diff --git a/.gitattributes b/.gitattributes
index 14cbad2ed273f330300290dcab3125d91ce4076e..e5af4ab3fedec0752595eb65256cff000d5f24a8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4504,3 +4504,6 @@ dataset/kitchen_supplies/utensils/39fd8b64d75a54b2a24e2f37a9d1d1b7/mesh/spatula_
 dataset/kitchen_supplies/utensils/39fd8b64d75a54b2a24e2f37a9d1d1b7/spatula_020.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/3d7fabe1126459ce9e02b22507e49d98/mesh/spatula_022.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/3d7fabe1126459ce9e02b22507e49d98/spatula_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/3e74e2bb3e9e5b7385dbb10978e08813.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mesh/plate.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mesh/plate_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/3e74e2bb3e9e5b7385dbb10978e08813.urdf b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/3e74e2bb3e9e5b7385dbb10978e08813.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..667c637c294a6e30ca470eb01e82872162eb48da
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/3e74e2bb3e9e5b7385dbb10978e08813.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="plate">
+   <link name="plate">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/plate.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/plate_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.172681</scale>
+         <version>v0.1.7</version>
+         <category>plate</category>
+         <description>flat circular plate with slightly raised edges</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120042003</generate_time>
+         <gs_model>mesh/plate_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.708112716674805</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/3e74e2bb3e9e5b7385dbb10978e08813.usd b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/3e74e2bb3e9e5b7385dbb10978e08813.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b6636a91e95d852cbac560c62e4c60d106295521
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/3e74e2bb3e9e5b7385dbb10978e08813.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f99fe7fb2cb084f0a563d9763fcd06160705d4c8294d855cafca65de48145fe7
+size 520526
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mesh/material.mtl b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mesh/material_0.png b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..92f77717117c5395617a670d481bfc2bfd387915
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c2576a606bf359bb27c08d6eb70340a94637d93a42e126579d9e0ea0364a66f
+size 1682108
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mesh/plate.glb b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mesh/plate.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7d01045c9558ca9db05032eb1154a0931a51245a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mesh/plate.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11a761a07c7daf18c0711ae5123fef0d95c1498ac5d3bfd3c43ebb4973f852a6
+size 2039484
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mesh/plate.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mesh/plate.obj
new file mode 100644
index 0000000000000000000000000000000000000000..665448dcfc3c2fcabd122bbe6f8d21da79635171
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mesh/plate.obj
@@ -0,0 +1,32700 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mesh/plate_collision.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mesh/plate_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d34b9edda3b8034f2f38f66ef421c08e5b669046
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mesh/plate_collision.obj
@@ -0,0 +1,13078 @@
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diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/3e74e2bb3e9e5b7385dbb10978e08813.xml b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/3e74e2bb3e9e5b7385dbb10978e08813.xml
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+  </worldbody>
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diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..92f77717117c5395617a670d481bfc2bfd387915
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c2576a606bf359bb27c08d6eb70340a94637d93a42e126579d9e0ea0364a66f
+size 1682108
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47373b5f394a13052637d2122e26b74051e36384
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a311ca7ee3559045fc2f0e22281326110231bea0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision.obj
@@ -0,0 +1,13078 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_0.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aad0c6a2d17c11ba80b0ee656dba1b6b07ce53f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_0.obj
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diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_1.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b754375677f374c257291bcb1bf501181f82074
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_1.obj
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+f 390 416 391
+f 391 416 417
+f 391 417 392
+f 392 417 393
+f 393 418 419
+f 393 419 420
+f 393 420 394
+f 393 417 418
+f 394 420 421
+f 394 421 395
+f 395 421 422
+f 395 422 400
+f 395 400 398
+f 398 400 399
+f 400 422 423
+f 400 423 424
+f 400 424 425
+f 400 425 426
+f 400 426 401
+f 401 426 402
+f 402 426 409
+f 402 409 403
+f 403 409 404
+f 409 426 410
+f 410 426 427
+f 410 427 428
+f 410 428 429
+f 410 429 411
+f 411 429 430
+f 414 416 415
+f 419 431 420
+f 420 431 421
+f 421 431 432
+f 421 432 433
+f 421 433 422
+f 422 433 434
+f 422 434 423
+f 423 434 424
+f 424 428 435
+f 424 435 425
+f 425 435 428
+f 425 428 426
+f 426 428 427
+f 428 436 429
+f 429 436 430
+f 432 434 433
+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_10.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51dd6dd2dfa82f20200eaa91cec2bb12e946d8f5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_10.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.07413764 -0.00143691 0.00409784
+v 0.07412557 -0.00217852 0.00409784
+v 0.07109240 -0.00143688 -0.00184429
+v 0.07109039 -0.00036077 -0.00183976
+v 0.07413361 -0.00064862 0.00409785
+v 0.07398276 -0.00487010 0.00409783
+v 0.07029992 -0.00143688 -0.00337647
+v 0.07029790 -0.00036077 -0.00337646
+v 0.07413160 -0.00036080 0.00409785
+v 0.07366898 -0.00738277 0.00409782
+v 0.07090132 -0.00713640 -0.00143266
+v 0.06989764 -0.00713640 -0.00337649
+v 0.07014303 -0.00428664 -0.00337648
+v 0.07017320 -0.00169359 -0.00359020
+v 0.07018728 -0.00143688 -0.00359020
+v 0.07018728 -0.00129167 -0.00359019
+v 0.07018527 -0.00036077 -0.00359019
+v 0.06646823 -0.00036080 0.00409785
+v 0.07072633 -0.00998357 -0.00107295
+v 0.07283225 -0.01290077 0.00409780
+v 0.06978299 -0.00713640 -0.00359022
+v 0.06952754 -0.00998356 -0.00337650
+v 0.07002838 -0.00428664 -0.00359021
+v 0.05925743 -0.00036077 -0.00359019
+v 0.06053466 -0.02685136 0.00409775
+v 0.07198546 -0.01842914 0.00409778
+v 0.06940887 -0.00998356 -0.00359023
+v 0.06891408 -0.01270107 -0.00359024
+v 0.06936462 -0.01024027 -0.00359023
+v 0.05359136 -0.02685133 -0.00359029
+v 0.06882960 -0.02685136 0.00409775
+v 0.06637169 -0.02155892 -0.00359027
+v 0.06726876 -0.01889586 -0.00359026
+v 0.06739950 -0.01848616 -0.00359026
+v 0.06846956 -0.01755266 -0.00227329
+v 0.06808136 -0.01617835 -0.00359025
+v 0.06821613 -0.01567789 -0.00359025
+v 0.06846352 -0.01468994 -0.00359024
+v 0.06888592 -0.01282813 -0.00359024
+v 0.06566770 -0.02347777 -0.00359028
+v 0.06425169 -0.02685133 -0.00359029
+v 0.06453328 -0.02685133 -0.00313725
+v 0.06557116 -0.02585041 -0.00217248
+v 0.06588694 -0.02422457 -0.00272033
+v 0.06520509 -0.02463687 -0.00359028
+v 0.06474850 -0.02569742 -0.00359028
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 18
+f 1 18 25
+f 1 25 31
+f 1 31 26
+f 1 26 20
+f 1 20 10
+f 1 10 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 4
+f 4 8 17
+f 4 17 24
+f 4 24 18
+f 4 18 9
+f 4 9 5
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 7 13 14
+f 8 16 17
+f 10 19 11
+f 10 20 19
+f 11 19 12
+f 12 21 23
+f 12 23 13
+f 12 19 22
+f 12 22 21
+f 13 23 14
+f 14 23 21
+f 14 21 27
+f 14 27 29
+f 14 29 28
+f 14 28 39
+f 14 39 38
+f 14 38 37
+f 14 37 36
+f 14 36 34
+f 14 34 33
+f 14 33 32
+f 14 32 40
+f 14 40 45
+f 14 45 46
+f 14 46 41
+f 14 41 30
+f 14 30 24
+f 14 24 17
+f 14 17 16
+f 14 16 15
+f 18 24 25
+f 19 20 26
+f 19 26 22
+f 21 22 27
+f 22 28 29
+f 22 29 27
+f 22 26 28
+f 24 30 25
+f 25 30 41
+f 25 41 42
+f 25 42 31
+f 26 32 33
+f 26 33 34
+f 26 34 35
+f 26 35 36
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 28
+f 26 31 40
+f 26 40 32
+f 31 42 43
+f 31 43 44
+f 31 44 40
+f 34 36 35
+f 40 44 43
+f 40 43 45
+f 41 46 43
+f 41 43 42
+f 43 46 45
+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_11.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea81ba563c610f492808220756300a0c0b096335
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_11.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.06797360 0.02919021 0.00468888
+v 0.05981356 0.02919021 0.00468888
+v 0.06545809 0.02919023 0.00002293
+v 0.06634857 0.03270982 0.00468889
+v 0.05921853 0.02919022 0.00403934
+v 0.04701232 0.04778010 0.00468895
+v 0.06491641 0.02919023 -0.00096351
+v 0.06475431 0.02989635 -0.00065587
+v 0.06234549 0.03364127 -0.00150026
+v 0.06336114 0.03818293 0.00468891
+v 0.06286665 0.03174271 -0.00238891
+v 0.05508414 0.02919024 -0.00260305
+v 0.04701232 0.04743116 0.00436916
+v 0.04701232 0.05725364 0.00468898
+v 0.06394590 0.02919024 -0.00260305
+v 0.06366686 0.02980569 -0.00260305
+v 0.06006388 0.03649871 -0.00260303
+v 0.05990384 0.03720483 -0.00220545
+v 0.05751348 0.04066399 -0.00260301
+v 0.05730624 0.04098820 -0.00260301
+v 0.05680150 0.04250759 -0.00176432
+v 0.06320315 0.03842471 0.00468891
+v 0.06295693 0.03129212 -0.00260305
+v 0.06261017 0.03196527 -0.00260304
+v 0.04724418 0.04138110 -0.00260301
+v 0.04701232 0.04180972 -0.00260301
+v 0.04965710 0.05506109 0.00468897
+v 0.04701232 0.05387417 -0.00067577
+v 0.05940319 0.03762521 -0.00260302
+v 0.05659837 0.04202128 -0.00260301
+v 0.05443371 0.04488971 -0.00260300
+v 0.05417313 0.04564529 -0.00212334
+v 0.05611825 0.04414787 -0.00078859
+v 0.05747860 0.04654645 0.00468894
+v 0.06125803 0.04138382 0.00468892
+v 0.04701232 0.05258834 -0.00260297
+v 0.04759093 0.05336039 -0.00067577
+v 0.05253990 0.05226684 0.00468896
+v 0.04859426 0.05142612 -0.00225394
+v 0.04783305 0.05186573 -0.00260297
+v 0.05334010 0.04619755 -0.00260299
+v 0.05185869 0.04785981 -0.00260298
+v 0.05143397 0.04860165 -0.00226822
+v 0.05536318 0.04924729 0.00468895
+v 0.05518468 0.04943962 0.00468895
+v 0.05056400 0.05057162 -0.00067578
+v 0.04901284 0.05075847 -0.00260297
+v 0.05077944 0.04900828 -0.00260298
+f 1 2 5
+f 1 5 12
+f 1 12 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 10
+f 1 10 22
+f 1 22 35
+f 1 35 34
+f 1 34 44
+f 1 44 45
+f 1 45 38
+f 1 38 27
+f 1 27 14
+f 1 14 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 4
+f 4 9 10
+f 4 8 11
+f 4 11 9
+f 5 6 13
+f 5 13 12
+f 6 14 28
+f 6 28 36
+f 6 36 26
+f 6 26 13
+f 7 15 16
+f 7 16 11
+f 7 11 8
+f 9 17 18
+f 9 18 10
+f 9 11 17
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 11 16 23
+f 11 23 24
+f 11 24 17
+f 12 13 25
+f 12 25 26
+f 12 26 36
+f 12 36 40
+f 12 40 47
+f 12 47 48
+f 12 48 42
+f 12 42 41
+f 12 41 31
+f 12 31 30
+f 12 30 20
+f 12 20 19
+f 12 19 29
+f 12 29 17
+f 12 17 24
+f 12 24 23
+f 12 23 16
+f 12 16 15
+f 13 26 25
+f 14 27 28
+f 17 29 18
+f 18 29 19
+f 20 30 21
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 22
+f 27 37 28
+f 27 38 39
+f 27 39 37
+f 28 37 39
+f 28 39 40
+f 28 40 36
+f 31 41 32
+f 32 34 33
+f 32 41 42
+f 32 42 43
+f 32 43 44
+f 32 44 34
+f 38 45 43
+f 38 43 46
+f 38 46 39
+f 39 47 40
+f 39 46 43
+f 39 43 48
+f 39 48 47
+f 42 48 43
+f 43 45 44
+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_12.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b4b363a643ca676cddfeccbb8346261465366d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_12.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.00007726 0.07033752 -0.00260290
+v -0.00007726 0.06296928 -0.00260293
+v -0.00007726 0.07092295 -0.00144457
+v 0.02419921 0.07504995 0.00523360
+v 0.02425170 0.07504995 0.00523131
+v 0.02429464 0.07504995 0.00523131
+v 0.00033785 0.07033581 -0.00260290
+v 0.02408231 0.05765773 -0.00260295
+v -0.00007726 0.07039376 0.01822659
+v -0.00007726 0.07127966 -0.00070433
+v 0.02123145 0.07504995 0.00543693
+v 0.02429464 0.06608418 -0.00260292
+v 0.02421353 0.06611320 -0.00260292
+v 0.02385329 0.06624121 -0.00260292
+v 0.02152489 0.06705876 -0.00260291
+v 0.02043703 0.06740695 -0.00260291
+v 0.01890305 0.06787632 -0.00260291
+v 0.01790346 0.06815794 -0.00260291
+v 0.01593290 0.06867340 -0.00260291
+v 0.01570149 0.06872972 -0.00260291
+v 0.01562515 0.06874508 -0.00260291
+v 0.01268841 0.06930832 -0.00260291
+v 0.01004748 0.06968040 -0.00260290
+v 0.00905027 0.06979817 -0.00260290
+v 0.00717038 0.07001323 -0.00260290
+v 0.00432667 0.07021805 -0.00260290
+v 0.00319110 0.07026413 -0.00260290
+v 0.00148058 0.07033069 -0.00260290
+v 0.02429464 0.07504993 0.01212193
+v 0.02429464 0.05761505 -0.00260295
+v -0.00007726 0.07067197 0.01892114
+v -0.00007726 0.07157323 -0.00009432
+v -0.00007726 0.07210063 0.00107087
+v -0.00007726 0.07253073 0.00202588
+v -0.00007726 0.07367769 0.00499141
+v 0.01289596 0.07504995 0.00671636
+v 0.02204257 0.07504990 0.01817863
+v 0.02429464 0.07436036 0.01798900
+v 0.02429464 0.06603972 0.01832710
+v -0.00007726 0.07100992 0.01976419
+v -0.00007726 0.07405831 0.00606978
+v 0.01015006 0.07504994 0.00730809
+v 0.02139129 0.07504990 0.01866527
+v 0.02334037 0.07422040 0.01972536
+v 0.02429464 0.07435182 0.01803012
+v 0.02426840 0.07436548 0.01800956
+v 0.02429464 0.06742906 0.02007261
+v -0.00007726 0.07174213 0.02004064
+v -0.00007726 0.07504992 0.01286902
+v 0.00921727 0.07504994 0.00766222
+v 0.01854758 0.07504990 0.02004066
+v 0.01847601 0.07504990 0.02006807
+v 0.02139129 0.07448496 0.01990128
+v 0.02426840 0.07278840 0.02010690
+v 0.02429464 0.07278157 0.02010462
+v 0.02429464 0.07403095 0.01924329
+v 0.02429464 0.06978272 0.02062095
+v -0.00007726 0.07263138 0.02037421
+v -0.00007726 0.07504989 0.02073520
+v 0.01285779 0.07504989 0.02068037
+v 0.02139129 0.07263137 0.02046103
+v 0.01001647 0.07504989 0.02072835
+v 0.00717038 0.07504989 0.02073292
+v 0.00432667 0.07504989 0.02073520
+v 0.00105116 0.07504989 0.02073748
+v -0.00007726 0.07392000 0.02056841
+f 1 2 9
+f 1 9 31
+f 1 31 40
+f 1 40 48
+f 1 48 58
+f 1 58 66
+f 1 66 59
+f 1 59 49
+f 1 49 41
+f 1 41 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 30
+f 1 30 8
+f 1 8 2
+f 2 8 9
+f 3 10 11
+f 3 11 4
+f 4 11 36
+f 4 36 42
+f 4 42 50
+f 4 50 49
+f 4 49 59
+f 4 59 65
+f 4 65 64
+f 4 64 63
+f 4 63 62
+f 4 62 60
+f 4 60 52
+f 4 52 51
+f 4 51 43
+f 4 43 37
+f 4 37 29
+f 4 29 6
+f 4 6 5
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 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 24
+f 6 24 25
+f 6 25 26
+f 6 26 27
+f 6 27 28
+f 6 28 7
+f 6 29 38
+f 6 38 45
+f 6 45 56
+f 6 56 55
+f 6 55 57
+f 6 57 47
+f 6 47 39
+f 6 39 30
+f 6 30 12
+f 8 30 9
+f 9 30 31
+f 10 32 11
+f 11 32 33
+f 11 33 34
+f 11 34 35
+f 11 35 36
+f 29 37 38
+f 30 39 40
+f 30 40 31
+f 35 41 36
+f 36 41 42
+f 37 43 44
+f 37 44 45
+f 37 45 46
+f 37 46 38
+f 38 46 45
+f 39 47 40
+f 40 47 48
+f 41 49 50
+f 41 50 42
+f 43 51 44
+f 44 51 52
+f 44 52 53
+f 44 53 54
+f 44 54 55
+f 44 55 56
+f 44 56 45
+f 47 57 58
+f 47 58 48
+f 52 54 53
+f 52 60 54
+f 54 60 61
+f 54 61 57
+f 54 57 55
+f 57 61 60
+f 57 60 62
+f 57 62 63
+f 57 63 64
+f 57 64 65
+f 57 65 59
+f 57 59 66
+f 57 66 58
+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_13.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab840f30fd83b38cd27fb492cebd71b6994d0420
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_13.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.08132277 -0.00143692 0.00742684
+v 0.07823376 -0.00143696 0.01822780
+v 0.08123934 -0.00428668 0.00742683
+v 0.08042130 -0.00428667 0.00548803
+v 0.08045997 -0.00143691 0.00546200
+v 0.08078148 -0.00036080 0.00620269
+v 0.08131666 -0.00036081 0.00742685
+v 0.07823376 -0.00036085 0.01822781
+v 0.07742387 -0.00143696 0.02000870
+v 0.07738113 -0.00428672 0.01999241
+v 0.07815033 -0.00428672 0.01822779
+v 0.07793056 -0.00036085 0.01890338
+v 0.08109486 -0.00713644 0.00742682
+v 0.08034601 -0.00713643 0.00553035
+v 0.07398282 -0.00487010 0.00409783
+v 0.07412527 -0.00217852 0.00409784
+v 0.07413748 -0.00143691 0.00409784
+v 0.07413341 -0.00064862 0.00409785
+v 0.07413137 -0.00036080 0.00409785
+v 0.08045590 -0.00036080 0.00546364
+v 0.07543982 -0.00143697 0.02067125
+v 0.07543982 -0.00428673 0.02065821
+v 0.07742590 -0.00036085 0.02001197
+v 0.07619274 -0.00036086 0.02042382
+v 0.07543982 -0.00713649 0.02060937
+v 0.07730381 -0.00713648 0.01995008
+v 0.07718171 -0.00998364 0.01987030
+v 0.07798347 -0.00713648 0.01822778
+v 0.08032566 -0.00998360 0.00950561
+v 0.08012624 -0.01283336 0.00932328
+v 0.08084050 -0.00998360 0.00742681
+v 0.08005705 -0.01283335 0.00571591
+v 0.08022391 -0.00998359 0.00559708
+v 0.07828464 -0.01283335 0.00525033
+v 0.07366741 -0.00738277 0.00409782
+v 0.06647194 -0.00036080 0.00409785
+v 0.07543982 -0.00036086 0.02067451
+v 0.07259704 -0.01567798 0.02072817
+v 0.07259704 -0.01852774 0.02068584
+v 0.07543982 -0.00998365 0.02051331
+v 0.07543982 -0.01283340 0.02032447
+v 0.07699247 -0.01283340 0.01970262
+v 0.07989832 -0.01567793 0.00904490
+v 0.07975385 -0.01730896 0.00884793
+v 0.08047624 -0.01283336 0.00742680
+v 0.07970704 -0.01710150 0.00608380
+v 0.07988001 -0.01520080 0.00588682
+v 0.07769451 -0.02137744 0.00547495
+v 0.07283106 -0.01290077 0.00409780
+v 0.07198657 -0.01842914 0.00409778
+v 0.06053406 -0.02685136 0.00409775
+v 0.07001473 -0.00036085 0.01822781
+v 0.07366945 -0.00036086 0.02060777
+v 0.06975426 -0.02422466 0.02072651
+v 0.06975426 -0.02685142 0.02072650
+v 0.07259704 -0.02137750 0.02056862
+v 0.07479882 -0.01852773 0.02007376
+v 0.07686834 -0.01427773 0.01958378
+v 0.07446510 -0.02137749 0.01993049
+v 0.07712270 -0.02637424 0.00911323
+v 0.07794277 -0.02422461 0.00742676
+v 0.07975385 -0.01730896 0.00788423
+v 0.07996344 -0.01596316 0.00716145
+v 0.07706979 -0.02626014 0.00585585
+v 0.07736079 -0.02422460 0.00562145
+v 0.06883041 -0.02685136 0.00409775
+v 0.06490099 -0.02685141 0.01827492
+v 0.07050515 -0.00036085 0.01926965
+v 0.06491727 -0.02685141 0.01832376
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+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_14.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9d174e8171b90dd597b5381fe2b4802f7d3b20d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_14.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.05358714 -0.02685347 -0.00359029
+v 0.03703829 -0.04880528 -0.00359037
+v 0.06110205 -0.02685350 0.00484678
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+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_15.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a35fe31866aebe09663c4f563b7ad80a0132de6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_15.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.04701232 0.04779210 0.00469859
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+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_16.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..623ca4401617be537b2152ec63217852053350fa
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_16.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.05940408 0.02870696 0.00392747
+v -0.06752721 0.02870696 0.00392747
+v -0.06397959 0.02870690 0.01817939
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diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_17.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26da14fad8d9359850bded2149b9e97f082c7d01
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_17.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+v 0.02144884 -0.05658293 -0.00358958
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+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_18.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e41e2df2b11b7797026cadcdf34e3ccc482b2bf1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_18.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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+v 0.06489763 -0.02685355 0.01827457
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+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_19.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b026a7ea5df45f61fbf8b3eb8af4161db127d06c
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_19.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.05465530 0.02870698 -0.00307135
+v -0.06384966 0.02870698 -0.00307135
+v -0.05930616 0.02870696 0.00381580
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+v -0.05940412 0.02870696 0.00392747
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+v -0.06492902 0.02870697 -0.00118668
+v -0.06471805 0.02678355 -0.00307136
+v -0.06752477 0.02870696 0.00392747
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+v -0.07174615 0.01844106 0.00392743
+v -0.06563541 0.02870697 0.00013553
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+v -0.07373346 0.00460714 0.00392738
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+v -0.06596883 0.02360248 -0.00307137
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+v -0.06667710 0.02156808 -0.00307138
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diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_2.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef547227a8f659159f87a24e74319be35cc84d47
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_20.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af15d233ec7a2e9aeb5d7147e051dddc04467cf1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_20.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_21.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b758cec49b845254333ee3e1bf881b6434145918
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_21.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_22.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dc36642bb0c1b582601f3b96f51451c5bfb3b77
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_22.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_23.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb69c02d1cd486d7b5e17aa6dad2bb7e179b2e04
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_23.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_24.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6718b77b863d7d4493eee9ae9c352526a0387fc9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_24.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_25.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a96361c245fef360c4d0fb9cb5b4d9f4d0eadaa
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_25.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v -0.02213345 0.06316256 0.00485836
+v -0.04688226 0.04776739 0.00485831
+v -0.02213345 0.07146891 0.00485839
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+v -0.02884216 0.06907404 0.00485838
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+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_26.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..670afb41c729d7a0860461fe1476bc1a445be240
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_26.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.03703586 -0.04880528 -0.00358955
+v 0.03277411 -0.05109720 -0.00358956
+v 0.04504078 -0.04880530 0.00389853
+v 0.05016996 -0.04880528 -0.00358955
+v 0.02354033 -0.05621043 -0.00358958
+v 0.04573536 -0.04880531 0.00453161
+v 0.05018568 -0.04880528 -0.00356907
+v 0.05145226 -0.05438071 0.00477565
+v 0.04948796 -0.04951534 -0.00358955
+v 0.02354033 -0.06586338 -0.00358961
+v 0.02354033 -0.06198332 0.00418267
+v 0.04604022 -0.04880531 0.00477567
+v 0.05105626 -0.04880528 -0.00240119
+v 0.05419600 -0.05134092 0.00477566
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+v 0.04374906 -0.05466217 -0.00358957
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+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_27.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d00f03534c025a0ce63bc5292dcb3013787b7161
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_27.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.04701232 0.04181057 -0.00260301
+v 0.04701232 0.05259227 -0.00260297
+v 0.04701232 0.04743518 0.00436909
+v 0.02429686 0.06188320 0.00428839
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+v 0.04620288 0.05334314 -0.00260296
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+v 0.04701232 0.05387671 -0.00067608
+v 0.04701232 0.04779274 0.00469859
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+v 0.03133721 0.06297790 -0.00260293
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+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_28.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..294939b6c271fd09fa4955eb29c702acd42a0ea0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_28.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v -0.04538358 -0.06379965 0.01822752
+v -0.04538358 -0.06369730 0.01704796
+v -0.04538358 -0.06315588 0.01979791
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diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_29.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..692cd0e21411ec4f1eac762f20219325cb44c5c6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_29.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_3.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..002c3de49431d48d020daa1b3c52cfc57a981bfc
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_3.obj
@@ -0,0 +1,1147 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_30.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84986c11040daed28277c4f55fecaeb736fda349
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_30.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.00000882 -0.07835378 0.02084439
+v 0.00000882 -0.07870704 0.02083342
+v 0.00000882 -0.07550524 0.02081934
+v -0.00136572 -0.07550524 0.02081777
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+v -0.00421104 -0.07550524 0.02080681
+v -0.00705426 -0.07550524 0.02079428
+v -0.00989958 -0.07550524 0.02077861
+v -0.00421104 -0.07835378 0.02082246
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+v -0.00421104 -0.07870704 0.02080836
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+v -0.02136453 -0.07870698 0.00571889
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+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_31.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a46a9f7e8162cea2bf466162c2d8aa1dabaa0799
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_31.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.00148058 0.07548157 0.02080013
+v 0.00432667 0.07505026 0.02073636
+v 0.00717038 0.07505026 0.02073480
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+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_32.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4febaadcdb1544753d944f0aa4eb9d2136eeb3ee
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_32.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.05580453 -0.03007578 -0.00204604
+v -0.05885831 -0.03007580 0.00399848
+v -0.06378683 -0.03007578 -0.00204604
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+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 24
+f 4 24 15
+f 4 15 14
+f 4 14 12
+f 4 12 5
+f 5 12 6
+f 6 12 14
+f 6 14 15
+f 6 15 13
+f 7 16 8
+f 8 17 13
+f 8 13 15
+f 8 15 24
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+f 8 33 34
+f 8 34 30
+f 8 30 20
+f 8 20 9
+f 8 16 18
+f 8 18 17
+f 9 19 10
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 19
+f 11 25 24
+f 20 26 27
+f 20 27 28
+f 20 28 29
+f 20 29 21
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+f 20 31 26
+f 24 25 32
+f 24 32 33
+f 30 34 35
+f 30 35 36
+f 30 36 31
+f 32 37 34
+f 32 34 33
+f 34 37 38
+f 34 38 35
+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_33.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..963d7045991808269489a57469ad3889fe4f0f3a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_33.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.00000882 -0.07870741 0.02083344
+v 0.00000882 -0.08120315 0.02075483
+v 0.00000882 -0.07870738 0.01496465
+v -0.00136572 -0.07870741 0.02082873
+v -0.00136572 -0.08120315 0.02075168
+v 0.00000882 -0.08405156 0.02036807
+v 0.00000882 -0.08210696 0.00548621
+v -0.00911921 -0.07870735 0.00673135
+v -0.00421104 -0.07870741 0.02080829
+v -0.00421104 -0.08120315 0.02071552
+v -0.00136572 -0.08405156 0.02036336
+v 0.00000882 -0.08494041 0.02008509
+v 0.00000882 -0.08304405 0.00514504
+v -0.01529313 -0.07870735 0.00488566
+v -0.01237668 -0.07870735 0.00525511
+v -0.01137663 -0.07870735 0.00543277
+v -0.01038077 -0.07870735 0.00581322
+v -0.00705426 -0.07870741 0.02075956
+v -0.00705426 -0.08120315 0.02056774
+v -0.00430100 -0.08424531 0.02007408
+v -0.00341393 -0.08563631 0.01970934
+v -0.00136572 -0.08577074 0.01981310
+v 0.00000882 -0.08577628 0.01981781
+v 0.00000882 -0.08405151 0.00477874
+v -0.00989958 -0.08120309 0.00480390
+v -0.01802756 -0.07870735 0.00495169
+v -0.00989958 -0.07870741 0.02059762
+v -0.00705426 -0.08347270 0.01997818
+v -0.01279511 -0.07870740 0.02013542
+v -0.00989958 -0.08124584 0.02008667
+v -0.00895184 -0.08295632 0.01977696
+v -0.00530941 -0.08532474 0.01933360
+v -0.00430100 -0.08595026 0.01835101
+v -0.00136572 -0.08647929 0.01822681
+v 0.00000882 -0.08614321 0.01899716
+v 0.00000882 -0.08505977 0.00506172
+v -0.00136572 -0.08405151 0.00477402
+v -0.00421104 -0.08405151 0.00480546
+v -0.02099213 -0.07870735 0.00539189
+v -0.00989958 -0.08353355 0.00534628
+v -0.01203148 -0.08032457 0.01984613
+v -0.01307127 -0.07870740 0.02000021
+v -0.01392696 -0.07957806 0.01922357
+v -0.01084523 -0.08222405 0.01873777
+v -0.00989958 -0.08324021 0.01799414
+v -0.00701660 -0.08484789 0.01835102
+v -0.00604376 -0.08566318 0.01753193
+v -0.00421104 -0.08628633 0.01552587
+v -0.00136572 -0.08678611 0.01552587
+v 0.00000882 -0.08648325 0.01822681
+v 0.00000882 -0.08614158 0.00536828
+v -0.00136572 -0.08614158 0.00536828
+v -0.00421104 -0.08593518 0.00553650
+v -0.00713795 -0.08424921 0.00525824
+v -0.01843135 -0.08028656 0.00556011
+v -0.02117206 -0.07870735 0.00543591
+v -0.01221558 -0.08303140 0.00565757
+v -0.02035821 -0.07994652 0.00586825
+v -0.00624460 -0.08567659 0.00580534
+v -0.01543958 -0.07870740 0.01836047
+v -0.01551071 -0.07870740 0.01828343
+v -0.02136453 -0.07967450 0.00803466
+v -0.00610861 -0.08569165 0.01552588
+v -0.02136453 -0.07974567 0.00742624
+v -0.00637432 -0.08571693 0.00742622
+v -0.00421104 -0.08626732 0.00742621
+v 0.00000882 -0.08667932 0.00742621
+v 0.00000882 -0.08678216 0.01552587
+v 0.00000882 -0.08664140 0.01683075
+v -0.00136572 -0.08668011 0.00742621
+v -0.02136453 -0.07870735 0.00571889
+v -0.00779697 -0.08522585 0.00742622
+v -0.02136453 -0.07870736 0.00937097
+f 1 2 6
+f 1 6 12
+f 1 12 23
+f 1 23 35
+f 1 35 50
+f 1 50 69
+f 1 69 68
+f 1 68 67
+f 1 67 51
+f 1 51 36
+f 1 36 24
+f 1 24 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 26
+f 1 26 39
+f 1 39 56
+f 1 56 71
+f 1 71 73
+f 1 73 61
+f 1 61 60
+f 1 60 42
+f 1 42 29
+f 1 29 27
+f 1 27 18
+f 1 18 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 9 18 10
+f 10 18 19
+f 10 19 11
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 13 24 14
+f 14 25 26
+f 14 24 25
+f 18 27 19
+f 19 28 20
+f 19 27 29
+f 19 29 30
+f 19 30 28
+f 20 28 21
+f 21 28 31
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 22 34 35
+f 22 35 23
+f 24 36 37
+f 24 37 25
+f 25 37 38
+f 25 38 26
+f 26 38 40
+f 26 40 39
+f 28 30 31
+f 29 41 30
+f 29 42 41
+f 30 41 31
+f 31 41 43
+f 31 43 44
+f 31 44 45
+f 31 45 46
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+f 32 46 47
+f 32 47 33
+f 33 47 48
+f 33 48 49
+f 33 49 34
+f 34 49 50
+f 34 50 35
+f 36 51 37
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+f 37 52 38
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+f 38 54 40
+f 39 55 56
+f 39 40 55
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+f 40 53 59
+f 40 59 57
+f 41 42 43
+f 42 60 43
+f 43 60 61
+f 43 61 62
+f 43 62 44
+f 44 62 45
+f 45 62 46
+f 46 62 47
+f 47 63 48
+f 47 62 64
+f 47 64 63
+f 48 63 65
+f 48 65 66
+f 48 66 49
+f 49 67 68
+f 49 68 69
+f 49 69 50
+f 49 66 70
+f 49 70 67
+f 51 67 70
+f 51 70 52
+f 52 70 53
+f 53 66 59
+f 53 70 66
+f 55 58 56
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+f 57 59 58
+f 58 64 71
+f 58 59 64
+f 59 66 65
+f 59 65 72
+f 59 72 64
+f 61 73 62
+f 62 73 71
+f 62 71 64
+f 63 64 72
+f 63 72 65
+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_34.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b83266c5ff309ac8bb3ce90a2164e0c6f784c0e0
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_34.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.00007726 0.07880311 0.02078635
+v -0.00007726 0.08117938 0.02073960
+v -0.00007726 0.07880313 0.01507686
+v 0.00148104 0.07880311 0.02078479
+v -0.00007726 0.08246824 0.02059308
+v 0.00148104 0.08117938 0.02073804
+v -0.00007726 0.08212294 0.00554080
+v 0.00904495 0.07880317 0.00658979
+v 0.00432593 0.07880311 0.02077232
+v -0.00007726 0.08402702 0.02041073
+v 0.00148104 0.08402702 0.02041384
+v 0.00432593 0.08117938 0.02070375
+v -0.00007726 0.08316290 0.00517296
+v 0.01235431 0.07880317 0.00527737
+v 0.01107237 0.07880317 0.00548468
+v 0.01035476 0.07880317 0.00574498
+v 0.00717081 0.07880311 0.02072244
+v -0.00007726 0.08482895 0.02015978
+v 0.00148104 0.08579969 0.01985896
+v 0.00717081 0.08117938 0.02054788
+v 0.00446527 0.08423548 0.02009431
+v 0.00360832 0.08564334 0.01973737
+v -0.00007726 0.08402707 0.00487058
+v 0.01528744 0.07880317 0.00496875
+v 0.01000873 0.07880311 0.02054008
+v -0.00007726 0.08579424 0.01985584
+v 0.00148104 0.08651917 0.01822857
+v -0.00007726 0.08652073 0.01822857
+v 0.01275607 0.07880312 0.02008338
+v 0.00997389 0.08117939 0.02006780
+v 0.00717081 0.08343587 0.01997118
+v 0.00899850 0.08289294 0.01976854
+v 0.00550568 0.08532365 0.01935238
+v 0.00446527 0.08593658 0.01836262
+v -0.00007726 0.08516503 0.00515893
+v 0.00148104 0.08402707 0.00486278
+v 0.01001569 0.08117944 0.00489395
+v 0.01798137 0.07880317 0.00507474
+v 0.00432593 0.08621116 0.01552736
+v 0.00148104 0.08673853 0.01552736
+v -0.00007726 0.08674942 0.01552736
+v 0.01204311 0.08022966 0.01983243
+v 0.01329254 0.07880312 0.01975138
+v 0.01393815 0.07946350 0.01903126
+v 0.02364791 0.07880316 0.00742681
+v 0.00958838 0.08330986 0.01822856
+v 0.00612575 0.08562469 0.01755209
+v 0.00711275 0.08480018 0.01836261
+v -0.00007726 0.08610309 0.00540522
+v 0.00148104 0.08609920 0.00540833
+v 0.00432593 0.08402707 0.00488149
+v 0.01001569 0.08342969 0.00541768
+v 0.02072175 0.07880317 0.00547844
+v 0.00432593 0.08624775 0.00742684
+v 0.00642301 0.08568616 0.00742683
+v 0.00148104 0.08665923 0.00742684
+v -0.00007726 0.08666233 0.00742684
+v 0.01498089 0.07880312 0.01864159
+v 0.02274219 0.07880317 0.00672852
+v 0.02027353 0.07986257 0.00594293
+v 0.00628367 0.08564106 0.00584008
+v 0.00784662 0.08515335 0.00742683
+v 0.00432593 0.08589696 0.00557667
+v 0.00720797 0.08419507 0.00531792
+v 0.01218013 0.08295055 0.00571070
+v 0.01854802 0.08016982 0.00565614
+v 0.02103294 0.07880317 0.00556106
+f 1 2 5
+f 1 5 10
+f 1 10 18
+f 1 18 26
+f 1 26 28
+f 1 28 41
+f 1 41 57
+f 1 57 49
+f 1 49 35
+f 1 35 23
+f 1 23 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 15
+f 1 15 14
+f 1 14 24
+f 1 24 38
+f 1 38 53
+f 1 53 67
+f 1 67 59
+f 1 59 45
+f 1 45 58
+f 1 58 43
+f 1 43 29
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+f 1 25 17
+f 1 17 9
+f 1 9 4
+f 1 4 6
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+f 3 7 8
+f 4 9 6
+f 5 6 11
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+f 38 51 52
+f 39 54 40
+f 39 47 55
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+f 40 56 41
+f 41 56 57
+f 42 43 44
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+f 44 58 45
+f 45 48 46
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+f 45 60 61
+f 45 61 62
+f 45 62 47
+f 45 47 48
+f 47 62 55
+f 49 57 56
+f 49 56 50
+f 50 56 63
+f 50 63 51
+f 51 63 64
+f 51 64 52
+f 52 65 66
+f 52 66 53
+f 52 64 63
+f 52 63 61
+f 52 61 65
+f 53 66 60
+f 53 60 67
+f 54 63 56
+f 54 55 61
+f 54 61 63
+f 55 62 61
+f 59 67 60
+f 60 66 65
+f 60 65 61
+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_35.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fb3d9caa223ae2c1cb3c247ab5a88fd0be389b9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_35.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.04538358 -0.05867764 0.00470421
+v -0.04571773 -0.05851806 0.00470422
+v -0.04538358 -0.05865805 0.00466720
+v -0.04538358 -0.04920622 0.00470425
+v -0.04669860 -0.05801971 0.00470422
+v -0.04538358 -0.05439126 -0.00204613
+v -0.04538358 -0.04813953 0.00368403
+v -0.05896487 -0.03007581 0.00416778
+v -0.05946285 -0.03007581 0.00470432
+v -0.04676973 -0.05797492 0.00470422
+v -0.04544610 -0.05434087 -0.00204613
+v -0.04538358 -0.04553578 -0.00204610
+v -0.04538358 -0.04736681 0.00202354
+v -0.04559485 -0.04439350 -0.00204609
+v -0.05580453 -0.03007578 -0.00204604
+v -0.05885708 -0.03007580 0.00399862
+v -0.06740682 -0.03007581 0.00470432
+v -0.04977055 -0.05549158 0.00470423
+v -0.04557329 -0.05423727 -0.00204613
+v -0.06378299 -0.03007578 -0.00204604
+v -0.06535238 -0.03007579 0.00072256
+v -0.06629229 -0.03290352 0.00470431
+v -0.05259029 -0.05261348 0.00470424
+v -0.05119120 -0.04887023 -0.00204611
+v -0.04997319 -0.05010490 -0.00204611
+v -0.04856117 -0.05153276 -0.00204612
+v -0.04834560 -0.05173153 -0.00204612
+v -0.06384119 -0.03007578 -0.00194957
+v -0.06285817 -0.03197958 -0.00204605
+v -0.06472506 -0.03007579 -0.00042387
+v -0.06337124 -0.03830136 0.00470429
+v -0.06459140 -0.03007579 -0.00066240
+v -0.06254774 -0.03255912 -0.00204605
+v -0.05536259 -0.04956739 0.00470425
+v -0.05137012 -0.04868265 -0.00204611
+v -0.05987029 -0.03741942 -0.00204607
+v -0.05969351 -0.03770499 -0.00204607
+v -0.06138794 -0.04144263 0.00470428
+v -0.06224162 -0.03367900 -0.00152141
+v -0.05763045 -0.04670049 0.00470426
+v -0.05407129 -0.04568416 -0.00204610
+v -0.05401093 -0.04575416 -0.00204610
+v -0.05890019 -0.03895646 -0.00204607
+v -0.05766063 -0.04087426 -0.00204608
+v -0.05684791 -0.04209213 -0.00204608
+v -0.05669270 -0.04254569 -0.00178971
+v -0.05529792 -0.04412192 -0.00204609
+v -0.05663665 -0.04239730 -0.00204609
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 13
+f 1 13 7
+f 1 7 4
+f 1 4 9
+f 1 9 17
+f 1 17 22
+f 1 22 31
+f 1 31 38
+f 1 38 40
+f 1 40 34
+f 1 34 23
+f 1 23 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
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+f 2 6 3
+f 4 7 8
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+f 5 10 6
+f 6 10 11
+f 6 11 19
+f 6 19 27
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+f 8 32 30
+f 8 30 21
+f 8 21 17
+f 8 17 9
+f 10 18 19
+f 10 19 11
+f 12 14 13
+f 17 21 22
+f 18 23 24
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 19
+f 20 29 28
+f 21 30 22
+f 22 30 32
+f 22 32 29
+f 22 29 33
+f 22 33 31
+f 23 34 35
+f 23 35 24
+f 28 29 32
+f 31 36 37
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+f 31 33 39
+f 31 39 36
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+f 34 40 41
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+f 37 43 38
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+f 38 44 45
+f 38 45 46
+f 38 46 40
+f 40 46 47
+f 40 47 41
+f 45 48 46
+f 46 48 47
+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_36.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72a3dfe412181b9df3e158784678e7795b1aa1f2
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_36.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.00007942 0.07548079 0.02079964
+v -0.00007942 0.07392057 0.02056869
+v -0.00007942 0.07557436 0.02079808
+v -0.00136603 0.07557436 0.02079652
+v -0.00136603 0.07548079 0.02079652
+v -0.01843094 0.07263254 0.02065139
+v -0.02213103 0.06978308 0.02052655
+v -0.00007942 0.07263255 0.02037520
+v -0.00007942 0.07557439 0.01366385
+v -0.00421126 0.07557436 0.02078716
+v -0.00421126 0.07548079 0.02078716
+v -0.02213103 0.07177709 0.02057804
+v -0.00705433 0.07548079 0.02077780
+v -0.00989956 0.07548079 0.02075907
+v -0.00980674 0.07557436 0.02075907
+v -0.01264981 0.07557436 0.02068573
+v -0.02213103 0.06906009 0.02035646
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diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_37.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e18929174b4d84edeed9041decf7a7860529fd95
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_37.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_38.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53235458592559ea2476306798efec49cff11b3a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_38.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+f 28 51 29
+f 29 51 52
+f 29 52 30
+f 30 52 31
+f 31 52 53
+f 31 53 35
+f 31 35 32
+f 32 35 34
+f 33 37 54
+f 33 54 55
+f 35 53 36
+f 36 53 56
+f 36 56 37
+f 37 56 57
+f 37 57 54
+f 38 58 59
+f 38 59 39
+f 39 59 60
+f 41 45 42
+f 42 45 46
+f 43 61 44
+f 44 61 62
+f 44 62 63
+f 44 63 45
+f 45 63 48
+f 45 48 47
+f 48 63 64
+f 48 64 49
+f 49 65 66
+f 49 66 67
+f 49 67 50
+f 49 64 65
+f 50 67 51
+f 51 67 68
+f 51 68 52
+f 52 68 56
+f 52 56 53
+f 54 57 69
+f 54 69 59
+f 54 59 58
+f 54 58 55
+f 56 68 70
+f 56 70 57
+f 57 70 69
+f 59 69 60
+f 60 69 71
+f 61 72 73
+f 61 73 74
+f 61 74 75
+f 61 75 62
+f 62 75 63
+f 63 75 67
+f 63 67 66
+f 63 66 65
+f 63 65 64
+f 67 75 74
+f 67 74 68
+f 68 74 76
+f 68 76 70
+f 69 70 77
+f 69 77 71
+f 70 76 77
+f 71 77 78
+f 72 78 73
+f 73 78 77
+f 73 77 74
+f 74 77 76
+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_39.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7756c42363fd9612d81d90e714dfe6e902b9e594
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_39.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.02430918 -0.06221203 0.00477644
+v 0.01570436 -0.06515576 0.00477643
+v 0.01569930 -0.06515767 0.00477798
+v 0.01674108 -0.06828530 0.01721559
+v 0.02430918 -0.06608470 0.01826948
+v 0.02430918 -0.07000324 0.00477641
+v 0.01569930 -0.07242410 0.00477640
+v 0.01569930 -0.06897480 0.01816114
+v 0.02430918 -0.06610194 0.01831745
+v 0.02241104 -0.07151053 0.00477641
+v 0.02430918 -0.07550381 0.00510292
+v 0.01854903 -0.07835369 0.00493423
+v 0.01569930 -0.07244900 0.00477640
+v 0.01569930 -0.06899778 0.01819519
+v 0.01969196 -0.06829872 0.01964988
+v 0.02430918 -0.06744644 0.01999808
+v 0.02047077 -0.07222492 0.00477640
+v 0.01570436 -0.07835369 0.00485066
+v 0.02430918 -0.07777146 0.00543099
+v 0.02423754 -0.07778295 0.00542480
+v 0.01570436 -0.08079180 0.00534122
+v 0.01579623 -0.07246241 0.00477640
+v 0.01569930 -0.07834795 0.00485221
+v 0.01569930 -0.07042847 0.02003521
+v 0.01570436 -0.07042656 0.02003521
+v 0.02139286 -0.06803442 0.01982320
+v 0.02430918 -0.06750389 0.02003367
+v 0.01869232 -0.07246815 0.00477640
+v 0.01569930 -0.08078797 0.00534122
+v 0.02430918 -0.07868887 0.00742578
+v 0.02038142 -0.07992036 0.00589990
+v 0.01854903 -0.08024404 0.00560586
+v 0.01570436 -0.08177816 0.00742577
+v 0.01569930 -0.08177624 0.00742267
+v 0.01569930 -0.07265591 0.02058303
+v 0.02139286 -0.06980793 0.02038495
+v 0.02430918 -0.06972941 0.02057221
+v 0.02430918 -0.07867929 0.00747375
+v 0.02045222 -0.07993952 0.00898880
+v 0.02064018 -0.08000656 0.00742578
+v 0.01569930 -0.07852803 0.01821681
+v 0.02430918 -0.06980794 0.02058613
+v 0.02423754 -0.06980794 0.02058459
+v 0.01569930 -0.07550386 0.02035708
+v 0.01570436 -0.07265591 0.02058303
+v 0.02430918 -0.07784617 0.00964805
+v 0.01569930 -0.07847249 0.01837002
+v 0.01854903 -0.07265591 0.02056755
+v 0.02139286 -0.07265591 0.02046387
+v 0.02430581 -0.07282444 0.02011567
+v 0.02430918 -0.07283019 0.02011103
+v 0.01570436 -0.07550386 0.02035708
+v 0.01569930 -0.07745358 0.01981079
+v 0.02430918 -0.07441409 0.01807910
+v 0.02430581 -0.07441792 0.01807601
+v 0.02340310 -0.07426661 0.01973497
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 16
+f 1 16 27
+f 1 27 37
+f 1 37 42
+f 1 42 51
+f 1 51 54
+f 1 54 46
+f 1 46 38
+f 1 38 30
+f 1 30 19
+f 1 19 11
+f 1 11 6
+f 1 6 10
+f 1 10 17
+f 1 17 28
+f 1 28 22
+f 1 22 13
+f 1 13 7
+f 1 7 2
+f 2 7 3
+f 3 7 13
+f 3 13 23
+f 3 23 29
+f 3 29 34
+f 3 34 41
+f 3 41 47
+f 3 47 53
+f 3 53 44
+f 3 44 35
+f 3 35 24
+f 3 24 14
+f 3 14 8
+f 3 8 4
+f 4 8 5
+f 5 8 9
+f 6 11 12
+f 6 12 10
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 10 12 18
+f 10 18 17
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 12 21 18
+f 13 22 18
+f 13 18 23
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 17 18 28
+f 18 21 29
+f 18 29 23
+f 18 22 28
+f 19 30 31
+f 19 31 32
+f 19 32 21
+f 19 21 20
+f 21 33 34
+f 21 34 29
+f 21 32 33
+f 24 35 25
+f 25 35 36
+f 25 36 27
+f 25 27 26
+f 27 36 37
+f 30 38 39
+f 30 39 40
+f 30 40 31
+f 31 40 33
+f 31 33 32
+f 33 41 34
+f 33 40 39
+f 33 39 41
+f 35 42 43
+f 35 43 36
+f 35 44 52
+f 35 52 45
+f 35 45 42
+f 36 43 37
+f 37 43 42
+f 38 46 39
+f 39 46 47
+f 39 47 41
+f 42 45 48
+f 42 48 49
+f 42 49 50
+f 42 50 51
+f 44 53 52
+f 45 52 48
+f 46 54 55
+f 46 55 56
+f 46 56 47
+f 47 56 53
+f 48 52 49
+f 49 52 50
+f 50 52 53
+f 50 53 56
+f 50 56 51
+f 51 56 54
+f 54 56 55
+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_4.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1352bc5b8b30665fe564a8a574dc1b83c49340a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_4.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.02136453 -0.07158601 0.00463735
+v -0.02136453 -0.06747832 -0.00204618
+v -0.02136453 -0.06324319 0.00463738
+v -0.02688026 -0.06920708 0.00463736
+v -0.02776899 -0.06527787 -0.00156728
+v -0.02600094 -0.06572408 -0.00204617
+v -0.02564828 -0.06586687 -0.00204617
+v -0.02405892 -0.06648646 -0.00204617
+v -0.02269762 -0.06699131 -0.00204618
+v -0.02136453 -0.06008400 -0.00204615
+v -0.02136453 -0.06301626 0.00436653
+v -0.04538358 -0.04814093 0.00368423
+v -0.04538358 -0.04914045 0.00463743
+v -0.03267813 -0.06650179 0.00463737
+v -0.02983327 -0.06482402 -0.00067099
+v -0.02976509 -0.06405398 -0.00204617
+v -0.02829094 -0.06475007 -0.00204617
+v -0.02751507 -0.06509684 -0.00204617
+v -0.02136453 -0.06245785 0.00366193
+v -0.02275640 -0.05904115 -0.00204615
+v -0.04538358 -0.04737091 0.00202382
+v -0.04538358 -0.05863577 0.00463739
+v -0.03824088 -0.06352367 0.00463738
+v -0.03358331 -0.06242214 -0.00154110
+v -0.03188815 -0.06302388 -0.00204616
+v -0.03129802 -0.06332475 -0.00204616
+v -0.04538358 -0.04553761 -0.00204610
+v -0.04134201 -0.06144561 0.00463738
+v -0.04538358 -0.05442863 -0.00199118
+v -0.04408811 -0.05621348 -0.00082929
+v -0.04244233 -0.05687130 -0.00183156
+v -0.03729337 -0.06003301 -0.00204615
+v -0.03692425 -0.06024974 -0.00204615
+v -0.03410761 -0.06183314 -0.00204616
+v -0.03980672 -0.05843941 -0.00204614
+v -0.03331998 -0.06226150 -0.00204616
+v -0.04538358 -0.05439293 -0.00204613
+v -0.04400347 -0.05549188 -0.00204613
+v -0.04267979 -0.05654493 -0.00204614
+v -0.04231302 -0.05682031 -0.00204614
+f 1 2 10
+f 1 10 19
+f 1 19 11
+f 1 11 3
+f 1 3 13
+f 1 13 22
+f 1 22 28
+f 1 28 23
+f 1 23 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 2
+f 2 9 8
+f 2 8 7
+f 2 7 6
+f 2 6 18
+f 2 18 17
+f 2 17 16
+f 2 16 26
+f 2 26 25
+f 2 25 36
+f 2 36 34
+f 2 34 33
+f 2 33 32
+f 2 32 35
+f 2 35 40
+f 2 40 39
+f 2 39 38
+f 2 38 37
+f 2 37 27
+f 2 27 20
+f 2 20 10
+f 3 11 12
+f 3 12 13
+f 4 14 15
+f 4 15 5
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 6
+f 10 20 19
+f 11 19 12
+f 12 21 27
+f 12 27 37
+f 12 37 29
+f 12 29 22
+f 12 22 13
+f 12 19 21
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 15 26 16
+f 19 20 21
+f 20 27 21
+f 22 29 30
+f 22 30 31
+f 22 31 28
+f 23 32 33
+f 23 33 34
+f 23 34 24
+f 23 28 31
+f 23 31 35
+f 23 35 32
+f 24 34 36
+f 24 36 25
+f 29 37 38
+f 29 38 30
+f 30 38 39
+f 30 39 31
+f 31 39 40
+f 31 40 35
+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_40.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..916a0fe57dbc1f12c203473b1259d94b5d4e476d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_40.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00000882 -0.06716986 0.00477642
+v 0.01569930 -0.06515766 0.00477800
+v 0.01440609 -0.06542326 0.00477643
+v 0.00000882 -0.07373658 0.00477640
+v 0.00000882 -0.07043579 0.01822685
+v 0.01569930 -0.07242499 0.00477640
+v 0.01569930 -0.06897445 0.01816086
+v 0.00148019 -0.07372674 0.00477640
+v 0.01569930 -0.07632260 0.00556057
+v 0.01531226 -0.07632260 0.00564071
+v 0.01360130 -0.07632260 0.00607445
+v 0.01102564 -0.07632261 0.00689162
+v 0.00998892 -0.07632261 0.00735364
+v 0.00000882 -0.07389288 0.00528871
+v 0.00000882 -0.07108611 0.01971034
+v 0.01569930 -0.07244903 0.00477640
+v 0.01569930 -0.06899631 0.01819543
+v 0.00163070 -0.07372346 0.00477640
+v 0.00712759 -0.07356060 0.00477640
+v 0.00733340 -0.07354749 0.00477640
+v 0.00956195 -0.07338572 0.00477640
+v 0.00976622 -0.07336496 0.00477640
+v 0.01569930 -0.07632265 0.02012834
+v 0.00000882 -0.07410492 0.00598645
+v 0.00000882 -0.07632263 0.01455581
+v 0.00000882 -0.07189493 0.02002150
+v 0.01569930 -0.07042704 0.02003564
+v 0.01569930 -0.07550510 0.02035778
+v 0.01494826 -0.07632265 0.02029963
+v 0.00000882 -0.07632266 0.02082608
+v 0.00000882 -0.07265565 0.02031221
+v 0.01285793 -0.07265566 0.02054637
+v 0.01569930 -0.07265566 0.02058251
+v 0.01285793 -0.07550511 0.02067836
+v 0.01204239 -0.07632266 0.02067365
+v 0.00066464 -0.07632266 0.02082765
+v 0.00000882 -0.07550511 0.02081980
+v 0.00000882 -0.07412902 0.02057622
+v 0.00148019 -0.07550511 0.02082294
+v 0.00432616 -0.07550511 0.02082137
+v 0.00717060 -0.07550511 0.02080722
+v 0.01001350 -0.07550511 0.02077265
+v 0.00919641 -0.07632266 0.02077894
+v 0.00148019 -0.07632266 0.02082923
+v 0.00350907 -0.07632266 0.02082923
+v 0.00432616 -0.07632266 0.02082608
+v 0.00635351 -0.07632266 0.02081508
+f 1 2 3
+f 1 3 6
+f 1 6 16
+f 1 16 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 8
+f 1 8 4
+f 1 4 14
+f 1 14 24
+f 1 24 25
+f 1 25 30
+f 1 30 37
+f 1 37 38
+f 1 38 31
+f 1 31 26
+f 1 26 15
+f 1 15 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 17
+f 2 17 27
+f 2 27 33
+f 2 33 28
+f 2 28 23
+f 2 23 9
+f 2 9 16
+f 2 16 6
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 5 15 7
+f 7 15 17
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 16
+f 9 23 29
+f 9 29 35
+f 9 35 43
+f 9 43 47
+f 9 47 46
+f 9 46 45
+f 9 45 44
+f 9 44 36
+f 9 36 30
+f 9 30 25
+f 9 25 13
+f 9 13 12
+f 9 12 11
+f 9 11 10
+f 13 24 14
+f 13 25 24
+f 15 26 27
+f 15 27 17
+f 23 28 29
+f 26 31 27
+f 27 31 32
+f 27 32 33
+f 28 33 34
+f 28 34 35
+f 28 35 29
+f 30 36 37
+f 31 38 32
+f 32 38 37
+f 32 37 33
+f 33 37 39
+f 33 39 40
+f 33 40 41
+f 33 41 42
+f 33 42 34
+f 34 42 43
+f 34 43 35
+f 36 44 39
+f 36 39 37
+f 39 44 45
+f 39 45 40
+f 40 45 46
+f 40 46 41
+f 41 47 42
+f 41 46 47
+f 42 47 43
+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_41.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc5b2394ed729ceebf43ff6bef8cf446bb60c41e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_41.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.00136603 0.08666497 0.00742608
+v -0.00136603 0.08645217 0.01280760
+v -0.00134444 0.08645217 0.01280760
+v -0.00007942 0.08666171 0.00742608
+v -0.00136603 0.08610589 0.00540355
+v -0.00421126 0.08592134 0.00555662
+v -0.00421126 0.08628393 0.00742608
+v -0.00446815 0.08590503 0.01280760
+v -0.00007942 0.08644783 0.01280760
+v -0.00007942 0.08610264 0.00540588
+v -0.00421126 0.08402695 0.00488605
+v -0.00007942 0.08516576 0.00515878
+v -0.00711046 0.08418980 0.00532117
+v -0.00989956 0.08343313 0.00542762
+v -0.00620163 0.08566297 0.00582001
+v -0.00637649 0.08571723 0.00742607
+v -0.00580010 0.08552833 0.01280759
+v -0.00007942 0.08129445 0.01280758
+v -0.00007942 0.08402695 0.00486973
+v -0.01558787 0.07833078 0.00489458
+v -0.01843094 0.07833078 0.00498005
+v -0.02213103 0.07822330 0.00543460
+v -0.01843094 0.08020019 0.00564128
+v -0.00779910 0.08516358 0.00742607
+v -0.02021407 0.07988211 0.00592178
+v -0.02213103 0.07933712 0.00742605
+v -0.02031553 0.07990598 0.00897695
+v -0.00656646 0.08514293 0.01280759
+v -0.00785955 0.07557439 0.01280756
+v -0.00007942 0.08160061 0.00742606
+v -0.00007942 0.08316281 0.00517199
+v -0.01558787 0.07620841 0.00558610
+v -0.01804021 0.07557442 0.00553948
+v -0.02127401 0.07557442 0.00524500
+v -0.02213103 0.07557442 0.00522091
+v -0.02213103 0.07924919 0.00766071
+v -0.02213103 0.07830361 0.00966382
+v -0.00967290 0.08338967 0.01280759
+v -0.00696367 0.08494209 0.01280759
+v -0.00863454 0.07557440 0.01012613
+v -0.02075591 0.07557439 0.01280756
+v -0.00007942 0.08188288 0.00639809
+v -0.00892165 0.07557441 0.00938798
+v -0.00007942 0.08212172 0.00554028
+v -0.01019531 0.07557441 0.00717740
+v -0.01558787 0.07557442 0.00603365
+v -0.02213103 0.07557440 0.01195441
+v -0.01109119 0.08243434 0.01280758
+v -0.00983048 0.07557441 0.00733669
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 17
+f 2 17 28
+f 2 28 39
+f 2 39 38
+f 2 38 48
+f 2 48 41
+f 2 41 29
+f 2 29 18
+f 2 18 9
+f 2 9 3
+f 3 9 4
+f 4 9 18
+f 4 18 30
+f 4 30 42
+f 4 42 44
+f 4 44 31
+f 4 31 19
+f 4 19 12
+f 4 12 10
+f 4 10 5
+f 5 11 6
+f 5 10 12
+f 5 12 11
+f 6 11 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 11 12 19
+f 11 19 20
+f 11 20 21
+f 11 21 14
+f 11 14 13
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 15 24 16
+f 15 23 25
+f 15 25 26
+f 15 26 24
+f 16 24 17
+f 17 24 26
+f 17 26 27
+f 17 27 28
+f 18 29 30
+f 19 31 32
+f 19 32 20
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 21
+f 21 35 22
+f 22 35 47
+f 22 47 37
+f 22 37 36
+f 22 36 26
+f 22 26 25
+f 22 25 23
+f 26 36 27
+f 27 36 37
+f 27 37 38
+f 27 38 39
+f 27 39 28
+f 29 40 30
+f 29 41 47
+f 29 47 35
+f 29 35 34
+f 29 34 33
+f 29 33 46
+f 29 46 45
+f 29 45 49
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+f 29 43 40
+f 30 40 43
+f 30 43 42
+f 31 44 32
+f 32 45 46
+f 32 46 33
+f 32 44 45
+f 37 47 41
+f 37 41 48
+f 37 48 38
+f 42 43 49
+f 42 49 44
+f 44 49 45
+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_42.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43c8c0a6a7b4fb7555210099368d8c8dd77a76f1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_42.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_43.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..786586655b46b26f7d52ab40776b0942d04aff5e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_43.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_5.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..697cb582ceb1c26a3a8655a91076d4c7cb9afcbe
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_5.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.08131865 -0.00036081 0.00742633
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diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_6.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a382fa98e990666b0c7739fb18c598d1b0d28ab1
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_6.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_7.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..651d2c088acb85cc593a51eb502f5a818c032361
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_7.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_8.obj b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2660f707889cbb9e7d542d0b0920ce18f6104de
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/mjcf/mesh/plate_collision_8.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+v -0.07136422 -0.03007583 0.01114815
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