diff --git a/.gitattributes b/.gitattributes
index 1d10eaaef77f4c31063c9ea5150f78d60b0a252a..c5eed04a4ccf5ca13591308e19cf53e86f6dde2d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4055,5 +4055,5 @@ dataset/kitchen_supplies/tableware/04fa042f30b555d2927d3a00264dbf59/chopsticks_0
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dataset/kitchen_supplies/tableware/04b6ef3b6a98553bb46a820100c807be/mesh/tray_032.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/04b6ef3b6a98553bb46a820100c807be/tray_032.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/08bf7aa728e85252b5051cfc9ede36d5/mesh/tray_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/08bf7aa728e85252b5051cfc9ede36d5/tray_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/coaster_034.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mesh/coaster_034.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/coaster_034.urdf b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/coaster_034.urdf
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/coaster_034.usd b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/coaster_034.usd
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mesh/coaster_034.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mesh/coaster_034.obj
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mesh/coaster_034_collision.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mesh/coaster_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e03a612b2405fec88c70a4a001958dbbac86c81
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mesh/coaster_034_collision.obj
@@ -0,0 +1,15431 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mesh/material_0.png b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/coaster_034.xml b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/coaster_034.xml
new file mode 100644
index 0000000000000000000000000000000000000000..01e73a3edef6d1b970d0af73f957f9fd6b58cb9b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/coaster_034.xml
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c78e0291d45c002229e90c16b2827ddc79c37f4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034.obj
@@ -0,0 +1,113968 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coaster_034_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20cd52e246388534dceeb65a884beab108ae95a4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision.obj
@@ -0,0 +1,15431 @@
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_0.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67f2beb9479f373df4bd4bba5b09ae5a75d67e58
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_1.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..244c7fc2164db8e6325ed1f3a081b24446802dc1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_10.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0cdb2806c55b65cd0307a3436efd58185a13eaf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_10.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_11.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b49e52cc8bf69a9a38717c8369c637aa9f66c15
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_11.obj
@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_12.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15969dbb533cc080746b5ce34f7c388a43d23520
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_12.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_13.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40dd5608b165051cc0f27dfe9613eb20e413f6d7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_13.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_14.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a98eb957d894a415d0d3edfcfbbbc082c34eda5b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_14.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_15.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c346d5b0b46a19d77b48b85b418fdd059badc9a6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_15.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_16.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8a84e9334ea8a7f8680abe82fc6abf0ce5fef36
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_16.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_17.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93b80580a03774fbe9345f0b4a4cf8c24e2c7d8c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_17.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_18.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baa842d0e454aeb0ce8ae869e18633393b74fc70
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_18.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_19.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7e695cc80f809b8e1fbd14fd19b5d4c9367ce8c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_19.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_2.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0354bbab62b3ee4e39d431f1dca58d02359a70ba
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_2.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_20.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..060f01a4b3b12edced0ab84b90556dd7759fc877
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_20.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_21.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54393245a6474d0db480ee39194b773ace501d38
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_21.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_22.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af7af9eaf35680e323b489517424912ee161647d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_22.obj
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_23.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fadc9da70003293b942401f9c7d2e3ecbcc06b9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_23.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_24.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5783d784c1ae5b01788df236e06fcde49d660c0f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_24.obj
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_25.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c32cf01d641e39e83bbff940ee71358b6ced2f4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_25.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_26.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..beca572fe9be115370beff36768bf23362156b02
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_26.obj
@@ -0,0 +1,169 @@
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_27.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d72d34f7f01f4c194bb99fd6e6e91c0d66682a8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_27.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.00464765 -0.03283000 0.00188615
+v -0.00465103 -0.03283000 0.00189124
+v 0.00000098 -0.03595913 0.00188614
+v -0.01725570 -0.03283000 0.00188615
+v -0.00592129 -0.03467894 0.00365611
+v -0.00497028 -0.03544720 0.00388035
+v -0.01651752 -0.03283000 0.00348363
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+v 0.00000098 -0.04008375 0.00188612
+v -0.01725570 -0.03415635 0.00188614
+v -0.01725570 -0.03283000 0.00318707
+v -0.00592129 -0.03533785 0.00388858
+v -0.00497028 -0.03572695 0.00388035
+v 0.00000098 -0.03889941 0.00315765
+v -0.01657327 -0.03373032 0.00317864
+v -0.01514084 -0.03494307 0.00328016
+v -0.00796858 -0.03563323 0.00384879
+v -0.00796858 -0.03553666 0.00384879
+v -0.00723885 -0.03540530 0.00386486
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+v -0.01691786 -0.03468604 0.00188614
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+v -0.01250572 -0.03740548 0.00294047
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+v -0.01592462 -0.03574825 0.00271330
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+v -0.01382328 -0.03757376 0.00188613
+v -0.01534185 -0.03660811 0.00188614
+v -0.01473206 -0.03709449 0.00188613
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+f 50 52 51
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+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_28.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72d256aa1eecd328a00161f85f96ed9e71906094
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_28.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.01634110 0.03038802 0.00202720
+v -0.01568526 0.03038802 0.00202720
+v -0.01634110 0.03038802 0.00264617
+v -0.01634110 0.03550245 0.00202722
+v -0.01605370 0.03038802 0.00237713
+v -0.01516778 0.03088757 0.00202720
+v -0.01630174 0.03038802 0.00261021
+v -0.01634110 0.03087186 0.00309435
+v -0.01634110 0.03533119 0.00238535
+v -0.01592566 0.03576045 0.00271337
+v -0.01605332 0.03590777 0.00202722
+v -0.01598376 0.03052113 0.00244132
+v -0.01510548 0.03094964 0.00202720
+v -0.01634110 0.03104611 0.00325520
+v -0.01634110 0.03485183 0.00283969
+v -0.01506803 0.03622934 0.00285877
+v -0.01457997 0.03699886 0.00266402
+v -0.01541735 0.03652474 0.00202722
+v -0.01620772 0.03495578 0.00290324
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+v -0.01243664 0.03399332 0.00202863
+v -0.01634110 0.03112015 0.00328722
+v -0.01243664 0.03518387 0.00293415
+v -0.01634110 0.03452129 0.00300243
+v -0.01514179 0.03495578 0.00327982
+v -0.01382476 0.03627421 0.00318852
+v -0.01382476 0.03718283 0.00280626
+v -0.01256009 0.03799647 0.00202723
+v -0.01387673 0.03752908 0.00202723
+v -0.01471373 0.03709010 0.00202723
+v -0.01532715 0.03660625 0.00202722
+v -0.01634110 0.03394920 0.00319529
+v -0.01243664 0.03545010 0.00202722
+v -0.01634110 0.03229873 0.00360704
+v -0.01243664 0.03523547 0.00295417
+v -0.01243664 0.03627421 0.00327825
+v -0.01634110 0.03242736 0.00363826
+v -0.01250734 0.03627421 0.00327840
+v -0.01250734 0.03741915 0.00294078
+v -0.01245498 0.03802265 0.00202723
+v -0.01243664 0.03802713 0.00202723
+v -0.01243664 0.03634077 0.00326216
+v -0.01243664 0.03742363 0.00294252
+v -0.01243664 0.03745953 0.00290341
+v -0.01243664 0.03755301 0.00275911
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+f 40 45 46
+f 40 46 42
+f 40 42 41
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_29.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d3f17e103927e345c297472f5188c35c3734063
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_29.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.01828878 0.03286336 0.00074305
+v -0.01828878 0.03276679 0.00197984
+v -0.01828878 0.03224225 -0.00053023
+v -0.02304718 0.03194887 -0.00029529
+v -0.02304718 0.03224875 0.00074305
+v -0.01828878 0.03274730 0.00202721
+v -0.02304718 0.03213826 0.00197984
+v -0.02304718 0.03212062 0.00202721
+v -0.01828878 0.03148745 -0.00104171
+v -0.02172936 0.03123957 -0.00096170
+v -0.02304718 0.03114116 -0.00091369
+v -0.02402807 0.03180961 -0.00011412
+v -0.02420056 0.03188853 0.00074305
+v -0.02408556 0.03183095 0.00197984
+v -0.01828878 0.02337872 0.00202718
+v -0.02310238 0.03211133 0.00202721
+v -0.01828878 0.02558092 -0.00364911
+v -0.01828878 0.02538967 -0.00373233
+v -0.02378428 0.03037336 -0.00112110
+v -0.02466053 0.03010412 -0.00106413
+v -0.02434430 0.03098426 -0.00058913
+v -0.01828878 0.02482056 -0.00396983
+v -0.02485947 0.03157101 0.00074305
+v -0.02568052 0.03064260 -0.00018007
+v -0.02636702 0.03036686 0.00008240
+v -0.02407061 0.03182446 0.00202721
+v -0.02474332 0.03150230 0.00197984
+v -0.02468468 0.03151808 0.00202721
+v -0.01828878 0.02337875 -0.00451269
+v -0.02988465 0.02337872 0.00202718
+v -0.01828878 0.02444734 -0.00411515
+v -0.01828878 0.02373247 -0.00438401
+v -0.01828878 0.02354679 -0.00445315
+v -0.02611174 0.02873658 -0.00106797
+v -0.02567591 0.02967056 -0.00083495
+v -0.02568052 0.03096012 0.00074304
+v -0.02637622 0.03037707 0.00152659
+v -0.02665105 0.02967984 -0.00018263
+v -0.02784123 0.02805791 -0.00014807
+v -0.02758939 0.02890833 0.00074304
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+v -0.02751810 0.02880620 0.00197983
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+v -0.02753420 0.02874956 0.00202720
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+v -0.02863238 0.02337873 -0.00091947
+v -0.02324842 0.02337874 -0.00306529
+v -0.02746750 0.02883962 0.00202720
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+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_3.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fc25f5ea4056fb7af5e1bdd790e6bec906a0100
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_3.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v -0.01250967 0.02308620 -0.00556373
+v -0.01645965 0.02044846 -0.00556299
+v -0.01514537 0.02176702 -0.00555556
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+v -0.00000259 0.01716602 -0.00473823
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+v -0.02040963 0.01716602 -0.00552809
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+v -0.01777750 0.02044846 -0.00549760
+v -0.01384538 0.02337875 -0.00542626
+v -0.01645965 0.02176702 -0.00543890
+v -0.01514537 0.02308620 -0.00533116
+v -0.00000259 0.02337875 -0.00495369
+v -0.00000259 0.01716600 0.00017252
+v -0.02172748 0.01716602 -0.00534827
+v -0.02040963 0.01781132 -0.00550801
+v -0.02040963 0.01912989 -0.00526132
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+v -0.01790607 0.02189657 -0.00511419
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+v -0.00000259 0.02176700 0.00093044
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+v -0.03226671 0.02076592 -0.00099626
+v -0.02990958 0.02337872 0.00197962
+v -0.03328813 0.02137410 0.00197961
+v -0.03327742 0.02136559 0.00202717
+v -0.03565955 0.01864026 0.00202716
+v -0.03566669 0.01864999 0.00197960
+v -0.03608812 0.01781129 0.00197960
+v -0.03643097 0.01716600 0.00129080
+v -0.03563812 0.01716600 -0.00065894
+v -0.03587383 0.01781130 -0.00026735
+v -0.03565955 0.01863844 -0.00003924
+v -0.02324533 0.02337874 -0.00306488
+v -0.03529884 0.01939808 0.00074244
+v -0.03463812 0.02024530 0.00074244
+v -0.03402027 0.02090398 0.00074245
+v -0.03320599 0.02131755 -0.00014845
+v -0.02863102 0.02337873 -0.00091972
+v -0.03002744 0.02337873 0.00081528
+v -0.03160957 0.02242810 0.00137404
+v -0.03213457 0.02207231 0.00186370
+v -0.03335956 0.02143067 0.00074245
+v -0.03394527 0.02083281 0.00197961
+v -0.03389170 0.02085835 0.00202717
+v -0.03525955 0.01925210 0.00202716
+v -0.03572026 0.01873819 0.00074244
+v -0.03620597 0.01781130 0.00074244
+v -0.03523098 0.01930927 0.00197960
+v -0.03648097 0.01716600 0.00074243
+v -0.03605955 0.01716600 -0.00031417
+v -0.03457384 0.02017413 0.00197960
+v -0.03160243 0.02242386 0.00037465
+v -0.02950244 0.02337873 -0.00035872
+v -0.03003458 0.02337873 0.00074469
+v -0.03213457 0.02215564 0.00076920
+v -0.03397384 0.02078050 0.00202717
+v -0.03456313 0.02016257 0.00202716
+f 1 2 3
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+f 15 23 24
+f 15 24 22
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+f 18 20 19
+f 20 30 31
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+f 20 29 32
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+f 24 38 35
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+f 28 41 29
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+f 29 41 44
+f 29 44 32
+f 30 45 46
+f 30 46 34
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+f 30 47 48
+f 30 48 45
+f 32 44 47
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+f 34 49 50
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+f 43 60 47
+f 43 47 44
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+f 67 85 79
+f 67 79 86
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+f 70 90 71
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+f 70 77 89
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+f 74 92 75
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+f 75 90 89
+f 75 89 77
+f 77 91 94
+f 77 94 78
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+f 80 85 95
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+f 86 99 87
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+f 88 94 91
+f 94 100 99
+f 95 98 97
+f 95 97 96
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_30.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0483168d4daa46974254913b967e75053b0642b4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_30.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.01778441 0.02167114 0.00206061
+v 0.01778441 0.02321999 0.00500084
+v 0.01778441 0.02559612 0.00206062
+v 0.01854616 0.02105391 0.00206061
+v 0.02608836 0.01243209 0.00339830
+v 0.02661924 0.01243208 0.00500080
+v 0.01778441 0.02559611 0.00500084
+v 0.01882271 0.02559612 0.00206062
+v 0.02410558 0.02105391 0.00206061
+v 0.02982674 0.01243209 0.00339830
+v 0.03039589 0.01243208 0.00500080
+v 0.02049437 0.02559611 0.00500084
+v 0.01910667 0.02538995 0.00206062
+v 0.02396854 0.02125493 0.00206061
+v 0.02659825 0.01832214 0.00339832
+v 0.02703283 0.01767012 0.00339831
+v 0.02752421 0.01691116 0.00339831
+v 0.02782545 0.01640990 0.00339831
+v 0.02791311 0.01625785 0.00339831
+v 0.02801311 0.01608132 0.00339831
+v 0.02864276 0.01496541 0.00339830
+v 0.02914894 0.01396548 0.00339830
+v 0.02921068 0.01382890 0.00339830
+v 0.02978847 0.01251971 0.00339830
+v 0.02936870 0.01497829 0.00500081
+v 0.02982798 0.01385595 0.00500080
+v 0.02176601 0.02453304 0.00500084
+v 0.02150798 0.02349833 0.00206062
+v 0.02052647 0.02428694 0.00206062
+v 0.02036226 0.02441708 0.00206062
+v 0.01979064 0.02508070 0.00256198
+v 0.02394879 0.02127812 0.00206061
+v 0.02566859 0.02048693 0.00500083
+v 0.02684023 0.01903213 0.00500082
+v 0.02788224 0.01739436 0.00500081
+v 0.02843287 0.01652715 0.00500081
+v 0.02319074 0.02321999 0.00500084
+v 0.02252282 0.02262597 0.00206061
+v 0.02172156 0.02331793 0.00206062
+v 0.02392657 0.02130389 0.00206061
+v 0.02453399 0.02179096 0.00500083
+v 0.02388706 0.02134642 0.00206061
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 13
+f 1 13 30
+f 1 30 29
+f 1 29 28
+f 1 28 39
+f 1 39 38
+f 1 38 42
+f 1 42 40
+f 1 40 32
+f 1 32 14
+f 1 14 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 26
+f 2 26 25
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+f 9 20 21
+f 9 21 22
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+f 9 24 10
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+f 10 25 26
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+f 13 31 30
+f 14 32 33
+f 14 33 34
+f 14 34 15
+f 15 34 16
+f 16 34 17
+f 17 34 35
+f 17 35 36
+f 17 36 25
+f 17 25 18
+f 18 25 19
+f 19 25 20
+f 20 25 21
+f 21 25 22
+f 22 25 23
+f 23 25 24
+f 27 37 38
+f 27 38 39
+f 27 39 28
+f 32 40 33
+f 33 40 41
+f 37 41 42
+f 37 42 38
+f 40 42 41
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_31.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7754e24589e1fdb6b376444da0fd5cf91553b3de
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_31.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.00924479 0.03264100 0.00124120
+v 0.00924479 0.03130270 0.00500086
+v 0.00924479 0.03264100 0.00098405
+v 0.00635655 0.03264099 0.00177082
+v 0.00066694 0.03263508 0.00500087
+v 0.00198347 0.03259448 0.00500087
+v 0.00330092 0.03251476 0.00500087
+v 0.00461836 0.03239296 0.00500087
+v 0.00597018 0.03224090 0.00500087
+v 0.00725234 0.03191980 0.00500087
+v 0.00924479 0.02772926 0.00500085
+v 0.00924479 0.02510069 0.00098402
+v 0.00000188 0.03264100 0.00098405
+v 0.00494229 0.03264099 0.00189939
+v 0.00000188 0.03264100 0.00108117
+v 0.00000188 0.03263434 0.00500087
+v 0.00466360 0.03264099 0.00186676
+v 0.00000188 0.02918713 0.00500086
+v 0.00000188 0.02676155 0.00098403
+f 1 2 11
+f 1 11 12
+f 1 12 3
+f 1 3 13
+f 1 13 15
+f 1 15 17
+f 1 17 14
+f 1 14 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 2
+f 2 10 9
+f 2 9 8
+f 2 8 7
+f 2 7 6
+f 2 6 5
+f 2 5 16
+f 2 16 18
+f 2 18 11
+f 3 12 19
+f 3 19 13
+f 4 14 5
+f 5 15 16
+f 5 14 17
+f 5 17 15
+f 11 18 12
+f 12 18 19
+f 13 19 18
+f 13 18 16
+f 13 16 15
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_32.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46b77a8cdcca99cf3b294bba2fc1d8e434a18a14
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_32.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.00000098 0.03263457 0.00500087
+v -0.00065158 0.03263307 0.00500087
+v 0.00000098 0.02918647 0.00500086
+v 0.00000098 0.03172707 0.00202721
+v -0.00464243 0.03222350 0.00202721
+v -0.00146242 0.03261136 0.00500087
+v 0.00000098 0.02790533 0.00202719
+v -0.01243664 0.02642200 0.00500085
+v -0.01243664 0.02498512 0.00202718
+v -0.00595121 0.03223248 0.00500087
+v -0.00529743 0.03232008 0.00500087
+v -0.00401179 0.03245561 0.00500087
+v -0.00273832 0.03255220 0.00500087
+v -0.00196888 0.03259189 0.00500087
+v -0.01230881 0.02926360 0.00202720
+v -0.01166477 0.03068402 0.00500086
+v -0.00736468 0.03196442 0.00500087
+v -0.00679247 0.03208497 0.00500087
+v -0.01243664 0.03037627 0.00500086
+v -0.01243664 0.02919247 0.00202720
+f 1 2 6
+f 1 6 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 18
+f 1 18 17
+f 1 17 16
+f 1 16 19
+f 1 19 8
+f 1 8 3
+f 1 3 7
+f 1 7 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 8 9
+f 3 9 7
+f 4 7 9
+f 4 9 20
+f 4 20 15
+f 4 15 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 10
+f 8 19 20
+f 8 20 9
+f 15 20 19
+f 15 19 16
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_33.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bceecf8e243e86d3af0603079ceda22c108b592
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_33.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.01634110 0.02269241 0.00203008
+v -0.01634110 0.02421691 0.00500084
+v -0.01634110 0.02273534 0.00202717
+v -0.01631932 0.02270521 0.00202717
+v -0.01243664 0.02498520 0.00202718
+v -0.01243664 0.02642157 0.00500085
+v -0.01634110 0.02837692 0.00500085
+v -0.01634110 0.03038652 0.00202720
+v -0.01243664 0.02919267 0.00202720
+v -0.01243664 0.03037596 0.00500086
+v -0.01508064 0.02913767 0.00500086
+v -0.01634110 0.03038652 0.00264632
+v -0.01568526 0.03038652 0.00202720
+v -0.01244543 0.03037672 0.00500086
+v -0.01446302 0.02944423 0.00500086
+v -0.01630174 0.03038652 0.00261023
+v -0.01604567 0.03038652 0.00236951
+v -0.01605370 0.03038652 0.00237708
+f 1 2 7
+f 1 7 12
+f 1 12 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 14
+f 2 14 15
+f 2 15 11
+f 2 11 7
+f 3 8 13
+f 3 13 9
+f 3 9 5
+f 3 5 4
+f 5 9 10
+f 5 10 6
+f 7 11 12
+f 8 12 16
+f 8 16 18
+f 8 18 17
+f 8 17 13
+f 9 13 10
+f 10 13 14
+f 11 15 12
+f 12 15 14
+f 12 14 16
+f 13 17 14
+f 14 17 18
+f 14 18 16
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_34.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87e91e6746a5d36a71cbb3e1cec4ee9a746e79ad
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_34.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00040996 0.04018091 0.00098408
+v 0.00000188 0.04018017 0.00098408
+v 0.00000188 0.04014547 0.00136801
+v 0.00066694 0.04008864 0.00198024
+v 0.00066694 0.04018017 0.00098408
+v 0.00000188 0.03264174 0.00098405
+v 0.00000188 0.04008864 0.00198024
+v 0.00066694 0.03976832 0.00279750
+v 0.00165049 0.03967902 0.00271231
+v 0.00204772 0.03977497 0.00198564
+v 0.00172740 0.03994694 0.00098408
+v 0.00000188 0.03992701 0.00239342
+v 0.00000188 0.03264174 0.00108117
+v 0.00924479 0.03264174 0.00098405
+v 0.00000188 0.03976832 0.00279807
+v 0.00066694 0.03891219 0.00316893
+v 0.00799430 0.03564928 0.00385072
+v 0.00924479 0.03683606 0.00320357
+v 0.00252909 0.03952182 0.00240165
+v 0.00924479 0.03728258 0.00289887
+v 0.00924479 0.03757928 0.00240051
+v 0.00924479 0.03774829 0.00196518
+v 0.00199614 0.03988569 0.00098408
+v 0.00924479 0.03781915 0.00128281
+v 0.00466360 0.03264173 0.00186663
+v 0.00593490 0.03472303 0.00364343
+v 0.00501830 0.03546108 0.00388054
+v 0.00000188 0.03749145 0.00294913
+v 0.00924479 0.03784351 0.00098407
+v 0.00924479 0.03264174 0.00124104
+v 0.00000188 0.03891219 0.00316921
+v 0.00593490 0.03573711 0.00388508
+v 0.00799430 0.03554521 0.00385072
+v 0.00924479 0.03622348 0.00342392
+v 0.00494229 0.03264173 0.00189928
+v 0.00593490 0.03538284 0.00388508
+v 0.00725234 0.03403960 0.00304028
+v 0.00725234 0.03478650 0.00365876
+v 0.00501830 0.03574301 0.00388054
+v 0.00924479 0.03506253 0.00315017
+v 0.00823861 0.03415547 0.00284576
+v 0.00635655 0.03264173 0.00177093
+v 0.00924479 0.03563378 0.00334327
+v 0.00725234 0.03544558 0.00386265
+f 1 2 3
+f 1 3 4
+f 1 4 5
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+f 1 11 23
+f 1 23 29
+f 1 29 14
+f 1 14 6
+f 1 6 2
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+f 13 27 28
+f 14 29 24
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+f 14 20 18
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+f 14 40 30
+f 15 31 16
+f 16 31 32
+f 16 32 17
+f 17 33 34
+f 17 34 18
+f 17 32 36
+f 17 36 33
+f 23 24 29
+f 25 35 26
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+f 26 35 37
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+f 26 38 36
+f 27 36 32
+f 27 32 39
+f 27 39 31
+f 27 31 28
+f 30 40 41
+f 30 41 37
+f 30 37 42
+f 31 39 32
+f 33 40 43
+f 33 43 34
+f 33 36 44
+f 33 44 38
+f 33 38 40
+f 35 42 37
+f 36 38 44
+f 37 41 38
+f 38 41 40
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_35.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21f2f9c06f5749558001e40dc1f27ffc69ccf999
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_35.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v -0.01828878 0.02338021 -0.00451206
+v -0.01828878 0.02338018 0.00202718
+v -0.01828878 0.02354699 -0.00445337
+v -0.01813110 0.02338021 -0.00455292
+v -0.01527458 0.02338018 0.00202718
+v -0.01828878 0.03274656 0.00202721
+v -0.01828878 0.02444823 -0.00411533
+v -0.01444619 0.03559072 -0.00110867
+v -0.01739869 0.02338021 -0.00473493
+v -0.00661592 0.02338019 0.00022558
+v -0.00661592 0.02709191 0.00202719
+v -0.01671427 0.03497623 0.00202722
+v -0.01828878 0.03276558 0.00197966
+v -0.01828878 0.02482129 -0.00396972
+v -0.01523573 0.03507280 -0.00101878
+v -0.01513747 0.03629444 -0.00040958
+v -0.01393431 0.03629590 -0.00096454
+v -0.01514090 0.02415708 -0.00498159
+v -0.01603670 0.02389081 -0.00488055
+v -0.01691536 0.02361137 -0.00477208
+v -0.01669713 0.02338021 -0.00490506
+v -0.00661592 0.02338021 -0.00516732
+v -0.00661592 0.03684600 0.00202723
+v -0.01605270 0.03590672 0.00202722
+v -0.01606184 0.03591696 0.00197967
+v -0.01828878 0.03286068 0.00076201
+v -0.01678968 0.03506841 0.00074270
+v -0.01828878 0.02539041 -0.00373198
+v -0.01828878 0.03148689 -0.00104182
+v -0.01601842 0.03586723 -0.00014733
+v -0.01828878 0.02558061 -0.00364952
+v -0.01469528 0.03707570 -0.00008565
+v -0.01382462 0.03730394 -0.00031299
+v -0.01250719 0.03676261 -0.00107597
+v -0.01391717 0.02451552 -0.00510045
+v -0.01514090 0.02338021 -0.00523567
+v -0.01633035 0.02338021 -0.00499124
+v -0.00987349 0.02338021 -0.00542883
+v -0.00661592 0.02440580 -0.00543849
+v -0.00661592 0.03686501 0.00197968
+v -0.00994547 0.03804861 0.00196259
+v -0.00994090 0.03800911 0.00202723
+v -0.01541741 0.03652413 0.00202722
+v -0.01613154 0.03599890 0.00074270
+v -0.01538199 0.03657679 0.00197967
+v -0.01546883 0.03665727 0.00074270
+v -0.01828878 0.03286215 0.00074269
+v -0.01715988 0.03436908 0.00005178
+v -0.01828878 0.03224182 -0.00052994
+v -0.01480954 0.03715470 0.00074271
+v -0.01382462 0.03769018 0.00074271
+v -0.01193589 0.03827247 0.00008373
+v -0.01242835 0.03767116 -0.00036574
+v -0.01119091 0.03759215 -0.00053809
+v -0.01119091 0.03686502 -0.00109752
+v -0.00661592 0.02786442 -0.00489762
+v -0.00661592 0.02704366 -0.00522080
+v -0.00723864 0.02704366 -0.00516582
+v -0.00844637 0.02710364 -0.00501204
+v -0.00987349 0.02674666 -0.00497043
+v -0.00987349 0.02572400 -0.00533150
+v -0.01128917 0.02584104 -0.00509080
+v -0.01250719 0.02552795 -0.00500462
+v -0.01250719 0.02440580 -0.00537757
+v -0.01384290 0.02338021 -0.00542586
+v -0.01119091 0.02338021 -0.00551055
+v -0.00723864 0.02440580 -0.00547860
+v -0.00661592 0.02572400 -0.00554398
+v -0.00661592 0.03691184 0.00099605
+v -0.00974894 0.03808520 0.00074271
+v -0.01043222 0.03827977 0.00153913
+v -0.01023112 0.03807641 0.00202723
+v -0.01532714 0.03660605 0.00202722
+v -0.01472385 0.03709617 0.00197968
+v -0.01382462 0.03756874 0.00197968
+v -0.01266601 0.03812763 0.00074271
+v -0.01200902 0.03829003 0.00074271
+v -0.01119091 0.03832514 0.00074271
+v -0.01119091 0.03828125 0.00006516
+v -0.01046650 0.03827100 0.00008671
+v -0.00987349 0.03676115 -0.00106260
+v -0.00661592 0.02821263 -0.00473418
+v -0.00723864 0.02572400 -0.00553284
+v -0.00855606 0.02572400 -0.00545854
+v -0.01119091 0.02440580 -0.00551501
+v -0.01250719 0.02338021 -0.00552244
+v -0.00987349 0.02440580 -0.00556181
+v -0.00855606 0.02440580 -0.00553952
+v -0.00661592 0.03692355 0.00074271
+v -0.01040823 0.03828710 0.00074271
+v -0.01119091 0.03829587 0.00162456
+v -0.01095782 0.03820223 0.00202723
+v -0.01471356 0.03708886 0.00202723
+v -0.01387603 0.03752923 0.00202723
+v -0.01245120 0.03806617 0.00195962
+v -0.01197474 0.03828124 0.00153393
+v -0.00996490 0.03765506 -0.00035236
+v -0.00747516 0.03703474 -0.00004331
+v -0.00661592 0.03631492 -0.00059977
+v -0.00661592 0.03560681 -0.00111016
+v -0.00661592 0.02917092 -0.00427207
+v -0.00661592 0.02852425 -0.00458485
+v -0.00661592 0.03692208 0.00073825
+v -0.01119091 0.03821247 0.00202723
+v -0.01255975 0.03799594 0.00202723
+v -0.01215298 0.03809104 0.00202723
+v -0.01245463 0.03802228 0.00202723
+f 1 2 6
+f 1 6 13
+f 1 13 26
+f 1 26 47
+f 1 47 49
+f 1 49 29
+f 1 29 31
+f 1 31 28
+f 1 28 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 21
+f 1 21 37
+f 1 37 36
+f 1 36 65
+f 1 65 86
+f 1 86 66
+f 1 66 38
+f 1 38 22
+f 1 22 10
+f 1 10 5
+f 1 5 2
+f 2 5 11
+f 2 11 23
+f 2 23 42
+f 2 42 72
+f 2 72 92
+f 2 92 104
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+f 2 106 107
+f 2 107 105
+f 2 105 94
+f 2 94 93
+f 2 93 73
+f 2 73 43
+f 2 43 24
+f 2 24 12
+f 2 12 6
+f 3 7 8
+f 3 8 4
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+f 5 10 11
+f 6 12 13
+f 7 14 8
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+f 8 14 15
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+f 10 39 68
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+f 10 56 82
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+f 10 101 100
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+f 10 99 103
+f 10 103 89
+f 10 89 69
+f 10 69 40
+f 10 40 23
+f 10 23 11
+f 12 24 25
+f 12 25 13
+f 13 25 27
+f 13 27 26
+f 14 28 15
+f 15 29 30
+f 15 30 16
+f 15 28 31
+f 15 31 29
+f 16 32 17
+f 16 30 32
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 18
+f 18 35 36
+f 18 36 37
+f 18 37 19
+f 19 37 21
+f 19 21 20
+f 22 38 39
+f 23 40 41
+f 23 41 42
+f 24 43 25
+f 25 44 27
+f 25 43 45
+f 25 45 46
+f 25 46 44
+f 26 27 47
+f 27 44 48
+f 27 48 47
+f 29 49 30
+f 30 48 44
+f 30 44 46
+f 30 46 32
+f 30 49 48
+f 32 46 50
+f 32 50 51
+f 32 51 52
+f 32 52 33
+f 33 52 53
+f 33 53 34
+f 34 53 54
+f 34 54 55
+f 34 55 56
+f 34 56 57
+f 34 57 58
+f 34 58 59
+f 34 59 60
+f 34 60 61
+f 34 61 62
+f 34 62 63
+f 34 63 35
+f 35 63 64
+f 35 64 36
+f 36 64 65
+f 38 66 67
+f 38 67 39
+f 39 67 68
+f 40 69 70
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+f 43 73 45
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+f 46 74 50
+f 47 48 49
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+f 52 77 78
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+f 55 81 56
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+f 76 96 77
+f 77 96 78
+f 78 90 80
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+f 80 89 98
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+f 80 99 97
+f 81 97 99
+f 81 99 100
+f 81 100 101
+f 81 101 102
+f 81 102 82
+f 83 87 85
+f 83 85 84
+f 85 87 86
+f 89 103 98
+f 91 96 104
+f 91 104 92
+f 94 105 95
+f 95 106 96
+f 95 105 107
+f 95 107 106
+f 96 106 104
+f 98 103 99
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_36.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd7a616054612975d0422aa6e432f77f560e4c54
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_36.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.01118948 0.03821273 0.00202723
+v -0.01118948 0.03816885 0.00224307
+v -0.01095722 0.03820319 0.00202723
+v -0.01215193 0.03809110 0.00202723
+v -0.01022990 0.03807680 0.00202723
+v -0.01243664 0.03755308 0.00275914
+v -0.01243664 0.03745960 0.00290346
+v -0.01243664 0.03742430 0.00294276
+v -0.01118948 0.03750920 0.00297426
+v -0.00987258 0.03741905 0.00297698
+v -0.01243664 0.03802671 0.00202723
+v -0.00993943 0.03800907 0.00202723
+v -0.01243664 0.03634062 0.00326217
+v -0.00800241 0.03565951 0.00385556
+v -0.00654893 0.03570720 0.00387710
+v -0.00654893 0.03608926 0.00351857
+v -0.00654893 0.03643172 0.00317362
+v -0.01243664 0.03545107 0.00202722
+v -0.00654893 0.03684669 0.00202723
+v -0.01243664 0.03627432 0.00327810
+v -0.00800241 0.03552834 0.00385556
+v -0.00723821 0.03567668 0.00386787
+v -0.00654893 0.03539240 0.00387710
+v -0.01243664 0.03399297 0.00202866
+v -0.01163152 0.03423575 0.00202722
+v -0.00654893 0.03335335 0.00202721
+v -0.01243664 0.03523596 0.00295415
+v -0.00723821 0.03475708 0.00366380
+v -0.00723821 0.03541625 0.00386787
+v -0.01243664 0.03518445 0.00293424
+v -0.00654893 0.03507808 0.00377968
+v -0.00723821 0.03334047 0.00202721
+v -0.00723821 0.03403971 0.00304542
+v -0.00856433 0.03360138 0.00202721
+v -0.00729814 0.03334858 0.00202721
+v -0.00654893 0.03404782 0.00303654
+v -0.00654893 0.03439076 0.00336013
+v -0.00654893 0.03473323 0.00365510
+f 1 2 3
+f 1 3 5
+f 1 5 12
+f 1 12 19
+f 1 19 26
+f 1 26 32
+f 1 32 35
+f 1 35 34
+f 1 34 25
+f 1 25 18
+f 1 18 11
+f 1 11 4
+f 1 4 2
+f 2 5 3
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 5
+f 4 11 6
+f 5 10 12
+f 6 11 18
+f 6 18 24
+f 6 24 30
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+f 6 20 13
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+f 14 22 15
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+f 15 36 26
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+f 15 19 17
+f 15 17 16
+f 18 25 24
+f 20 27 21
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+f 21 27 30
+f 21 30 28
+f 23 29 28
+f 23 28 31
+f 24 32 33
+f 24 33 28
+f 24 28 30
+f 24 25 34
+f 24 34 35
+f 24 35 32
+f 26 36 33
+f 26 33 32
+f 28 33 37
+f 28 37 38
+f 28 38 31
+f 33 36 37
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_37.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..967ff00c71960f11a8d355d3863edcca2d86161f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_37.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.01399069 0.02959268 0.00500086
+v 0.01649099 0.02832101 0.00500085
+v 0.01737407 0.03182549 0.00387831
+v 0.01652590 0.03226473 0.00367739
+v 0.01524326 0.03226473 0.00298931
+v 0.01399069 0.03226473 0.00189074
+v 0.01399069 0.02562299 0.00500084
+v 0.01778441 0.02745906 0.00500085
+v 0.01778441 0.03109342 0.00387280
+v 0.01778441 0.03226473 0.00339272
+v 0.01777587 0.03226473 0.00339902
+v 0.01399069 0.03226474 0.00098405
+v 0.01399069 0.02284352 0.00098401
+v 0.01761544 0.02029664 0.00098400
+v 0.01778441 0.02322016 0.00500084
+v 0.01778441 0.03226474 0.00098405
+v 0.01778441 0.02020336 0.00098400
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 13
+f 1 13 7
+f 1 7 15
+f 1 15 8
+f 1 8 2
+f 2 8 3
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 3 8 9
+f 4 11 10
+f 4 10 16
+f 4 16 12
+f 4 12 6
+f 4 6 5
+f 7 13 14
+f 7 14 15
+f 8 15 17
+f 8 17 16
+f 8 16 10
+f 8 10 9
+f 12 16 17
+f 12 17 14
+f 12 14 13
+f 14 17 15
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_38.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8725311ce5e500bf3b02e9219ad8aae5b2453030
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_38.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.03240982 0.00576497 0.00500077
+v -0.02886846 0.00576497 0.00500077
+v -0.03229378 0.00663437 0.00500077
+v -0.03194664 0.00611654 0.00202807
+v -0.03189362 0.00580516 0.00202807
+v -0.03184260 0.00576498 0.00202807
+v -0.02757797 0.00576498 0.00202807
+v -0.02218990 0.01716427 0.00202811
+v -0.02383353 0.01716426 0.00500081
+v -0.03217373 0.00725601 0.00500078
+v -0.03201567 0.00802050 0.00500078
+v -0.03185961 0.00861758 0.00500078
+v -0.03073518 0.01195121 0.00500079
+v -0.03058412 0.00971802 0.00202809
+v -0.02706477 0.01716427 0.00202811
+v -0.02812318 0.01716426 0.00500081
+v -0.03050509 0.01252151 0.00500080
+v -0.02927362 0.01264987 0.00202810
+v -0.02934865 0.01496453 0.00500080
+v -0.02917458 0.01528149 0.00500081
+v -0.02813518 0.01715421 0.00500081
+v -0.02899351 0.01324025 0.00202810
+v -0.02955173 0.01454713 0.00500080
+f 1 2 9
+f 1 9 16
+f 1 16 21
+f 1 21 20
+f 1 20 19
+f 1 19 23
+f 1 23 17
+f 1 17 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 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 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 18
+f 4 18 22
+f 4 22 15
+f 4 15 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 8 15 16
+f 8 16 9
+f 13 17 14
+f 14 17 18
+f 15 19 20
+f 15 20 21
+f 15 21 16
+f 15 22 19
+f 17 23 18
+f 18 23 22
+f 19 22 23
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_39.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e614d4e0255d33637c944524fa412668526334f9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_39.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.02699893 0.02678382 0.00329453
+v -0.02776408 0.02395346 0.00387173
+v -0.02755787 0.02395346 0.00387173
+v -0.02656914 0.02613225 0.00329453
+v -0.02524614 0.02478110 0.00202736
+v -0.02898180 0.02478110 0.00202736
+v -0.03327640 0.02136602 0.00202735
+v -0.03389394 0.02086039 0.00202735
+v -0.03310926 0.02124267 0.00272707
+v -0.03437908 0.02005064 0.00268544
+v -0.03441164 0.01998944 0.00273954
+v -0.03429768 0.02005064 0.00276324
+v -0.03356184 0.02043763 0.00291489
+v -0.02905452 0.02250532 0.00386051
+v -0.02824921 0.02300153 0.00387571
+v -0.02660062 0.02496094 0.00329452
+v -0.02757523 0.02308627 0.00386666
+v -0.02609161 0.02478110 0.00290368
+v -0.02590276 0.02478110 0.00271387
+v -0.02614153 0.02440447 0.00287853
+v -0.02764795 0.02241399 0.00384060
+v -0.02576276 0.02322091 0.00202736
+v -0.03397534 0.02078224 0.00202735
+v -0.03456358 0.02016269 0.00202734
+v -0.03446482 0.02004970 0.00249183
+v -0.03558812 0.01852059 0.00263061
+v -0.03487073 0.01902810 0.00285064
+v -0.03392216 0.02005064 0.00289714
+v -0.03358354 0.01913073 0.00324655
+v -0.03490003 0.01781159 0.00314522
+v -0.03490003 0.01716567 0.00319967
+v -0.02905452 0.02217106 0.00386051
+v -0.02831650 0.02222473 0.00385833
+v -0.02856396 0.02082461 0.00298093
+v -0.02807556 0.02026532 0.00202734
+v -0.02768485 0.02113910 0.00257887
+v -0.02697180 0.02129540 0.00202735
+v -0.02663969 0.02169369 0.00202735
+v -0.02584090 0.02307968 0.00202735
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_4.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..816cab06a3dd559177492b165e04d7a27eb29fd6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_4.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_40.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb0ce539e45997e84dd2780f16469524ff5b04d2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_40.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.03289025 -0.00065366 0.00500075
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+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_41.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc73156fbe1c9011960aac04fd3832c9c1058897
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_41.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+f 5 59 64
+f 5 64 63
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+f 5 54 53
+f 5 53 49
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+f 5 29 28
+f 5 28 24
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+f 5 22 21
+f 5 21 15
+f 5 15 18
+f 5 18 17
+f 5 17 14
+f 5 14 10
+f 5 10 11
+f 5 11 6
+f 7 9 12
+f 9 13 19
+f 9 19 12
+f 10 14 11
+f 11 15 16
+f 11 14 17
+f 11 17 18
+f 11 18 15
+f 13 20 19
+f 15 21 16
+f 16 21 22
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 19 20 26
+f 20 27 26
+f 24 28 25
+f 25 29 30
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 28 29
+f 26 27 35
+f 27 36 35
+f 27 37 38
+f 27 38 39
+f 27 39 36
+f 33 40 34
+f 34 41 42
+f 34 42 43
+f 34 40 41
+f 37 44 45
+f 37 45 46
+f 37 46 38
+f 42 47 43
+f 43 47 48
+f 43 48 49
+f 43 49 50
+f 44 51 45
+f 44 52 51
+f 49 53 50
+f 50 53 54
+f 50 54 55
+f 50 55 56
+f 51 52 57
+f 52 58 59
+f 52 59 60
+f 52 60 61
+f 52 61 57
+f 55 62 56
+f 56 62 63
+f 56 63 58
+f 58 63 64
+f 58 64 59
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_42.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22f5b90602fb842b9b3b35a560654d2d16f1511b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_42.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02188532 0.02977169 0.00308611
+v -0.02188532 0.02977169 0.00408610
+v -0.02188532 0.03345376 0.00308611
+v -0.02188532 0.03345376 0.00408610
+v -0.01634165 0.02977169 0.00308611
+v -0.01634165 0.02977169 0.00408610
+v -0.01634165 0.03345376 0.00308611
+v -0.01634165 0.03345376 0.00408610
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_43.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9878d03dd6cf230e20885d7cdb8d10b3dc985c9f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_43.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.00905646 -0.02581648 0.00121245
+v 0.00905646 -0.02796109 0.00500065
+v 0.00905646 -0.03284088 0.00121242
+v 0.00000186 -0.02732780 0.00121244
+v 0.00000186 -0.02937202 0.00500064
+v 0.00905646 -0.03155030 0.00500063
+v 0.00905646 -0.03284088 0.00129585
+v 0.00296805 -0.03284088 0.00121242
+v 0.00000186 -0.03255072 0.00121242
+v 0.00000186 -0.03282784 0.00500063
+v 0.00858662 -0.03186728 0.00500063
+v 0.00860967 -0.03284089 0.00148533
+v 0.00794835 -0.03202955 0.00500063
+v 0.00725157 -0.03217188 0.00500063
+v 0.00661595 -0.03229014 0.00500063
+v 0.00534384 -0.03246273 0.00500063
+v 0.00409123 -0.03260300 0.00500063
+v 0.00285636 -0.03271301 0.00500063
+v 0.00198405 -0.03277696 0.00500063
+v 0.00163300 -0.03279277 0.00500063
+v 0.00066673 -0.03282990 0.00500063
+v 0.00593513 -0.03284089 0.00141488
+v 0.00037419 -0.03282921 0.00500063
+v 0.00725245 -0.03284089 0.00147087
+v 0.00720547 -0.03284089 0.00146939
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 23
+f 2 23 21
+f 2 21 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 11
+f 2 11 6
+f 3 7 12
+f 3 12 24
+f 3 24 25
+f 3 25 22
+f 3 22 8
+f 4 9 10
+f 4 10 5
+f 6 11 7
+f 7 11 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 12
+f 8 22 21
+f 8 21 23
+f 8 23 10
+f 8 10 9
+f 12 21 24
+f 21 22 25
+f 21 25 24
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_44.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2a4b006b2c46b6301e33b8c1193bc771d4d6400
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_44.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.01726319 -0.02642027 0.00240371
+v 0.01811098 -0.02642027 0.00240371
+v 0.01726319 -0.02642028 0.00500065
+v 0.01726319 -0.02264056 0.00240373
+v 0.01943723 -0.02642028 0.00470145
+v 0.01832922 -0.02627283 0.00240371
+v 0.02098451 -0.02555745 0.00500066
+v 0.01956593 -0.02642028 0.00500065
+v 0.01726319 -0.02385524 0.00500066
+v 0.02795150 -0.00930438 0.00500046
+v 0.02741708 -0.00930437 0.00330925
+v 0.02513532 -0.01345434 0.00240376
+v 0.01916162 -0.02569147 0.00240372
+v 0.01990169 -0.02515366 0.00240372
+v 0.02025983 -0.02488057 0.00240372
+v 0.02050466 -0.02468455 0.00240372
+v 0.02174137 -0.02494090 0.00500066
+v 0.02513532 -0.01536933 0.00500069
+v 0.03155531 -0.00930438 0.00500046
+v 0.03098172 -0.00930437 0.00330925
+v 0.02513532 -0.02042401 0.00240373
+v 0.02135385 -0.02397083 0.00240372
+v 0.02201277 -0.02337271 0.00240372
+v 0.02304243 -0.02371953 0.00500066
+v 0.02513532 -0.02123491 0.00500067
+v 0.03150075 -0.00930438 0.00481616
+v 0.03149375 -0.00956909 0.00500045
+v 0.03121675 -0.01062962 0.00500045
+v 0.03080684 -0.00988573 0.00330924
+v 0.02494786 -0.02176099 0.00500067
+v 0.02371255 -0.02305775 0.00500067
+v 0.02271227 -0.02271428 0.00240373
+v 0.03045150 -0.01093789 0.00330924
+v 0.03020668 -0.01160469 0.00330924
+v 0.02982895 -0.01252617 0.00330923
+v 0.02924277 -0.01384638 0.00330923
+v 0.02920919 -0.01392010 0.00330923
+v 0.02896017 -0.01444450 0.00330923
+v 0.02865099 -0.01503089 0.00330922
+v 0.02794870 -0.01630587 0.00330922
+v 0.02756957 -0.01696598 0.00330922
+v 0.02820751 -0.01724578 0.00500043
+v 0.02787455 -0.01777688 0.00500042
+v 0.03078726 -0.01203361 0.00500045
+v 0.02924137 -0.01533415 0.00500043
+v 0.02940226 -0.01502923 0.00500043
+v 0.02961770 -0.01458692 0.00500044
+v 0.03058301 -0.01255801 0.00500044
+f 1 2 5
+f 1 5 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 12
+f 1 12 21
+f 1 21 32
+f 1 32 23
+f 1 23 22
+f 1 22 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 7
+f 3 7 17
+f 3 17 24
+f 3 24 31
+f 3 31 30
+f 3 30 25
+f 3 25 18
+f 3 18 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 7 8
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 9 18 10
+f 10 18 19
+f 10 19 26
+f 10 26 20
+f 10 20 11
+f 11 20 12
+f 12 20 21
+f 16 22 17
+f 17 22 23
+f 17 23 24
+f 18 25 19
+f 19 25 27
+f 19 27 26
+f 20 26 28
+f 20 28 29
+f 20 29 21
+f 21 30 31
+f 21 31 24
+f 21 24 32
+f 21 29 33
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 38
+f 21 38 39
+f 21 39 40
+f 21 40 41
+f 21 41 42
+f 21 42 43
+f 21 43 30
+f 23 32 24
+f 25 30 44
+f 25 44 28
+f 25 28 27
+f 26 27 28
+f 28 44 29
+f 29 44 33
+f 30 43 42
+f 30 42 45
+f 30 45 46
+f 30 46 47
+f 30 47 48
+f 30 48 44
+f 33 44 34
+f 34 44 48
+f 34 48 35
+f 35 48 36
+f 36 48 37
+f 37 48 38
+f 38 48 47
+f 38 47 46
+f 38 46 39
+f 39 46 45
+f 39 45 42
+f 39 42 40
+f 40 42 41
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_45.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1697ff0b148a3b80f9a2ed5e005276f3c7df60b0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_45.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.02172899 0.03223371 0.00202721
+v -0.02180613 0.03222715 0.00202721
+v -0.02304620 0.03183912 0.00278910
+v -0.02172899 0.03190476 0.00287917
+v -0.02050634 0.03187704 0.00290435
+v -0.02050634 0.03216734 0.00202721
+v -0.02304620 0.03212139 0.00202721
+v -0.02387318 0.03173263 0.00267955
+v -0.02433271 0.03103826 0.00291886
+v -0.02304620 0.03099887 0.00315905
+v -0.02188659 0.03099887 0.00329465
+v -0.02172899 0.03103753 0.00329465
+v -0.02050634 0.03124759 0.00329465
+v -0.02050634 0.02853429 0.00202719
+v -0.02310177 0.03211118 0.00202721
+v -0.02407060 0.03182453 0.00202721
+v -0.02468524 0.03151819 0.00202721
+v -0.02626207 0.03026366 0.00235151
+v -0.02538366 0.03062470 0.00279988
+v -0.02576605 0.02976622 0.00299677
+v -0.02436340 0.02968015 0.00325259
+v -0.02699782 0.02678524 0.00329464
+v -0.02050634 0.02998868 0.00329465
+v -0.02050634 0.02975382 0.00319255
+v -0.02608871 0.02478236 0.00290370
+v -0.02590042 0.02478236 0.00271376
+v -0.02524431 0.02478236 0.00202718
+v -0.02477980 0.03145255 0.00202721
+v -0.02585563 0.03067430 0.00202720
+v -0.02668511 0.02985666 0.00202720
+v -0.02746813 0.02883918 0.00202720
+v -0.02753449 0.02875019 0.00202720
+v -0.02777089 0.02792234 0.00271861
+v -0.02663368 0.02938402 0.00280509
+v -0.02704261 0.02836216 0.00295173
+v -0.02699782 0.02704344 0.00326102
+v -0.02807199 0.02478236 0.00329463
+v -0.02050634 0.02984134 0.00325979
+v -0.02664031 0.02478236 0.00329463
+v -0.02897943 0.02478236 0.00202718
+v -0.02788204 0.02813313 0.00202719
+v -0.02830424 0.02709887 0.00202719
+v -0.02895206 0.02478236 0.00211365
+v -0.02794176 0.02704344 0.00288002
+v -0.02828185 0.02478236 0.00322664
+v -0.02824037 0.02478236 0.00324017
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 27
+f 1 27 40
+f 1 40 42
+f 1 42 41
+f 1 41 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 17
+f 1 17 16
+f 1 16 15
+f 1 15 7
+f 1 7 2
+f 2 7 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 3 7 8
+f 4 12 13
+f 4 13 5
+f 5 13 23
+f 5 23 38
+f 5 38 24
+f 5 24 14
+f 5 14 6
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 10
+f 10 20 21
+f 10 21 11
+f 11 21 22
+f 11 22 37
+f 11 37 39
+f 11 39 23
+f 11 23 13
+f 11 13 12
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 17 28 18
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 19
+f 18 28 29
+f 19 34 20
+f 20 34 35
+f 20 35 36
+f 20 36 21
+f 21 36 22
+f 22 36 37
+f 23 39 38
+f 24 38 39
+f 24 39 25
+f 25 39 37
+f 25 37 46
+f 25 46 45
+f 25 45 43
+f 25 43 40
+f 25 40 27
+f 25 27 26
+f 32 41 33
+f 33 41 42
+f 33 42 43
+f 33 43 44
+f 33 44 35
+f 33 35 34
+f 35 44 36
+f 36 44 45
+f 36 45 46
+f 36 46 37
+f 40 43 42
+f 43 45 44
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_46.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33c528ca87472589c055d59259ea86eba76d1d95
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_46.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.02418133 0.01242805 0.00107447
+v 0.02662115 0.01243207 0.00500080
+v 0.02418387 0.01243209 0.00107678
+v 0.02418472 0.01243209 0.00107447
+v 0.02714741 0.00210036 0.00107443
+v 0.02939147 0.00210034 0.00500076
+v 0.03039655 0.01243207 0.00500080
+v 0.03283806 0.01243209 0.00107447
+v 0.02845927 0.00210036 0.00107443
+v 0.03282789 0.00210034 0.00500076
+v 0.03283806 0.01243208 0.00154220
+v 0.03054994 0.01221361 0.00500079
+v 0.03283806 0.00332520 0.00107443
+v 0.03248213 0.00260001 0.00107443
+v 0.03248044 0.00210036 0.00107674
+v 0.03272196 0.00330394 0.00500076
+v 0.03283806 0.00791606 0.00183735
+v 0.03283806 0.00989745 0.00182583
+v 0.03283806 0.01121635 0.00171322
+v 0.03095418 0.01125174 0.00500079
+v 0.03186519 0.00832972 0.00500078
+v 0.03218637 0.00727885 0.00500078
+v 0.03239146 0.00594174 0.00500077
+v 0.03256857 0.00462284 0.00500077
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 14
+f 1 14 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 7 11
+f 2 11 8
+f 2 8 4
+f 2 4 3
+f 2 6 10
+f 2 10 16
+f 2 16 24
+f 2 24 23
+f 2 23 22
+f 2 22 21
+f 2 21 20
+f 2 20 12
+f 2 12 7
+f 5 9 15
+f 5 15 10
+f 5 10 6
+f 7 12 11
+f 8 11 19
+f 8 19 18
+f 8 18 17
+f 8 17 13
+f 9 14 15
+f 10 15 13
+f 10 13 17
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 10 11 16
+f 11 12 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 16
+f 13 15 14
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_47.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6bf23b2ea8bc60f181c2371a62088b847fa366b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_47.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.02563071 -0.00930436 0.00107439
+v 0.03290119 -0.00930436 0.00107439
+v 0.02795243 -0.00930438 0.00500072
+v 0.02939086 0.00209933 0.00500076
+v 0.02714744 0.00209935 0.00107443
+v 0.03290119 -0.00930437 0.00180385
+v 0.03290119 -0.00400771 0.00107441
+v 0.03155528 -0.00930438 0.00500072
+v 0.03282788 0.00209933 0.00500076
+v 0.02845919 0.00209935 0.00107443
+v 0.03191898 -0.00866476 0.00500072
+v 0.03290119 -0.00729733 0.00173198
+v 0.03289976 -0.00047700 0.00500075
+v 0.03289976 -0.00065336 0.00500075
+v 0.03286346 -0.00173502 0.00500074
+v 0.03285279 -0.00197278 0.00500074
+v 0.03277805 -0.00292942 0.00500074
+v 0.03274318 -0.00329109 0.00500074
+v 0.03265848 -0.00412716 0.00500073
+v 0.03251329 -0.00535952 0.00500073
+v 0.03233891 -0.00662424 0.00500073
+v 0.03222076 -0.00728395 0.00500072
+v 0.03205919 -0.00809993 0.00500072
+v 0.03248126 0.00198438 0.00107443
+v 0.03248055 0.00209935 0.00107674
+v 0.03283926 0.00198436 0.00500076
+v 0.03289620 0.00066494 0.00500075
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 24
+f 1 24 7
+f 1 7 2
+f 2 7 12
+f 2 12 6
+f 3 8 11
+f 3 11 23
+f 3 23 22
+f 3 22 21
+f 3 21 20
+f 3 20 19
+f 3 19 18
+f 3 18 17
+f 3 17 16
+f 3 16 15
+f 3 15 14
+f 3 14 13
+f 3 13 27
+f 3 27 26
+f 3 26 9
+f 3 9 4
+f 4 9 25
+f 4 25 10
+f 4 10 5
+f 6 11 8
+f 6 12 13
+f 6 13 14
+f 6 14 15
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+f 6 20 21
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+f 6 22 23
+f 6 23 11
+f 7 24 25
+f 7 25 26
+f 7 26 27
+f 7 27 13
+f 7 13 12
+f 9 26 25
+f 10 25 24
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_48.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29479e16b244e87cc65a200a52c1b31fae6e6bec
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_48.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_49.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e8d493cc2ad5ae54b015e0611eb998a88efd336
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_49.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_5.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff8d1cb8dfa24e1091e4603e609645fe7a80386e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_5.obj
@@ -0,0 +1,553 @@
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+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_50.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6f077887a3489452a14385dfae07913f49e9a4b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_50.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.00654893 0.03335371 0.00202721
+v -0.00592766 0.03331136 0.00202721
+v -0.00654893 0.03404785 0.00303654
+v -0.00654893 0.03684625 0.00202723
+v -0.00468000 0.03367729 0.00202721
+v -0.00592061 0.03405579 0.00302854
+v -0.00592061 0.03471155 0.00364698
+v -0.00654893 0.03439128 0.00336013
+v -0.00406066 0.03835562 0.00270824
+v -0.00325731 0.03911594 0.00202723
+v -0.00654893 0.03643268 0.00317369
+v -0.00502814 0.03417358 0.00282409
+v 0.00000098 0.03616600 0.00202722
+v -0.00457485 0.03494315 0.00330647
+v -0.00499993 0.03546723 0.00387871
+v -0.00592061 0.03537062 0.00388544
+v -0.00654893 0.03507814 0.00377976
+v -0.00654893 0.03473339 0.00365498
+v -0.00328552 0.03861899 0.00287631
+v -0.00162752 0.03968038 0.00271407
+v -0.00250525 0.03951760 0.00237720
+v -0.00654893 0.03608991 0.00351856
+v -0.00309574 0.03922578 0.00202723
+v 0.00000098 0.04007013 0.00202724
+v 0.00000098 0.03749142 0.00294925
+v -0.00499993 0.03573853 0.00387871
+v 0.00000098 0.03891213 0.00316915
+v -0.00592061 0.03573523 0.00388544
+v -0.00654893 0.03539246 0.00387707
+v -0.00654893 0.03570743 0.00387707
+v -0.00065171 0.03976905 0.00279883
+v -0.00071454 0.04006285 0.00202724
+v -0.00199682 0.03976508 0.00202724
+v -0.00202760 0.03901138 0.00298053
+v -0.00209363 0.03973662 0.00202724
+v -0.00065171 0.04007013 0.00202724
+v 0.00000098 0.03992720 0.00239357
+v 0.00000098 0.03976839 0.00279828
+v -0.00065171 0.03891213 0.00316934
+f 1 2 3
+f 1 3 8
+f 1 8 18
+f 1 18 17
+f 1 17 29
+f 1 29 30
+f 1 30 22
+f 1 22 11
+f 1 11 4
+f 1 4 10
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+f 1 23 35
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+f 1 33 32
+f 1 32 36
+f 1 36 24
+f 1 24 13
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+f 1 5 2
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+f 27 39 28
+f 28 39 30
+f 30 39 34
+f 31 37 36
+f 31 36 32
+f 31 34 39
+f 31 38 37
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_51.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87cc8082fb61a6d69cb37d016d6a3934c21edd44
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_51.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.02886507 0.02559613 0.00098402
+v 0.02881184 0.02559612 0.00186763
+v 0.03382918 0.02105425 0.00098401
+v 0.02505913 0.02559613 0.00098402
+v 0.03312774 0.02124541 0.00272968
+v 0.03370383 0.02105424 0.00198016
+v 0.02819368 0.02559612 0.00309906
+v 0.02505913 0.02105425 0.00098401
+v 0.02505913 0.02559612 0.00205472
+v 0.03323506 0.02105424 0.00277447
+v 0.02702091 0.02559612 0.00344576
+v 0.02778587 0.02398050 0.00387240
+v 0.02505913 0.02105425 0.00121335
+v 0.02600869 0.02559612 0.00294882
+v 0.02909344 0.02252804 0.00386757
+v 0.03228208 0.02105424 0.00307609
+v 0.02757553 0.02398050 0.00387240
+v 0.02826752 0.02301531 0.00388004
+v 0.02845983 0.02105424 0.00309622
+v 0.02766396 0.02241601 0.00384007
+v 0.02616494 0.02440463 0.00286349
+v 0.02759356 0.02308644 0.00386672
+v 0.02909344 0.02215681 0.00386757
+v 0.03099082 0.02105424 0.00326914
+v 0.02957766 0.02173757 0.00369124
+v 0.02833105 0.02221639 0.00386303
+v 0.02964548 0.02105424 0.00339359
+f 1 2 3
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+f 1 7 2
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+f 24 25 27
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_52.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ab56ccdad3a3cb36d991dd8127e0041715f85b1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_52.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.01726319 -0.03155396 0.00387757
+v 0.01726319 -0.03155395 0.00121242
+v 0.01694832 -0.03155396 0.00388070
+v 0.01726319 -0.03181951 0.00388070
+v 0.01726319 -0.03431374 0.00121241
+v 0.01292813 -0.03155395 0.00121242
+v 0.01694832 -0.03181951 0.00388070
+v 0.01689049 -0.03155396 0.00385432
+v 0.00905815 -0.03254941 0.00121242
+v 0.00905815 -0.03501394 0.00319586
+v 0.00905815 -0.03619567 0.00343041
+v 0.01726319 -0.03187169 0.00385746
+v 0.00988789 -0.03626173 0.00338130
+v 0.01252250 -0.03626173 0.00325567
+v 0.01383900 -0.03626173 0.00317914
+v 0.01509285 -0.03622606 0.00287329
+v 0.01595552 -0.03576235 0.00272416
+v 0.01726319 -0.03428271 0.00159191
+v 0.01699571 -0.03474641 0.00121241
+v 0.00905815 -0.03771559 0.00121240
+v 0.00905815 -0.03722217 0.00286832
+v 0.00988789 -0.03738929 0.00297227
+v 0.01120519 -0.03748705 0.00297515
+v 0.01726319 -0.03296491 0.00326143
+v 0.01252250 -0.03740580 0.00293884
+v 0.01383900 -0.03718056 0.00281373
+v 0.01461091 -0.03699890 0.00267661
+v 0.01541896 -0.03658011 0.00198004
+v 0.01609368 -0.03592088 0.00198004
+v 0.01712182 -0.03426818 0.00254420
+v 0.01726319 -0.03382032 0.00272469
+v 0.01726319 -0.03424902 0.00179329
+v 0.01718849 -0.03438245 0.00171963
+v 0.01682221 -0.03487060 0.00207119
+v 0.01681820 -0.03500799 0.00121241
+v 0.00984451 -0.03804917 0.00121240
+v 0.00905815 -0.03769248 0.00146967
+v 0.00905815 -0.03764757 0.00196906
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+v 0.01522056 -0.03682451 0.00121240
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+v 0.01167589 -0.03829358 0.00121240
+v 0.01203172 -0.03827905 0.00121240
+v 0.01230562 -0.03821233 0.00121240
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+f 54 62 57
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_53.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c3e669dbf14831931a211fcd575485b531f4ba6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_53.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.00905646 -0.03284160 0.00129592
+v 0.00905646 -0.03501474 0.00319581
+v 0.00905646 -0.03284160 0.00121242
+v 0.00860967 -0.03284161 0.00148536
+v 0.00825684 -0.03413032 0.00285320
+v 0.00799267 -0.03553566 0.00384999
+v 0.00905646 -0.03619611 0.00343040
+v 0.00725245 -0.03477646 0.00367125
+v 0.00905646 -0.03771522 0.00121240
+v 0.00296805 -0.03284160 0.00121242
+v 0.00725245 -0.03284161 0.00147101
+v 0.00725245 -0.03401511 0.00305283
+v 0.00799267 -0.03563655 0.00384999
+v 0.00725245 -0.03543620 0.00385991
+v 0.00593513 -0.03538039 0.00387817
+v 0.00905646 -0.03722222 0.00286832
+v 0.00165339 -0.03966655 0.00271149
+v 0.00593513 -0.03472065 0.00365142
+v 0.00905646 -0.03764797 0.00196886
+v 0.00200887 -0.03984685 0.00121239
+v 0.00000186 -0.03433782 0.00121241
+v 0.00502382 -0.03546053 0.00387426
+v 0.00593513 -0.03403801 0.00303299
+v 0.00593513 -0.03284161 0.00141491
+v 0.00720547 -0.03284161 0.00146918
+v 0.00593513 -0.03570811 0.00387817
+v 0.00066673 -0.03889947 0.00315797
+v 0.00066673 -0.03975098 0.00279316
+v 0.00066673 -0.04007727 0.00198007
+v 0.00204876 -0.03976386 0.00198816
+v 0.00253190 -0.03951127 0.00240593
+v 0.00118798 -0.04003289 0.00121239
+v 0.00000186 -0.04014882 0.00121239
+v 0.00000186 -0.03747409 0.00294452
+v 0.00502382 -0.03571383 0.00387426
+v 0.00000186 -0.03889947 0.00315771
+v 0.00000186 -0.03974955 0.00279212
+v 0.00000186 -0.04007441 0.00198007
+v 0.00000186 -0.04013522 0.00135538
+v 0.00066673 -0.04015096 0.00121239
+f 1 2 7
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+f 1 9 3
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+f 1 11 4
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+f 23 25 24
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+f 27 36 28
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+f 28 37 29
+f 29 37 38
+f 29 38 39
+f 29 39 40
+f 29 40 30
+f 30 40 32
+f 33 40 39
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_54.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..848d040fa764a3d94b35fea3adfd37b97958558b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_54.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.03290261 -0.00930301 0.00107439
+v 0.03668174 -0.00930301 0.00107439
+v 0.03382622 -0.01430028 0.00240382
+v 0.03290261 -0.00930302 0.00180365
+v 0.03290261 -0.00400877 0.00107441
+v 0.03702258 -0.01430028 0.00240382
+v 0.03867839 -0.00612293 0.00107440
+v 0.03391517 -0.01430028 0.00249351
+v 0.03395715 -0.01120368 0.00303657
+v 0.03388742 -0.00988413 0.00317657
+v 0.03344553 -0.01087299 0.00240383
+v 0.03290261 -0.00729641 0.00173174
+v 0.03396071 -0.00856458 0.00309810
+v 0.03418841 0.00209935 0.00107443
+v 0.03695213 -0.01430028 0.00267125
+v 0.03879936 -0.00592869 0.00107440
+v 0.03920353 -0.00517421 0.00107440
+v 0.03937502 -0.00482586 0.00107440
+v 0.03945115 -0.00465730 0.00107440
+v 0.03962122 -0.00421103 0.00107440
+v 0.03978772 -0.00357052 0.00107441
+v 0.03959916 -0.00415325 0.00176757
+v 0.03952444 -0.00394457 0.00259172
+v 0.03414429 -0.01430028 0.00272347
+v 0.03412152 -0.00988413 0.00330864
+v 0.03414216 -0.00959518 0.00330864
+v 0.03391944 -0.00930302 0.00314213
+v 0.03496544 -0.00865769 0.00373412
+v 0.03543650 -0.00767044 0.00386783
+v 0.03746304 0.00209934 0.00293654
+v 0.04004175 0.00209935 0.00107443
+v 0.03626903 -0.01430028 0.00302371
+v 0.03961481 -0.00306647 0.00269754
+v 0.03984038 -0.00332331 0.00107441
+v 0.03972368 -0.00341964 0.00209980
+v 0.03998625 -0.00197327 0.00198031
+v 0.03462673 -0.01430028 0.00297668
+v 0.03491777 -0.01120368 0.00357333
+v 0.03491777 -0.00988413 0.00375653
+v 0.03493982 -0.00930302 0.00374588
+v 0.03439832 -0.00930302 0.00344099
+v 0.03565708 -0.00767044 0.00386783
+v 0.03886838 0.00198376 0.00316705
+v 0.03543650 -0.00828045 0.00386783
+v 0.03887834 0.00209934 0.00315064
+v 0.04006096 0.00198377 0.00107443
+v 0.03997131 0.00209934 0.00187260
+v 0.03998127 0.00198376 0.00198033
+v 0.03577520 -0.01430028 0.00309918
+v 0.03873034 -0.00461076 0.00295128
+v 0.03886838 -0.00197327 0.00315500
+v 0.03565708 -0.00828045 0.00386783
+v 0.03969451 -0.00197327 0.00278176
+v 0.04006808 -0.00197326 0.00107441
+v 0.04017126 -0.00065372 0.00107442
+v 0.04008872 -0.00065373 0.00198032
+v 0.03491777 -0.01430028 0.00310246
+v 0.03886838 -0.00065373 0.00321626
+v 0.03886838 0.00066421 0.00321407
+v 0.03969237 0.00198376 0.00277767
+v 0.03974432 0.00066421 0.00282415
+v 0.03968383 0.00209934 0.00276892
+v 0.04016841 0.00066422 0.00107442
+v 0.03995992 0.00209934 0.00198853
+v 0.04008729 0.00066421 0.00198032
+v 0.03899860 -0.00341964 0.00295238
+v 0.03974432 -0.00065373 0.00282579
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 12
+f 1 12 5
+f 1 5 14
+f 1 14 31
+f 1 31 46
+f 1 46 63
+f 1 63 55
+f 1 55 54
+f 1 54 34
+f 1 34 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 7
+f 1 7 2
+f 2 7 6
+f 3 6 15
+f 3 15 32
+f 3 32 49
+f 3 49 57
+f 3 57 37
+f 3 37 24
+f 3 24 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 10
+f 4 10 12
+f 5 12 13
+f 5 13 14
+f 6 7 16
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 23
+f 6 23 15
+f 8 24 9
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+f 10 27 12
+f 12 27 13
+f 13 27 28
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+f 13 29 14
+f 14 29 30
+f 14 30 45
+f 14 45 62
+f 14 62 64
+f 14 64 47
+f 14 47 31
+f 15 23 33
+f 15 33 32
+f 21 34 22
+f 22 34 35
+f 22 35 23
+f 23 35 36
+f 23 36 33
+f 24 37 38
+f 24 38 39
+f 24 39 25
+f 25 39 40
+f 25 40 26
+f 26 40 28
+f 26 28 41
+f 26 41 27
+f 27 41 28
+f 28 40 29
+f 29 42 43
+f 29 43 30
+f 29 40 39
+f 29 39 44
+f 29 44 52
+f 29 52 42
+f 30 43 45
+f 31 47 48
+f 31 48 46
+f 32 33 50
+f 32 50 51
+f 32 51 52
+f 32 52 49
+f 33 36 53
+f 33 53 50
+f 34 54 36
+f 34 36 35
+f 36 54 55
+f 36 55 56
+f 36 56 53
+f 37 57 38
+f 38 57 49
+f 38 49 39
+f 39 49 52
+f 39 52 44
+f 42 58 59
+f 42 59 43
+f 42 52 58
+f 43 60 45
+f 43 59 61
+f 43 61 60
+f 45 60 62
+f 46 48 63
+f 47 64 48
+f 48 60 65
+f 48 65 63
+f 48 64 62
+f 48 62 60
+f 50 53 66
+f 50 66 51
+f 51 66 53
+f 51 53 67
+f 51 67 58
+f 51 58 52
+f 53 56 67
+f 55 65 56
+f 55 63 65
+f 56 65 61
+f 56 61 67
+f 58 67 61
+f 58 61 59
+f 60 61 65
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_55.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8b69e475016888f3956724e555197a06f14a5b1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_55.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.01725570 -0.03283000 0.00188645
+v -0.01347084 -0.03283000 0.00188645
+v -0.01725570 -0.03283000 0.00318730
+v -0.01725570 -0.02211978 0.00188649
+v -0.01233947 -0.03042293 0.00500033
+v -0.01456708 -0.03283000 0.00270409
+v -0.01233947 -0.02961567 0.00188646
+v -0.01651797 -0.03283000 0.00348363
+v -0.01725570 -0.03180049 0.00387599
+v -0.01725570 -0.02382864 0.00500035
+v -0.01233947 -0.02662362 0.00500034
+v -0.01233947 -0.02512862 0.00188648
+v -0.01382502 -0.02983374 0.00500033
+v -0.01514696 -0.03283000 0.00313182
+v -0.01494532 -0.02938399 0.00500033
+v -0.01649584 -0.02846981 0.00500034
+v -0.01725570 -0.02799804 0.00500034
+f 1 2 6
+f 1 6 14
+f 1 14 8
+f 1 8 3
+f 1 3 9
+f 1 9 17
+f 1 17 10
+f 1 10 4
+f 1 4 12
+f 1 12 7
+f 1 7 2
+f 2 5 6
+f 2 7 5
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 5 13 9
+f 5 9 8
+f 5 8 14
+f 5 14 6
+f 5 7 12
+f 5 12 11
+f 5 11 10
+f 5 10 17
+f 5 17 16
+f 5 16 15
+f 5 15 13
+f 9 13 15
+f 9 15 16
+f 9 16 17
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_56.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9346845cffde104139d13a77d2063abc7434729
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_56.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.03031719 -0.02595862 0.00313505
+v -0.03031719 -0.02595862 0.00413505
+v -0.03031719 -0.02083879 0.00313505
+v -0.03031719 -0.02083879 0.00413505
+v -0.02464021 -0.02595862 0.00313505
+v -0.02464021 -0.02595862 0.00413505
+v -0.02464021 -0.02083879 0.00313505
+v -0.02464021 -0.02083879 0.00413505
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_57.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c22607ddb38901d8b0cca3932a893833d73ba715
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_57.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.03701506 -0.01384314 0.00242167
+v -0.03694672 -0.01487816 0.00242167
+v -0.03691939 -0.01472809 0.00264907
+v -0.03694581 -0.01384314 0.00268340
+v -0.03692713 -0.01291293 0.00266121
+v -0.03699821 -0.01324047 0.00242167
+v -0.03679683 -0.01558326 0.00242166
+v -0.03574755 -0.01779742 0.00275896
+v -0.03601727 -0.01647893 0.00292005
+v -0.03631752 -0.01516521 0.00291574
+v -0.03621865 -0.01384314 0.00306861
+v -0.03602502 -0.00948986 0.00320074
+v -0.03635853 -0.00948986 0.00242169
+v -0.03685469 -0.01215304 0.00242168
+v -0.03695173 -0.01276643 0.00242167
+v -0.03560813 -0.01853349 0.00242165
+v -0.03558398 -0.01849538 0.00262450
+v -0.03490148 -0.01779742 0.00311689
+v -0.03486275 -0.01900753 0.00284080
+v -0.03490148 -0.01647893 0.00323347
+v -0.03490193 -0.00988529 0.00375512
+v -0.03491605 -0.00949105 0.00374795
+v -0.03556348 -0.00948986 0.00339002
+v -0.03338337 -0.00948986 0.00242169
+v -0.03446318 -0.02003183 0.00242165
+v -0.03439893 -0.01995799 0.00272920
+v -0.03358521 -0.01911592 0.00323633
+v -0.03355514 -0.02041297 0.00290294
+v -0.03236052 -0.02043322 0.00325486
+v -0.03386404 -0.00988529 0.00318310
+v -0.03388546 -0.00948986 0.00315857
+v -0.03430599 -0.00948986 0.00339002
+v -0.03236052 -0.01777241 0.00242165
+v -0.03368818 -0.00948986 0.00287074
+v -0.03236052 -0.01906232 0.00305162
+v -0.03236052 -0.01870739 0.00295254
+v -0.03236052 -0.01784030 0.00247491
+v -0.03236052 -0.01779862 0.00244227
+v -0.03316559 -0.02127052 0.00242164
+v -0.03309588 -0.02121812 0.00271809
+v -0.03236052 -0.02143131 0.00288413
+v -0.03236052 -0.02165761 0.00242164
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 15
+f 1 15 14
+f 1 14 13
+f 1 13 24
+f 1 24 33
+f 1 33 42
+f 1 42 39
+f 1 39 25
+f 1 25 16
+f 1 16 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 7 16 17
+f 7 17 8
+f 8 18 9
+f 8 17 19
+f 8 19 18
+f 9 18 20
+f 9 20 21
+f 9 21 11
+f 9 11 10
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 32
+f 12 32 31
+f 12 31 34
+f 12 34 24
+f 12 24 13
+f 16 25 17
+f 17 25 26
+f 17 26 19
+f 18 19 27
+f 18 27 20
+f 19 26 28
+f 19 28 27
+f 20 27 21
+f 21 27 29
+f 21 29 22
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 24 34 35
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 33
+f 25 39 40
+f 25 40 26
+f 26 40 28
+f 27 28 29
+f 28 40 41
+f 28 41 29
+f 29 41 42
+f 29 42 33
+f 29 33 38
+f 29 38 37
+f 29 37 36
+f 29 36 35
+f 29 35 31
+f 29 31 30
+f 31 35 34
+f 39 42 40
+f 40 42 41
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_58.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e57fbb7fe6a65278cb8ac15edafe72e435fe4b42
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_58.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.00905815 -0.03154998 0.00500063
+v 0.00905815 -0.03111217 0.00121243
+v 0.01292813 -0.03155296 0.00121242
+v 0.01689049 -0.03155297 0.00385445
+v 0.01694832 -0.03155297 0.00388040
+v 0.01726319 -0.03155297 0.00387744
+v 0.00946378 -0.03146422 0.00500063
+v 0.00905815 -0.02795991 0.00500065
+v 0.00905815 -0.02581682 0.00121245
+v 0.01726319 -0.03155296 0.00121242
+v 0.01250804 -0.03053080 0.00500064
+v 0.01192328 -0.03076216 0.00500064
+v 0.01060759 -0.03116904 0.00500064
+v 0.01726319 -0.02812446 0.00500065
+v 0.01719331 -0.02819526 0.00500065
+v 0.01528322 -0.02922441 0.00500064
+v 0.01496995 -0.02938996 0.00500064
+v 0.01454665 -0.02959140 0.00500064
+v 0.01726319 -0.02385726 0.00500066
+v 0.01726319 -0.02136612 0.00121246
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 13
+f 1 13 12
+f 1 12 11
+f 1 11 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 19
+f 1 19 8
+f 1 8 9
+f 1 9 2
+f 2 9 20
+f 2 20 10
+f 2 10 3
+f 3 10 6
+f 3 6 5
+f 3 5 4
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 6 10 20
+f 6 20 19
+f 6 19 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 11
+f 8 19 20
+f 8 20 9
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_59.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c43831f7027cf59260dce11b39bad52868b3aad
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_59.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.02174428 0.03233297 0.00098405
+v 0.02174428 0.03225778 0.00198013
+v 0.02280497 0.03226834 0.00098405
+v 0.02148709 0.03231846 0.00098405
+v 0.02049684 0.03219382 0.00192689
+v 0.02049684 0.03218986 0.00198013
+v 0.02049684 0.03189905 0.00286326
+v 0.02049684 0.03188058 0.00291153
+v 0.02174428 0.03190630 0.00288242
+v 0.02306133 0.03184761 0.00279734
+v 0.02306133 0.03216084 0.00198013
+v 0.02306133 0.03224922 0.00098405
+v 0.02049684 0.03225713 0.00098405
+v 0.02049684 0.03101144 0.00347772
+v 0.02306133 0.03099891 0.00319089
+v 0.02390825 0.03174276 0.00268912
+v 0.02049684 0.03091714 0.00352548
+v 0.02413267 0.03184827 0.00198013
+v 0.02422932 0.03189312 0.00098405
+v 0.02049684 0.02603994 0.00098403
+v 0.02437839 0.02968003 0.00325507
+v 0.02578473 0.02977104 0.00300107
+v 0.02435955 0.03104309 0.00292843
+v 0.02540550 0.03063226 0.00280355
+v 0.02628354 0.03027089 0.00239955
+v 0.02479038 0.03151723 0.00198013
+v 0.02049684 0.02983566 0.00326999
+v 0.02701988 0.02559678 0.00344561
+v 0.02701251 0.02572405 0.00343640
+v 0.02488703 0.03157593 0.00098405
+v 0.02092030 0.02559679 0.00098402
+v 0.02701251 0.02704293 0.00327546
+v 0.02706821 0.02838093 0.00296002
+v 0.02666604 0.02939186 0.00280778
+v 0.02578473 0.03078657 0.00198460
+v 0.02780291 0.02795362 0.00273189
+v 0.02756374 0.02885903 0.00198012
+v 0.02682822 0.02977104 0.00198460
+v 0.02640968 0.03039354 0.00157512
+v 0.02819278 0.02559678 0.00309907
+v 0.02571265 0.03096002 0.00098404
+v 0.02886442 0.02559679 0.00098402
+v 0.02798392 0.02704293 0.00289534
+v 0.02840820 0.02704293 0.00198011
+v 0.02793232 0.02819959 0.00198011
+v 0.02761780 0.02893751 0.00098404
+v 0.02700350 0.02969785 0.00098404
+v 0.02642196 0.03040543 0.00098404
+v 0.02881118 0.02559678 0.00186765
+v 0.02884148 0.02570362 0.00098402
+v 0.02848765 0.02704294 0.00098403
+v 0.02797655 0.02827807 0.00098403
+v 0.02857201 0.02673301 0.00098403
+f 1 2 3
+f 1 3 12
+f 1 12 19
+f 1 19 30
+f 1 30 41
+f 1 41 48
+f 1 48 47
+f 1 47 46
+f 1 46 52
+f 1 52 51
+f 1 51 53
+f 1 53 50
+f 1 50 42
+f 1 42 31
+f 1 31 20
+f 1 20 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 11 12
+f 4 13 5
+f 5 13 20
+f 5 20 27
+f 5 27 17
+f 5 17 14
+f 5 14 8
+f 5 8 7
+f 5 7 6
+f 8 14 9
+f 9 14 10
+f 10 15 16
+f 10 16 11
+f 10 14 17
+f 10 17 15
+f 11 16 18
+f 11 18 12
+f 12 18 19
+f 15 17 21
+f 15 21 22
+f 15 22 23
+f 15 23 16
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 18
+f 17 27 28
+f 17 28 29
+f 17 29 21
+f 18 26 30
+f 18 30 19
+f 20 31 27
+f 21 29 32
+f 21 32 22
+f 22 24 23
+f 22 32 33
+f 22 33 34
+f 22 34 24
+f 24 34 25
+f 25 35 26
+f 25 34 36
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 39 35
+f 26 35 39
+f 26 39 30
+f 27 31 28
+f 28 40 29
+f 28 31 42
+f 28 42 49
+f 28 49 40
+f 29 40 32
+f 30 39 41
+f 32 40 43
+f 32 43 33
+f 33 43 36
+f 33 36 34
+f 36 43 44
+f 36 44 45
+f 36 45 37
+f 37 45 46
+f 37 46 39
+f 37 39 38
+f 39 46 47
+f 39 47 48
+f 39 48 41
+f 40 49 43
+f 42 50 49
+f 43 49 44
+f 44 49 51
+f 44 51 45
+f 45 51 52
+f 45 52 46
+f 49 50 53
+f 49 53 51
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_6.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ae6606201a546ac7defff0cd04ea30924963c0f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_6.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v 0.00567871 0.03460195 0.00816383
+v 0.00567871 0.03448000 0.00748855
+v 0.00567871 0.03458124 0.00840647
+v 0.00690366 0.03435921 0.00907603
+v 0.00593653 0.03456284 0.00816383
+v 0.00680004 0.03433849 0.00746051
+v 0.00567871 0.03443168 0.00729169
+v 0.00593653 0.03441212 0.00732373
+v 0.00567871 0.03449036 0.00944229
+v 0.00698014 0.03437531 0.00816383
+v 0.00596860 0.03444434 0.00945316
+v 0.00642996 0.03425910 0.00990068
+v 0.00730704 0.03417628 0.00945316
+v 0.00857023 0.03388521 0.00940108
+v 0.00857023 0.03401176 0.00816382
+v 0.00763888 0.03423840 0.00816383
+v 0.01188981 0.03298670 0.00752745
+v 0.01120517 0.03309484 0.00733631
+v 0.00977421 0.03323750 0.00689452
+v 0.00857023 0.03356078 0.00692771
+v 0.00925981 0.03298556 0.00630279
+v 0.00724536 0.03391052 0.00700039
+v 0.00567871 0.03406239 0.00679438
+v 0.00593653 0.03395310 0.00670567
+v 0.00567871 0.03437300 0.00988637
+v 0.00567871 0.03416246 0.01016507
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+v 0.01383888 0.02968025 0.01084434
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+v 0.01827979 0.02472865 0.01024915
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+v 0.01827979 0.02704338 0.01083059
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+v 0.00567871 0.02970442 0.00940107
+v 0.01827979 0.02423856 0.00940963
+v 0.01827979 0.02301677 0.00569099
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+f 114 116 115
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_60.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db85f3ef30d432510bc2ec68e2ce206dde52f97b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_60.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.00924479 0.02510020 0.00098402
+v 0.01399069 0.02284237 0.00098401
+v 0.00924479 0.02772785 0.00500085
+v 0.00924479 0.03226381 0.00098405
+v 0.01399069 0.02562313 0.00500084
+v 0.00963362 0.02754616 0.00500085
+v 0.01399069 0.03226381 0.00098405
+v 0.00924479 0.03130274 0.00500086
+v 0.00924479 0.03226381 0.00116177
+v 0.01399069 0.02959277 0.00500086
+v 0.01399069 0.03226380 0.00189074
+v 0.00988773 0.03115978 0.00500086
+v 0.01386526 0.02967209 0.00500086
+v 0.01118292 0.03080838 0.00500086
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 11
+f 2 11 10
+f 2 10 5
+f 3 6 5
+f 3 5 10
+f 3 10 13
+f 3 13 14
+f 3 14 12
+f 3 12 8
+f 4 9 11
+f 4 11 7
+f 8 12 11
+f 8 11 9
+f 10 11 13
+f 11 12 14
+f 11 14 13
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_61.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a23e142500bf0b1abd09d88e94df32d99cbcb91
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_61.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.01233947 -0.02512854 0.00188648
+v -0.01233947 -0.02961597 0.00188646
+v -0.01233947 -0.02662360 0.00500034
+v 0.00000098 -0.02937170 0.00500033
+v 0.00000098 -0.02800179 0.00188647
+v -0.01215586 -0.03055086 0.00500033
+v -0.01233947 -0.03042344 0.00500033
+v -0.00670316 -0.03282924 0.00188645
+v 0.00000098 -0.03282774 0.00500032
+v 0.00000098 -0.03218990 0.00188645
+v -0.01122091 -0.03095572 0.00500033
+v -0.00662344 -0.03282924 0.00194986
+v -0.00592162 -0.03236860 0.00500032
+v -0.00723104 -0.03216654 0.00500032
+v -0.00464723 -0.03282924 0.00188645
+v -0.00065132 -0.03282548 0.00500032
+v -0.00516181 -0.03282924 0.00194651
+v -0.00465085 -0.03282924 0.00189133
+v -0.00196920 -0.03277120 0.00500032
+v -0.00328707 -0.03267017 0.00500032
+v -0.00460374 -0.03253522 0.00500032
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
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+f 1 15 8
+f 1 8 2
+f 2 6 7
+f 2 8 6
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+f 3 6 11
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+f 3 14 13
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+f 3 21 20
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+f 3 16 9
+f 3 9 4
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+f 8 17 12
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+f 9 12 17
+f 9 17 18
+f 9 18 15
+f 9 15 10
+f 12 16 19
+f 12 19 20
+f 12 20 21
+f 12 21 13
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_62.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b53e064efbb322f1f8a5f7a0ba87caf3551108aa
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_62.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.03283807 0.00332520 0.00107443
+v 0.03418788 0.00210036 0.00107443
+v 0.03746367 0.00210035 0.00293644
+v 0.03543049 0.00765612 0.00387103
+v 0.03396150 0.00857855 0.00309058
+v 0.03283807 0.00791606 0.00183738
+v 0.03283807 0.01243209 0.00107447
+v 0.04004199 0.00210036 0.00107443
+v 0.03887906 0.00210035 0.00315079
+v 0.03566251 0.00765612 0.00387103
+v 0.03543049 0.00829130 0.00387103
+v 0.03491708 0.00989745 0.00375552
+v 0.03496151 0.00867059 0.00372704
+v 0.03388110 0.00989745 0.00317764
+v 0.03283807 0.00989745 0.00182589
+v 0.03283807 0.01243208 0.00154203
+v 0.03706310 0.01243209 0.00107447
+v 0.03989953 0.00295097 0.00107443
+v 0.03997217 0.00210035 0.00187267
+v 0.03968444 0.00210035 0.00276891
+v 0.03899543 0.00342027 0.00296327
+v 0.03872814 0.00462285 0.00295288
+v 0.03566251 0.00829130 0.00387103
+v 0.03491708 0.01121635 0.00358333
+v 0.03395092 0.01121635 0.00304679
+v 0.03283807 0.01121635 0.00171311
+v 0.03408280 0.01243208 0.00283876
+v 0.03961814 0.00421324 0.00107444
+v 0.03700104 0.01243208 0.00193075
+v 0.03959840 0.00415861 0.00174594
+v 0.03983254 0.00333228 0.00107443
+v 0.03972041 0.00342027 0.00208701
+v 0.03996089 0.00210035 0.00198874
+v 0.03961180 0.00305716 0.00269418
+v 0.03633178 0.01243208 0.00301779
+v 0.03626760 0.01243208 0.00304242
+v 0.03491708 0.01243208 0.00331316
+v 0.03484162 0.01243208 0.00327100
+v 0.03698693 0.01243208 0.00203449
+v 0.03951941 0.00393609 0.00257017
+v 0.03689596 0.01243208 0.00250369
+f 1 2 3
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+f 1 16 7
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+f 39 41 40
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_63.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f43999c68748aca3a627d07c157d423b6046bd3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_63.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.02603125 -0.02021589 0.00500051
+v 0.02526436 -0.02021588 0.00330901
+v 0.02513820 -0.02021589 0.00500051
+v 0.02556713 -0.02101368 0.00500050
+v 0.02906893 -0.02249463 0.00386113
+v 0.03191936 -0.02043622 0.00330900
+v 0.03116708 -0.02021652 0.00330901
+v 0.02513687 -0.02021588 0.00330901
+v 0.02513687 -0.02021589 0.00497302
+v 0.02513687 -0.02119856 0.00500050
+v 0.02513687 -0.02123718 0.00500050
+v 0.02701326 -0.02668363 0.00330898
+v 0.02778480 -0.02395787 0.00387420
+v 0.02513687 -0.02037164 0.00330901
+v 0.02663082 -0.02607769 0.00330898
+f 1 2 8
+f 1 8 9
+f 1 9 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
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+f 2 6 12
+f 2 12 15
+f 2 15 14
+f 2 14 8
+f 3 9 10
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 12
+f 5 12 6
+f 8 14 11
+f 8 11 10
+f 8 10 9
+f 11 14 15
+f 11 15 12
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_64.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6cfcbbf157fb0dcc11c031a0595b3a0aa05ccd1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_64.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.03382888 0.02105425 0.00098401
+v 0.03370392 0.02105424 0.00198016
+v 0.03402687 0.02089799 0.00098401
+v 0.02767336 0.02105425 0.00098401
+v 0.03396704 0.02083954 0.00198016
+v 0.03323489 0.02105424 0.00277438
+v 0.03459711 0.02018016 0.00198015
+v 0.03465079 0.02023862 0.00098400
+v 0.02767336 0.01672790 0.00098399
+v 0.02767336 0.02105424 0.00245145
+v 0.03443255 0.01999341 0.00274276
+v 0.03228186 0.02105424 0.00307608
+v 0.03357984 0.02043934 0.00291851
+v 0.03560997 0.01852899 0.00263685
+v 0.03525622 0.01932176 0.00198015
+v 0.03530902 0.01939672 0.00098400
+v 0.02767336 0.01672790 0.00108849
+v 0.03666244 0.01672790 0.00098399
+v 0.02846007 0.02105424 0.00309613
+v 0.03488926 0.01903251 0.00285693
+v 0.03099180 0.02105424 0.00326903
+v 0.03228186 0.02044823 0.00329592
+v 0.03359920 0.01912949 0.00325062
+v 0.03577629 0.01781118 0.00277484
+v 0.03655068 0.01672789 0.00198627
+v 0.03611157 0.01781118 0.00198015
+v 0.03569181 0.01866281 0.00198015
+v 0.03573757 0.01873778 0.00098400
+v 0.03376200 0.01672789 0.00294774
+v 0.03621100 0.01781119 0.00098400
+v 0.03491654 0.01672789 0.00323929
+v 0.02964630 0.02105424 0.00339382
+v 0.03491654 0.01781118 0.00315273
+v 0.03096540 0.02044823 0.00336268
+v 0.03599189 0.01672789 0.00290127
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 28
+f 1 28 30
+f 1 30 18
+f 1 18 9
+f 1 9 4
+f 1 4 10
+f 1 10 19
+f 1 19 32
+f 1 32 21
+f 1 21 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 3 7 8
+f 4 9 17
+f 4 17 10
+f 5 6 11
+f 5 11 7
+f 6 12 13
+f 6 13 11
+f 7 11 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 9 18 25
+f 9 25 35
+f 9 35 31
+f 9 31 29
+f 9 29 17
+f 10 17 19
+f 11 20 14
+f 11 13 20
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 13 23 20
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 14 20 24
+f 15 27 16
+f 16 27 28
+f 17 29 19
+f 18 30 26
+f 18 26 25
+f 19 29 31
+f 19 31 32
+f 20 23 33
+f 20 33 24
+f 21 32 22
+f 22 32 34
+f 22 34 31
+f 22 31 23
+f 23 31 33
+f 24 35 25
+f 24 33 35
+f 26 30 27
+f 27 30 28
+f 31 35 33
+f 31 34 32
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_65.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd1b8b6801d7056c41762e5465d67a2c53a8c0b4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_65.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.03088207 -0.03174194 0.00240576
+v -0.03088207 -0.03174194 0.00340576
+v -0.03088207 -0.02237924 0.00240576
+v -0.03088207 -0.02237924 0.00340576
+v -0.02391184 -0.03174194 0.00240576
+v -0.02391184 -0.03174194 0.00340576
+v -0.02391184 -0.02237924 0.00240576
+v -0.02391184 -0.02237924 0.00340576
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_66.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b21d92b977e41ccc62d53e695c8a57914944c3a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_66.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.03094348 -0.01776261 0.00240581
+v -0.03094348 -0.01776261 0.00340581
+v -0.03094348 -0.00948986 0.00240581
+v -0.03094348 -0.00948986 0.00340581
+v -0.02217616 -0.01776261 0.00240581
+v -0.02217616 -0.01776261 0.00340581
+v -0.02217616 -0.00948986 0.00240581
+v -0.02217616 -0.00948986 0.00340581
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_67.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6c3bec787df5316a8d5499704eb2f5cb68dc346
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_67.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.02022035 -0.03204928 0.00240369
+v 0.02174381 -0.03205148 0.00240369
+v 0.02022035 -0.03193385 0.00275783
+v 0.02022035 -0.02894987 0.00240370
+v 0.02244587 -0.03199761 0.00240369
+v 0.02306083 -0.03181018 0.00277500
+v 0.02174381 -0.03187614 0.00286676
+v 0.02022035 -0.03190747 0.00282414
+v 0.02022035 -0.02917193 0.00263245
+v 0.02513621 -0.02643693 0.00240371
+v 0.02306083 -0.03194484 0.00240369
+v 0.02386779 -0.03171070 0.00267116
+v 0.02433551 -0.03102036 0.00290348
+v 0.02306083 -0.03098628 0.00315437
+v 0.02174381 -0.03098628 0.00332097
+v 0.02022035 -0.03091153 0.00354700
+v 0.02022035 -0.03186900 0.00291898
+v 0.02022035 -0.02994582 0.00342883
+v 0.02513621 -0.03098188 0.00240370
+v 0.02513621 -0.02730371 0.00283458
+v 0.02355550 -0.03186075 0.00240369
+v 0.02394815 -0.03174807 0.00240369
+v 0.02420318 -0.03162111 0.00240369
+v 0.02513621 -0.03094506 0.00247865
+v 0.02513621 -0.03080655 0.00267709
+v 0.02513621 -0.03070487 0.00282261
+v 0.02513621 -0.03031462 0.00295273
+v 0.02022035 -0.03076368 0.00361330
+v 0.02513621 -0.02971167 0.00310121
+v 0.02437785 -0.02966715 0.00323039
+v 0.02513621 -0.02757853 0.00296956
+v 0.02507558 -0.03102530 0.00240370
+v 0.02513621 -0.02890920 0.00324199
+f 1 2 3
+f 1 3 8
+f 1 8 17
+f 1 17 16
+f 1 16 28
+f 1 28 18
+f 1 18 9
+f 1 9 4
+f 1 4 10
+f 1 10 19
+f 1 19 32
+f 1 32 23
+f 1 23 22
+f 1 22 21
+f 1 21 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 10
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 17 8
+f 7 16 17
+f 9 18 10
+f 10 18 20
+f 10 20 31
+f 10 31 33
+f 10 33 29
+f 10 29 27
+f 10 27 26
+f 10 26 25
+f 10 25 24
+f 10 24 19
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 13
+f 13 26 27
+f 13 27 14
+f 14 28 15
+f 14 27 29
+f 14 29 30
+f 14 30 28
+f 15 28 16
+f 18 28 31
+f 18 31 20
+f 19 24 32
+f 23 32 24
+f 28 30 33
+f 28 33 31
+f 29 33 30
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_68.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca0c81d5d97a06bda299a700b05d8678526f3178
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_68.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.04005169 -0.00065259 0.00202819
+v -0.03972778 -0.00065259 0.00282213
+v -0.04005169 -0.00057739 0.00202819
+v -0.03995119 -0.00197173 0.00202818
+v -0.03967916 -0.00197173 0.00277792
+v -0.03885380 -0.00065259 0.00320909
+v -0.03885380 0.00066655 0.00320935
+v -0.03972723 0.00066655 0.00282240
+v -0.03885380 -0.00197173 0.00316487
+v -0.04004842 0.00066655 0.00202819
+v -0.03990803 -0.00223884 0.00202818
+v -0.03965895 -0.00223884 0.00275721
+v -0.03887729 -0.00223884 0.00312731
+v -0.03639683 0.00576372 0.00338406
+v -0.03753628 0.00462162 0.00330787
+v -0.03885380 0.00198412 0.00315998
+v -0.03967261 0.00198412 0.00277290
+v -0.04004405 0.00074645 0.00202819
+v -0.03745817 -0.00223884 0.00296151
+v -0.03621493 -0.00223884 0.00202818
+v -0.03622313 0.00576372 0.00332406
+v -0.03753628 0.00576372 0.00325663
+v -0.03769359 0.00576372 0.00320871
+v -0.03870249 0.00462162 0.00295198
+v -0.03897506 0.00339883 0.00295861
+v -0.03993917 0.00198412 0.00202820
+v -0.03959176 0.00302361 0.00268874
+v -0.03993207 0.00205462 0.00202820
+v -0.03717740 -0.00223884 0.00279080
+v -0.03541688 0.00576372 0.00291189
+v -0.03640120 -0.00223884 0.00220021
+v -0.03447190 0.00576372 0.00202821
+v -0.03534041 0.00576372 0.00284260
+v -0.03843156 0.00576372 0.00279083
+v -0.03949453 0.00390251 0.00253581
+v -0.03981135 0.00277451 0.00202820
+v -0.03656944 -0.00223884 0.00233030
+v -0.03876859 0.00576372 0.00202821
+v -0.03851404 0.00576372 0.00267321
+v -0.03933176 0.00460047 0.00206617
+v -0.03935852 0.00455190 0.00202821
+v -0.03968353 0.00347873 0.00202820
+v -0.03969609 0.00339883 0.00206616
+v -0.03970046 0.00339648 0.00202820
+v -0.03905263 0.00519189 0.00202821
+v -0.03933285 0.00460830 0.00202821
+f 1 2 3
+f 1 3 10
+f 1 10 18
+f 1 18 26
+f 1 26 28
+f 1 28 36
+f 1 36 44
+f 1 44 42
+f 1 42 41
+f 1 41 46
+f 1 46 45
+f 1 45 38
+f 1 38 32
+f 1 32 20
+f 1 20 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 5 9
+f 2 9 6
+f 3 8 10
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 9
+f 6 9 14
+f 6 14 15
+f 6 15 7
+f 7 16 8
+f 7 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 10
+f 9 13 19
+f 9 19 14
+f 11 20 31
+f 11 31 37
+f 11 37 29
+f 11 29 19
+f 11 19 13
+f 11 13 12
+f 14 21 30
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+f 14 33 32
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+f 14 34 23
+f 14 23 22
+f 14 22 15
+f 14 19 21
+f 15 22 16
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 17
+f 17 26 18
+f 17 25 24
+f 17 24 27
+f 17 27 28
+f 17 28 26
+f 19 29 30
+f 19 30 21
+f 20 32 33
+f 20 33 31
+f 23 34 24
+f 24 35 27
+f 24 34 35
+f 27 35 28
+f 28 35 36
+f 29 37 30
+f 30 37 31
+f 30 31 33
+f 34 39 35
+f 35 39 38
+f 35 38 40
+f 35 40 41
+f 35 41 42
+f 35 42 43
+f 35 43 36
+f 36 43 44
+f 38 45 40
+f 40 46 41
+f 40 45 46
+f 42 44 43
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_69.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06fea42599d714fc1b8108059f38023f714da8fd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_69.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.02505756 0.02559612 0.00205461
+v 0.02150750 0.02349902 0.00206062
+v 0.02172110 0.02331807 0.00206062
+v 0.02252211 0.02262674 0.00206061
+v 0.02388631 0.02134722 0.00206061
+v 0.02392547 0.02130410 0.00206061
+v 0.02396891 0.02125520 0.00206061
+v 0.02410632 0.02105424 0.00206061
+v 0.02505756 0.02105425 0.00121322
+v 0.02505756 0.02559613 0.00098402
+v 0.01882109 0.02559612 0.00206062
+v 0.01910589 0.02539072 0.00206062
+v 0.02036188 0.02441797 0.00206062
+v 0.02041670 0.02437440 0.00206062
+v 0.02052564 0.02428727 0.00206062
+v 0.01854554 0.02105424 0.00206061
+v 0.02505756 0.02105425 0.00098401
+v 0.01778441 0.02559613 0.00098402
+v 0.01778441 0.02559612 0.00206062
+v 0.01778441 0.02167133 0.00206061
+v 0.01778441 0.02105424 0.00155466
+v 0.01778441 0.02105425 0.00098401
+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 17
+f 1 17 10
+f 1 10 18
+f 1 18 19
+f 1 19 11
+f 1 11 12
+f 1 12 13
+f 1 13 14
+f 1 14 15
+f 1 15 2
+f 2 15 14
+f 2 14 13
+f 2 13 12
+f 2 12 11
+f 2 11 19
+f 2 19 20
+f 2 20 16
+f 2 16 8
+f 2 8 7
+f 2 7 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 8 16 21
+f 8 21 22
+f 8 22 17
+f 8 17 9
+f 10 17 22
+f 10 22 18
+f 16 20 21
+f 18 22 21
+f 18 21 20
+f 18 20 19
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_7.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..531694e9499c49a90087f0310c5b436fa3cc6e59
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_7.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v -0.03526781 -0.00065316 0.00816425
+v -0.03515134 -0.00065316 0.00940102
+v -0.03526696 -0.00006385 0.00816425
+v -0.03483063 -0.00006385 0.00692748
+v -0.03482894 -0.00065316 0.00692748
+v -0.03522054 -0.00197212 0.00816424
+v -0.03461879 -0.00065317 0.01035379
+v -0.03461879 -0.00006386 0.01035265
+v -0.03491249 -0.00006386 0.00982645
+v -0.03514965 -0.00006385 0.00940102
+v -0.03510154 -0.00197212 0.00940101
+v -0.03459347 -0.00197213 0.01033947
+v -0.03455887 -0.00006384 0.00654327
+v -0.03433690 -0.00065315 0.00623179
+v -0.03431158 -0.00197211 0.00625182
+v -0.03478083 -0.00197212 0.00692747
+v -0.03512349 -0.00329107 0.00816424
+v -0.03358408 -0.00065317 0.01076719
+v -0.03415629 -0.00006386 0.01053759
+v -0.03358408 -0.00197213 0.01075344
+v -0.03500280 -0.00329107 0.00940101
+v -0.03454452 -0.00329108 0.01030855
+v -0.03358408 -0.00329108 0.01072252
+v -0.03433775 -0.00006384 0.00623122
+v -0.03288949 -0.00065315 0.00500132
+v -0.03284307 -0.00197211 0.00500131
+v -0.03427698 -0.00303361 0.00628045
+v -0.03423900 -0.00391210 0.00631309
+v -0.03460107 -0.00339966 0.00680608
+v -0.03458925 -0.00461002 0.00698700
+v -0.03448713 -0.00592897 0.00711927
+v -0.03497242 -0.00461002 0.00816423
+v -0.03485257 -0.00461002 0.00940100
+v -0.03358408 -0.00006386 0.01076605
+v -0.03226663 -0.00724671 0.01084045
+v -0.03226663 -0.00592898 0.01085020
+v -0.03226663 -0.00461003 0.01084791
+v -0.03437404 -0.00592898 0.01016253
+v -0.03446941 -0.00461003 0.01025071
+v -0.03358408 -0.00592898 0.01057708
+v -0.03358408 -0.00461003 0.01066583
+v -0.03226663 -0.00856566 0.01080381
+v -0.03288696 -0.00006384 0.00500132
+v -0.03273251 -0.00329106 0.00500131
+v -0.03258566 -0.00461001 0.00500130
+v -0.03241433 -0.00592896 0.00500130
+v -0.03221009 -0.00728451 0.00500129
+v -0.03417570 -0.00461001 0.00636862
+v -0.03404151 -0.00592896 0.00650088
+v -0.03435885 -0.00724670 0.00732482
+v -0.03476733 -0.00592897 0.00816423
+v -0.03465424 -0.00592897 0.00940100
+v -0.03429639 -0.00684407 0.01008121
+v -0.03299498 -0.00006386 0.01078552
+v -0.03095088 -0.01120356 0.01084331
+v -0.03226663 -0.00006386 0.01080842
+v -0.03095088 -0.00988461 0.01083243
+v -0.03342204 -0.00856566 0.01038812
+v -0.03226663 -0.00988461 0.01071390
+v -0.03095088 -0.01252251 0.01080035
+v -0.02946886 -0.00006384 0.00500132
+v -0.03189697 -0.00843387 0.00500129
+v -0.03300764 -0.00953198 0.00624492
+v -0.03390816 -0.00724669 0.00670643
+v -0.03382292 -0.00850953 0.00701390
+v -0.03427445 -0.00803368 0.00748342
+v -0.03451161 -0.00724670 0.00816422
+v -0.03429892 -0.00812031 0.00903568
+v -0.03439683 -0.00726866 0.00942904
+v -0.03419511 -0.00772378 0.00986020
+v -0.03293422 -0.01188683 0.01002967
+v -0.03304225 -0.01120356 0.01013617
+v -0.03323805 -0.00988461 0.01029878
+v -0.02963344 -0.01252740 0.01078833
+v -0.02963344 -0.01252251 0.01078833
+v -0.03113402 -0.00006386 0.01039559
+v -0.03226663 -0.01120356 0.01054671
+v -0.03095088 -0.01252740 0.01079978
+v -0.02664661 -0.01252615 0.00500127
+v -0.02959208 -0.00006384 0.00569070
+v -0.03287345 -0.01041046 0.00635257
+v -0.03100405 -0.01125357 0.00500128
+v -0.03332835 -0.00993585 0.00683010
+v -0.03316040 -0.01120355 0.00715246
+v -0.03300933 -0.01208692 0.00739008
+v -0.03384233 -0.00988460 0.00816421
+v -0.03413941 -0.00882188 0.00816422
+v -0.03430821 -0.00816179 0.00816422
+v -0.03331147 -0.01120355 0.00940098
+v -0.03371321 -0.00988460 0.00940098
+v -0.03407780 -0.00856199 0.00942904
+v -0.03301186 -0.01209546 0.00940098
+v -0.03284307 -0.01252739 0.00940097
+v -0.03225988 -0.01252740 0.01031366
+v -0.03229617 -0.01240416 0.01031939
+v -0.02958448 -0.01252740 0.01077058
+v -0.03051877 -0.00006385 0.00940102
+v -0.02834300 -0.01252740 0.01029763
+v -0.02677658 -0.01252738 0.00569065
+v -0.02664661 -0.01252738 0.00500127
+v -0.03060907 -0.01231263 0.00500127
+v -0.03181933 -0.01252738 0.00617219
+v -0.03271310 -0.01120354 0.00653407
+v -0.03306841 -0.01224554 0.00816421
+v -0.03342963 -0.01120355 0.00816421
+v -0.03251729 -0.01252739 0.00695777
+v -0.03290721 -0.01252739 0.00780691
+v -0.03296207 -0.01252739 0.00816420
+v -0.02781214 -0.01252739 0.00940097
+v -0.03045715 -0.01252738 0.00500127
+f 1 2 3
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+f 1 6 2
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+f 2 10 3
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+f 38 58 39
+f 39 58 40
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+f 40 59 42
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+f 42 59 60
+f 42 60 55
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+f 47 49 48
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+f 49 64 50
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+f 67 88 68
+f 68 70 69
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+f 68 87 86
+f 68 86 89
+f 68 89 90
+f 68 90 91
+f 68 91 70
+f 70 91 90
+f 70 90 71
+f 71 90 89
+f 71 89 92
+f 71 92 93
+f 71 93 94
+f 71 94 72
+f 72 94 95
+f 72 95 73
+f 73 95 77
+f 74 96 75
+f 74 78 94
+f 74 94 93
+f 74 93 108
+f 74 108 107
+f 74 107 106
+f 74 106 102
+f 74 102 110
+f 74 110 100
+f 74 100 99
+f 74 99 109
+f 74 109 98
+f 74 98 96
+f 75 96 76
+f 76 96 98
+f 76 98 97
+f 77 95 94
+f 77 94 78
+f 79 99 100
+f 79 80 99
+f 80 97 99
+f 81 82 101
+f 81 101 102
+f 81 102 103
+f 81 103 85
+f 81 85 84
+f 81 84 83
+f 85 104 105
+f 85 105 86
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+f 85 107 104
+f 86 105 89
+f 89 105 92
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+f 92 104 108
+f 92 108 93
+f 97 98 109
+f 97 109 99
+f 101 110 102
+f 102 106 103
+f 104 107 108
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_70.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0160d2f6ff903599934077ccb73968697aaa7f2a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_70.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02338877 -0.02732456 0.00240577
+v -0.02338877 -0.02732456 0.00340577
+v -0.02338877 -0.02237972 0.00240577
+v -0.02338877 -0.02237972 0.00340577
+v -0.01725630 -0.02732456 0.00240577
+v -0.01725630 -0.02732456 0.00340577
+v -0.01725630 -0.02237972 0.00240577
+v -0.01725630 -0.02237972 0.00340577
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_71.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7f92bd0f8a5dbe19138adf5e679a443f4b3982a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_71.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.01910903 0.03054080 0.00387300
+v 0.01910903 0.03026958 0.00387300
+v 0.01986227 0.03040718 0.00385490
+v 0.01778441 0.03109349 0.00387272
+v 0.01986227 0.03030028 0.00385490
+v 0.01778441 0.03102981 0.00387243
+v 0.01829631 0.03028607 0.00386565
+v 0.02049684 0.02775920 0.00134826
+v 0.02049684 0.03091722 0.00352545
+v 0.01825276 0.03141930 0.00377545
+v 0.01778441 0.03227335 0.00338916
+v 0.02049684 0.02983630 0.00327010
+v 0.01778441 0.03095191 0.00385377
+v 0.01778441 0.03004726 0.00332298
+v 0.01778441 0.02775920 0.00122638
+v 0.01903575 0.02775920 0.00128548
+v 0.02049684 0.02775920 0.00098403
+v 0.02049684 0.03101161 0.00347766
+v 0.01778441 0.03243142 0.00329301
+v 0.01778441 0.02775920 0.00098403
+v 0.02049684 0.03225744 0.00098405
+v 0.02049684 0.03188044 0.00291153
+v 0.01778441 0.03344979 0.00204677
+v 0.01778441 0.03356750 0.00098405
+v 0.02049684 0.03219488 0.00191386
+v 0.02049684 0.03189920 0.00286317
+v 0.01778441 0.03354021 0.00123149
+v 0.02049684 0.03218976 0.00198031
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 5 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 19
+f 4 19 23
+f 4 23 27
+f 4 27 24
+f 4 24 20
+f 4 20 15
+f 4 15 14
+f 4 14 13
+f 4 13 6
+f 5 8 12
+f 5 12 9
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 15
+f 8 15 20
+f 8 20 17
+f 8 17 21
+f 8 21 25
+f 8 25 28
+f 8 28 26
+f 8 26 22
+f 8 22 18
+f 8 18 9
+f 8 9 12
+f 9 18 10
+f 10 18 11
+f 11 18 19
+f 17 20 24
+f 17 24 21
+f 18 22 19
+f 19 22 23
+f 21 24 25
+f 22 26 23
+f 23 26 28
+f 23 28 27
+f 24 27 28
+f 24 28 25
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_72.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78a585a2cf2ca9671c5fe9f01a9f705fb21505e0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_72.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.02513660 -0.03098217 0.00235630
+v 0.02513660 -0.03098217 0.00335630
+v 0.02513660 -0.00930437 0.00235630
+v 0.02513660 -0.00930437 0.00335630
+v 0.02914057 -0.03098217 0.00235630
+v 0.02914057 -0.03098217 0.00335630
+v 0.02914057 -0.00930437 0.00235630
+v 0.02914057 -0.00930437 0.00335630
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_73.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a20c54df97186cf1e27795ffd4198e3a76f0be58
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_73.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.03112489 0.01672748 0.00134887
+v 0.02864271 0.01496433 0.00339820
+v 0.02915010 0.01396480 0.00339820
+v 0.02921169 0.01382814 0.00339820
+v 0.02978946 0.01251913 0.00339820
+v 0.02982661 0.01243209 0.00339820
+v 0.03112489 0.01644365 0.00132263
+v 0.03112489 0.01672748 0.00098399
+v 0.02763478 0.01672747 0.00339821
+v 0.02782542 0.01640916 0.00339821
+v 0.02791341 0.01625610 0.00339821
+v 0.02801410 0.01608033 0.00339821
+v 0.03045815 0.01243210 0.00098398
+v 0.03112489 0.01289380 0.00098398
+v 0.02609014 0.01243209 0.00339820
+v 0.02113751 0.01672748 0.00098399
+v 0.02351313 0.01672747 0.00339821
+v 0.02396186 0.01243210 0.00098398
+v 0.02606374 0.01247582 0.00339820
+v 0.02352193 0.01671234 0.00339821
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 14
+f 1 14 8
+f 1 8 16
+f 1 16 17
+f 1 17 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 2
+f 2 12 11
+f 2 11 10
+f 2 10 9
+f 2 9 17
+f 2 17 20
+f 2 20 19
+f 2 19 15
+f 2 15 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 6 13 14
+f 6 14 7
+f 6 15 18
+f 6 18 13
+f 8 14 13
+f 8 13 18
+f 8 18 16
+f 15 19 16
+f 15 16 18
+f 16 19 20
+f 16 20 17
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_74.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b68152446633167c8997d00c952a4cbb94148bb6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_74.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.03876885 0.00576484 0.00202807
+v -0.03447200 0.00576484 0.00202807
+v -0.03851423 0.00576484 0.00267333
+v -0.03692338 0.01474577 0.00265320
+v -0.03682153 0.01562522 0.00239547
+v -0.03698204 0.01523014 0.00202811
+v -0.03435726 0.00594229 0.00202807
+v -0.03409169 0.00763312 0.00287204
+v -0.03527580 0.00594229 0.00291325
+v -0.03534026 0.00576484 0.00284287
+v -0.03843108 0.00576484 0.00279104
+v -0.03631682 0.01517991 0.00291869
+v -0.03602160 0.01649128 0.00292661
+v -0.03588688 0.01716539 0.00284579
+v -0.03769367 0.00576484 0.00320879
+v -0.03617759 0.01716539 0.00239997
+v -0.03633422 0.01716539 0.00202811
+v -0.03667264 0.01634285 0.00202811
+v -0.03357859 0.00725254 0.00202808
+v -0.03393634 0.00857954 0.00310836
+v -0.03487487 0.00720567 0.00333857
+v -0.03541697 0.00576484 0.00291217
+v -0.03545049 0.01716539 0.00303820
+v -0.03563807 0.00822686 0.00386683
+v -0.03753639 0.00576484 0.00325666
+v -0.03563807 0.00765656 0.00386683
+v -0.03218370 0.01716539 0.00202811
+v -0.03316090 0.00857954 0.00202808
+v -0.03541761 0.00765656 0.00386683
+v -0.03312480 0.00886079 0.00202808
+v -0.03300555 0.00989872 0.00202809
+v -0.03386157 0.00989872 0.00319297
+v -0.03494835 0.00863199 0.00373346
+v -0.03622207 0.00576484 0.00332398
+v -0.03490258 0.01716539 0.00319965
+v -0.03541761 0.00822686 0.00386683
+v -0.03490258 0.00989872 0.00375417
+v -0.03490258 0.01649128 0.00325634
+v -0.03639675 0.00576484 0.00338409
+v -0.03363209 0.01716539 0.00298456
+v -0.03412456 0.01716539 0.00313269
+f 1 2 10
+f 1 10 22
+f 1 22 34
+f 1 34 39
+f 1 39 25
+f 1 25 15
+f 1 15 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 18
+f 1 18 17
+f 1 17 27
+f 1 27 31
+f 1 31 30
+f 1 30 28
+f 1 28 19
+f 1 19 7
+f 1 7 2
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+f 2 8 9
+f 2 9 10
+f 3 11 4
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 4 11 15
+f 4 15 12
+f 5 14 16
+f 5 16 17
+f 5 17 18
+f 5 18 6
+f 7 19 8
+f 8 19 20
+f 8 20 21
+f 8 21 9
+f 9 22 10
+f 9 21 22
+f 12 15 13
+f 13 23 14
+f 13 15 24
+f 13 24 23
+f 14 23 35
+f 14 35 41
+f 14 41 40
+f 14 40 27
+f 14 27 17
+f 14 17 16
+f 15 25 26
+f 15 26 24
+f 19 28 20
+f 20 29 21
+f 20 28 30
+f 20 30 31
+f 20 31 27
+f 20 27 32
+f 20 32 33
+f 20 33 29
+f 21 29 22
+f 22 29 34
+f 23 24 35
+f 24 26 29
+f 24 29 36
+f 24 36 37
+f 24 37 38
+f 24 38 35
+f 25 39 26
+f 26 39 29
+f 27 40 32
+f 29 33 37
+f 29 37 36
+f 29 39 34
+f 32 37 33
+f 32 40 37
+f 35 38 41
+f 37 40 41
+f 37 41 38
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_75.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42c4fdf877b51b99dc5b7bbbcf41ae9e92384385
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_75.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.03666314 0.01672748 0.00098399
+v 0.03655081 0.01672747 0.00198629
+v 0.03693322 0.01595418 0.00158067
+v 0.03670975 0.01661605 0.00098399
+v 0.03112549 0.01672748 0.00098399
+v 0.03684001 0.01564007 0.00240513
+v 0.03667031 0.01643313 0.00198789
+v 0.03599215 0.01672747 0.00290127
+v 0.03701985 0.01518929 0.00198789
+v 0.03710948 0.01517627 0.00098399
+v 0.03694457 0.01598741 0.00098399
+v 0.03112549 0.01289380 0.00098398
+v 0.03112549 0.01672748 0.00134880
+v 0.03694039 0.01476080 0.00265547
+v 0.03491664 0.01672747 0.00323917
+v 0.03603935 0.01649157 0.00292863
+v 0.03714951 0.01385463 0.00198013
+v 0.03713457 0.01491598 0.00098398
+v 0.03119121 0.01243210 0.00098398
+v 0.03112549 0.01644365 0.00132258
+v 0.03408313 0.01243209 0.00283878
+v 0.03376286 0.01672747 0.00294778
+v 0.03633392 0.01518929 0.00293273
+v 0.03623414 0.01385463 0.00309050
+v 0.03696548 0.01385463 0.00268785
+v 0.03491664 0.01649157 0.00325809
+v 0.03701029 0.01250315 0.00197192
+v 0.03720149 0.01358973 0.00098398
+v 0.03722838 0.01385464 0.00098398
+v 0.03694218 0.01292154 0.00266071
+v 0.03706945 0.01243210 0.00098398
+v 0.03484076 0.01243209 0.00327108
+v 0.03491664 0.01243209 0.00331326
+v 0.03626700 0.01243209 0.00304262
+v 0.03633093 0.01243209 0.00301777
+v 0.03634587 0.01250315 0.00301093
+v 0.03698699 0.01243209 0.00203462
+v 0.03700133 0.01243209 0.00193065
+v 0.03708379 0.01251451 0.00098398
+v 0.03708618 0.01252923 0.00098398
+v 0.03689617 0.01243209 0.00250362
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 10
+f 1 10 18
+f 1 18 29
+f 1 29 28
+f 1 28 40
+f 1 40 39
+f 1 39 31
+f 1 31 19
+f 1 19 12
+f 1 12 5
+f 1 5 13
+f 1 13 22
+f 1 22 15
+f 1 15 8
+f 1 8 2
+f 2 6 7
+f 2 7 3
+f 2 8 6
+f 3 7 6
+f 3 6 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 5 12 20
+f 5 20 13
+f 6 14 9
+f 6 8 14
+f 8 15 16
+f 8 16 14
+f 9 17 10
+f 9 14 17
+f 10 17 18
+f 12 19 20
+f 13 20 21
+f 13 21 22
+f 14 16 23
+f 14 23 24
+f 14 24 25
+f 14 25 17
+f 15 26 24
+f 15 24 16
+f 15 22 26
+f 16 24 23
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 17 25 30
+f 17 30 27
+f 19 21 20
+f 19 31 38
+f 19 38 37
+f 19 37 41
+f 19 41 35
+f 19 35 34
+f 19 34 33
+f 19 33 32
+f 19 32 21
+f 21 32 22
+f 22 32 33
+f 22 33 26
+f 24 26 33
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 24 36 25
+f 25 36 35
+f 25 35 30
+f 27 37 38
+f 27 38 39
+f 27 39 40
+f 27 40 28
+f 27 30 41
+f 27 41 37
+f 30 35 41
+f 31 39 38
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_76.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e3417a0ae7c74d3ffd3431e276f2d7755d446de
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_76.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.03990831 -0.00223884 0.00202804
+v -0.03983799 -0.00267535 0.00202804
+v -0.03950047 -0.00391177 0.00255494
+v -0.03959958 -0.00303237 0.00269563
+v -0.03965919 -0.00223884 0.00275723
+v -0.03621493 -0.00223884 0.00202804
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+v -0.03653169 -0.00948986 0.00202802
+v -0.03602607 -0.00948986 0.00320071
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+v -0.03564166 -0.00767284 0.00386829
+v -0.03541664 -0.00767284 0.00386829
+v -0.03310686 -0.00831945 0.00202802
+v -0.03656920 -0.00223884 0.00233031
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+v -0.03393594 -0.00856574 0.00310091
+v -0.03491705 -0.00948986 0.00374796
+v -0.03541664 -0.00825415 0.00386829
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+v -0.03494719 -0.00864239 0.00373283
+v -0.03388572 -0.00948986 0.00315855
+f 1 2 3
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+f 32 38 33
+f 34 39 40
+f 35 40 39
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_77.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dd08b3b016b160b2ab6522be6ed945945a56521
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_77.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.02767336 0.02105424 0.00245154
+v 0.02703255 0.01766931 0.00339821
+v 0.02752429 0.01691211 0.00339821
+v 0.02763464 0.01672789 0.00339821
+v 0.02767336 0.01672790 0.00108844
+v 0.02767336 0.02105425 0.00098401
+v 0.02445093 0.02105424 0.00339823
+v 0.02472390 0.02074213 0.00339823
+v 0.02519628 0.02017932 0.00339822
+v 0.02527566 0.02008276 0.00339822
+v 0.02537245 0.01996037 0.00339822
+v 0.02599003 0.01915702 0.00339822
+v 0.02625429 0.01881145 0.00339822
+v 0.02659986 0.01832233 0.00339822
+v 0.02351198 0.01672789 0.00339821
+v 0.02767336 0.01672790 0.00098399
+v 0.01778538 0.02105425 0.00098401
+v 0.01969231 0.02105424 0.00339823
+v 0.01778538 0.02020177 0.00098400
+v 0.02113848 0.01672790 0.00098399
+v 0.01778538 0.02105424 0.00155495
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 16
+f 1 16 6
+f 1 6 17
+f 1 17 21
+f 1 21 18
+f 1 18 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 13
+f 1 13 14
+f 1 14 2
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+f 2 12 11
+f 2 11 10
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+f 2 9 8
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+f 2 7 18
+f 2 18 15
+f 2 15 4
+f 2 4 3
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+f 4 20 16
+f 4 16 5
+f 6 16 20
+f 6 20 19
+f 6 19 17
+f 15 18 19
+f 15 19 20
+f 17 19 21
+f 18 21 19
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_78.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6a59fded07f8baf9ce01d1f82941eb53e784f7c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_78.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.02049684 0.02775842 0.00134852
+v 0.02049684 0.02603939 0.00098403
+v 0.02049684 0.02775842 0.00098403
+v 0.01903575 0.02775842 0.00128561
+v 0.01778441 0.02745972 0.00500085
+v 0.01792752 0.02738690 0.00500085
+v 0.01894388 0.02681665 0.00500085
+v 0.02043736 0.02565665 0.00500084
+v 0.02049312 0.02559633 0.00500084
+v 0.02010044 0.02559635 0.00098402
+v 0.01778441 0.02775842 0.00098403
+v 0.01778441 0.02775842 0.00122624
+v 0.01778441 0.02559633 0.00500084
+v 0.01778441 0.02559635 0.00098402
+f 1 2 3
+f 1 3 11
+f 1 11 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 10 14
+f 2 14 11
+f 2 11 3
+f 2 9 10
+f 4 12 5
+f 5 13 9
+f 5 9 8
+f 5 8 7
+f 5 7 6
+f 5 12 11
+f 5 11 14
+f 5 14 13
+f 9 13 14
+f 9 14 10
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_79.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bb20beb0d221207521e283b4f2e8a8d4ad85ce6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_79.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.02914057 -0.02425554 0.00235629
+v 0.02914057 -0.02425554 0.00335629
+v 0.02914057 -0.01430076 0.00235629
+v 0.02914057 -0.01430076 0.00335629
+v 0.03702250 -0.02425554 0.00235629
+v 0.03702250 -0.02425554 0.00335629
+v 0.03702250 -0.01430076 0.00235629
+v 0.03702250 -0.01430076 0.00335629
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_8.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50d92f15e54ea7c2c9c16dbcdaee7be975dbacda
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_8.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v 0.02652661 0.01263310 0.00500080
+v 0.02665338 0.01263310 0.00559734
+v 0.03027238 0.01263310 0.00500080
+v 0.02947235 -0.00006261 0.00500075
+v 0.02947320 -0.00006261 0.00500762
+v 0.02959998 -0.00006261 0.00569060
+v 0.02665595 0.01263310 0.00560936
+v 0.03179536 0.01263310 0.00619731
+v 0.03055077 0.01221430 0.00500079
+v 0.03289777 -0.00006261 0.00500075
+v 0.03052678 -0.00006262 0.00940094
+v 0.02770268 0.01263309 0.00940099
+v 0.03237355 0.01263309 0.00686713
+v 0.03270418 0.01121639 0.00657286
+v 0.03286522 0.01036264 0.00637134
+v 0.03095421 0.01125119 0.00500079
+v 0.03434965 -0.00006261 0.00623276
+v 0.03289605 0.00066687 0.00500075
+v 0.03435051 0.00066687 0.00623276
+v 0.03114266 -0.00006263 0.01040166
+v 0.02829371 0.01263308 0.01033073
+v 0.03244721 0.01263309 0.00696961
+v 0.03300312 0.01204404 0.00742301
+v 0.03314617 0.01121638 0.00719115
+v 0.03330892 0.00991276 0.00684136
+v 0.03380744 0.00848113 0.00703256
+v 0.03300398 0.00948403 0.00626027
+v 0.03186475 0.00832953 0.00500078
+v 0.03462118 -0.00006261 0.00661633
+v 0.03283952 0.00198540 0.00500076
+v 0.03432395 0.00198540 0.00625395
+v 0.03484046 0.00066686 0.00692776
+v 0.03484132 -0.00006262 0.00692776
+v 0.03228189 -0.00006263 0.01081615
+v 0.02830399 0.01263308 0.01033645
+v 0.03285494 0.01263309 0.00797319
+v 0.03305452 0.01217701 0.00816382
+v 0.03338858 0.01121638 0.00816382
+v 0.03380316 0.00989660 0.00816382
+v 0.03427256 0.00797783 0.00751517
+v 0.03435136 0.00725953 0.00736747
+v 0.03218596 0.00727818 0.00500078
+v 0.03389995 0.00725954 0.00674918
+v 0.03403272 0.00594225 0.00653047
+v 0.03417148 0.00462247 0.00638620
+v 0.03272131 0.00330394 0.00500076
+v 0.03428883 0.00297089 0.00628315
+v 0.03478564 0.00198539 0.00692777
+v 0.03527389 0.00066686 0.00816378
+v 0.03527646 -0.00006262 0.00816378
+v 0.03508202 -0.00006262 0.00761075
+v 0.03359930 -0.00006263 0.01076291
+v 0.03228189 0.00462245 0.01084766
+v 0.03096449 0.00989659 0.01083909
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+v 0.02964794 0.01253490 0.01080189
+v 0.03288064 0.01263309 0.00816383
+v 0.03302882 0.01210990 0.00915939
+v 0.03429397 0.00806358 0.00895672
+v 0.03412780 0.00873092 0.00816381
+v 0.03429569 0.00807228 0.00816381
+v 0.03447642 0.00725953 0.00816381
+v 0.03473596 0.00594224 0.00816380
+v 0.03494754 0.00462246 0.00816380
+v 0.03447985 0.00594224 0.00714877
+v 0.03424258 0.00385074 0.00632265
+v 0.03239154 0.00594225 0.00500077
+v 0.03458435 0.00462246 0.00700507
+v 0.03256884 0.00462247 0.00500077
+v 0.03460234 0.00336855 0.00681213
+v 0.03521650 0.00198539 0.00816379
+v 0.03510943 0.00330393 0.00816379
+v 0.03515311 0.00066686 0.00940094
+v 0.03509829 0.00198539 0.00940095
+v 0.03515483 -0.00006262 0.00940094
+v 0.03405928 -0.00006263 0.01057742
+v 0.03359930 0.00066685 0.01076234
+v 0.03228189 0.00594223 0.01084880
+v 0.03096449 0.01121637 0.01084367
+v 0.03096449 0.01253490 0.01079216
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+v 0.03278213 0.01263309 0.00909700
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+v 0.03321298 0.01132947 0.00950346
+v 0.03368410 0.00989660 0.00940098
+v 0.03273845 0.01263309 0.00949660
+v 0.03277271 0.01254361 0.00950347
+v 0.03419119 0.00766962 0.00978168
+v 0.03438220 0.00724089 0.00938208
+v 0.03462889 0.00594224 0.00940096
+v 0.03406698 0.00853333 0.00938208
+v 0.03483190 0.00462246 0.00940096
+v 0.03498951 0.00330393 0.00940095
+v 0.03462718 0.00066685 0.01034728
+v 0.03460063 0.00198538 0.01033069
+v 0.03446957 0.00462245 0.01023623
+v 0.03454581 0.00330392 0.01029405
+v 0.03462804 -0.00006263 0.01034785
+v 0.03359930 0.00198538 0.01074574
+v 0.03228189 0.00725952 0.01083679
+v 0.03228189 0.00857806 0.01079614
+v 0.03228189 0.00989659 0.01069940
+v 0.03213199 0.01253490 0.01037824
+v 0.03211229 0.01263308 0.01036737
+v 0.03307079 0.01096658 0.01015038
+v 0.03429826 0.00678977 0.01006677
+v 0.03437364 0.00594223 0.01014692
+v 0.03359930 0.00462245 0.01065301
+v 0.03359930 0.00330392 0.01071025
+v 0.03341514 0.00857806 0.01038223
+v 0.03359930 0.00594223 0.01056256
+v 0.03323354 0.00989659 0.01028377
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+f 94 95 99
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+f 101 111 102
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+f 102 112 103
+f 103 112 105
+f 103 105 104
+f 105 112 106
+f 106 112 110
+f 106 110 107
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_80.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..051e1389ca830f48442df07176d6a42547f93de1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_80.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.03236007 -0.02237878 0.00240579
+v -0.03236007 -0.02237878 0.00340579
+v -0.03236007 -0.01776342 0.00240579
+v -0.03236007 -0.01776342 0.00340579
+v -0.01753309 -0.02237878 0.00240579
+v -0.01753309 -0.02237878 0.00340579
+v -0.01753309 -0.01776342 0.00240579
+v -0.01753309 -0.01776342 0.00340579
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_81.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cf8cf302f0af30b5c8a3c0725b5925bc1b7a4d4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_81.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.01726348 -0.03407908 0.00240368
+v 0.02022006 -0.03204893 0.00240369
+v 0.02022006 -0.03193423 0.00275805
+v 0.02022006 -0.03186900 0.00291921
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_82.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84de41db96295f54fc46139925fcc507be087d13
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_82.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.02914057 -0.01406576 0.00235632
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+
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_83.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5073895e8d5a6e870a63e21dcef9beec10eb7783
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_83.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_9.obj b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef813b5defc2736369eda56f38157c4d387b7456
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_collision_9.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..78c1fd4f7beaafe9fc658a02114c2663a2bc5734
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/mjcf/mesh/coaster_034_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d80174f1d26e82d0c22f13090859a61a3b18a251aba1858782a0d4c5ad85c962
+size 10162426
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/textures/material_0.png b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..78c1fd4f7beaafe9fc658a02114c2663a2bc5734
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d80174f1d26e82d0c22f13090859a61a3b18a251aba1858782a0d4c5ad85c962
+size 10162426
diff --git a/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/video.mp4 b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2af3e179a6654571008a1a3da98ca5fda7ffb60d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/08c19080c7ca55d9a8d948d085693f53/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 196134