01389383
+v -0.06316271 -0.06407366 0.01407741
+v -0.06316271 -0.05643401 0.01549349
+v -0.04945945 -0.05643398 0.00870725
+v -0.04945945 -0.06434360 0.01529318
+v -0.05051376 -0.06442109 0.01558846
+v -0.05051376 -0.06532838 0.01564238
+v -0.06187099 -0.06532837 0.01406457
+v -0.06108629 -0.06532837 0.01433417
+v -0.06130359 -0.06476153 0.01445614
+v -0.06316271 -0.06112455 0.01490934
+v -0.06316271 -0.05745885 0.01560390
+v -0.06096289 -0.05643401 0.01567964
+v -0.05270687 -0.05643400 0.01261775
+v -0.04945945 -0.05781495 0.01065351
+v -0.04945945 -0.06126647 0.01422635
+v -0.05046949 -0.06085724 0.01440224
+v -0.05748476 -0.05643401 0.01504415
+v -0.05747940 -0.05745885 0.01536382
+v -0.06096289 -0.05745885 0.01579005
+v -0.05399725 -0.06442109 0.01583880
+v -0.05399725 -0.06532838 0.01572454
+v -0.05754379 -0.06532838 0.01525724
+v -0.05747940 -0.06442109 0.01552940
+v -0.06096289 -0.06093997 0.01554483
+v -0.04945945 -0.05956336 0.01301187
+v -0.04945945 -0.05937441 0.01278720
+v -0.05457269 -0.05643400 0.01407487
+v -0.05160159 -0.05864910 0.01384506
+v -0.05403078 -0.05747712 0.01429569
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 16
+f 1 16 23
+f 1 23 38
+f 1 38 39
+f 1 39 25
+f 1 25 24
+f 1 24 17
+f 1 17 13
+f 1 13 18
+f 1 18 27
+f 1 27 28
+f 1 28 19
+f 1 19 14
+f 1 14 2
+f 2 15 9
+f 2 9 8
+f 2 8 7
+f 2 7 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 2 14 19
+f 2 19 29
+f 2 29 34
+f 2 34 44
+f 2 44 30
+f 2 30 20
+f 2 20 15
+f 9 15 20
+f 9 20 31
+f 9 31 43
+f 9 43 42
+f 9 42 32
+f 9 32 21
+f 9 21 16
+f 9 16 12
+f 9 12 11
+f 9 11 10
+f 13 17 18
+f 16 21 22
+f 16 22 23
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 19 28 36
+f 19 36 29
+f 20 30 31
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 22
+f 22 29 36
+f 22 36 37
+f 22 37 23
+f 22 35 29
+f 23 37 38
+f 25 39 26
+f 26 39 40
+f 26 40 41
+f 26 41 27
+f 27 41 28
+f 28 41 36
+f 29 35 34
+f 30 42 43
+f 30 43 31
+f 30 44 45
+f 30 45 42
+f 32 42 45
+f 32 45 44
+f 32 44 46
+f 32 46 34
+f 32 34 33
+f 34 46 44
+f 36 41 37
+f 37 41 40
+f 37 40 38
+f 38 40 39
+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_68.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22114ac0444f709f316d3d22b5e4e5448eb1a280
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_68.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.07678592 0.06346205 0.00293195
+v -0.07489587 0.06346205 0.00294574
+v -0.07678592 0.06090172 0.00295325
+v -0.07678592 0.06346203 0.00844846
+v -0.07141334 0.06346205 0.00301466
+v -0.07489587 0.06090172 0.00297581
+v -0.07678592 0.05742046 0.00302342
+v -0.07043371 0.05663387 0.01385716
+v -0.06949406 0.05895411 0.01340979
+v -0.06893043 0.05992163 0.01319925
+v -0.06893043 0.06346202 0.01085832
+v -0.07678592 0.04871998 0.01359146
+v -0.07673978 0.04887764 0.01356765
+v -0.07361865 0.05287132 0.01375940
+v -0.06893043 0.06346205 0.00319011
+v -0.07141334 0.06090172 0.00310739
+v -0.07489587 0.05742046 0.00307981
+v -0.07678592 0.05393204 0.00322642
+v -0.06893043 0.05681662 0.01434716
+v -0.06893043 0.05730576 0.01420053
+v -0.06893043 0.05839689 0.01382082
+v -0.07152252 0.05399471 0.01425191
+v -0.07678592 0.04763421 0.01388219
+v -0.07482666 0.05020708 0.01402506
+v -0.06893043 0.06098951 0.00342319
+v -0.07678592 0.05045975 0.00358858
+v -0.07141334 0.05045970 0.01517800
+v -0.06893043 0.05294119 0.01530081
+v -0.07678592 0.04697845 0.01404635
+v -0.07489587 0.04697845 0.01480829
+v -0.06893043 0.05940924 0.00368636
+v -0.07678592 0.04857310 0.00389309
+v -0.07489587 0.04515987 0.01512409
+v -0.07323419 0.04515987 0.01553764
+v -0.07141334 0.04697844 0.01567298
+v -0.06893043 0.04945993 0.01571811
+v -0.07678592 0.04515988 0.01448371
+v -0.07674978 0.04515988 0.01449750
+v -0.06893043 0.04515990 0.00762130
+v -0.07678592 0.04515991 0.00632300
+v -0.07141334 0.04515987 0.01573313
+v -0.06975166 0.04515987 0.01572938
+v -0.06893043 0.04597868 0.01570181
+v -0.06893043 0.04515987 0.01558526
+f 1 2 3
+f 1 3 7
+f 1 7 18
+f 1 18 26
+f 1 26 32
+f 1 32 40
+f 1 40 37
+f 1 37 29
+f 1 29 23
+f 1 23 12
+f 1 12 4
+f 1 4 11
+f 1 11 15
+f 1 15 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 12 13
+f 4 13 14
+f 4 14 8
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 7
+f 7 17 18
+f 8 19 20
+f 8 20 21
+f 8 21 9
+f 8 14 22
+f 8 22 19
+f 9 21 10
+f 10 21 20
+f 10 20 19
+f 10 19 28
+f 10 28 36
+f 10 36 43
+f 10 43 44
+f 10 44 39
+f 10 39 31
+f 10 31 25
+f 10 25 15
+f 10 15 11
+f 12 23 24
+f 12 24 13
+f 13 24 14
+f 14 24 22
+f 15 25 16
+f 16 25 26
+f 16 26 18
+f 16 18 17
+f 19 22 27
+f 19 27 28
+f 22 24 27
+f 23 29 30
+f 23 30 24
+f 24 30 27
+f 25 31 32
+f 25 32 26
+f 27 30 33
+f 27 33 34
+f 27 34 35
+f 27 35 28
+f 28 35 36
+f 29 37 30
+f 30 37 38
+f 30 38 33
+f 31 39 32
+f 32 39 40
+f 33 38 37
+f 33 37 40
+f 33 40 39
+f 33 39 44
+f 33 44 42
+f 33 42 41
+f 33 41 34
+f 34 41 35
+f 35 41 36
+f 36 41 42
+f 36 42 43
+f 42 44 43
+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_69.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5906e2c6f75acc24526f9a24e49c99d4a184d640
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_69.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.06893043 0.04515883 0.00762132
+v -0.06893043 0.04515880 0.01558602
+v -0.06893043 0.05251428 0.00793086
+v -0.06526716 0.04515885 0.00272378
+v -0.06792993 0.04515880 0.01541024
+v -0.06893043 0.04597824 0.01570193
+v -0.06893043 0.05251425 0.01534785
+v -0.05988931 0.05251430 0.00272380
+v -0.06042944 0.05182880 0.00272380
+v -0.06127955 0.05074727 0.00272380
+v -0.06276395 0.04880165 0.00272379
+v -0.06356958 0.04765243 0.00272379
+v -0.06403386 0.04697557 0.00272378
+v -0.06432159 0.04655434 0.00272378
+v -0.05556950 0.04515885 0.00272378
+v -0.06601263 0.04515881 0.01483324
+v -0.06238990 0.05251425 0.01536441
+v -0.06792993 0.04697840 0.01566754
+v -0.06587269 0.05251425 0.01571341
+v -0.06792993 0.05045847 0.01573634
+v -0.06893043 0.04945902 0.01571722
+v -0.06875779 0.05251425 0.01537587
+v -0.05556950 0.05251430 0.00272380
+v -0.05556950 0.04515885 0.00297089
+v -0.06469694 0.04515881 0.01428298
+v -0.05894766 0.05251426 0.01427026
+v -0.06444583 0.05251425 0.01560260
+v -0.06792993 0.05251425 0.01550834
+v -0.05556950 0.05251427 0.01107700
+v -0.05591215 0.05251427 0.01161706
+v -0.06294443 0.04515881 0.01317101
+v -0.06285550 0.04541948 0.01333022
+v -0.05872402 0.05159546 0.01381426
+v -0.05827019 0.05251426 0.01397093
+v -0.05662101 0.05251426 0.01245391
+f 1 2 6
+f 1 6 21
+f 1 21 7
+f 1 7 3
+f 1 3 4
+f 1 4 15
+f 1 15 24
+f 1 24 31
+f 1 31 25
+f 1 25 16
+f 1 16 5
+f 1 5 2
+f 2 5 6
+f 3 7 22
+f 3 22 28
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+f 3 19 27
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+f 3 23 8
+f 3 8 9
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+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
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+f 4 13 12
+f 4 12 11
+f 4 11 10
+f 4 10 9
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+f 4 23 15
+f 5 16 17
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+f 5 18 6
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+f 6 18 19
+f 7 21 22
+f 15 23 29
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+f 16 25 26
+f 16 26 17
+f 17 27 18
+f 18 27 19
+f 19 28 20
+f 20 28 21
+f 21 28 22
+f 24 29 30
+f 24 30 31
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 30 35 32
+f 30 32 31
+f 32 35 33
+f 33 35 34
+
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_7.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c0cc956d15f200e7c964eb68735ead98f5c7a61
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_7.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
+v 0.04308573 -0.04817264 -0.00616262
+v 0.04364123 -0.04817264 -0.00565291
+v 0.05602267 -0.04817264 -0.00616262
+v 0.00022597 -0.06372612 -0.00616267
+v 0.05302297 -0.04817267 0.00272343
+v 0.05602884 -0.04817264 -0.00615914
+v 0.05563999 -0.04865400 -0.00616262
+v 0.00022597 -0.07361069 -0.00616271
+v 0.00022597 -0.07175583 0.00272335
+v 0.06328118 -0.04817267 0.00272343
+v 0.05884953 -0.04817265 -0.00283557
+v 0.05904704 -0.04854669 -0.00226497
+v 0.05573874 -0.05225341 -0.00247200
+v 0.05430063 -0.05016856 -0.00616262
+v 0.05897915 -0.05197135 0.00099509
+v 0.05815208 -0.05467552 0.00272341
+v 0.00030004 -0.07361069 -0.00616271
+v 0.00022597 -0.07507009 -0.00405254
+v 0.00022597 -0.07948505 0.00272332
+v 0.06278740 -0.04889010 0.00272343
+v 0.06226894 -0.04817267 0.00139522
+v 0.05959637 -0.04817265 -0.00191791
+v 0.06216401 -0.04817266 0.00126214
+v 0.06130607 -0.05083697 0.00272342
+v 0.05991116 -0.04965044 -0.00013740
+v 0.05970747 -0.05286049 0.00272342
+v 0.05560296 -0.05560142 0.00085504
+v 0.05245513 -0.05245269 -0.00588690
+v 0.05232552 -0.05232392 -0.00616263
+v 0.05279460 -0.05181804 -0.00616263
+v 0.05402287 -0.05048129 -0.00616263
+v 0.05647324 -0.05645070 0.00272340
+v 0.00173816 -0.07360763 -0.00616271
+v 0.00173816 -0.07638844 -0.00213460
+v 0.00022597 -0.07639151 -0.00213721
+v 0.00022597 -0.07917539 0.00221796
+v 0.00173816 -0.07949119 0.00272332
+v 0.05465861 -0.05812469 0.00272340
+v 0.05224528 -0.05572098 -0.00245896
+v 0.05046769 -0.05401631 -0.00616264
+v 0.00521928 -0.07342367 -0.00616271
+v 0.00173816 -0.07743393 -0.00053935
+v 0.00521928 -0.07486774 -0.00405254
+v 0.00521928 -0.07628420 -0.00197803
+v 0.00521928 -0.07733276 -0.00038192
+v 0.00022597 -0.07698324 -0.00123347
+v 0.00022597 -0.07842117 0.00101587
+v 0.00173816 -0.07917539 0.00221013
+v 0.00238624 -0.07946052 0.00272332
+v 0.05283164 -0.05968526 0.00272339
+v 0.05195518 -0.05896168 0.00100898
+v 0.04864071 -0.05561980 -0.00616264
+v 0.04933200 -0.05501580 -0.00616264
+v 0.00870657 -0.07308949 -0.00616271
+v 0.00022597 -0.07743393 -0.00054196
+v 0.00870657 -0.07449676 -0.00405253
+v 0.00870657 -0.07608184 -0.00165707
+v 0.00870657 -0.07711814 -0.00006095
+v 0.00870657 -0.07863579 0.00233190
+v 0.00516990 -0.07930110 0.00272332
+v 0.00509584 -0.07924591 0.00262851
+v 0.05079481 -0.06127034 0.00272338
+v 0.04963444 -0.05988453 -0.00010873
+v 0.04851727 -0.05901686 -0.00223630
+v 0.04814694 -0.05601530 -0.00616265
+v 0.01008915 -0.07290246 -0.00616271
+v 0.01058910 -0.07314774 -0.00568692
+v 0.01192846 -0.07387437 -0.00420475
+v 0.01218770 -0.07578140 -0.00117432
+v 0.01218770 -0.07680541 0.00042180
+v 0.01218770 -0.07799807 0.00233190
+v 0.01264444 -0.07815750 0.00272332
+v 0.00924973 -0.07877682 0.00272332
+v 0.00870657 -0.07887493 0.00272332
+v 0.04881971 -0.06272359 0.00272338
+v 0.04807287 -0.06220544 0.00135429
+v 0.04619652 -0.05988145 -0.00330792
+v 0.04503615 -0.05902605 -0.00543636
+v 0.04690633 -0.05700866 -0.00616265
+v 0.01109522 -0.07274916 -0.00616271
+v 0.01290984 -0.07294232 -0.00537030
+v 0.01405787 -0.07662759 0.00069666
+v 0.01544662 -0.07761790 0.00272332
+v 0.04765933 -0.06349314 0.00272338
+v 0.04575212 -0.06299338 0.00030181
+v 0.04454855 -0.06219930 -0.00182576
+v 0.04283267 -0.05998875 -0.00616266
+v 0.04340052 -0.05959325 -0.00616266
+v 0.04456089 -0.05878384 -0.00616266
+v 0.01241607 -0.07251309 -0.00616271
+v 0.01566882 -0.07189684 -0.00616270
+v 0.01637862 -0.07639765 0.00106111
+v 0.01588484 -0.07751979 0.00272333
+v 0.04732603 -0.06371082 0.00272338
+v 0.04444979 -0.06552586 0.00272337
+v 0.04419673 -0.06568528 0.00272337
+v 0.04344372 -0.06365256 -0.00080199
+v 0.04222162 -0.06295352 -0.00282518
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_8.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4860931e6c9738078b4162de4e551420e875ade
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_8.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_9.obj b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..863b6df3bb0a4e935541c24013061b361f91e840
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/fruit_plate_collision_9.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bbd918999e8af7bc51ac74011a55e4a48dbe08b2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:7e2eca0124be5f7dc3b8e9f80dd13dc304c6e105c7c73ce958d628392afdcaf8
+size 845753
diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/textures/material_0.png b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/video.mp4 b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/video.mp4
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