diff --git a/.gitattributes b/.gitattributes
index cf8c9ea53244f6145ca128c19f94bd3848d889c0..de662c77851e83da9597e882efa85190c2f71365 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4353,5 +4353,6 @@ dataset/kitchen_supplies/tableware/bd56abf5254e53298e2e57e5771e7eae/mesh/spoon_0
 dataset/kitchen_supplies/tableware/bd56abf5254e53298e2e57e5771e7eae/spoon_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/c28be9c33aca536485234928ed21c698/chopsticks_020.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/c28be9c33aca536485234928ed21c698/mesh/chopsticks_020.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/mesh/spoon_018.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/spoon_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/c55432984df9594db32f117fc692f928.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mesh/white_dish.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mesh/white_dish_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/c55432984df9594db32f117fc692f928.urdf b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/c55432984df9594db32f117fc692f928.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ea9b16d43d840f09462de1c3e862397df81985e1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/c55432984df9594db32f117fc692f928.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="white_dish">
+   <link name="white_dish">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/white_dish.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/white_dish_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>0.218241</scale>
+         <version>v0.1.7</version>
+         <category>white dish</category>
+         <description>shallow, curved rectangular dish with raised edges</description>
+         <min_height>0.04</min_height>
+         <max_height>0.06</max_height>
+         <real_height>0.05</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120040831</generate_time>
+         <gs_model>mesh/white_dish_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.407954692840576</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/c55432984df9594db32f117fc692f928.usd b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/c55432984df9594db32f117fc692f928.usd
new file mode 100644
index 0000000000000000000000000000000000000000..1be29a56b31717a0c961843bec41373c123a0136
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/c55432984df9594db32f117fc692f928.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4402c7bec1ea7ec1cacb138cc0f2f964d4423a49e9204aafc2c41b2be352524
+size 485541
diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mesh/material.mtl b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/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/tableware/c55432984df9594db32f117fc692f928/mesh/material_0.png b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc948e9c73497785f170be9133322c10f4b46dce
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d96c432ba9ec01bde9ee36cf3e814beef9fdb1809ed6e145e484fbfb9a564cfe
+size 432812
diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mesh/white_dish.glb b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mesh/white_dish.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d5aa73898436690d753e0351a3be3322943fbbc2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mesh/white_dish.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc1613f0e01de5b563c8575de58cd03b2c7eb604bcd46d692d120448655cff65
+size 766228
diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mesh/white_dish.obj b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mesh/white_dish.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97ed606406f1175565a6bbeed1cbfdcbc1f3d93f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mesh/white_dish.obj
@@ -0,0 +1,30522 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mesh/white_dish_collision.obj b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mesh/white_dish_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4b15bec8204dd93dd3d22118172475d024df528
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mesh/white_dish_collision.obj
@@ -0,0 +1,11100 @@
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diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/c55432984df9594db32f117fc692f928.xml b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/c55432984df9594db32f117fc692f928.xml
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+    <mesh name="collision_mesh_0_0" file="mesh/white_dish_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/white_dish_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/white_dish_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/white_dish_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_10" file="mesh/white_dish_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/white_dish_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/white_dish_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/white_dish_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/white_dish_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/white_dish_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_17" file="mesh/white_dish_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_21" file="mesh/white_dish_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  <worldbody>
+    <body name="white_dish">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc948e9c73497785f170be9133322c10f4b46dce
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d96c432ba9ec01bde9ee36cf3e814beef9fdb1809ed6e145e484fbfb9a564cfe
+size 432812
diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish.obj b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cab7b22988f38f4a8d8f1d3aac5433e8ec78f0b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish.obj
@@ -0,0 +1,30522 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision.obj b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f337d8b3724b084203b260907366aeb23a02d72b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision.obj
@@ -0,0 +1,11100 @@
+# https://github.com/mikedh/trimesh
+
+o white_dish_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_0.obj b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cafaf950f0030cf42fc0739391cfdccbf196dfc3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_0.obj
@@ -0,0 +1,448 @@
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diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_1.obj b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ae49242008b4c1a8c5704417d3f0d7ca8f93dff
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_1.obj
@@ -0,0 +1,1060 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_10.obj b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..503bc0b1ae0692de6240407c82af9f16db003788
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_10.obj
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diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_11.obj b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23ac5088e806f756a2e3e750d7d6bcecab90da3c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_11.obj
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diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_12.obj b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..080482452e8168e2dea0ef892f9a5742a207bfe7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_12.obj
@@ -0,0 +1,532 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_13.obj b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24dc5ae472189205c64be615697a02af17085e74
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_13.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_14.obj b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8748c8aec35313a1c5eb6dea2f2870491071036d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_14.obj
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diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_15.obj b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c437f71249c6fff8b7f0d0cd7b0fe430c425bab
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_15.obj
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diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_16.obj b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f9fd49ed4cbb2b5ddaea80e701046d5d119d6df
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_16.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_17.obj b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89dcecec8a5dc0aa85c719ae4ff7c75c32922b6d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_17.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_18.obj b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1f8ed5ec58bdeb5289cbb807ddacce81ce34c71
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_18.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_19.obj b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a689ffe856b6a77fad77f43ee9184bde7ae7d957
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_19.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_2.obj b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d5a6e4a237994c69887573ef90993d4f05287f7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_2.obj
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diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_20.obj b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fca90ab47029b64d6baf5a9f0830476eeca9ce6c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_20.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.07409840 -0.05572178 -0.01232606
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+
diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_21.obj b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f252d5de85f5fe0739aa0bc09b03de0355db0377
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_21.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.07405655 0.05714612 -0.01211095
+v 0.07665085 0.05714612 -0.01017717
+v 0.07405655 0.05714609 -0.00252112
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diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_3.obj b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9738dc9ae05c21ca1c238b491830f243e292e00
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_3.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_4.obj b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b48f674353fa6090566bd5e19388ba7c987198a9
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_4.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_5.obj b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12bc40a527c4b240a3f6cda55f98b0400ffdc4ee
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_5.obj
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diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_6.obj b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43ecd64da1a2bcab68d9cd6feb47d284e73a8797
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_6.obj
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diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_7.obj b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45bf7664d3f5b07db9d7d130fb7988b425c72b80
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_7.obj
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diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_8.obj b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..808262f79cb28781b61ef46d918993bc86a50736
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_8.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_9.obj b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db70baff07da94e8a62135ab7daec68e687f2416
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/c55432984df9594db32f117fc692f928/mjcf/mesh/white_dish_collision_9.obj
@@ -0,0 +1,715 @@
+# https://github.com/mikedh/trimesh
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