diff --git a/.gitattributes b/.gitattributes
index b7e0ea43c21ec614fbf5e63bb1e766a484f052f4..2dd3e041bbbe3e779283e3acfd17c233bf7ac593 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4392,3 +4392,5 @@ dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/mesh/tray_00
 dataset/kitchen_supplies/tableware/d9d01b3181925d60895bdf1eca8b86e8/tray_001.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/bowl_035.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/d6cef78edb765f8c9df0978396ba457e/mesh/bowl_035.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/coaster_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mesh/coaster_016.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/coaster_016.urdf b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/coaster_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c12cfe1d81c7b48e10beea7c8972c0f798584f3f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/coaster_016.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coaster_016">
+   <link name="coaster_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coaster_016.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coaster_016_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>d60e7e1bb89b55a8906c541111905407</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>coaster</category>
+         <name>floral coaster</name>
+         <color>white,blue</color>
+         <shape>disk</shape>
+         <material>ceramic</material>
+         <description>round white coaster with blue floral top pattern</description>
+         <min_height>0.0336</min_height>
+         <max_height>0.0336</max_height>
+         <real_height>0.0336</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518184540</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.070140 -0.070014 -0.013064</min>
+            <max>0.069945 0.069986 0.020507</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/coaster_016.usd b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/coaster_016.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/coaster_016.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc5a5f573087214be25b80dc601bbd1fe7c00251c61f90cfd0c20abea391b3d3
+size 4900001
diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mesh/coaster_016.glb b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mesh/coaster_016.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mesh/coaster_016.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e2879c6badc943be1a24a886c80591e5e5fe82f27b387ede29193d63889edc6
+size 12391928
diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mesh/coaster_016.mtl b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mesh/coaster_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5997f751bbeea7dfcdabbe14c935815b09c1a191
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mesh/coaster_016.mtl
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+newmtl coaster_016_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mesh/coaster_016.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mesh/coaster_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b13baf04fb277f3668ec46cf8b4abed2e3a9c13b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mesh/coaster_016.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coaster_016_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mesh/coaster_016_collision.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mesh/coaster_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0eff6924789c92d3d64d2e64161aaeb98d4a42bc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mesh/coaster_016_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mesh/material.mtl b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mesh/material.mtl
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+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mesh/material_0.png b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/coaster_016.xml b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/coaster_016.xml
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index 0000000000000000000000000000000000000000..76947282e9ccc88a2d69d56e12bde61fe2b4c750
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+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/coaster_016.xml
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+    <mesh name="collision_mesh_0_53" file="mesh/coaster_016_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/coaster_016_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/coaster_016_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/coaster_016_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/coaster_016_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/coaster_016_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/coaster_016_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/coaster_016_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/coaster_016_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/coaster_016_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/coaster_016_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/coaster_016_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  <worldbody>
+    <body name="coaster_016">
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+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_59" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_60" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_61" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_62" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_63" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_64" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ddf719029b0a27caf9065b9fcbe3383e7f0ed49
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016.obj
@@ -0,0 +1,105560 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coaster_016_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45ac33382408a8561e20e49b4944aef1b429c9cf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision.obj
@@ -0,0 +1,27826 @@
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_0.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2c8fe03eb4356af8756157f2ce001276d880a18
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_1.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cce2e1ac3ee473542b2e435dc74b77a21fee602c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_1.obj
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_10.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04f819ec86d69b5ca63508beeb116f92c15e6747
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_11.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8451255d3cb1d1207ff0f5f2c39689375b88e066
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_12.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd5c8f74498fc7c80417e1f4c172156fe4b85ee8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_12.obj
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_13.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..182f6090be5dc38317ab45e9e18bdbaa21d4ba40
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_13.obj
@@ -0,0 +1,616 @@
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_14.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4d922478f3c9706fc2ec569ac2a72d435ed3a61
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_14.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_15.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e0153d3919027bb6ab6a92bfa0a186e994c6df7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_15.obj
@@ -0,0 +1,676 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_16.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..172fec2d77ef3c6b7813b719751e01edaf3f01dd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_16.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_17.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dbeac21d8fec4e3f5c0c3df329c1ffaa209efc0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_17.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_18.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4220a701df52e62a36891b4fa257843de50bd4e5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_18.obj
@@ -0,0 +1,589 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_19.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca3a43138599e0ad29feee848813f6bce7eb2064
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_19.obj
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_2.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3caa3c9f41316d888602e93e25e8c269abe42fa3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_20.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79608c5f941d5b079d7a5955091bf4e76305e2bf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_20.obj
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_21.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..184643f5d3792316a5bb1df988961995990a333b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_21.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_22.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fa43bbe11515a2fd2331258cb3b25817f3cfbf4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_22.obj
@@ -0,0 +1,562 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_23.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad65857d7d859848c65b3964a6322223fc0d0e7d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_23.obj
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_24.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..689132d4f562c02c628bcc8202fa4389f5aa8cf8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_24.obj
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_25.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caa91201ada5a5eee288d8abd22406e4725a173b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_25.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_26.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80111cd402b00fda252d5f9a4e2050650191d0c7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_26.obj
@@ -0,0 +1,508 @@
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_27.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47c86b8f6ab3d86d49f396d8868688d9de5b0736
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_27.obj
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_28.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d05ec8cbfc0c11cc0b823e33034287f61ec97984
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_28.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_29.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76666b115d0c198e820a23b1b966762f4f2ce508
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_29.obj
@@ -0,0 +1,1006 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_3.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06b275b3f39cb8475e4829cd1aeb3db3c7b647dc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_3.obj
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_30.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..354956b9645f745d391b6ec99b24bfef344a4abc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_30.obj
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_31.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3a83321b929ab5843b8b175877c368b278e0868
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_31.obj
@@ -0,0 +1,214 @@
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_32.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b374dee1a4e3f62b12ec8e3adb6846203a80253a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_32.obj
@@ -0,0 +1,724 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_33.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..123e83a29209545c02c46e57b7ef5b01f93419e2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_33.obj
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_34.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f1f323c101ca38a9225d915de14ef8b2c59ebba
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_34.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+v 0.00006038 -0.06114909 -0.00624202
+v 0.00006038 -0.05884717 -0.00854806
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+
diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_35.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93bea5ea55cef59ea9987a84ac280e351153b178
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_35.obj
@@ -0,0 +1,10 @@
+# https://github.com/mikedh/trimesh
+v 0.03356200 -0.02859164 -0.00624180
+v 0.03356200 -0.03669253 -0.00519382
+v 0.03356200 -0.03669253 -0.00624182
+v 0.02454857 -0.03669253 -0.00624182
+f 1 2 3
+f 1 3 4
+f 1 4 2
+f 2 4 3
+
diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_36.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c690605d3ff80a9647f19282aa2da42821022eca
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_36.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_37.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..480a57468afeb4a30a91c51ddadde2b8e8c8d061
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_37.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_38.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef03ce258d14f1ee79b4e8932d6aa93b69b80b8d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_38.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_39.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59d70b1630f7fb3ead0ae0614b56e19ac160f11e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_39.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_4.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c0d490f360d4a65b84aa95959ec852c17616172
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_4.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_40.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59a54fbbd488599a2b0840c6861c45ffa5f95d09
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_40.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v 0.03991193 0.03276742 0.01083142
+v 0.03991193 0.02422781 0.00764715
+v 0.03991193 0.03276745 0.00323087
+v 0.01567293 0.03276745 0.00312908
+v 0.03991193 0.02422783 0.00312905
+v 0.02724785 0.02422783 0.00312905
+v 0.03991193 0.03250077 0.00312908
+v 0.03979566 0.03276745 0.00317508
+v 0.03969599 0.03276745 0.00312908
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 4 9 7
+f 4 7 5
+f 4 5 6
+f 7 9 8
+
diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_41.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..630da2de5d6104512cb3a94f10ce53307942564c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_41.obj
@@ -0,0 +1,16 @@
+# https://github.com/mikedh/trimesh
+v 0.02724562 0.02422700 0.00312905
+v 0.03991193 0.02422698 0.00764764
+v 0.03991193 0.02422700 0.00312905
+v 0.03584398 0.00015368 0.00312896
+v 0.03991193 0.00015367 0.00457353
+v 0.03991193 0.00015368 0.00312896
+f 1 2 3
+f 1 3 6
+f 1 6 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 3
+f 4 6 5
+
diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_42.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d227c82eac83ad89ccb8234e647711bf41faace
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_42.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v 0.05107341 -0.02380138 0.00674814
+v 0.05087371 -0.02424124 0.00674814
+v 0.05075887 -0.02380138 0.00651356
+v 0.03810241 -0.02380138 0.00674814
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_43.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae35f9a81d496ca9b0a4c22d2f106c237bc26b9d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_43.obj
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_44.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9f55fa046ff71e97afb142e82e1a91abbe31a76
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_44.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_45.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47de170dc6135159c4b0ccb298624c6c98da40f8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_45.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_46.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9cd7cb9ea8ef0246587ef61cabccb09cd975f55
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_46.obj
@@ -0,0 +1,562 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_47.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fbf946b6662bfcdaf77cf89757f546922910d7d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_47.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_48.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6e8d1873196c3a8da3627e1b68dc5aa20678eb7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_48.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_49.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3220155f88c6e313cce172b8230040e21027d39e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_49.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_5.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8d6a5cf3d4132ad44f5de2e2fb7b5e48624a738
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_50.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e968aa95ca6eccc0a534132d7f68995e071371be
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_50.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_51.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4566da2e802a8801405886ecc73638dd8a018bc7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_51.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_52.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09ca46c20bc491b56be9158d50ca0613b90b6481
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_52.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_53.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2122dec43bd35179753133458041ada11d999dfd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_53.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_54.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f17ca97405e5d7b724cf933e40d4805ecf670980
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_54.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_55.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84f32f7f427e818be44ce5088ccaa7dfdb3e2c5c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_55.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_56.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f92f080d7bf375aee452adf021f2205ec7cb67c8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_56.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
+v 0.01582539 0.01604048 -0.00616800
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+v 0.02247590 -0.00014139 -0.00616806
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_57.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..375840f0153f86614f099abec988254dd1135be9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_57.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00005874 -0.03668952 -0.00387097
+v 0.00005874 -0.03376010 -0.00624192
+v 0.00099670 -0.03668952 -0.00387097
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+
diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_58.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2154bc6b34377aadfe6122f3a3eb90cf68a778f2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_58.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.03022286 -0.03815837 -0.00631019
+v -0.03022286 -0.03815837 -0.00531019
+v -0.03022286 -0.03153242 -0.00631019
+v -0.03022286 -0.03153242 -0.00531019
+v -0.02142201 -0.03815837 -0.00631019
+v -0.02142201 -0.03815837 -0.00531019
+v -0.02142201 -0.03153242 -0.00631019
+v -0.02142201 -0.03153242 -0.00531019
+f 2 4 1
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+f 2 8 4
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+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/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_59.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59622c4f97a99e4e440867c17020a880657509f1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_59.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
+v 0.03355813 -0.00014312 -0.00478165
+v 0.03355813 -0.00014312 -0.00435956
+v 0.03355813 0.00113591 -0.00477555
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_6.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be32f5bce7eaee4157c7cd9f7af622fc0ac2dde7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_60.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca37f26f42830bad3ab288af0f49f9da2877c155
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_60.obj
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+v -0.04263811 0.00575703 -0.00132738
+v -0.04260063 0.00599945 -0.00132738
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+
diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_61.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd58a554a4f985e180ce008ae3c2d912610e882b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_61.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.05293897 -0.02297276 -0.00343263
+v -0.03800664 -0.04340989 -0.00343312
+v -0.04306642 -0.03839214 -0.00343310
+v -0.06573771 -0.02297276 -0.00343263
+v -0.05892710 -0.02297276 -0.00183180
+v -0.04508871 -0.04341189 -0.00201104
+v -0.04306914 -0.04341189 -0.00246388
+v -0.04306914 -0.04341189 -0.00343271
+v -0.04306642 -0.04340989 -0.00343312
+v -0.06540654 -0.02424120 -0.00343264
+v -0.06509167 -0.02424120 -0.00267818
+v -0.06531697 -0.02297276 -0.00252169
+v -0.06123711 -0.02297276 -0.00140305
+v -0.04739601 -0.04269765 -0.00165496
+v -0.04739601 -0.04341189 -0.00157338
+v -0.05439392 -0.04341189 -0.00343271
+v -0.05578374 -0.04196139 -0.00343270
+v -0.05756986 -0.03959656 -0.00343270
+v -0.05779788 -0.03927045 -0.00343269
+v -0.05803946 -0.03889832 -0.00343269
+v -0.06035762 -0.03508899 -0.00343268
+v -0.06270564 -0.03064944 -0.00343266
+v -0.06488537 -0.02586177 -0.00343264
+v -0.06481479 -0.02569171 -0.00294418
+v -0.06297166 -0.02885481 -0.00255290
+v -0.06364757 -0.02649599 -0.00237475
+v -0.06354442 -0.02424120 -0.00180084
+v -0.06354442 -0.02297276 -0.00163099
+v -0.06123711 -0.02424120 -0.00136663
+v -0.04970603 -0.04269765 -0.00138006
+v -0.04970603 -0.04341189 -0.00141083
+v -0.05395147 -0.04341189 -0.00258230
+v -0.05567787 -0.04182534 -0.00287500
+v -0.05776259 -0.03922043 -0.00313188
+v -0.06026533 -0.03493694 -0.00288733
+v -0.06260521 -0.03044937 -0.00285270
+v -0.06066436 -0.03346642 -0.00257841
+v -0.06135926 -0.03119763 -0.00231322
+v -0.06123711 -0.02885481 -0.00166746
+v -0.06123711 -0.02655001 -0.00141421
+v -0.05892710 -0.03116562 -0.00140895
+v -0.05431521 -0.03808003 -0.00137234
+v -0.05200790 -0.04038884 -0.00136507
+v -0.05200790 -0.04269765 -0.00154058
+v -0.05202962 -0.04341189 -0.00177520
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+v -0.05619634 -0.04038884 -0.00253897
+v -0.05825934 -0.03768189 -0.00267135
+v -0.05898681 -0.03573121 -0.00237478
+v -0.05892710 -0.03346642 -0.00169945
+v -0.05662251 -0.03577523 -0.00145634
+v -0.05431521 -0.04038884 -0.00166649
+v -0.05684510 -0.03830211 -0.00216851
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 28
+f 1 28 13
+f 1 13 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 16
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+f 2 9 3
+f 2 5 6
+f 3 9 4
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+f 4 9 10
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+f 49 53 50
+f 50 53 52
+f 50 52 51
+
diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_62.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fc6b77c1821f77e52609d667d7766ec366b9f94
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_62.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.03355610 0.04333406 -0.00414153
+v 0.03355813 0.02895271 -0.00616790
+v 0.03355813 0.03364044 -0.00557800
+v 0.03355813 0.03366297 -0.00559427
+v 0.03355610 0.04333406 -0.00616765
+v 0.01284767 0.04333406 -0.00596732
+v 0.03355813 0.03366297 -0.00616789
+v 0.01284767 0.04232894 -0.00614623
+v 0.01284767 0.04220928 -0.00616765
+v 0.02883259 0.03366297 -0.00616789
+v 0.01284767 0.04333406 -0.00616765
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 5
+f 1 5 11
+f 1 11 6
+f 1 6 2
+f 2 7 4
+f 2 4 3
+f 2 6 8
+f 2 8 9
+f 2 9 10
+f 2 10 7
+f 5 7 10
+f 5 10 11
+f 6 11 9
+f 6 9 8
+f 9 11 10
+
diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_63.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2461f2cab314734a54dc2a907871f79ee711e720
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_63.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v -0.02247958 0.04334010 -0.00528324
+v -0.01505575 0.04333877 -0.00582490
+v -0.01505575 0.04333877 -0.00628959
+v -0.03167517 0.04334010 -0.00528324
+v -0.03167517 0.04334010 -0.00433858
+v -0.03167517 0.02975926 -0.00628964
+v -0.01505575 0.04266877 -0.00594198
+v -0.01505575 0.04070396 -0.00628960
+v -0.03167517 0.04333877 -0.00628959
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 6
+f 3 6 9
+f 4 9 6
+f 4 6 5
+f 6 8 7
+
diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_64.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..678474c47dcdaef88461f1f74c5a618262ee95f7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_64.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.06992569 -0.00116936 -0.00343276
+v -0.06986415 -0.00347527 -0.00343277
+v -0.06960970 -0.00347527 -0.00272231
+v -0.06964795 -0.00116936 -0.00268392
+v -0.06992569 -0.00014599 -0.00343276
+v -0.06973609 -0.00578342 -0.00343278
+v -0.06953486 -0.00578342 -0.00280582
+v -0.06815950 -0.00347527 -0.00182751
+v -0.06815950 -0.00578342 -0.00192102
+v -0.06815950 -0.00116936 -0.00178647
+v -0.06964795 -0.00014599 -0.00268474
+v -0.05768550 -0.00014599 -0.00343276
+v -0.06953819 -0.00808933 -0.00343279
+v -0.06933529 -0.00938082 -0.00306123
+v -0.06941513 -0.00808933 -0.00295384
+v -0.06815950 -0.00808933 -0.00208946
+v -0.06787678 -0.01270339 -0.00233344
+v -0.06585283 -0.01270339 -0.00142905
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+v -0.06585283 -0.01500931 -0.00155992
+v -0.06585283 -0.00808934 -0.00135043
+v -0.06585283 -0.00578343 -0.00134797
+v -0.06585283 -0.00347528 -0.00134734
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+v -0.06815950 -0.00014599 -0.00178790
+v -0.05293744 -0.02297276 -0.00343284
+v -0.06354449 -0.00014599 -0.00176830
+v -0.06937022 -0.00964895 -0.00343280
+v -0.06765559 -0.01731746 -0.00343282
+v -0.06714670 -0.01894858 -0.00291387
+v -0.06736289 -0.01731746 -0.00268623
+v -0.06763896 -0.01500931 -0.00246350
+v -0.06585283 -0.01731746 -0.00180082
+v -0.06354449 -0.02193152 -0.00149155
+v -0.06354449 -0.01962337 -0.00137394
+v -0.06354449 -0.01731746 -0.00136291
+v -0.06585283 -0.00014600 -0.00134938
+v -0.05893114 -0.02297276 -0.00183167
+v -0.06573642 -0.02297276 -0.00343284
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+v -0.06123948 -0.02193152 -0.00143275
+v -0.06720989 -0.01923905 -0.00343283
+v -0.06685067 -0.02043670 -0.00343284
+v -0.06531898 -0.02297276 -0.00252191
+v -0.06550525 -0.02193152 -0.00239349
+v -0.06354449 -0.02297276 -0.00163098
+v -0.06123948 -0.02297276 -0.00140274
+f 1 2 3
+f 1 3 4
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+f 1 26 39
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+f 21 35 36
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+f 29 42 30
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+f 36 47 37
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+f 38 41 47
+f 39 44 43
+f 44 46 45
+
diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_7.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf6a0b1d1d3cbb6e37d37c1bef8398b5b91b1c95
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_7.obj
@@ -0,0 +1,1219 @@
+# https://github.com/mikedh/trimesh
+v -0.02089715 0.06131255 0.01780095
+v -0.02089715 0.06115246 0.01673581
+v -0.02371587 0.06019182 0.01613019
+v -0.02201733 0.06092563 0.01780094
+v -0.02351311 0.06011176 0.01907571
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_8.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..263ee70f5937b78adaa4f2a5d0f091d045fc1509
--- /dev/null
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diff --git a/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_9.obj b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4010a97ef757f19ed9eea04dcc49a2662fe5d1fb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/d60e7e1bb89b55a8906c541111905407/mjcf/mesh/coaster_016_collision_9.obj
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