diff --git a/.gitattributes b/.gitattributes
index 58e5bd86751737ba270b43b369651751ec280097..bfb9701f94e34d2189f7caf3bf96d5e7bbf8de6f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4215,7 +4215,5 @@ dataset/kitchen_supplies/tableware/5ec47cd32a0e549e875cf3c36ba307e7/mesh/napkin_
 dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/5e822600830456aba2d4e93d8ff8821f.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mesh/metal_colander.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/5e822600830456aba2d4e93d8ff8821f/mesh/metal_colander_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/5f84369d71c25a4d93d2dca0a8f7e423/mesh/tray_031.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/5f84369d71c25a4d93d2dca0a8f7e423/tray_031.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/5b7b64fbf25858c28b7a25fb9edbc30f/fork_040.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/5b7b64fbf25858c28b7a25fb9edbc30f/mesh/fork_040.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/coaster_039.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mesh/coaster_039.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/coaster_039.urdf b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/coaster_039.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7fec932f73f2e8195b6dfb02ef1560873ee6e8c6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/coaster_039.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="coaster_039">
+   <link name="coaster_039">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/coaster_039.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_039_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>1.00</mu1>
+            <mu2>0.80</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0850" />
+         <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>5f1cfd70c074510a93c54fe331a6f54b</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>tableware</super_category>
+         <category>coaster</category>
+         <name>blue floral coaster</name>
+         <color>blue</color>
+         <shape>disk</shape>
+         <material>silicone</material>
+         <description>round blue scalloped coaster with floral top relief</description>
+         <min_height>0.0125</min_height>
+         <max_height>0.0125</max_height>
+         <real_height>0.0125</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611153509</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.040002 -0.040100 -0.003721</min>
+            <max>0.040009 0.039900 0.008768</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/5f1cfd70c074510a93c54fe331a6f54b/coaster_039.usd b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/coaster_039.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/coaster_039.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67441c40f8678050f13bf44ea58bfa089dde61a014932a325169044e23848e7f
+size 4942389
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mesh/coaster_039.glb b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mesh/coaster_039.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0e59e75b6e689d7b0f20208f85b240982e13c76f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mesh/coaster_039.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9afe7c4a453cec12b92bf535573101240b2673ec5e5119a17e67f2bfc0af6f83
+size 12068440
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mesh/coaster_039.mtl b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mesh/coaster_039.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..40051b3b941190ab51a6167eed0a1c08b1cfdf9b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mesh/coaster_039.mtl
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+newmtl coaster_039_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/5f1cfd70c074510a93c54fe331a6f54b/mesh/coaster_039.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mesh/coaster_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18fe0a89b2546f0e2b4b481fae83fd4397108b2d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mesh/coaster_039.obj
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+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mesh/coaster_039_collision.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mesh/coaster_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0da5397e607e8b95638b767a6bb8d26487fc98f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mesh/coaster_039_collision.obj
@@ -0,0 +1,10326 @@
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diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mesh/coaster_039_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mesh/coaster_039_geometry_Looks_material_0.png
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
+oid sha256:c87cbad22d2e1d70f3191f4b43c6485e4bc0e6782d27c424554aed5ff5756f71
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diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mesh/material.mtl b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mesh/material.mtl
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mesh/material.mtl
@@ -0,0 +1,8 @@
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+
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\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mesh/material_0.png b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/coaster_039.xml b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/coaster_039.xml
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ffe292a0c8745d86783c56f6cd1a4bd4bdbf679
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039.obj
@@ -0,0 +1,107786 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl coaster_039_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08d79cee69d5c335c028de1889a33572e0db42a1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision.obj
@@ -0,0 +1,10326 @@
+# https://github.com/mikedh/trimesh
+
+o coaster_039_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_0.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b165a649bef509090a8584d2679bdaa7aee9c9f4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_0.obj
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diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_1.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2fe66c62f5c7b68b54f67b5be22e8fa30780b43
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_1.obj
@@ -0,0 +1,442 @@
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diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_10.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..874f4107ca5b50901e1ef5e8a4b08b50c1fd4d84
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_10.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_11.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e308672ade8a7956366096be4c0084b8d2942909
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_11.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_12.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53e8b0aed2be32af9d794a46ec33cf7b3aa4b906
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_12.obj
@@ -0,0 +1,217 @@
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diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_13.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d96a3946a132f2970c471fcedd32714cfad4b03f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_13.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_14.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2127108d42169df92297515e3bdc09c414469ec9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_14.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_15.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1af321f723926b27072d2152bec7e448c5c7ce2a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_15.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_16.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1e39ce7a745d2ef1003a208df2082a0c410649d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_16.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.02046924 -0.02831230 0.00299721
+v 0.02060257 -0.02821024 0.00299721
+v 0.02056468 -0.02746551 0.00485202
+v 0.02046924 -0.02753447 0.00485202
+v 0.02046924 -0.01773972 0.00299724
+v 0.02183058 -0.02723380 0.00299721
+v 0.02117096 -0.02699384 0.00485202
+v 0.02046924 -0.01938919 0.00485205
+v 0.02706398 -0.00013346 0.00299731
+v 0.02186706 -0.02720346 0.00299721
+v 0.02145305 -0.02675938 0.00485202
+v 0.02819936 -0.00013347 0.00485212
+v 0.03474497 -0.00013346 0.00299731
+v 0.02256457 -0.02575260 0.00485203
+v 0.02211267 -0.02617738 0.00485202
+v 0.02655173 -0.02267984 0.00299723
+v 0.03416676 -0.00013347 0.00485212
+v 0.03479831 -0.00207807 0.00299730
+v 0.02551038 -0.02286742 0.00485204
+v 0.02729695 -0.02183856 0.00299723
+v 0.02641981 -0.02254469 0.00357114
+v 0.02578124 -0.02259986 0.00485204
+v 0.03418220 -0.00207808 0.00485211
+v 0.03480673 -0.00339378 0.00299730
+v 0.02734046 -0.02178339 0.00299723
+v 0.02766605 -0.02114347 0.00342063
+v 0.02693767 -0.02128139 0.00485204
+v 0.02667523 -0.02160687 0.00485204
+v 0.02643524 -0.02188270 0.00485204
+v 0.02613070 -0.02223025 0.00485204
+v 0.03414431 -0.00339379 0.00485211
+v 0.03467621 -0.00471225 0.00299729
+v 0.02811936 -0.02067180 0.00299723
+v 0.03071993 -0.01657296 0.00299725
+v 0.02775447 -0.02016152 0.00485205
+v 0.02741203 -0.02066629 0.00485204
+v 0.03407835 -0.00395096 0.00485211
+v 0.03334154 -0.01009921 0.00299727
+v 0.03398572 -0.00471226 0.00485210
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+v 0.03373310 -0.00598935 0.00485210
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+v 0.03142445 -0.01529310 0.00299725
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+v 0.03300472 -0.00919450 0.00485209
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+v 0.03291770 -0.00950619 0.00485209
+v 0.03274789 -0.01003027 0.00485208
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+v 0.03200828 -0.01402704 0.00299726
+v 0.03075221 -0.01527380 0.00485206
+v 0.03199284 -0.01406566 0.00299726
+v 0.03163076 -0.01454009 0.00343591
+v 0.03169391 -0.01304234 0.00485207
+v 0.03136130 -0.01393327 0.00485207
+v 0.03090939 -0.01493177 0.00485207
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 13
+f 1 13 18
+f 1 18 24
+f 1 24 32
+f 1 32 38
+f 1 38 54
+f 1 54 56
+f 1 56 44
+f 1 44 34
+f 1 34 33
+f 1 33 25
+f 1 25 20
+f 1 20 16
+f 1 16 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
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+f 3 15 14
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+f 26 36 27
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+f 32 39 40
+f 32 40 41
+f 32 41 42
+f 32 42 43
+f 32 43 38
+f 34 44 45
+f 34 45 46
+f 34 46 47
+f 34 47 48
+f 34 48 35
+f 38 43 49
+f 38 49 50
+f 38 50 51
+f 38 51 52
+f 38 52 53
+f 38 53 54
+f 44 55 45
+f 44 56 57
+f 44 57 55
+f 45 47 46
+f 49 51 50
+f 53 58 54
+f 54 58 59
+f 54 59 56
+f 55 57 60
+f 56 59 57
+f 57 59 60
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_17.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66e8c8a9ad65dbfb7cdbee3ea2c65a0b21cef91a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_17.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.03481011 -0.00339396 0.00299730
+v -0.03470098 -0.00456275 0.00299729
+v -0.03414951 -0.00339397 0.00485211
+v -0.03417134 -0.00285590 0.00485211
+v -0.03418734 -0.00207730 0.00485211
+v -0.03481011 -0.00324964 0.00299730
+v -0.03467770 -0.00471241 0.00299729
+v -0.03398655 -0.00471242 0.00485210
+v -0.03418734 -0.00157308 0.00485211
+v -0.03480283 -0.00207729 0.00299730
+v -0.03439105 -0.00590258 0.00299729
+v -0.03315716 -0.00861611 0.00485209
+v -0.03333613 -0.00781613 0.00485209
+v -0.03373045 -0.00598989 0.00485210
+v -0.03417134 -0.00013347 0.00485212
+v -0.03474609 -0.00013346 0.00299731
+v -0.03334050 -0.01010737 0.00299727
+v -0.03300147 -0.00923792 0.00485209
+v -0.02819249 -0.00013347 0.00485212
+v -0.02706628 -0.00013346 0.00299731
+v -0.03333759 -0.01011628 0.00299727
+v -0.03282250 -0.00983835 0.00485208
+v -0.03292726 -0.00949983 0.00485209
+v -0.03297237 -0.00935373 0.00485209
+v -0.02139590 -0.01833524 0.00485205
+v -0.01994667 -0.01833523 0.00299724
+v -0.03199602 -0.01406629 0.00299726
+v -0.03275120 -0.01004502 0.00485208
+v -0.02890693 -0.01833524 0.00485205
+v -0.02953115 -0.01833523 0.00299724
+v -0.03175448 -0.01474334 0.00299726
+v -0.03176321 -0.01287435 0.00485207
+v -0.02901751 -0.01816420 0.00485205
+v -0.03072575 -0.01658561 0.00299725
+v -0.03031834 -0.01720920 0.00299725
+v -0.03136307 -0.01394337 0.00485207
+v -0.03037654 -0.01601725 0.00485206
+v -0.03038236 -0.01600656 0.00485206
+v -0.03076504 -0.01527963 0.00485206
+v -0.03014373 -0.01640032 0.00485206
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 6
+f 1 6 10
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+f 1 16 20
+f 1 20 26
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+f 1 17 11
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+f 3 5 4
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+f 7 14 8
+f 9 15 10
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+f 11 17 12
+f 12 17 18
+f 15 19 20
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+f 17 21 22
+f 17 22 23
+f 17 23 24
+f 17 24 18
+f 19 25 26
+f 19 26 20
+f 21 27 22
+f 22 27 28
+f 25 29 30
+f 25 30 26
+f 27 31 32
+f 27 32 28
+f 29 33 34
+f 29 34 35
+f 29 35 30
+f 31 36 32
+f 31 34 37
+f 31 37 38
+f 31 38 39
+f 31 39 36
+f 33 40 34
+f 34 40 37
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_18.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0d44c320b43a4d78b0d0c026984ba51079b9277
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_18.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.03480696 0.00319702 0.00299732
+v -0.03414652 0.00319701 0.00485213
+v -0.03467487 0.00451510 0.00299733
+v -0.03480429 0.00187893 0.00299732
+v -0.03419055 0.00187892 0.00485213
+v -0.03407981 0.00373943 0.00485213
+v -0.03398374 0.00451509 0.00485214
+v -0.03383964 0.00526635 0.00485214
+v -0.03372623 0.00579250 0.00485214
+v -0.03353277 0.00668479 0.00485214
+v -0.03314985 0.00840969 0.00485215
+v -0.03464285 0.00465071 0.00299733
+v -0.03474559 -0.00013075 0.00299731
+v -0.03417053 -0.00013076 0.00485212
+v -0.03300041 0.00902263 0.00485215
+v -0.03333397 0.00990679 0.00299735
+v -0.02706576 -0.00013075 0.00299731
+v -0.02819185 -0.00013076 0.00485212
+v -0.03292036 0.00930740 0.00485215
+v -0.03298440 0.00919892 0.00475502
+v -0.03274291 0.00984169 0.00485216
+v -0.03242803 0.01076923 0.00485216
+v -0.03200108 0.01382851 0.00299736
+v -0.02117780 0.01665995 0.00299737
+v -0.02117780 0.01844452 0.00485219
+v -0.03168753 0.01286027 0.00485217
+v -0.03136065 0.01373900 0.00485217
+v -0.03198640 0.01386648 0.00299736
+v -0.02117780 0.02757079 0.00299741
+v -0.02117780 0.02679512 0.00485222
+v -0.03162482 0.01434381 0.00343692
+v -0.03091368 0.01473434 0.00485217
+v -0.03143670 0.01505167 0.00299737
+v -0.02164612 0.02719923 0.00299741
+v -0.02174352 0.02712058 0.00299741
+v -0.02149402 0.02653204 0.00485222
+v -0.03075490 0.01508149 0.00485218
+v -0.03141668 0.01509235 0.00299737
+v -0.02254272 0.02639102 0.00299741
+v -0.02211176 0.02598148 0.00485222
+v -0.03038799 0.01577308 0.00485218
+v -0.03037865 0.01580292 0.00483384
+v -0.03071354 0.01637789 0.00299737
+v -0.02250803 0.02560450 0.00485221
+v -0.02654941 0.02248558 0.00299739
+v -0.02578890 0.02240692 0.00485220
+v -0.03035864 0.01582461 0.00485218
+v -0.02953809 0.01713999 0.00485218
+v -0.02781960 0.01987922 0.00485219
+v -0.02816383 0.02042979 0.00299739
+v -0.02726589 0.02167737 0.00299739
+v -0.02641866 0.02235268 0.00358492
+v -0.02613313 0.02204621 0.00485220
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+v -0.02813581 0.02047319 0.00299739
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+v -0.02667883 0.02142242 0.00485220
+v -0.02643467 0.02170176 0.00485220
+v -0.02741533 0.02047860 0.00485220
+v -0.02766349 0.02095052 0.00342751
+v -0.02733527 0.02159329 0.00299739
+v -0.02694034 0.02109696 0.00485220
+f 1 2 3
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+f 1 23 28
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+f 1 33 38
+f 1 38 43
+f 1 43 50
+f 1 50 55
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+f 1 51 45
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+f 1 34 29
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+f 1 24 17
+f 1 17 13
+f 1 13 4
+f 1 4 5
+f 1 5 2
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+f 54 59 60
+f 54 60 55
+f 55 60 61
+f 56 61 60
+f 56 60 62
+f 56 62 57
+f 59 62 60
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_19.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a38d5ea1730550e4d94aacb1b2fbcc1d5d1ae21
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_19.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.02375546 0.01274728 0.00299736
+v 0.02502118 0.01274727 0.00485217
+v 0.03225956 0.01274728 0.00299736
+v 0.02706363 -0.00013346 0.00299731
+v 0.02820061 -0.00013347 0.00485212
+v 0.03172839 0.01274727 0.00485217
+v 0.03334353 0.00990787 0.00299735
+v 0.03202913 0.01274728 0.00382400
+v 0.03474555 -0.00013346 0.00299731
+v 0.03416678 -0.00013347 0.00485212
+v 0.03175868 0.01274727 0.00475812
+v 0.03176193 0.01266028 0.00485217
+v 0.03438639 0.00570297 0.00299733
+v 0.03274962 0.00983473 0.00485216
+v 0.03281885 0.00963048 0.00485216
+v 0.03292054 0.00930518 0.00485215
+v 0.03297355 0.00913244 0.00485215
+v 0.03315421 0.00840494 0.00485215
+v 0.03480072 0.00187884 0.00299732
+v 0.03418517 0.00135558 0.00485212
+v 0.03467632 0.00451526 0.00299733
+v 0.03333163 0.00761691 0.00485215
+v 0.03480721 0.00304890 0.00299732
+v 0.03418301 0.00187883 0.00485213
+v 0.03398396 0.00451525 0.00485214
+v 0.03469903 0.00436270 0.00299733
+v 0.03372973 0.00579122 0.00485214
+v 0.03480613 0.00319642 0.00299732
+v 0.03416787 0.00263912 0.00485213
+v 0.03414407 0.00319641 0.00485213
+f 1 2 6
+f 1 6 11
+f 1 11 8
+f 1 8 3
+f 1 3 7
+f 1 7 13
+f 1 13 21
+f 1 21 26
+f 1 26 28
+f 1 28 23
+f 1 23 19
+f 1 19 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
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+f 21 22 27
+f 21 27 25
+f 23 28 24
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+f 25 30 26
+f 26 30 28
+f 28 30 29
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_2.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc75b6655a659a5bbe6f19a43343046b4e0c35af
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_2.obj
@@ -0,0 +1,2377 @@
+# https://github.com/mikedh/trimesh
+v -0.04020505 -0.00338586 -0.00193170
+v -0.04001614 -0.00338586 -0.00313361
+v -0.04019717 -0.00470802 -0.00193171
+v -0.04011059 -0.00470803 -0.00073033
+v -0.04011059 0.00450775 -0.00073029
+v -0.04019717 0.00450776 -0.00193167
+v -0.04001614 0.00450776 -0.00313358
+v -0.03967768 -0.00470802 -0.00382888
+v -0.04000827 -0.00470802 -0.00313362
+v -0.03968555 0.00319347 -0.00382991
+v -0.03978000 -0.00615610 -0.00325190
+v -0.04000040 -0.00602231 -0.00193171
+v -0.03991382 -0.00602232 -0.00073033
+v -0.03970130 -0.00602232 0.00008053
+v -0.03979574 -0.00470803 0.00019348
+v -0.03979574 -0.00338587 0.00019455
+v -0.03979574 0.00319346 0.00019244
+v -0.03979574 0.00450775 0.00019086
+v -0.03970130 0.00582991 0.00007898
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+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_20.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ae3a74361d957ac2c15eba8aae6b3421ed467b2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_20.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.00233606 -0.03474304 0.00299718
+v 0.00328869 -0.03482625 0.00299718
+v 0.00263218 -0.03437114 0.00469367
+v 0.00233606 -0.03455195 0.00372179
+v 0.00233606 -0.02832925 0.00299721
+v 0.00284636 -0.03429204 0.00485199
+v 0.00267502 -0.03437114 0.00469367
+v 0.00988729 -0.03358623 0.00299719
+v 0.00849512 -0.03324824 0.00485200
+v 0.00409699 -0.03406602 0.00485199
+v 0.00281749 -0.03429204 0.00485199
+v 0.00244128 -0.03415745 0.00485199
+v 0.00233606 -0.03407116 0.00485199
+v 0.00233606 -0.02906793 0.00485201
+v 0.00377944 -0.02604440 0.00299721
+v 0.01108298 -0.03326159 0.00299719
+v 0.00943938 -0.03304174 0.00485200
+v 0.00936860 -0.03308386 0.00478609
+v 0.00923078 -0.03309311 0.00485200
+v 0.00376268 -0.02743340 0.00485202
+v 0.00461940 -0.02552764 0.00299722
+v 0.01133906 -0.03314447 0.00299719
+v 0.01184937 -0.03220239 0.00485200
+v 0.01119751 -0.03247567 0.00485200
+v 0.01071701 -0.03265032 0.00485200
+v 0.01003629 -0.03287839 0.00485200
+v 0.00416217 -0.02719711 0.00485202
+v 0.01184937 -0.02556567 0.00485203
+v 0.01184937 -0.02433180 0.00299722
+v 0.00461940 -0.02704095 0.00485202
+v 0.01184937 -0.03288660 0.00299719
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+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_21.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eab8afd269c4a251309e55b68343c3837449a313
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_21.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.03540953 -0.01262170 0.00201858
+v -0.03540953 -0.01262170 0.00301858
+v -0.03540953 -0.00001899 0.00201858
+v -0.03540953 -0.00001899 0.00301858
+v -0.02285916 -0.01262170 0.00201858
+v -0.02285916 -0.01262170 0.00301858
+v -0.02285916 -0.00001899 0.00201858
+v -0.02285916 -0.00001899 0.00301858
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_22.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed8cb4440fdd0a6ffdfab3a17a07511e76e88df3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_22.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.00594438 0.02613017 0.00300050
+v 0.01774920 0.02024941 0.00299738
+v 0.00594438 0.02725590 0.00485222
+v 0.00594438 0.02616352 0.00299741
+v 0.01774920 0.02169658 0.00485220
+v 0.01774920 0.02986350 0.00299742
+v 0.00594438 0.02987416 0.00485223
+v 0.00594438 0.03387426 0.00299743
+v 0.01774920 0.02917925 0.00485223
+v 0.01712163 0.03023697 0.00299742
+v 0.01769719 0.02921126 0.00485223
+v 0.00640553 0.03338208 0.00485224
+v 0.00594438 0.03344210 0.00484861
+v 0.00844080 0.03358749 0.00299743
+v 0.01598206 0.03009157 0.00485223
+v 0.01649637 0.02983815 0.00485223
+v 0.01702686 0.02956472 0.00485223
+v 0.01171388 0.03279388 0.00299743
+v 0.00772424 0.03318867 0.00485224
+v 0.00975951 0.03342210 0.00299743
+v 0.00857487 0.03357149 0.00299743
+v 0.01278641 0.03157076 0.00485224
+v 0.01117530 0.03304063 0.00299743
+v 0.01236919 0.03176283 0.00485224
+v 0.00849859 0.03305263 0.00485224
+v 0.00890541 0.03296993 0.00485224
+v 0.00988895 0.03339542 0.00299743
+v 0.01108862 0.03307131 0.00299743
+v 0.01119957 0.03228035 0.00485224
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+v 0.01101234 0.03309665 0.00299743
+v 0.00933188 0.03287790 0.00485224
+v 0.01004151 0.03268183 0.00485224
+v 0.00984503 0.03273785 0.00485224
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+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_23.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92f192224b4996b5b686db94bad5e470ac6222fd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_23.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.03541233 -0.00001899 0.00201865
+v -0.03541233 -0.00001899 0.00301865
+v -0.03541233 0.02933246 0.00201865
+v -0.03541233 0.02933246 0.00301865
+v -0.01977683 -0.00001899 0.00201865
+v -0.01977683 -0.00001899 0.00301865
+v -0.01977683 0.02933246 0.00201865
+v -0.01977683 0.02933246 0.00301865
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_24.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fef4452acd612c63a5cd8020c3b66c997a5e0d3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_24.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01977683 0.01685804 0.00201869
+v -0.01977683 0.01685804 0.00301869
+v -0.01977683 0.03411026 0.00201869
+v -0.01977683 0.03411026 0.00301869
+v -0.00808969 0.01685804 0.00201869
+v -0.00808969 0.01685804 0.00301869
+v -0.00808969 0.03411026 0.00201869
+v -0.00808969 0.03411026 0.00301869
+f 2 4 1
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+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_25.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b8153764b6369a8f441be7e1f5b98c8fe19428e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_25.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00065539 0.03481041 0.00299744
+v -0.00065539 0.03445264 0.00407663
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+v -0.00148554 0.03418834 0.00473587
+v -0.00065539 0.03418409 0.00485225
+v 0.00066263 0.03418324 0.00485225
+v 0.00136310 0.03415350 0.00485225
+v 0.00151722 0.03418664 0.00473442
+v 0.00184672 0.03475857 0.00299744
+v 0.00066263 0.03480701 0.00299744
+v -0.00160246 0.03413650 0.00485225
+v -0.00341155 0.03452827 0.00299744
+v -0.00272490 0.03399968 0.00485224
+v -0.00217963 0.03406852 0.00485225
+v 0.00163308 0.03413735 0.00485225
+v 0.00197959 0.03475007 0.00299744
+v -0.00461159 0.03423254 0.00299744
+v -0.00491559 0.03361557 0.00485224
+v -0.00416304 0.03375919 0.00485224
+v 0.00196684 0.03410761 0.00485225
+v 0.00221450 0.03408127 0.00485225
+v 0.00239626 0.03414330 0.00460370
+v 0.00342729 0.03453082 0.00299744
+v -0.00491559 0.03413906 0.00299744
+v -0.00491559 0.02745874 0.00485222
+v 0.00334757 0.03390960 0.00485224
+v 0.00593685 0.03344221 0.00485224
+v 0.00594323 0.03344221 0.00484861
+v 0.00434884 0.03431242 0.00299744
+v -0.00491559 0.02632001 0.00299741
+v 0.00594323 0.02725734 0.00485222
+v 0.00594323 0.02987558 0.00485223
+v 0.00594323 0.03387477 0.00299743
+v 0.00593685 0.02612881 0.00299741
+v 0.00594323 0.02613051 0.00300050
+v 0.00594323 0.02616365 0.00299741
+f 1 2 3
+f 1 3 4
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+f 1 18 25
+f 1 25 31
+f 1 31 35
+f 1 35 38
+f 1 38 36
+f 1 36 32
+f 1 32 26
+f 1 26 19
+f 1 19 14
+f 1 14 5
+f 1 5 2
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+f 2 7 8
+f 2 8 3
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+f 3 12 4
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+f 7 21 20
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+f 7 27 33
+f 7 33 34
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+f 18 23 24
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+f 30 34 33
+f 30 33 37
+f 30 37 38
+f 30 38 35
+f 32 36 37
+f 32 37 33
+f 36 38 37
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_26.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddfcb2d3f181c9155fe89321bbcf10081c7c0857
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_26.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.03287446 -0.03374458 0.00201851
+v -0.03287446 -0.03374458 0.00301851
+v -0.03287446 -0.01262377 0.00201851
+v -0.03287446 -0.01262377 0.00301851
+v -0.01174541 -0.03374458 0.00201851
+v -0.01174541 -0.03374458 0.00301851
+v -0.01174541 -0.01262377 0.00201851
+v -0.01174541 -0.01262377 0.00301851
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_27.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24b649551c2044d2204ec68030603f6d8dbcf93d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_27.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01291251 0.02119530 0.00123751
+v -0.01291251 0.02119530 0.00223751
+v -0.01291251 0.03617742 0.00123751
+v -0.01291251 0.03617742 0.00223751
+v -0.00015703 0.02119530 0.00123751
+v -0.00015703 0.02119530 0.00223751
+v -0.00015703 0.03617742 0.00123751
+v -0.00015703 0.03617742 0.00223751
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_28.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..647c4561758e0dd359ceee2dab997bdc3a0a7cfd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_28.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.00244563 -0.03475623 0.00299718
+v 0.00233606 -0.03474383 0.00299718
+v 0.00233606 -0.03455210 0.00372179
+v -0.00244563 -0.03448555 0.00397688
+v -0.00244563 -0.02824633 0.00299721
+v 0.00233606 -0.02832979 0.00299721
+v 0.00233606 -0.03407165 0.00485199
+v -0.00244563 -0.03415736 0.00484073
+v -0.00244563 -0.02934261 0.00485201
+v -0.00194856 -0.02581020 0.00299722
+v 0.00223683 -0.02742752 0.00299721
+v 0.00233606 -0.02906629 0.00485201
+v -0.00244563 -0.03414496 0.00485199
+v -0.00146411 -0.02716136 0.00485202
+v -0.00134008 -0.02640345 0.00470387
+v -0.00143884 -0.02487070 0.00364902
+v -0.00163074 -0.02449513 0.00299722
+v 0.00219985 -0.02720195 0.00299721
+v 0.00194429 -0.02593426 0.00299721
+v 0.00191761 -0.02581133 0.00299722
+v 0.00162882 -0.02457634 0.00299722
+v 0.00161290 -0.02451882 0.00299722
+v 0.00143177 -0.02489664 0.00363014
+v 0.00133769 -0.02642488 0.00469425
+v 0.00189702 -0.02802641 0.00485202
+v -0.00070118 -0.02611585 0.00485202
+v -0.00065578 -0.02607525 0.00485202
+v -0.00065578 -0.02543576 0.00450289
+v -0.00111869 -0.02399212 0.00335217
+v -0.00155866 -0.02436994 0.00299722
+v 0.00127029 -0.02379587 0.00299722
+v 0.00111255 -0.02401806 0.00333492
+v 0.00066275 -0.02545155 0.00448873
+v 0.00066275 -0.02610457 0.00485202
+v 0.00067632 -0.02611698 0.00485202
+v 0.00115421 -0.02661323 0.00485202
+v 0.00148091 -0.02722227 0.00485202
+v 0.00023354 -0.02369437 0.00357640
+v -0.00023967 -0.02369437 0.00357640
+v -0.00066982 -0.02445115 0.00387724
+v -0.00081772 -0.02335150 0.00299722
+v 0.00081861 -0.02338646 0.00299722
+v 0.00066883 -0.02446694 0.00386598
+v 0.00062624 -0.02325000 0.00299722
+v -0.00063986 -0.02323533 0.00299722
+f 1 2 3
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+f 1 17 30
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+f 1 11 6
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+f 24 34 35
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+f 24 37 25
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+f 28 40 29
+f 29 39 41
+f 29 41 30
+f 29 40 39
+f 31 42 32
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+f 32 43 33
+f 33 43 38
+f 33 38 34
+f 38 42 44
+f 38 44 45
+f 38 45 39
+f 39 45 41
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_29.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..327739da1bc4f46bfe092679c6d252524b01b5d8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_29.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.01775177 0.02025001 0.00299738
+v 0.01775177 0.02169592 0.00485220
+v 0.01775177 0.02986381 0.00299742
+v 0.02375685 0.01274728 0.00299736
+v 0.01775177 0.02918021 0.00485223
+v 0.02501951 0.01274727 0.00485217
+v 0.01779438 0.02984035 0.00299742
+v 0.03226026 0.01274728 0.00299736
+v 0.01835114 0.02882669 0.00485223
+v 0.03172764 0.01274727 0.00485217
+v 0.01891075 0.02917854 0.00299742
+v 0.03202875 0.01274728 0.00382400
+v 0.03201313 0.01381288 0.00299736
+v 0.01900591 0.02912158 0.00299742
+v 0.01917635 0.02826876 0.00485222
+v 0.02026999 0.02827714 0.00299741
+v 0.03175889 0.01274727 0.00475812
+v 0.03200177 0.01384639 0.00299736
+v 0.03175747 0.01453668 0.00299736
+v 0.03162680 0.01302373 0.00485217
+v 0.01959818 0.02797555 0.00485222
+v 0.02039497 0.02819002 0.00299741
+v 0.03076325 0.01508119 0.00485218
+v 0.03136262 0.01373412 0.00485217
+v 0.03072917 0.01638806 0.00299737
+v 0.03038829 0.01581002 0.00483838
+v 0.03039539 0.01578656 0.00485218
+v 0.01997314 0.02771250 0.00485222
+v 0.02047735 0.02813138 0.00299741
+v 0.03014400 0.01620208 0.00485218
+v 0.02778486 0.02107936 0.00299739
+v 0.03038545 0.01580499 0.00485218
+v 0.02116194 0.02763879 0.00299741
+v 0.02057109 0.02727688 0.00485222
+v 0.02806040 0.01949604 0.00485219
+v 0.02729485 0.02164064 0.00299739
+v 0.02642136 0.02235103 0.00357893
+v 0.02667559 0.02141444 0.00485220
+v 0.02741131 0.02047115 0.00485220
+v 0.02781753 0.01986966 0.00485219
+v 0.02185789 0.02702892 0.00299741
+v 0.02145737 0.02656816 0.00485222
+v 0.02655203 0.02248340 0.00299739
+v 0.02506922 0.02310498 0.00485220
+v 0.02551094 0.02266936 0.00485220
+v 0.02613161 0.02203771 0.00485220
+v 0.02211639 0.02598008 0.00485222
+v 0.02254249 0.02638555 0.00299741
+f 1 2 5
+f 1 5 3
+f 1 3 7
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+f 1 11 14
+f 1 14 16
+f 1 16 22
+f 1 22 29
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+f 1 33 41
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+f 1 36 31
+f 1 31 25
+f 1 25 19
+f 1 19 18
+f 1 18 13
+f 1 13 8
+f 1 8 4
+f 1 4 2
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+f 10 17 13
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+f 15 21 16
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+f 21 28 22
+f 22 28 29
+f 25 30 26
+f 25 31 30
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+f 26 32 27
+f 28 33 29
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+f 30 31 35
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+f 31 39 40
+f 31 40 35
+f 33 34 42
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+f 36 43 37
+f 37 43 44
+f 37 44 45
+f 37 45 46
+f 37 46 38
+f 41 42 47
+f 41 47 48
+f 43 48 47
+f 43 47 44
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_3.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ece971f7411d0586f5881dc9ffc0d1ff569d35d1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_3.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v 0.02009874 -0.02780614 0.00485238
+v 0.02056451 -0.02746738 0.00485238
+v 0.02009874 -0.02722013 0.00648158
+v 0.02009874 -0.01980275 0.00485241
+v 0.02117085 -0.02699536 0.00485238
+v 0.02101718 -0.02639010 0.00688501
+v 0.02009874 -0.02678826 0.00734054
+v 0.02009874 -0.02075481 0.00656171
+v 0.02574757 -0.01140442 0.00485244
+v 0.02145317 -0.02676096 0.00485238
+v 0.02241450 -0.02513461 0.00706465
+v 0.02013805 -0.02672726 0.00740233
+v 0.02009874 -0.02674331 0.00741527
+v 0.02009874 -0.02088967 0.00678408
+v 0.02654689 -0.01140442 0.00662174
+v 0.03226838 -0.01140442 0.00485244
+v 0.02211192 -0.02617817 0.00485238
+v 0.02153537 -0.02551029 0.00747060
+v 0.02256459 -0.02575271 0.00485239
+v 0.02375583 -0.02383897 0.00710452
+v 0.02295532 -0.02409906 0.00757550
+v 0.02188916 -0.02486007 0.00779536
+v 0.02009874 -0.02610433 0.00802204
+v 0.02106840 -0.02510571 0.00827173
+v 0.02009874 -0.02111606 0.00711064
+v 0.02719730 -0.01140443 0.00766500
+v 0.03183478 -0.01140442 0.00653480
+v 0.03160010 -0.01182186 0.00689262
+v 0.03169421 -0.01304042 0.00485243
+v 0.02578212 -0.02260113 0.00485240
+v 0.02386423 -0.02394332 0.00648015
+v 0.02402624 -0.02304586 0.00757551
+v 0.02376178 -0.02252729 0.00829365
+v 0.02331150 -0.02340549 0.00790565
+v 0.02505665 -0.02250160 0.00707723
+v 0.02243237 -0.02383255 0.00828789
+v 0.02009874 -0.02555525 0.00834142
+v 0.02176051 -0.02413438 0.00834932
+v 0.02018927 -0.02542038 0.00836621
+v 0.02009874 -0.02175826 0.00779717
+v 0.02725567 -0.01140443 0.00774296
+v 0.02009874 -0.02184335 0.00788339
+v 0.02009874 -0.02197981 0.00801236
+v 0.03167158 -0.01140443 0.00706254
+v 0.03050179 -0.01393790 0.00732658
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+v 0.02478982 -0.02197500 0.00779609
+v 0.02502926 -0.02115780 0.00827281
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+v 0.02406436 -0.02184495 0.00835832
+v 0.02295532 -0.02304586 0.00834538
+v 0.02667435 -0.02160893 0.00485240
+v 0.02631341 -0.02110964 0.00690982
+v 0.02665291 -0.02023143 0.00741458
+v 0.02543547 -0.02162339 0.00747169
+v 0.02009874 -0.02545731 0.00837160
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+v 0.02055379 -0.02459195 0.00843662
+v 0.02772859 -0.01140443 0.00826208
+v 0.02009874 -0.02238600 0.00830802
+v 0.03120819 -0.01140443 0.00766716
+v 0.03072335 -0.01257805 0.00774151
+v 0.03015871 -0.01298905 0.00818195
+v 0.02994071 -0.01393790 0.00792725
+v 0.02961193 -0.01515165 0.00764702
+v 0.02924027 -0.01631724 0.00738441
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+v 0.03010510 -0.01548237 0.00648018
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+v 0.03091038 -0.01493329 0.00485243
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+v 0.02799662 -0.01900643 0.00648017
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+v 0.02835280 -0.01261979 0.00850815
+v 0.02832063 -0.01140443 0.00841727
+v 0.02826941 -0.01140443 0.00840937
+v 0.02835280 -0.01393790 0.00851785
+v 0.03048868 -0.01140443 0.00835943
+v 0.02928196 -0.01393790 0.00838565
+v 0.02793229 -0.01657412 0.00836911
+v 0.02953927 -0.01732869 0.00485242
+v 0.02781674 -0.02006445 0.00485241
+v 0.02838139 -0.01524316 0.00841869
+v 0.02956786 -0.01140443 0.00850098
+v 0.02967388 -0.01140443 0.00849271
+v 0.03043865 -0.01140443 0.00836949
+f 1 2 3
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+f 79 105 88
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+f 95 97 96
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+f 107 117 108
+f 110 116 112
+f 110 112 118
+f 110 118 117
+f 111 119 112
+f 112 119 118
+f 112 116 113
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_30.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..632e708e3fcd94972d491cddbbb451427bf821fe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_30.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.01994443 -0.01833523 0.00299724
+v -0.02953165 -0.01833523 0.00299724
+v -0.02139471 -0.01833524 0.00485205
+v -0.00461177 -0.02552723 0.00299722
+v -0.02778707 -0.02128952 0.00299723
+v -0.02890594 -0.01833524 0.00485205
+v -0.00376069 -0.02743703 0.00485202
+v -0.00455610 -0.02555467 0.00299722
+v -0.02730188 -0.02184324 0.00299723
+v -0.02613794 -0.02225007 0.00485204
+v -0.02667882 -0.02162532 0.00485204
+v -0.02741589 -0.02068091 0.00485204
+v -0.02782154 -0.02008198 0.00485205
+v -0.02806281 -0.01970745 0.00485205
+v -0.02876542 -0.01856932 0.00485205
+v -0.00332323 -0.02801820 0.00485202
+v -0.00371827 -0.02612616 0.00299721
+v -0.00377660 -0.02605351 0.00299721
+v -0.02655155 -0.02268756 0.00299723
+v -0.02641899 -0.02255518 0.00359148
+v -0.02551488 -0.02288291 0.00485204
+v -0.00244563 -0.02934360 0.00485201
+v -0.00244563 -0.02824582 0.00299721
+v -0.02259842 -0.02653621 0.00299721
+v -0.02507476 -0.02331717 0.00485203
+v -0.00244563 -0.03414472 0.00485199
+v -0.00244563 -0.03475494 0.00299718
+v -0.02248441 -0.02664598 0.00299721
+v -0.02211322 -0.02618751 0.00485202
+v -0.02274954 -0.02557244 0.00485203
+v -0.00283273 -0.03428356 0.00485199
+v -0.00244563 -0.03415764 0.00484073
+v -0.00244563 -0.03448534 0.00397688
+v -0.00263123 -0.03436589 0.00468187
+v -0.00321187 -0.03482759 0.00299718
+v -0.02174469 -0.02732240 0.00299721
+v -0.02194353 -0.02634249 0.00485202
+v -0.00264714 -0.03436589 0.00468187
+v -0.00331792 -0.03420123 0.00485199
+v -0.00328080 -0.03482598 0.00299718
+v -0.02115609 -0.02784061 0.00299721
+v -0.02149811 -0.02673478 0.00485202
+v -0.00848802 -0.03324552 0.00485200
+v -0.00975271 -0.03361681 0.00299719
+v -0.02038985 -0.02839273 0.00299721
+v -0.01997094 -0.02791327 0.00485202
+v -0.02056749 -0.02748062 0.00485202
+v -0.00889368 -0.03316480 0.00485200
+v -0.00988262 -0.03358937 0.00299719
+v -0.02026789 -0.02847829 0.00299721
+v -0.01959446 -0.02817641 0.00485202
+v -0.00932054 -0.03307440 0.00485200
+v -0.01100679 -0.03329233 0.00299719
+v -0.01900056 -0.02932260 0.00299720
+v -0.01834568 -0.02902557 0.00485201
+v -0.01917024 -0.02847023 0.00485202
+v -0.00983755 -0.03293395 0.00485200
+v -0.01003110 -0.03287745 0.00485200
+v -0.01108368 -0.03326811 0.00299719
+v -0.01778625 -0.03004422 0.00299720
+v -0.01769080 -0.02941463 0.00485201
+v -0.01119238 -0.03247870 0.00485200
+v -0.01117117 -0.03323744 0.00299719
+v -0.01711811 -0.03043813 0.00299720
+v -0.01702266 -0.02976818 0.00485201
+v -0.01236692 -0.03196372 0.00485200
+v -0.01170939 -0.03299206 0.00299719
+v -0.01597804 -0.03029285 0.00485201
+v -0.01648974 -0.03004101 0.00485201
+v -0.01278583 -0.03176999 0.00485200
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 8
+f 1 8 18
+f 1 18 17
+f 1 17 23
+f 1 23 27
+f 1 27 35
+f 1 35 40
+f 1 40 44
+f 1 44 49
+f 1 49 53
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+f 1 63 67
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+f 1 36 28
+f 1 28 24
+f 1 24 19
+f 1 19 9
+f 1 9 5
+f 1 5 2
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+f 3 12 11
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+f 3 16 7
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+f 22 27 23
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+f 27 34 35
+f 28 36 29
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+f 31 38 34
+f 31 34 32
+f 31 39 40
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+f 36 41 42
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+f 43 48 44
+f 44 48 49
+f 45 50 46
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+f 48 52 49
+f 49 52 53
+f 50 54 55
+f 50 55 56
+f 50 56 51
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+f 54 60 55
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+f 60 64 61
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+f 62 66 63
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+f 64 67 68
+f 64 68 69
+f 64 69 65
+f 66 70 67
+f 67 70 68
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_31.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..842e867e84575630ef4edc4dca5b5cdf946bfaab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_31.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01835252 -0.01861657 0.00201856
+v 0.01835252 -0.01861657 0.00301856
+v 0.01835252 -0.00001899 0.00201856
+v 0.01835252 -0.00001899 0.00301856
+v 0.03541603 -0.01861657 0.00201856
+v 0.03541603 -0.01861657 0.00301856
+v 0.03541603 -0.00001899 0.00201856
+v 0.03541603 -0.00001899 0.00301856
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_32.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..349753ce5a81669bd1bc41ba28558f3f79e5b1bf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_32.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01976738 -0.00001899 0.00201863
+v 0.01976738 -0.00001899 0.00301863
+v 0.01976738 0.01684022 0.00201863
+v 0.01976738 0.01684022 0.00301863
+v 0.03541434 -0.00001899 0.00201863
+v 0.03541434 -0.00001899 0.00301863
+v 0.03541434 0.01684022 0.00201863
+v 0.03541434 0.01684022 0.00301863
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_33.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..963ef1f477bb5b6d0ac74d290a970062005bf225
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_33.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.02276462 -0.01030538 0.00123739
+v 0.02276462 -0.01030538 0.00223739
+v 0.02276462 0.00040805 0.00123739
+v 0.02276462 0.00040805 0.00223739
+v 0.03624147 -0.01030538 0.00123739
+v 0.03624147 -0.01030538 0.00223739
+v 0.03624147 0.00040805 0.00123739
+v 0.03624147 0.00040805 0.00223739
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_34.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..161d161dc5264c5a099d759b5d24c4ec293e18e1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_34.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01174334 -0.03546759 0.00201849
+v -0.01174334 -0.03546759 0.00301849
+v -0.01174334 -0.02198988 0.00201849
+v -0.01174334 -0.02198988 0.00301849
+v 0.00734179 -0.03546759 0.00201849
+v 0.00734179 -0.03546759 0.00301849
+v 0.00734179 -0.02198988 0.00201849
+v 0.00734179 -0.02198988 0.00301849
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_35.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..047d7e1d2679e2ce49fcd66d1ffefe6ce528b7d3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_35.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.03624086 0.00040919 0.00123742
+v -0.03624086 0.00040919 0.00223742
+v -0.03624086 0.01208368 0.00123742
+v -0.03624086 0.01208368 0.00223742
+v -0.02175055 0.00040919 0.00123742
+v -0.02175055 0.00040919 0.00223742
+v -0.02175055 0.01208368 0.00123742
+v -0.02175055 0.01208368 0.00223742
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_36.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36032863f6fddb4aba7776cc49082e74ed85111b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_36.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
+v -0.01297975 -0.00339220 0.00143488
+v -0.01288227 -0.00471131 0.00143487
+v -0.01252232 -0.00471131 0.00164960
+v -0.01252232 -0.00339220 0.00168447
+v -0.01252232 0.00319473 0.00163318
+v -0.01285227 0.00319473 0.00143490
+v -0.01256731 -0.00582925 0.00143487
+v -0.01120251 -0.00603042 0.00195082
+v -0.01120251 -0.00734666 0.00175972
+v -0.01120251 0.00451384 0.00195129
+v -0.01120251 0.00583008 0.00193201
+v -0.01261231 0.00449372 0.00149723
+v -0.01273229 0.00441613 0.00143491
+v -0.01252982 -0.00591547 0.00143487
+v -0.00988269 -0.00734666 0.00195342
+v -0.00543832 -0.00550163 0.00233243
+v -0.00667565 -0.00419976 0.00232241
+v -0.00678813 -0.00339220 0.00235467
+v -0.01187241 -0.00734666 0.00143486
+v -0.01159245 -0.00773463 0.00143486
+v -0.01115001 -0.00822894 0.00143486
+v -0.00988269 -0.00866290 0.00174175
+v -0.00678313 0.00319473 0.00235240
+v -0.01234734 0.00583008 0.00146542
+v -0.00668565 0.00401953 0.00232604
+v -0.00988269 0.00714919 0.00196165
+v -0.01129499 0.00722678 0.00156663
+v -0.01238734 0.00583008 0.00143491
+v -0.00856538 -0.00866290 0.00192379
+v -0.00329113 -0.01261736 0.00194850
+v -0.00461094 -0.00572579 0.00234137
+v -0.00197131 0.00055938 0.00251024
+v -0.01074507 -0.00861692 0.00143486
+v -0.01025014 -0.00902788 0.00143486
+v -0.00329363 -0.01409740 0.00143484
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+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_37.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6027e63b7812b0279d9304a979f2336e6686f311
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_37.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01733175 -0.03193253 0.00123733
+v 0.01733175 -0.03193253 0.00223733
+v 0.01733175 -0.01030750 0.00123733
+v 0.01733175 -0.01030750 0.00223733
+v 0.03476419 -0.03193253 0.00123733
+v 0.03476419 -0.03193253 0.00223733
+v 0.03476419 -0.01030750 0.00123733
+v 0.03476419 -0.01030750 0.00223733
+f 2 4 1
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+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_38.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee62df2d78c37d733dc621929d07c9a8c72e1860
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_38.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.03418197 0.01208368 0.00123748
+v -0.03418197 0.01208368 0.00223748
+v -0.03418197 0.03391761 0.00123748
+v -0.03418197 0.03391761 0.00223748
+v -0.01291251 0.01208368 0.00123748
+v -0.01291251 0.01208368 0.00223748
+v -0.01291251 0.03391761 0.00123748
+v -0.01291251 0.03391761 0.00223748
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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/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_39.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e3504bf971521ee72db75bc3a1978524f9678e9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_39.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00808969 0.02457130 0.00201871
+v -0.00808969 0.02457130 0.00301871
+v -0.00808969 0.03532301 0.00201871
+v -0.00808969 0.03532301 0.00301871
+v 0.00605112 0.02457130 0.00201871
+v 0.00605112 0.02457130 0.00301871
+v 0.00605112 0.03532301 0.00201871
+v 0.00605112 0.03532301 0.00301871
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+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_4.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b858819b7315c580a2826aac9caf9e95abaa10e1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_4.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.01238067 0.02510693 0.00485257
+v 0.02106138 0.01855419 0.00485255
+v 0.01238067 0.02590050 0.00660888
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+v 0.02054900 0.02439219 0.00843952
+v 0.01780441 0.02560064 0.00852140
+v 0.01384898 0.02823724 0.00851567
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+f 69 71 70
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_40.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29a8f53a0c96dc763971bb39105ce2f05aa6ff5f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_40.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00605112 0.01684022 0.00201869
+v 0.00605112 0.01684022 0.00301869
+v 0.00605112 0.03449019 0.00201869
+v 0.00605112 0.03449019 0.00301869
+v 0.03119487 0.01684022 0.00201869
+v 0.03119487 0.01684022 0.00301869
+v 0.03119487 0.03449019 0.00201869
+v 0.03119487 0.03449019 0.00301869
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_41.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1f182e5adfdaee07d3607bbcb1c5a874956ccbe
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_41.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00734179 -0.03435632 0.00201850
+v 0.00734179 -0.03435632 0.00301850
+v 0.00734179 -0.01861657 0.00201850
+v 0.00734179 -0.01861657 0.00301850
+v 0.03005120 -0.03435632 0.00201850
+v 0.03005120 -0.03435632 0.00301850
+v 0.03005120 -0.01861657 0.00201850
+v 0.03005120 -0.01861657 0.00301850
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_42.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd5d810c008e02f1c645047e8629be99828f10c4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_42.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02179768 -0.03547938 0.00123732
+v -0.02179768 -0.03547938 0.00223732
+v -0.02179768 -0.01220081 0.00123732
+v -0.02179768 -0.01220081 0.00223732
+v -0.00863124 -0.03547938 0.00123732
+v -0.00863124 -0.03547938 0.00223732
+v -0.00863124 -0.01220081 0.00123732
+v -0.00863124 -0.01220081 0.00223732
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_43.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a041f6710aab2b4af4456c820989e24983067d16
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_43.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01259650 0.01194887 0.00123748
+v 0.01259650 0.01194887 0.00223748
+v 0.01259650 0.03409416 0.00123748
+v 0.01259650 0.03409416 0.00223748
+v 0.02179638 0.01194887 0.00123748
+v 0.02179638 0.01194887 0.00223748
+v 0.02179638 0.03409416 0.00123748
+v 0.02179638 0.03409416 0.00223748
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_44.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bc1521f2f4317e484bd7b14e48e210333e6ad86
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_44.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00912153 -0.03533341 0.00123731
+v 0.00912153 -0.03533341 0.00223731
+v 0.00912153 -0.01800660 0.00123731
+v 0.00912153 -0.01800660 0.00223731
+v 0.01733005 -0.03533341 0.00123731
+v 0.01733005 -0.03533341 0.00223731
+v 0.01733005 -0.01800660 0.00123731
+v 0.01733005 -0.01800660 0.00223731
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_45.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60f0f126c31c3b212259619eef694c497954f90b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_45.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00863054 -0.03634577 0.00123730
+v -0.00863054 -0.03634577 0.00223730
+v -0.00863054 -0.02100445 0.00123730
+v -0.00863054 -0.02100445 0.00223730
+v 0.00912073 -0.03634577 0.00123730
+v 0.00912073 -0.03634577 0.00223730
+v 0.00912073 -0.02100445 0.00123730
+v 0.00912073 -0.02100445 0.00223730
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_46.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09dbe0abdc37635c2ff762ee2dda8b3c3247b5c5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_46.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.03624085 -0.02916479 0.00123735
+v -0.03624085 -0.02916479 0.00223735
+v -0.03624085 0.00040516 0.00123735
+v -0.03624085 0.00040516 0.00223735
+v -0.02179768 -0.02916479 0.00123735
+v -0.02179768 -0.02916479 0.00223735
+v -0.02179768 0.00040516 0.00123735
+v -0.02179768 0.00040516 0.00223735
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_47.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd22ca1f3a59e8da73c6f4d2d7bd961deb44aa37
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_47.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.02179638 0.00040805 0.00123746
+v 0.02179638 0.00040805 0.00223746
+v 0.02179638 0.02896977 0.00123746
+v 0.02179638 0.02896977 0.00223746
+v 0.03623835 0.00040805 0.00123746
+v 0.03623835 0.00040805 0.00223746
+v 0.03623835 0.02896977 0.00123746
+v 0.03623835 0.02896977 0.00223746
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_48.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d19585727a4c610357df207da8386451877f9685
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_48.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00015578 0.02129751 0.00123751
+v -0.00015578 0.02129751 0.00223751
+v -0.00015578 0.03617803 0.00123751
+v -0.00015578 0.03617803 0.00223751
+v 0.01259526 0.02129751 0.00123751
+v 0.01259526 0.02129751 0.00223751
+v 0.01259526 0.03617803 0.00123751
+v 0.01259526 0.03617803 0.00223751
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_5.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33a14b2b9f46e30661b0fc30c9f34afcdba66f17
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_5.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.01988921 0.01982163 0.00485219
+v -0.01115280 0.02564851 0.00485221
+v -0.01112965 0.02565950 0.00485508
+v -0.01112965 0.02643242 0.00656111
+v -0.01988921 0.01982895 0.00486619
+v -0.01988921 0.02776338 0.00485222
+v -0.01112965 0.02765104 0.00485222
+v -0.01112965 0.02643731 0.00656937
+v -0.01988921 0.02074841 0.00655643
+v -0.01988921 0.02718215 0.00648430
+v -0.01955824 0.02742759 0.00648035
+v -0.01916811 0.02826523 0.00485222
+v -0.01112965 0.03229472 0.00485224
+v -0.01988921 0.02097429 0.00693474
+v -0.01112965 0.02715650 0.00774129
+v -0.01988921 0.02691473 0.00701122
+v -0.01865450 0.02770842 0.00726929
+v -0.01889887 0.02787327 0.00648035
+v -0.01867851 0.02859736 0.00485223
+v -0.01119224 0.03227151 0.00485224
+v -0.01167069 0.03146072 0.00683213
+v -0.01122054 0.03173669 0.00645130
+v -0.01112965 0.03176600 0.00645309
+v -0.01988921 0.02101947 0.00699971
+v -0.01112965 0.02723953 0.00783497
+v -0.01988921 0.02662778 0.00748896
+v -0.01912867 0.02691962 0.00773914
+v -0.01808859 0.02730669 0.00807044
+v -0.01770875 0.02792332 0.00767453
+v -0.01619623 0.02910286 0.00736873
+v -0.01707511 0.02885987 0.00696780
+v -0.01775591 0.02858393 0.00653276
+v -0.01833811 0.02882325 0.00485223
+v -0.01184475 0.03199800 0.00485224
+v -0.01245267 0.03125071 0.00645129
+v -0.01112965 0.03155841 0.00707549
+v -0.01447450 0.03020059 0.00703276
+v -0.01359563 0.03040085 0.00735437
+v -0.01988921 0.02165442 0.00771148
+v -0.01112965 0.02762294 0.00825960
+v -0.01988921 0.02599650 0.00810166
+v -0.01960283 0.02610883 0.00820863
+v -0.01720972 0.02761928 0.00830554
+v -0.01554716 0.02870846 0.00816987
+v -0.01512958 0.02932021 0.00773412
+v -0.01809974 0.02896367 0.00485223
+v -0.01657265 0.02926283 0.00653277
+v -0.01768217 0.02920544 0.00485223
+v -0.01648948 0.02982330 0.00485223
+v -0.01244838 0.03056691 0.00772551
+v -0.01112965 0.03119087 0.00756040
+v -0.01283680 0.03001499 0.00815551
+v -0.01988921 0.02184247 0.00790387
+v -0.01112965 0.02820417 0.00841681
+v -0.01164154 0.02750206 0.00832564
+v -0.01988921 0.02227472 0.00828865
+v -0.01978889 0.02232112 0.00827788
+v -0.01988921 0.02214040 0.00818958
+v -0.01988921 0.02566803 0.00828794
+v -0.01872395 0.02642753 0.00835184
+v -0.01770875 0.02688787 0.00839204
+v -0.01647833 0.02779878 0.00836405
+v -0.01466914 0.02896977 0.00832350
+v -0.01195793 0.03024699 0.00830304
+v -0.01112965 0.03112371 0.00763470
+v -0.01112965 0.02826033 0.00842363
+v -0.01988921 0.02335169 0.00846382
+v -0.01988921 0.02299148 0.00841751
+v -0.01988921 0.02534445 0.00838378
+v -0.01914410 0.02564361 0.00842864
+v -0.01647833 0.02691839 0.00849865
+v -0.01512958 0.02825667 0.00841250
+v -0.01384257 0.02913217 0.00837734
+v -0.01120510 0.03035811 0.00835293
+v -0.01112965 0.03040573 0.00833462
+v -0.01112965 0.03108586 0.00767562
+v -0.01252384 0.02823714 0.00851193
+v -0.01112965 0.02955466 0.00849148
+v -0.01911580 0.02428458 0.00850079
+v -0.01988921 0.02434197 0.00846777
+v -0.01988921 0.02497569 0.00843475
+v -0.01384257 0.02823714 0.00851049
+v -0.01779707 0.02560210 0.00851874
+v -0.01120510 0.02955466 0.00848897
+v -0.01112965 0.03036788 0.00835580
+v -0.01112965 0.02961082 0.00848430
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 24
+f 1 24 39
+f 1 39 53
+f 1 53 58
+f 1 58 56
+f 1 56 68
+f 1 68 67
+f 1 67 80
+f 1 80 81
+f 1 81 69
+f 1 69 59
+f 1 59 41
+f 1 41 26
+f 1 26 16
+f 1 16 10
+f 1 10 6
+f 1 6 12
+f 1 12 19
+f 1 19 33
+f 1 33 46
+f 1 46 48
+f 1 48 49
+f 1 49 34
+f 1 34 20
+f 1 20 13
+f 1 13 7
+f 1 7 2
+f 2 7 3
+f 3 7 13
+f 3 13 23
+f 3 23 36
+f 3 36 51
+f 3 51 65
+f 3 65 76
+f 3 76 75
+f 3 75 85
+f 3 85 86
+f 3 86 78
+f 3 78 66
+f 3 66 54
+f 3 54 40
+f 3 40 25
+f 3 25 15
+f 3 15 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 6 10 11
+f 6 11 12
+f 8 14 9
+f 8 15 14
+f 10 16 17
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 14 15 24
+f 15 25 24
+f 16 26 17
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 20 34 35
+f 20 35 21
+f 21 36 22
+f 21 35 37
+f 21 37 38
+f 21 38 36
+f 22 36 23
+f 24 25 39
+f 25 40 39
+f 26 41 42
+f 26 42 27
+f 27 42 28
+f 28 43 29
+f 28 42 43
+f 29 43 30
+f 30 43 44
+f 30 44 45
+f 30 45 38
+f 30 38 37
+f 30 37 31
+f 31 46 33
+f 31 33 32
+f 31 37 47
+f 31 47 48
+f 31 48 46
+f 34 49 37
+f 34 37 35
+f 36 38 50
+f 36 50 51
+f 37 49 48
+f 37 48 47
+f 38 45 52
+f 38 52 50
+f 39 40 53
+f 40 54 55
+f 40 55 56
+f 40 56 57
+f 40 57 58
+f 40 58 53
+f 41 59 42
+f 42 59 60
+f 42 60 43
+f 43 60 61
+f 43 61 62
+f 43 62 63
+f 43 63 44
+f 44 63 52
+f 44 52 45
+f 50 52 64
+f 50 64 51
+f 51 64 65
+f 52 63 64
+f 54 66 67
+f 54 67 68
+f 54 68 56
+f 54 56 55
+f 56 58 57
+f 59 69 60
+f 60 69 70
+f 60 70 61
+f 61 71 62
+f 61 70 71
+f 62 72 73
+f 62 73 63
+f 62 71 72
+f 63 73 64
+f 64 73 74
+f 64 74 75
+f 64 75 76
+f 64 76 65
+f 66 77 67
+f 66 78 77
+f 67 79 80
+f 67 77 79
+f 69 81 70
+f 70 81 71
+f 71 82 72
+f 71 81 83
+f 71 83 82
+f 72 82 73
+f 73 84 74
+f 73 82 84
+f 74 85 75
+f 74 84 86
+f 74 86 85
+f 77 78 82
+f 77 82 83
+f 77 83 79
+f 78 86 84
+f 78 84 82
+f 79 83 80
+f 80 83 81
+
diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_6.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65361c5b63145fdb108fd470dad131cb463a8d94
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_6.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.00065550 -0.02607563 0.00485202
+v -0.00070149 -0.02611504 0.00485202
+v -0.00270586 -0.02889417 0.00736004
+v -0.00270586 -0.02946447 0.00796067
+v 0.01034362 -0.02799890 0.00812078
+v 0.01034362 -0.02747847 0.00753966
+v 0.01034362 -0.02721785 0.00711467
+v 0.01034362 -0.02691459 0.00650790
+v 0.01034362 -0.02619870 0.00485202
+v -0.00146415 -0.02716153 0.00485202
+v -0.00270586 -0.02849840 0.00530195
+v -0.00270586 -0.02838981 0.00586716
+v -0.00270586 -0.02851047 0.00643490
+v -0.00270586 -0.03012325 0.00840699
+v 0.01034362 -0.02832145 0.00830653
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diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_7.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d434de0a65147fa651342a76f59c6c9421653ba5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_7.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_8.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edac03d6c2309f2a6b3e6cf961fd7b0423190f69
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_8.obj
@@ -0,0 +1,250 @@
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diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_9.obj b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_collision_9.obj
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diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_geometry_Looks_material_0.png b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/mjcf/mesh/coaster_039_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..144e386d1685c9e588eb374f82be41b1629b6157
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diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/textures/material_0.png b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/textures/material_0.png
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diff --git a/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/video.mp4 b/dataset/kitchen_supplies/tableware/5f1cfd70c074510a93c54fe331a6f54b/video.mp4
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