diff --git a/.gitattributes b/.gitattributes
index 0bcd6a01e7ae4c3555b9707946ee8d37edf6e900..684a9a7bcfd253fb4e7d2dcc25261220d0953285 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4351,3 +4351,6 @@ dataset/kitchen_supplies/tableware/bb5075b1e93a507d9506166940d3703d/mesh/tray_03
 dataset/kitchen_supplies/tableware/bb5075b1e93a507d9506166940d3703d/tray_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/mesh/plate_032.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/bcf80c0b262450fa9fc5907264a761d3/plate_032.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/bdd48074d6db56de988011acb4aa6d59.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mesh/white_dish.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mesh/white_dish_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/bdd48074d6db56de988011acb4aa6d59.urdf b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/bdd48074d6db56de988011acb4aa6d59.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c47f94986ba495c5d3b910717f8ae978cdd403e5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/bdd48074d6db56de988011acb4aa6d59.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>0.164293</scale>
+         <version>v0.1.7</version>
+         <category>white dish</category>
+         <description>round, shallow dish with fluted edges and smooth surface</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120040156</generate_time>
+         <gs_model>mesh/white_dish_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.499822616577148</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/bdd48074d6db56de988011acb4aa6d59.usd b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/bdd48074d6db56de988011acb4aa6d59.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8cf8e78d187f0f3cd857c1996ad5547f983d6876
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/bdd48074d6db56de988011acb4aa6d59.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b9d984c4eb0e72c8fbfdb2702ef9fd6dbdff104bec35988b2ead55ac97fb7fb
+size 866797
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mesh/material.mtl b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/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/bdd48074d6db56de988011acb4aa6d59/mesh/material_0.png b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6567c9bbfc0387812045eb084ecccb15bf4a5c7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:312aa4dc4442812328fecfe6379d74a9b1d995531a81232740436314e16cef52
+size 1295304
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mesh/white_dish.glb b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mesh/white_dish.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1b0f30ae9e3a79e82b9ade2875f2c91b44bb4e77
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mesh/white_dish.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab4033053a4271267c82db84a5b9001dfdfddb2a26322547ddafe53801ef33b6
+size 1910580
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mesh/white_dish.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mesh/white_dish.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd69ac89dd10825e7e66cdb8346a265b15262ded
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mesh/white_dish.obj
@@ -0,0 +1,56640 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mesh/white_dish_collision.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mesh/white_dish_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..735c6cbff6fa3dbe5b48ff24b34a30a20efea2d0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mesh/white_dish_collision.obj
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diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/bdd48074d6db56de988011acb4aa6d59.xml b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/bdd48074d6db56de988011acb4aa6d59.xml
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+      <geom type="mesh" mesh="collision_mesh_0_85" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+    </body>
+  </worldbody>
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diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:312aa4dc4442812328fecfe6379d74a9b1d995531a81232740436314e16cef52
+size 1295304
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97f516c53767ced33b1a88411b67f432e96fdd1f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4444ce4176fa4fe8df37611ca149bcdfea1b4300
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision.obj
@@ -0,0 +1,13038 @@
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diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_0.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae2a24bbdca11fd0c8611f5989e92cf38ae4084b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_0.obj
@@ -0,0 +1,1000 @@
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diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_1.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00797fbb59b60f814e84d9f28455888ecd317165
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_1.obj
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+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_10.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36993bb920d48c0a0add746e797c2efea28e103c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_10.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.07535626 -0.00073773 0.00839298
+v 0.07535342 -0.00095620 0.00839298
+v 0.07385573 -0.00073771 0.00297421
+v 0.05666352 -0.00073773 0.00839298
+v 0.07534774 -0.00131854 0.00839298
+v 0.07367135 -0.00073771 0.00234408
+v 0.07355790 -0.01355811 0.00595101
+v 0.04638109 -0.03888451 0.00839284
+v 0.05921072 -0.00073772 0.00529145
+v 0.04638109 -0.04808682 0.00211850
+v 0.04638109 -0.04016334 0.00556522
+v 0.04638109 -0.03904969 0.00787694
+v 0.07406279 -0.01475703 0.00839293
+v 0.07349549 -0.00100946 0.00211868
+v 0.07349265 -0.00073771 0.00211868
+v 0.07208574 -0.01491154 0.00211863
+v 0.04638109 -0.05517375 0.00839278
+v 0.06709060 -0.00073771 0.00211868
+v 0.06452922 -0.00455825 0.00211866
+v 0.04638109 -0.05375102 0.00211848
+v 0.07365434 -0.01630763 0.00839292
+v 0.07362314 -0.01636091 0.00833703
+v 0.06945911 -0.02875502 0.00839287
+v 0.06711330 -0.02856317 0.00211858
+v 0.04638109 -0.05507784 0.00789776
+v 0.05197190 -0.05456097 0.00805745
+v 0.05208536 -0.05459828 0.00839278
+v 0.05038060 -0.05346328 0.00211848
+v 0.06335489 -0.04212957 0.00839283
+v 0.06265427 -0.04084538 0.00333150
+v 0.06134947 -0.04168728 0.00211853
+v 0.05250516 -0.05252546 0.00211849
+v 0.05234064 -0.05444907 0.00839278
+v 0.06255215 -0.04350965 0.00839282
+v 0.05351497 -0.05353790 0.00839278
+f 1 2 3
+f 1 3 6
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+f 1 15 18
+f 1 18 9
+f 1 9 4
+f 1 4 8
+f 1 8 17
+f 1 17 27
+f 1 27 33
+f 1 33 35
+f 1 35 34
+f 1 34 29
+f 1 29 23
+f 1 23 21
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+f 1 13 5
+f 1 5 2
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+f 10 28 20
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+f 20 28 25
+f 21 23 22
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+f 27 32 33
+f 29 34 30
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+f 30 32 31
+f 32 35 33
+f 32 34 35
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_11.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9243585c6077b06cf3fb0449894bc022efed0984
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_11.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.00012506 0.08253366 0.01766216
+v -0.00012506 0.08241637 0.01852612
+v 0.00129821 0.08253191 0.01766216
+v -0.00012506 0.08236562 0.01693051
+v -0.00012506 0.08230609 0.01931996
+v 0.00129821 0.08230434 0.01931996
+v 0.00129821 0.08218006 0.01613423
+v 0.01492983 0.08102302 0.01766216
+v -0.00012506 0.08218006 0.01613545
+v -0.00012506 0.08140986 0.01956384
+v 0.00129821 0.08058715 0.01976626
+v 0.00675190 0.07785821 0.02031194
+v 0.01765667 0.07967692 0.01928032
+v 0.00129821 0.08058716 0.01510139
+v -0.00012506 0.08058716 0.01509468
+v 0.01492983 0.08034210 0.01538917
+v 0.01492983 0.07858467 0.01408316
+v 0.01931412 0.07936885 0.01910472
+v 0.01765667 0.08032110 0.01766216
+v 0.01765667 0.07986773 0.01582388
+v -0.00012506 0.08058715 0.01977724
+v 0.00675190 0.07513102 0.02009792
+v 0.02311036 0.07513102 0.02012414
+v 0.02028724 0.07794749 0.01958212
+v 0.02311036 0.07720705 0.01958516
+v 0.02583721 0.07685171 0.01930713
+v 0.02645647 0.07677294 0.01923214
+v 0.00129821 0.07888749 0.01408316
+v -0.00012506 0.07891900 0.01408316
+v 0.02645647 0.07683771 0.01601227
+v 0.02645647 0.07643511 0.01569095
+v 0.02645647 0.07468118 0.01462273
+v 0.02645647 0.07360290 0.01408314
+v 0.01932192 0.07940386 0.01620068
+v 0.02645647 0.07712128 0.01764873
+v 0.02645647 0.07711428 0.01730058
+v -0.00012506 0.07790722 0.01933702
+v 0.00497477 0.07314076 0.01920835
+v 0.00680394 0.07230055 0.01934919
+v 0.00774845 0.07091595 0.01903640
+v 0.02301409 0.07229355 0.01943089
+v 0.02645647 0.07312326 0.01931017
+v 0.02645647 0.07514502 0.01958028
+v -0.00012506 0.07017903 0.01408313
+v 0.02645647 0.06645759 0.01408311
+v -0.00012506 0.07538133 0.01807552
+v 0.00592968 0.07132030 0.01882300
+v 0.00660099 0.06962587 0.01771455
+v 0.00727229 0.06810475 0.01660670
+v 0.02038352 0.06583267 0.01608357
+v 0.02038352 0.06719627 0.01705972
+v 0.00824021 0.07091595 0.01903640
+v 0.02204096 0.07090195 0.01902421
+v 0.02645647 0.07206949 0.01867241
+v 0.02301409 0.06986568 0.01820415
+v 0.02311036 0.06760587 0.01682437
+v -0.00012506 0.07041359 0.01449773
+v 0.00458968 0.06784570 0.01408312
+v 0.00478222 0.06790871 0.01459589
+v 0.00545353 0.06833405 0.01633051
+v 0.02311036 0.06512550 0.01408311
+v 0.02645647 0.06662038 0.01434041
+v 0.02311036 0.06524278 0.01431785
+v -0.00012506 0.07308651 0.01678293
+v -0.00012506 0.07172291 0.01579885
+v 0.00651772 0.06760587 0.01530193
+v 0.02038352 0.06498022 0.01478245
+v 0.02311036 0.06624227 0.01561897
+v 0.02645647 0.07175966 0.01847364
+v 0.02645647 0.06700373 0.01494586
+v 0.02645647 0.06966440 0.01710241
+v -0.00012506 0.07102099 0.01512086
+v 0.00669205 0.06707024 0.01408312
+v 0.02038352 0.06465289 0.01408311
+f 1 2 3
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+f 1 57 72
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+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_12.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a139b84a9d9feead25da0098118f73319ae56969
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_12.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.02038289 -0.06470537 0.01407966
+v 0.02038289 -0.06492988 0.01461007
+v 0.02254705 -0.06503952 0.01439891
+v 0.02268710 -0.06496120 0.01407966
+v 0.00671885 -0.06721675 0.01407965
+v 0.00669771 -0.06762923 0.01523793
+v 0.00575172 -0.06821226 0.01622316
+v 0.02038289 -0.06575831 0.01591080
+v 0.00756972 -0.06803822 0.01647306
+v 0.02687008 -0.06702183 0.01503489
+v 0.02687008 -0.06646490 0.01407966
+v 0.00533157 -0.06758397 0.01407965
+v 0.00675056 -0.07116397 0.01880085
+v 0.00669771 -0.06926867 0.01733896
+v 0.00497220 -0.06782240 0.01448824
+v -0.00012506 -0.06996482 0.01407964
+v -0.00012506 -0.07027983 0.01472313
+v -0.00012506 -0.07194888 0.01629437
+v 0.02038289 -0.06712277 0.01703845
+v 0.02310989 -0.06754395 0.01675482
+v 0.02687008 -0.06952799 0.01702283
+v 0.02687008 -0.07356568 0.01407963
+v 0.00485858 -0.06775627 0.01407965
+v -0.00012506 -0.07264851 0.01679666
+v 0.00506733 -0.07307492 0.01917944
+v 0.00675056 -0.07252844 0.01937624
+v 0.02095630 -0.07057572 0.01912947
+v -0.00012506 -0.07949345 0.01407961
+v 0.02224053 -0.07057572 0.01912947
+v 0.02687008 -0.07072713 0.01792996
+v 0.02687008 -0.07486054 0.01476435
+v 0.01492890 -0.07807155 0.01407961
+v -0.00012506 -0.07512335 0.01813735
+v 0.00675056 -0.07494409 0.02016966
+v -0.00012506 -0.07766606 0.01939434
+v 0.02018207 -0.07199239 0.01961178
+v 0.02313367 -0.07207245 0.01972486
+v 0.00042721 -0.07949345 0.01407961
+v -0.00012506 -0.08207272 0.01607692
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+v -0.00012506 -0.08040021 0.01988975
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+v 0.01765590 -0.08018439 0.01766191
+v 0.01765590 -0.07970231 0.01583827
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+v 0.02687008 -0.07499630 0.01967361
+v 0.01765590 -0.07951784 0.01930125
+v 0.00129657 -0.08246604 0.01766190
+v 0.01492890 -0.08103718 0.01766190
+v -0.00012506 -0.08234248 0.01849032
+v 0.02687008 -0.07671929 0.01843661
+v 0.01917266 -0.07913843 0.01907322
+v -0.00012506 -0.08217715 0.01939870
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+f 1 3 4
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+f 1 22 32
+f 1 32 38
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+f 1 28 16
+f 1 16 23
+f 1 23 12
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+f 46 59 60
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+f 48 53 63
+f 49 62 56
+f 49 56 64
+f 51 65 52
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+f 54 67 55
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+f 56 67 64
+f 56 62 63
+f 56 63 57
+f 57 63 61
+f 58 61 59
+f 59 61 66
+f 61 63 66
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_13.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44bcba323ec152547232fe32086ae84baa5a9fad
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_13.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.00003111 0.07335679 0.00211895
+v -0.00003111 0.07120334 -0.00776004
+v -0.00051058 0.07120334 -0.00776004
+v -0.00127618 0.07333649 0.00211895
+v -0.00003111 0.06692676 0.00211893
+v -0.00003111 0.06957259 -0.01355731
+v -0.00143342 0.06954214 -0.01355731
+v -0.01353866 0.06843748 -0.01355732
+v -0.01405422 0.06851022 -0.01306475
+v -0.01397173 0.07118640 -0.00246916
+v -0.01240960 0.07203560 0.00211894
+v -0.01438933 0.07144014 -0.00055106
+v -0.00003111 0.06341829 -0.01355734
+v -0.00470978 0.06491029 0.00211892
+v -0.00395707 0.06136123 -0.01355734
+v -0.02597386 0.06446375 -0.01355733
+v -0.02636568 0.06544151 -0.00831401
+v -0.01517297 0.07171249 0.00211894
+v -0.02636568 0.06563944 -0.00736877
+v -0.00688542 0.06437910 0.00211892
+v -0.02636568 0.05607645 -0.01355736
+v -0.02636568 0.06428782 -0.01355733
+v -0.02636568 0.06744779 0.00211893
+v -0.02051671 0.06128335 0.00211891
+v -0.02636568 0.06119539 0.00211890
+f 1 2 3
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+f 1 23 25
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+f 21 24 25
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_14.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e2f895e05b5205f123329cb081dc3d099cd8fba
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_14.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v 0.07679106 0.02799405 0.01770529
+v 0.07662638 0.02799406 0.01596397
+v 0.07658147 0.02874627 0.01598902
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+v 0.07645422 0.02799747 0.01913106
+v 0.07645422 0.02799405 0.01912995
+v 0.07518918 0.02799407 0.01483704
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+v 0.07417366 0.02901639 0.01408298
+v 0.07402395 0.03066442 0.01408298
+v 0.07488477 0.03135166 0.01505688
+v 0.07432836 0.03420323 0.01557723
+v 0.07385927 0.03625814 0.01601075
+v 0.07385927 0.03628891 0.01766191
+v 0.07601008 0.02981645 0.01863300
+v 0.07365966 0.03584100 0.01905263
+v 0.07499456 0.02799405 0.01941544
+v 0.07143150 0.03966018 0.01935872
+v 0.07401647 0.02799407 0.01408297
+v 0.07119197 0.04166382 0.01600632
+v 0.06646119 0.04490518 0.01408303
+v 0.07126183 0.04182451 0.01766193
+v 0.07229981 0.03966019 0.01766193
+v 0.07323299 0.03765315 0.01766192
+v 0.07104226 0.04145524 0.01914558
+v 0.07300095 0.02799405 0.01925071
+v 0.06946533 0.03966018 0.01966814
+v 0.06946533 0.03693170 0.01962751
+v 0.05856157 0.05057069 0.01976836
+v 0.05856157 0.04784221 0.01956522
+v 0.06860201 0.04511715 0.01925245
+v 0.06954518 0.04237499 0.01940548
+v 0.06546063 0.02799407 0.01408297
+v 0.06882907 0.04511716 0.01572697
+v 0.06833005 0.04678228 0.01610317
+v 0.05558487 0.05575756 0.01408307
+v 0.05833452 0.05857151 0.01597188
+v 0.06002871 0.05753892 0.01625068
+v 0.07046089 0.04318876 0.01766194
+v 0.06818283 0.04657712 0.01903207
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+v 0.06404589 0.03412800 0.01876101
+v 0.06401345 0.03147474 0.01769752
+v 0.06258623 0.03007632 0.01640474
+v 0.07163610 0.02799405 0.01850833
+v 0.06673814 0.04511715 0.01952347
+v 0.06401345 0.04784221 0.01958637
+v 0.05856157 0.05329917 0.01967988
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+v 0.05876867 0.05621570 0.01938160
+v 0.06656848 0.02799406 0.01524107
+v 0.06169297 0.02948824 0.01408298
+v 0.06833503 0.04678228 0.01766195
+v 0.06932810 0.04511716 0.01766195
+v 0.05311468 0.05670124 0.01408308
+v 0.05130072 0.06092730 0.01530685
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+v 0.05583439 0.05875614 0.01528181
+v 0.05727408 0.06017167 0.01630356
+v 0.06002871 0.05753892 0.01696468
+v 0.05981663 0.05725171 0.01869932
+v 0.06152081 0.03174486 0.01680822
+v 0.05576702 0.04518895 0.01851396
+v 0.05992142 0.03283215 0.01636523
+v 0.06030817 0.03051740 0.01408298
+v 0.06072985 0.03016181 0.01408298
+v 0.06928568 0.02799406 0.01722279
+v 0.05592421 0.05892025 0.01934377
+v 0.05130072 0.06132391 0.01945007
+v 0.05310720 0.05875613 0.01955469
+v 0.05130072 0.05662600 0.01920408
+v 0.05689233 0.05993916 0.01842052
+v 0.05507586 0.06031184 0.01911449
+v 0.05130072 0.05676279 0.01408308
+v 0.05130072 0.06292408 0.01766201
+v 0.05583439 0.06045546 0.01604033
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+v 0.05383827 0.04318192 0.01687893
+v 0.05340661 0.04511716 0.01731413
+v 0.05922279 0.03189190 0.01408299
+v 0.05981912 0.03111233 0.01408298
+v 0.05154773 0.04345888 0.01408303
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+v 0.05130072 0.05526176 0.01872046
+v 0.05130072 0.04488466 0.01408303
+v 0.05204427 0.04511716 0.01579598
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+f 76 82 81
+f 77 79 88
+f 83 84 91
+f 83 91 87
+f 84 89 91
+f 87 91 89
+f 87 89 90
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_15.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..913e3e322feaa1bced613e0be803e4a3809a88cf
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_15.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00012506 0.00024201 0.01407507
+v -0.03687957 0.00024201 0.01410822
+v -0.00012506 0.00024203 0.00862789
+v -0.00012506 0.07019438 0.01411191
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+v -0.03872334 0.00024201 0.01410879
+v -0.00536923 0.06756558 0.01411190
+v -0.03134826 0.05900848 0.01411187
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+v -0.03872334 0.00024203 0.00865076
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+v -0.03872334 0.05910099 0.01411187
+v -0.03872334 0.06358000 0.00827260
+v -0.00064267 0.07522845 0.00827265
+v -0.01506791 0.07821185 0.01411194
+v -0.00143232 0.07522074 0.00827265
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+v -0.03327137 0.07208312 0.01411191
+v -0.03167319 0.07324719 0.01411192
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+v -0.03140116 0.07334741 0.01411192
+v -0.01459564 0.07415688 0.00827264
+v -0.02874507 0.06943891 0.00827263
+f 1 2 5
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+f 29 33 30
+f 31 32 33
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_16.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..309cd935ddd6d1913ccad56295e095ef316846a2
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_16.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.02465802 0.06138219 0.00211891
+v 0.02465802 0.05759176 -0.01354686
+v 0.02465802 0.06730819 0.00211893
+v 0.02049362 0.06129719 0.00211891
+v 0.02465802 0.06446036 -0.01354683
+v 0.02038244 0.06129719 0.00211891
+v 0.01747968 0.05804761 -0.01354686
+v 0.02465802 0.06563937 -0.00736855
+v 0.01508691 0.07174458 0.00211894
+v 0.01461077 0.06786762 -0.01354682
+v 0.01392677 0.06851045 -0.01301164
+v 0.01388810 0.07120531 -0.00244922
+v 0.01434973 0.07146799 -0.00055080
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+v 0.00675085 0.06417444 0.00211892
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+v 0.01220348 0.06842546 -0.01354682
+v 0.00129821 0.06960448 -0.01354681
+v 0.00042569 0.07120224 -0.00775956
+v 0.00389401 0.06141779 -0.01354684
+v 0.00454901 0.06489298 0.00211892
+v 0.00105652 0.07337635 0.00211895
+v -0.00002869 0.06957512 -0.01354681
+v -0.00002869 0.07120224 -0.00775956
+v -0.00002869 0.06692651 0.00211893
+v -0.00002869 0.06342196 -0.01354684
+v -0.00002869 0.07335781 0.00211895
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+f 1 22 27
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+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_17.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d05de70931a4471eb908f4e87f2b6d05505e20d5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_17.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.00143102 0.08253707 0.01766204
+v -0.00143102 0.08230913 0.01932013
+v -0.00012506 0.08253532 0.01766204
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+v -0.00143102 0.08217939 0.01613681
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+v -0.00143102 0.08058734 0.01978793
+v -0.00012506 0.08140966 0.01956383
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+v -0.01778996 0.07972820 0.01935625
+v -0.01506435 0.07999996 0.01945238
+v -0.00012506 0.08058735 0.01509468
+v -0.00143102 0.08058735 0.01508856
+v -0.01506435 0.07821157 0.01411194
+v -0.01506435 0.07837288 0.01421848
+v -0.01506435 0.08033136 0.01551900
+v -0.01778996 0.07979308 0.01591821
+v -0.01778996 0.08029804 0.01766203
+v -0.01944224 0.07938629 0.01913154
+v -0.00688488 0.07513091 0.02010691
+v -0.00012506 0.08058734 0.01977752
+v -0.02324381 0.07513091 0.02036714
+v -0.02051821 0.07513091 0.02034938
+v -0.02713263 0.07664581 0.01913520
+v -0.02324381 0.07711746 0.01960667
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+v -0.02713263 0.07361779 0.01411192
+v -0.02713263 0.07513092 0.01505242
+v -0.02713263 0.07671770 0.01613679
+v -0.02713263 0.07688252 0.01757017
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+v -0.00012506 0.07308652 0.01678275
+v -0.02713263 0.06968677 0.01710603
+v -0.02051821 0.06462486 0.01411189
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+f 45 60 58
+f 46 62 63
+f 46 63 61
+f 47 52 64
+f 47 64 48
+f 48 64 65
+f 48 65 66
+f 48 66 67
+f 48 67 60
+f 48 59 68
+f 48 68 69
+f 48 69 70
+f 48 70 49
+f 49 70 54
+f 50 57 51
+f 51 57 56
+f 51 56 52
+f 52 56 61
+f 52 61 63
+f 52 63 64
+f 55 71 56
+f 56 71 61
+f 58 60 67
+f 62 72 63
+f 63 72 64
+f 64 72 65
+f 65 72 66
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_18.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45c5cde600a80f77756560237b77453ed0cdcf8f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_18.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.02249985 -0.06704780 0.00211690
+v 0.02249985 -0.06435587 -0.01354835
+v 0.02249985 -0.06156040 0.00211692
+v 0.01633828 -0.07091852 0.00211689
+v 0.02249985 -0.05815528 -0.01354832
+v 0.01510684 -0.07167194 0.00211689
+v 0.01396776 -0.07105310 -0.00263560
+v 0.01395457 -0.06832251 -0.01354836
+v 0.02038222 -0.06120767 0.00211693
+v 0.02072966 -0.05798820 -0.01354832
+v 0.00047036 -0.07377439 0.00211688
+v 0.00044397 -0.07376511 0.00204940
+v 0.00003716 -0.07361658 0.00098665
+v 0.00003935 -0.07087826 -0.00977276
+v 0.00129498 -0.06961121 -0.01354837
+v 0.02038222 -0.05796963 -0.01354832
+v 0.01758730 -0.05803770 -0.01354832
+v 0.02028327 -0.06122005 0.00211693
+v 0.00003716 -0.07377439 0.00211688
+v 0.00003716 -0.07376511 0.00204940
+v 0.00003716 -0.07087671 -0.00977583
+v 0.00003716 -0.06958336 -0.01354837
+v 0.00413827 -0.06130663 -0.01354834
+v 0.00675068 -0.06410995 0.00211691
+v 0.00003716 -0.06666568 0.00211691
+v 0.00003716 -0.06289700 -0.01354834
+v 0.00466823 -0.06476744 0.00211691
+v 0.00665172 -0.06413625 0.00211691
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 18
+f 1 18 24
+f 1 24 28
+f 1 28 27
+f 1 27 25
+f 1 25 19
+f 1 19 11
+f 1 11 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 15
+f 2 15 22
+f 2 22 26
+f 2 26 23
+f 2 23 17
+f 2 17 16
+f 2 16 10
+f 2 10 5
+f 3 5 9
+f 5 10 9
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 9 16 17
+f 9 17 18
+f 9 10 16
+f 11 19 20
+f 11 20 12
+f 12 20 13
+f 13 20 19
+f 13 19 25
+f 13 25 26
+f 13 26 22
+f 13 22 21
+f 13 21 14
+f 14 21 22
+f 14 22 15
+f 17 23 24
+f 17 24 18
+f 23 26 27
+f 23 27 28
+f 23 28 24
+f 25 27 26
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_19.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c29b53712e5bdb4e37966131fa344bfea7b2c527
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_19.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.04371455 0.00024204 0.00858005
+v -0.04371455 -0.00138268 0.00845482
+v -0.04371455 0.00024202 0.01410636
+v -0.00021893 0.00024204 0.00862779
+v -0.04371455 -0.00251462 0.00842225
+v -0.04371455 -0.00127200 0.01410861
+v -0.04233211 -0.00127200 0.01411141
+v -0.04233211 0.00024202 0.01410861
+v -0.00012506 0.00024204 0.00862835
+v -0.01273768 -0.03623720 0.00842269
+v -0.04156835 -0.00673173 0.00838910
+v -0.04241744 -0.00399650 0.00840652
+v -0.04371455 -0.00356443 0.00842393
+v -0.04371455 -0.00811007 0.01410745
+v -0.04233211 -0.01218792 0.01411081
+v -0.03960563 -0.01764409 0.01411753
+v -0.03960563 -0.01218792 0.01411811
+v -0.03960563 -0.00400009 0.01411814
+v -0.03960563 -0.00127200 0.01411478
+v -0.03960563 0.00024202 0.01410973
+v -0.00012506 0.00024202 0.01407547
+v -0.00012506 -0.03623720 0.00860182
+v -0.01008374 -0.03623720 0.00844178
+v -0.01312169 -0.03623720 0.00843897
+v -0.01944506 -0.03291993 0.00848503
+v -0.02042216 -0.03112025 0.00846258
+v -0.04371455 -0.03623721 0.01060154
+v -0.04371455 -0.01218792 0.01410632
+v -0.04233211 -0.01764409 0.01410967
+v -0.03960563 -0.02036861 0.01411640
+v -0.03687915 -0.02036861 0.01412370
+v -0.03687915 -0.01764409 0.01412427
+v -0.03687915 -0.01491601 0.01412428
+v -0.03687915 -0.00673175 0.01412319
+v -0.03687915 -0.00400009 0.01412095
+v -0.03687915 -0.00127200 0.01411422
+v -0.03687915 0.00024202 0.01410861
+v -0.00012506 -0.00400009 0.01407827
+v -0.03415268 -0.00673175 0.01412206
+v -0.00012506 -0.03623722 0.01405063
+v -0.04371455 -0.03623722 0.01402929
+v -0.04371455 -0.01491601 0.01410519
+v -0.04233211 -0.02036861 0.01410685
+v -0.03960563 -0.02309670 0.01411358
+v -0.04371455 -0.01764409 0.01410293
+v -0.03687915 -0.02309670 0.01412088
+v -0.03415268 -0.02036861 0.01412426
+v -0.03415268 -0.01764409 0.01412483
+v -0.03415268 -0.01491601 0.01412540
+v -0.03415268 -0.01218792 0.01412485
+v -0.03415268 -0.00945983 0.01412374
+v -0.00012506 -0.00542483 0.01407882
+v -0.03142620 -0.00945983 0.01412037
+v -0.00012506 -0.03543379 0.01405176
+v -0.03415268 -0.02309670 0.01412144
+v -0.03415268 -0.03128453 0.01410850
+v -0.03415268 -0.03623722 0.01410061
+v -0.04371455 -0.03401261 0.01406131
+v -0.04233211 -0.03623722 0.01406636
+v -0.04371455 -0.02036861 0.01409955
+v -0.04233211 -0.02582835 0.01409897
+v -0.03960563 -0.02582835 0.01411020
+v -0.03687915 -0.02582835 0.01411694
+v -0.00012506 -0.03401261 0.01405345
+v -0.00012506 -0.00815292 0.01407769
+v -0.00012506 -0.00673175 0.01407882
+v -0.03687915 -0.03128453 0.01410850
+v -0.03687915 -0.03623722 0.01409949
+v -0.04371455 -0.03128453 0.01407536
+v -0.04233211 -0.03401261 0.01408153
+v -0.03960563 -0.03623722 0.01409387
+v -0.04371455 -0.02175051 0.01409729
+v -0.04233211 -0.03128453 0.01409053
+v -0.03960563 -0.03401261 0.01409838
+v -0.03909788 -0.03623722 0.01409500
+v -0.04371455 -0.02855644 0.01408436
+v -0.04371455 -0.02447859 0.01409279
+v -0.04371455 -0.02582835 0.01409055
+f 1 2 5
+f 1 5 13
+f 1 13 27
+f 1 27 41
+f 1 41 58
+f 1 58 69
+f 1 69 76
+f 1 76 78
+f 1 78 77
+f 1 77 72
+f 1 72 60
+f 1 60 45
+f 1 45 42
+f 1 42 28
+f 1 28 14
+f 1 14 6
+f 1 6 3
+f 1 3 8
+f 1 8 20
+f 1 20 37
+f 1 37 21
+f 1 21 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 11
+f 5 11 13
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 18 19
+f 7 19 8
+f 8 19 20
+f 9 21 38
+f 9 38 52
+f 9 52 66
+f 9 66 65
+f 9 65 64
+f 9 64 54
+f 9 54 40
+f 9 40 22
+f 9 22 23
+f 9 23 10
+f 10 23 22
+f 10 22 40
+f 10 40 57
+f 10 57 68
+f 10 68 75
+f 10 75 71
+f 10 71 59
+f 10 59 41
+f 10 41 27
+f 10 27 24
+f 10 24 25
+f 10 25 26
+f 10 26 11
+f 11 27 13
+f 11 26 25
+f 11 25 27
+f 14 28 29
+f 14 29 15
+f 15 29 16
+f 16 30 31
+f 16 31 32
+f 16 32 17
+f 16 29 30
+f 17 32 33
+f 17 33 18
+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 19 35 36
+f 19 36 20
+f 20 36 37
+f 21 37 36
+f 21 36 35
+f 21 35 39
+f 21 39 38
+f 24 27 25
+f 28 42 29
+f 29 43 44
+f 29 44 30
+f 29 42 45
+f 29 45 43
+f 30 44 46
+f 30 46 31
+f 31 46 55
+f 31 55 47
+f 31 47 48
+f 31 48 32
+f 32 48 49
+f 32 49 33
+f 33 49 34
+f 34 49 50
+f 34 50 51
+f 34 51 39
+f 34 39 35
+f 38 39 53
+f 38 53 52
+f 39 51 53
+f 40 54 55
+f 40 55 56
+f 40 56 57
+f 41 59 58
+f 43 45 60
+f 43 60 61
+f 43 61 62
+f 43 62 44
+f 44 62 46
+f 46 62 63
+f 46 63 55
+f 47 55 64
+f 47 64 65
+f 47 65 66
+f 47 66 48
+f 48 66 49
+f 49 66 52
+f 49 52 50
+f 50 52 53
+f 50 53 51
+f 54 64 55
+f 55 63 67
+f 55 67 56
+f 56 67 57
+f 57 67 68
+f 58 59 70
+f 58 70 69
+f 59 71 70
+f 60 72 73
+f 60 73 61
+f 61 73 74
+f 61 74 62
+f 62 74 63
+f 63 74 67
+f 67 74 68
+f 68 74 75
+f 69 70 73
+f 69 73 76
+f 70 71 73
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+f 71 75 74
+f 72 77 73
+f 73 77 78
+f 73 78 76
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_2.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d43ddf8306a108cd7a4c99d7e58b6bc9880e090
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_2.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.06588721 0.02182386 0.01294400
+v -0.07044643 0.02182386 0.01294400
+v -0.06588721 0.02182388 0.00827245
+v -0.06588721 0.03333344 0.01294404
+v -0.07027722 0.02182386 0.01238658
+v -0.07204784 0.02619854 0.01294402
+v -0.06799897 0.02182388 0.00827245
+v -0.06588721 0.03180576 0.00827249
+v -0.07032663 0.03210204 0.01294404
+v -0.06900475 0.02182387 0.00982857
+v -0.07270709 0.02845404 0.01294402
+v -0.06920645 0.02607914 0.00827247
+v -0.06785818 0.03075237 0.00827248
+v -0.07182854 0.03093486 0.01294403
+v -0.06856142 0.03036932 0.00827248
+v -0.07280117 0.02907143 0.01294403
+v -0.06934182 0.02874698 0.00827248
+v -0.07280117 0.02923141 0.01294403
+v -0.06875703 0.03002908 0.00827248
+f 1 2 5
+f 1 5 10
+f 1 10 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 18
+f 1 18 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 5
+f 3 7 12
+f 3 12 17
+f 3 17 19
+f 3 19 15
+f 3 15 13
+f 3 13 8
+f 4 8 9
+f 5 6 10
+f 6 11 10
+f 7 10 12
+f 8 13 9
+f 9 13 15
+f 9 15 14
+f 10 11 12
+f 11 16 12
+f 12 16 17
+f 14 15 19
+f 14 19 18
+f 16 18 17
+f 17 18 19
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_20.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0115698e429132bad660caa4c8d2964e92508a00
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_20.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.02636837 0.06744876 0.00211893
+v -0.02636837 0.06119357 0.00211890
+v -0.02636837 0.06563868 -0.00736877
+v -0.02741013 0.06562428 -0.00726443
+v -0.02870428 0.06702708 0.00211893
+v -0.02636837 0.05607798 -0.01355736
+v -0.02939700 0.05835908 0.00211889
+v -0.03005213 0.05738409 0.00144372
+v -0.02884390 0.05351502 -0.01355737
+v -0.02636837 0.06544121 -0.00831401
+v -0.02636837 0.06428523 -0.01355733
+v -0.02809748 0.06350770 -0.01355734
+v -0.04093159 0.06010547 -0.00442106
+v -0.04125915 0.06038109 -0.00268709
+v -0.04195456 0.06115037 0.00211890
+v -0.03102946 0.05700766 0.00211889
+v -0.02888954 0.05347594 -0.01355737
+v -0.04129137 0.04931260 0.00211886
+v -0.03919979 0.05804237 -0.01355736
+v -0.04947782 0.04953687 -0.01355739
+v -0.05203390 0.05209567 0.00027135
+v -0.05231851 0.05237335 0.00204982
+v -0.04159477 0.06070608 -0.00055110
+v -0.05232924 0.05238363 0.00211887
+v -0.03905749 0.04643499 -0.01355740
+v -0.04806285 0.04643493 0.00211885
+v -0.05040144 0.04784606 -0.01355739
+v -0.05202584 0.04949570 -0.00510394
+v -0.05313742 0.05057352 0.00211887
+v -0.05081493 0.04643499 -0.01355740
+v -0.05379523 0.04643493 0.00211885
+v -0.05243396 0.04643496 -0.00581748
+v -0.05319917 0.04643495 -0.00188461
+v -0.05342203 0.04643494 -0.00055115
+f 1 2 6
+f 1 6 11
+f 1 11 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 24
+f 1 24 29
+f 1 29 31
+f 1 31 26
+f 1 26 18
+f 1 18 16
+f 1 16 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 6
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 6 9 17
+f 6 17 25
+f 6 25 30
+f 6 30 27
+f 6 27 20
+f 6 20 19
+f 6 19 12
+f 6 12 11
+f 7 16 8
+f 8 17 9
+f 8 16 18
+f 8 18 17
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 17 18 25
+f 18 26 25
+f 20 27 28
+f 20 28 21
+f 21 28 22
+f 22 28 24
+f 22 24 23
+f 24 28 29
+f 25 26 31
+f 25 31 34
+f 25 34 33
+f 25 33 32
+f 25 32 30
+f 27 30 28
+f 28 30 32
+f 28 32 33
+f 28 33 29
+f 29 33 34
+f 29 34 31
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_21.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44379ad51b1fd724b62716379c37aab048df49f5
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_21.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v 0.07655222 -0.02881563 0.01753382
+v 0.07655222 -0.02881563 0.01747674
+v 0.07620547 -0.02881564 0.01876396
+v 0.07635903 -0.03018384 0.01675179
+v 0.07649773 -0.02881563 0.01610732
+v 0.07635903 -0.03018384 0.01625688
+v 0.07498440 -0.02881564 0.01930625
+v 0.07391937 -0.03401484 0.01922404
+v 0.07369646 -0.03573678 0.01909274
+v 0.07388469 -0.03613054 0.01766167
+v 0.07446675 -0.02881562 0.01443308
+v 0.07388222 -0.03023055 0.01407974
+v 0.07400853 -0.02941296 0.01407974
+v 0.07482093 -0.03099142 0.01511351
+v 0.07385250 -0.03602376 0.01605821
+v 0.07429585 -0.03401483 0.01564152
+v 0.07300790 -0.02881564 0.01926229
+v 0.06946607 -0.03674458 0.01984566
+v 0.06946607 -0.03947432 0.01990673
+v 0.07230449 -0.03668785 0.01947234
+v 0.07148962 -0.03947432 0.01943237
+v 0.07107104 -0.04126300 0.01917606
+v 0.07322091 -0.03749542 0.01766166
+v 0.07435777 -0.02881562 0.01434917
+v 0.07400853 -0.02910595 0.01407974
+v 0.06608274 -0.04435647 0.01407969
+v 0.07217322 -0.03947431 0.01766166
+v 0.07114782 -0.04139648 0.01766165
+v 0.06817812 -0.04639878 0.01629221
+v 0.06580782 -0.02881563 0.01574485
+v 0.06287527 -0.03000030 0.01622434
+v 0.06387590 -0.03106150 0.01735744
+v 0.06388086 -0.03383463 0.01877365
+v 0.06470068 -0.03462219 0.01913098
+v 0.05124912 -0.05856917 0.01989181
+v 0.05856067 -0.05038328 0.01991068
+v 0.06955275 -0.04218404 0.01954767
+v 0.05310673 -0.05856917 0.01975823
+v 0.06147340 -0.05057016 0.01970518
+v 0.06673910 -0.04493047 0.01964069
+v 0.06859918 -0.04493047 0.01929534
+v 0.06816326 -0.04637209 0.01902020
+v 0.07399615 -0.02881562 0.01407974
+v 0.06006905 -0.05740452 0.01618771
+v 0.06582515 -0.04470353 0.01407969
+v 0.06820537 -0.04643215 0.01766163
+v 0.06496075 -0.02881563 0.01519685
+v 0.06260778 -0.02933287 0.01407974
+v 0.06223130 -0.02965324 0.01449016
+v 0.06069568 -0.03067772 0.01407974
+v 0.06108206 -0.03109487 0.01542062
+v 0.05993034 -0.03267999 0.01635106
+v 0.06174832 -0.03182236 0.01701893
+v 0.06434898 -0.02881562 0.01473105
+v 0.05557859 -0.04500722 0.01854927
+v 0.05631915 -0.04596497 0.01911096
+v 0.05124912 -0.05784836 0.01974569
+v 0.05124912 -0.06061815 0.01971086
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+v 0.05873405 -0.05599293 0.01939919
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+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_22.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3d67b3c1672826b51258531c6791e190113fcf6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_22.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.07730019 0.00086517 0.01200576
+v 0.07660294 -0.00052402 0.01045894
+v 0.07730019 0.00120102 0.01200576
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+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_23.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53df6f93eec90c9a0f411929c098e547cecb0604
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_23.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.05124912 -0.06290328 0.01766188
+v 0.05124912 -0.06275992 0.01731526
+v 0.05124912 -0.06120169 0.01961448
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+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_24.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..363ab3ce4c09674140a9aaa6e33c8881aa1315b4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_24.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.08251273 0.00145875 0.01766222
+v 0.08217375 0.00145874 0.01941908
+v 0.08213181 -0.00073777 0.01937907
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+v 0.07679022 0.02799404 0.01770544
+v 0.07645474 0.02799404 0.01912980
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+v 0.07768485 -0.00073777 0.01935532
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+v 0.07515123 -0.00073777 0.01804596
+v 0.07163909 0.02799404 0.01850855
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+v 0.06657009 0.02799405 0.01524109
+v 0.06720262 0.00694019 0.01408290
+v 0.06759577 0.00695143 0.01505039
+v 0.06834538 0.00606551 0.01591100
+v 0.07304569 -0.00073776 0.01674722
+v 0.06966810 0.02047923 0.01846541
+v 0.06736687 0.02328604 0.01689606
+v 0.06928893 0.02799405 0.01722357
+v 0.07275389 -0.00073776 0.01642410
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 7 11
+f 2 11 8
+f 3 10 21
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+f 3 37 36
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+f 3 49 62
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+f 3 66 53
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+f 3 41 26
+f 3 26 12
+f 3 12 5
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+f 7 19 11
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+f 8 21 9
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+f 23 25 24
+f 23 24 33
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+f 23 38 39
+f 23 39 40
+f 23 40 34
+f 27 29 28
+f 29 42 58
+f 29 58 65
+f 29 65 50
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+f 29 39 38
+f 29 38 33
+f 29 33 32
+f 29 32 31
+f 29 31 30
+f 34 43 44
+f 34 44 45
+f 34 45 35
+f 34 40 46
+f 34 46 47
+f 34 47 48
+f 34 48 43
+f 35 45 36
+f 36 45 49
+f 39 50 51
+f 39 51 52
+f 39 52 40
+f 40 52 46
+f 41 53 54
+f 41 54 55
+f 42 56 57
+f 42 57 48
+f 42 48 58
+f 43 59 60
+f 43 60 61
+f 43 61 44
+f 43 48 57
+f 43 57 56
+f 43 56 59
+f 44 61 62
+f 44 62 45
+f 45 62 49
+f 46 52 63
+f 46 63 47
+f 47 63 52
+f 47 52 51
+f 47 51 64
+f 47 64 48
+f 48 64 58
+f 50 65 51
+f 51 65 64
+f 53 66 61
+f 53 61 54
+f 54 61 60
+f 54 60 55
+f 55 60 59
+f 58 64 65
+f 61 66 62
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_25.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3415acf8a3f83583a11591361548c5ac51546e3d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_25.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.04505463 -0.05433698 0.00211694
+v -0.05051614 -0.05340502 0.00211694
+v -0.04932267 -0.05183811 -0.00741745
+v -0.04505463 -0.05111581 -0.01355383
+v -0.04505463 -0.04868403 0.00211696
+v -0.05051614 -0.05339046 0.00204944
+v -0.05252862 -0.05252547 0.00211695
+v -0.05258336 -0.05248761 0.00204945
+v -0.05221547 -0.05210317 -0.00055237
+v -0.05197459 -0.05185269 -0.00216931
+v -0.04957669 -0.04948487 -0.01355382
+v -0.04778758 -0.05046344 -0.01355383
+v -0.04505463 -0.04250095 -0.01355380
+v -0.04942997 -0.04140596 0.00211699
+v -0.04557363 -0.04031666 -0.01355379
+v -0.04646271 -0.03811198 -0.01355378
+v -0.05259213 -0.05249635 0.00211695
+v -0.06107345 -0.04186029 0.00211699
+v -0.06106469 -0.04184864 0.00204949
+v -0.06061577 -0.04146711 -0.00055233
+v -0.06027853 -0.04110887 -0.00257887
+v -0.05722806 -0.04076809 -0.01210407
+v -0.05681636 -0.04043898 -0.01355379
+v -0.05721930 -0.02980297 0.00099101
+v -0.06141507 -0.02458397 0.00211705
+v -0.05337829 -0.02869038 -0.01355375
+v -0.06719191 -0.02856521 0.00211704
+v -0.06554733 -0.02727207 -0.00722560
+v -0.06346477 -0.02804383 -0.01355374
+v -0.05789596 -0.03907598 -0.01355378
+v -0.05469220 -0.02690217 -0.01355374
+v -0.05741419 -0.02458391 -0.01355373
+v -0.06718096 -0.02458397 0.00211705
+v -0.06742185 -0.02590911 0.00211704
+v -0.06439984 -0.02583041 -0.01355373
+v -0.06442174 -0.02458391 -0.01355373
+v -0.06560208 -0.02458393 -0.00699854
+v -0.06742185 -0.02582756 0.00211705
+v -0.06468890 -0.02458392 -0.01214083
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 5
+f 1 5 14
+f 1 14 25
+f 1 25 33
+f 1 33 38
+f 1 38 34
+f 1 34 27
+f 1 27 18
+f 1 18 17
+f 1 17 7
+f 1 7 2
+f 2 6 3
+f 2 7 8
+f 2 8 9
+f 2 9 6
+f 3 6 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 11
+f 4 11 23
+f 4 23 30
+f 4 30 29
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+f 4 35 36
+f 4 36 32
+f 4 32 31
+f 4 31 26
+f 4 26 16
+f 4 16 15
+f 4 15 13
+f 5 13 15
+f 5 15 16
+f 5 16 14
+f 7 17 8
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 23
+f 14 16 24
+f 14 24 25
+f 16 26 24
+f 18 27 19
+f 19 27 28
+f 19 28 20
+f 20 28 21
+f 21 28 29
+f 21 29 30
+f 21 30 22
+f 22 30 23
+f 24 26 31
+f 24 31 25
+f 25 31 32
+f 25 32 36
+f 25 36 39
+f 25 39 37
+f 25 37 33
+f 27 34 28
+f 28 34 35
+f 28 35 29
+f 33 37 38
+f 34 38 36
+f 34 36 35
+f 36 38 39
+f 37 39 38
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_26.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afdc90b806b3fda7143774123a501fdd65586fdd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_26.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.08242975 -0.00073776 0.01766166
+v 0.08212082 -0.00073776 0.01639237
+v 0.08213173 -0.00073777 0.01937952
+v 0.08212264 -0.00127365 0.01936974
+v 0.08240976 -0.00127364 0.01766166
+v 0.08203542 -0.00073776 0.01607336
+v 0.08202451 -0.00127364 0.01608375
+v 0.08072522 -0.00073777 0.01976025
+v 0.08037450 -0.00127365 0.01984336
+v 0.08098144 -0.01491243 0.01766161
+v 0.07957675 -0.01764130 0.01935440
+v 0.07934415 -0.00073775 0.01407989
+v 0.08017279 -0.01491243 0.01549091
+v 0.08037450 -0.00073777 0.01985069
+v 0.07764689 -0.00672862 0.02032246
+v 0.07923875 -0.01944680 0.01918328
+v 0.08031999 -0.01764129 0.01766160
+v 0.07975302 -0.01764129 0.01580257
+v 0.07491929 -0.02309902 0.02022156
+v 0.07705449 -0.02309902 0.01964711
+v 0.07669650 -0.02582788 0.01937454
+v 0.07645300 -0.02777353 0.01913375
+v 0.07113044 -0.00073775 0.01407989
+v 0.07819569 -0.01491242 0.01418984
+v 0.07802123 -0.01491242 0.01407984
+v 0.07399797 -0.02880954 0.01407978
+v 0.07838286 -0.00073777 0.01949074
+v 0.07491929 -0.00672862 0.02004623
+v 0.07620586 -0.02880956 0.01876401
+v 0.07655113 -0.02880955 0.01753383
+v 0.07655113 -0.02880955 0.01747638
+v 0.07649661 -0.02880955 0.01610747
+v 0.07446680 -0.02880954 0.01443300
+v 0.07435777 -0.02880954 0.01434928
+v 0.07212444 -0.02296711 0.01946133
+v 0.07301123 -0.02880956 0.01926268
+v 0.07498471 -0.02880956 0.01930607
+v 0.07070340 -0.00784160 0.01904643
+v 0.06796671 -0.00517867 0.01407987
+v 0.06797216 -0.00518417 0.01411776
+v 0.07160473 -0.00073776 0.01513590
+v 0.06386894 -0.02880954 0.01407978
+v 0.07768505 -0.00073777 0.01935507
+v 0.07222802 -0.00685228 0.01936054
+v 0.07069795 -0.02196955 0.01902743
+v 0.07070340 -0.00825931 0.01904643
+v 0.06580970 -0.02880955 0.01574508
+v 0.06798851 -0.00772342 0.01652250
+v 0.06578062 -0.02037015 0.01587040
+v 0.06714352 -0.02037015 0.01700036
+v 0.07315843 -0.00505778 0.01913138
+v 0.07134305 -0.00602236 0.01867427
+v 0.06952949 -0.00687151 0.01759807
+v 0.06734341 -0.00676157 0.01407987
+v 0.06767959 -0.00678082 0.01501549
+v 0.06835740 -0.00590418 0.01585273
+v 0.07017460 -0.00471425 0.01694052
+v 0.07275501 -0.00073776 0.01642414
+v 0.06435049 -0.02880954 0.01473123
+v 0.06494653 -0.02037014 0.01456932
+v 0.06475391 -0.02037014 0.01407982
+v 0.07515189 -0.00073777 0.01804606
+v 0.06496471 -0.02880955 0.01519690
+v 0.06455765 -0.02880954 0.01488890
+v 0.07342737 -0.00073776 0.01698332
+v 0.07304576 -0.00073776 0.01674743
+f 1 2 6
+f 1 6 12
+f 1 12 23
+f 1 23 41
+f 1 41 58
+f 1 58 66
+f 1 66 65
+f 1 65 62
+f 1 62 43
+f 1 43 27
+f 1 27 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 3 9 4
+f 4 10 5
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+f 5 10 7
+f 6 7 12
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+f 8 14 9
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+f 10 17 18
+f 10 18 13
+f 11 19 20
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+f 18 33 34
+f 18 34 26
+f 19 35 36
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+f 19 37 22
+f 19 22 21
+f 19 21 20
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+f 19 38 35
+f 22 37 29
+f 23 39 40
+f 23 40 41
+f 24 26 25
+f 26 34 33
+f 26 33 32
+f 26 32 31
+f 26 31 30
+f 26 30 29
+f 26 29 37
+f 26 37 36
+f 26 36 47
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+f 26 64 59
+f 26 59 42
+f 27 43 28
+f 28 43 44
+f 28 44 38
+f 35 45 36
+f 35 38 46
+f 35 46 45
+f 36 45 47
+f 38 48 49
+f 38 49 50
+f 38 50 46
+f 38 44 51
+f 38 51 52
+f 38 52 53
+f 38 53 48
+f 39 54 40
+f 40 54 55
+f 40 55 56
+f 40 56 41
+f 41 57 58
+f 41 56 57
+f 42 59 49
+f 42 49 60
+f 42 60 61
+f 43 62 52
+f 43 52 51
+f 43 51 44
+f 45 50 47
+f 45 46 50
+f 47 50 63
+f 48 53 56
+f 48 56 55
+f 48 55 54
+f 48 54 61
+f 48 61 60
+f 48 60 49
+f 49 59 50
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+f 50 64 63
+f 52 62 65
+f 52 65 66
+f 52 66 57
+f 52 57 53
+f 53 57 56
+f 57 66 58
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_27.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7de2a1e5500e3447adc197bb5e307ee9779ab9cb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_27.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.04301438 0.04362592 -0.01354691
+v 0.04408720 0.04147397 -0.01354692
+v 0.04864131 0.04228350 0.00211884
+v 0.04837370 0.04362586 0.00211884
+v 0.05151332 0.04362592 -0.01354691
+v 0.04609426 0.03805360 -0.01354693
+v 0.04871777 0.04214319 0.00211883
+v 0.05686548 0.04362586 0.00211884
+v 0.05262676 0.04362591 -0.01111025
+v 0.05711636 0.04098100 -0.01213154
+v 0.05665522 0.04070609 -0.01354692
+v 0.05428975 0.02758773 -0.01354697
+v 0.06126906 0.02425641 0.00211877
+v 0.05856431 0.04328078 0.00211884
+v 0.05696105 0.04362586 0.00211424
+v 0.05855953 0.04327130 0.00204983
+v 0.05855953 0.04275561 -0.00055090
+v 0.06102296 0.04202374 0.00211883
+v 0.05744131 0.04120094 -0.01039721
+v 0.06055704 0.04166921 -0.00055091
+v 0.06013651 0.04125399 -0.00315318
+v 0.05992863 0.04103028 -0.00448115
+v 0.05788335 0.03935235 -0.01354693
+v 0.05781883 0.02425647 -0.01354698
+v 0.06708715 0.02425641 0.00211877
+v 0.06708954 0.02875181 0.00211879
+v 0.06544327 0.02751945 -0.00736102
+v 0.05789051 0.03934098 -0.01354693
+v 0.06333825 0.02825891 -0.01354697
+v 0.06435850 0.02425647 -0.01354698
+v 0.06453053 0.02425647 -0.01262691
+v 0.06742166 0.02601020 0.00211878
+v 0.06741927 0.02610121 0.00211878
+v 0.06430594 0.02601595 -0.01354697
+v 0.06430116 0.02602922 -0.01354697
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 9
+f 1 9 5
+f 1 5 11
+f 1 11 23
+f 1 23 28
+f 1 28 29
+f 1 29 35
+f 1 35 34
+f 1 34 30
+f 1 30 24
+f 1 24 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 13
+f 3 13 25
+f 3 25 32
+f 3 32 33
+f 3 33 26
+f 3 26 18
+f 3 18 14
+f 3 14 8
+f 3 8 4
+f 5 9 10
+f 5 10 11
+f 6 12 13
+f 6 13 7
+f 8 14 15
+f 9 15 14
+f 9 14 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
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+f 10 19 20
+f 10 20 21
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+f 10 22 23
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+f 12 24 13
+f 13 24 30
+f 13 30 31
+f 13 31 25
+f 14 18 16
+f 16 18 17
+f 18 26 27
+f 18 27 22
+f 18 22 20
+f 18 20 19
+f 20 22 21
+f 22 28 23
+f 22 27 29
+f 22 29 28
+f 25 31 32
+f 26 33 27
+f 27 33 34
+f 27 34 35
+f 27 35 29
+f 30 34 33
+f 30 33 32
+f 30 32 31
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_28.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbc8dcbe2afe38d31c7a7827714c613d1f67a917
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_28.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.04371455 -0.06978839 0.01773159
+v -0.04371455 -0.06963157 0.01703833
+v -0.04371455 -0.06900438 0.01942396
+v -0.04458762 -0.06867806 0.01934978
+v -0.04640545 -0.06810171 0.01886421
+v -0.04654227 -0.06820764 0.01712963
+v -0.04654227 -0.06820764 0.01628345
+v -0.04371455 -0.06903827 0.01595308
+v -0.04371455 -0.06679643 0.01953693
+v -0.04778999 -0.06129989 0.01985762
+v -0.04532388 -0.06701680 0.01954093
+v -0.05804214 -0.05800704 0.01923171
+v -0.05717558 -0.05982510 0.01870562
+v -0.05748181 -0.06004546 0.01697161
+v -0.04447034 -0.06607174 0.01409127
+v -0.04506325 -0.06858058 0.01605864
+v -0.05748181 -0.06004546 0.01623555
+v -0.04421624 -0.06614378 0.01409127
+v -0.04371455 -0.06628363 0.01409127
+v -0.04371455 -0.06477496 0.01922369
+v -0.04506651 -0.05572706 0.01858696
+v -0.04598194 -0.05655768 0.01914612
+v -0.04778999 -0.05857068 0.01973153
+v -0.05063076 -0.06141007 0.01966762
+v -0.05869695 -0.05038307 0.01992043
+v -0.05869695 -0.05311228 0.01973612
+v -0.05614939 -0.05877834 0.01937663
+v -0.06823891 -0.04629775 0.01896414
+v -0.05885006 -0.05593472 0.01936979
+v -0.06687391 -0.04493314 0.01949878
+v -0.06861681 -0.04493314 0.01917811
+v -0.05985997 -0.05690095 0.01847739
+v -0.05867089 -0.05857068 0.01772421
+v -0.06013362 -0.05731202 0.01674338
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+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_29.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcd09bbb41e770574187c687d983b8354012d953
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_29.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.02468196 -0.06727318 0.00211689
+v -0.02621732 -0.06759493 0.00211689
+v -0.02468196 -0.06547284 -0.00753563
+v -0.02468196 -0.06104704 0.00211692
+v -0.02846454 -0.06718476 0.00211689
+v -0.02744362 -0.06545565 -0.00731165
+v -0.02597406 -0.06424478 -0.01355388
+v -0.02468196 -0.06431601 -0.01355388
+v -0.02468196 -0.05747830 -0.01355385
+v -0.02747353 -0.05423137 -0.01355384
+v -0.02938775 -0.05670715 0.00211693
+v -0.03974248 -0.06227262 0.00211691
+v -0.02809964 -0.06330411 -0.01355387
+v -0.03985813 -0.06222104 0.00211691
+v -0.04102860 -0.05999089 -0.00463156
+v -0.03831878 -0.04643334 -0.01355381
+v -0.04505244 -0.04250362 -0.01355380
+v -0.04210335 -0.04940770 0.00211696
+v -0.03926791 -0.05795232 -0.01355385
+v -0.04176238 -0.06134913 0.00211691
+v -0.04092092 -0.05707797 -0.01211334
+v -0.04126787 -0.06022423 -0.00315423
+v -0.04505244 -0.05111707 -0.01355383
+v -0.04505244 -0.04868562 0.00211696
+v -0.04350711 -0.04887965 0.00211696
+v -0.04342336 -0.04889438 0.00211696
+v -0.04062980 -0.05658429 -0.01355385
+v -0.04182020 -0.06123124 0.00211692
+v -0.04505244 -0.05111952 -0.01354309
+v -0.04164075 -0.06063932 -0.00055240
+v -0.04505244 -0.05433704 0.00211694
+v -0.04306844 -0.05864254 0.00211692
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 11
+f 1 11 18
+f 1 18 26
+f 1 26 25
+f 1 25 24
+f 1 24 31
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+f 1 32 28
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+f 20 29 23
+f 20 23 30
+f 20 30 22
+f 21 23 27
+f 22 30 23
+f 28 32 29
+f 29 32 31
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_3.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25f0527d632832aeebecb7e62f637e48a22887db
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_3.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.06303821 0.04413834 0.01086134
+v -0.06329422 0.04407219 0.01086134
+v -0.06414869 0.04607660 0.01411150
+v -0.06303821 0.04603922 0.01411150
+v -0.06303821 0.02812887 0.01086128
+v -0.06430710 0.04248476 0.01086134
+v -0.06588693 0.04493204 0.01377742
+v -0.06588693 0.04524263 0.01411150
+v -0.06303821 0.02905486 0.01411144
+v -0.06303821 0.02857460 0.01255079
+v -0.06332350 0.02055981 0.01086126
+v -0.06588693 0.04238697 0.01294856
+v -0.06588693 0.04416996 0.01335742
+v -0.06588693 0.04423898 0.01339337
+v -0.06588693 0.04476525 0.01368387
+v -0.06588693 0.03230162 0.01086130
+v -0.06588693 0.01807513 0.01411140
+v -0.06513619 0.01873080 0.01411140
+v -0.06303821 0.02902610 0.01403763
+v -0.06423877 0.01786233 0.01086125
+v -0.06588693 0.01670051 0.01086124
+v -0.06588693 0.01762650 0.01313110
+v -0.06537519 0.01850074 0.01411140
+v -0.06588693 0.01675515 0.01100156
+f 1 2 3
+f 1 3 4
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+f 1 19 10
+f 1 10 5
+f 1 5 11
+f 1 11 20
+f 1 20 21
+f 1 21 16
+f 1 16 6
+f 1 6 2
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+f 10 19 11
+f 11 18 20
+f 17 22 20
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+f 18 23 20
+f 20 22 24
+f 20 24 21
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_30.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13a5a47b05ea56b4741b0c978e37b50e19e54e11
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_30.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.06481616 0.02055712 0.01411173
+v -0.06506337 0.02055712 0.01470062
+v -0.06520091 0.01879675 0.01444708
+v -0.06513649 0.01872863 0.01411172
+v -0.06492584 0.02808093 0.01411175
+v -0.06577890 0.02055711 0.01600175
+v -0.06805781 0.00770587 0.01661911
+v -0.06732313 0.00687202 0.01411168
+v -0.07394746 0.02808093 0.01411175
+v -0.06499722 0.02808093 0.01422643
+v -0.06714207 0.02055711 0.01706795
+v -0.07075107 0.00789933 0.01910236
+v -0.06957766 0.00689108 0.01766981
+v -0.06840426 0.00588555 0.01603889
+v -0.06771136 0.00684476 0.01512705
+v -0.06803692 0.00531602 0.01430445
+v -0.06800385 0.00528332 0.01411167
+v -0.07488061 0.02808093 0.01472357
+v -0.07810660 0.01509888 0.01411171
+v -0.07826328 0.01509888 0.01420655
+v -0.08030890 0.01509887 0.01550707
+v -0.06646136 0.02808092 0.01534222
+v -0.06801429 0.02808092 0.01638176
+v -0.07083986 0.02221937 0.01902368
+v -0.07075107 0.00851791 0.01910236
+v -0.07218388 0.02319221 0.01954315
+v -0.07505471 0.00691560 0.02034336
+v -0.07231619 0.00695920 0.01949474
+v -0.07139696 0.00607901 0.01872050
+v -0.07315532 0.00024201 0.01678149
+v -0.07172774 0.00024201 0.01512268
+v -0.07139522 0.00024202 0.01411165
+v -0.07667727 0.02808092 0.01605012
+v -0.07892484 0.00146010 0.01411166
+v -0.08050911 0.00146009 0.01498446
+v -0.08221873 0.00146009 0.01602710
+v -0.08110452 0.01509887 0.01766178
+v -0.07980925 0.01782935 0.01584057
+v -0.06986492 0.02808092 0.01747833
+v -0.07307002 0.02808091 0.01934480
+v -0.07505471 0.02328486 0.02033040
+v -0.07505471 0.02055710 0.02034837
+v -0.07778278 0.00691559 0.02044440
+v -0.08050911 0.00024200 0.01976436
+v -0.07776014 0.00024200 0.01936020
+v -0.07522184 0.00024200 0.01812911
+v -0.07403799 0.00024201 0.01736108
+v -0.07887087 0.00024202 0.01411165
+v -0.07675388 0.02808092 0.01644871
+v -0.08036461 0.01782935 0.01766179
+v -0.07887610 0.00035102 0.01411165
+v -0.08050911 0.00024201 0.01500552
+v -0.08220654 0.00024201 0.01603763
+v -0.08260174 0.00146009 0.01766173
+v -0.08225529 0.00146008 0.01932983
+v -0.07970131 0.01782934 0.01938134
+v -0.07934964 0.01957064 0.01917430
+v -0.07360101 0.02808091 0.01943344
+v -0.07505471 0.02601534 0.01983079
+v -0.07512086 0.02808091 0.01943964
+v -0.07616369 0.02808091 0.01914892
+v -0.07653277 0.02783838 0.01908941
+v -0.07673124 0.02601534 0.01932744
+v -0.07710555 0.02328486 0.01965101
+v -0.07787679 0.02051078 0.01973159
+v -0.08224310 0.00024200 0.01932177
+v -0.07676954 0.02808092 0.01766554
+v -0.07657108 0.02808091 0.01871128
+v -0.08257737 0.00024201 0.01766172
+v -0.08243461 0.00024200 0.01839752
+v -0.07647706 0.02808091 0.01901626
+f 1 2 3
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+f 1 34 19
+f 1 19 9
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+f 18 21 33
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+f 23 39 24
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+f 41 43 42
+f 43 55 44
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+f 48 52 51
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+f 62 64 63
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_31.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8477a4582ad4ffe88ab409dab1599b541725300
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_31.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.05130072 0.04488450 0.01408360
+v 0.05130072 0.05676535 0.01408365
+v 0.05130072 0.05526326 0.01872015
+v 0.04765044 0.05512441 0.01881101
+v 0.04492428 0.05350245 0.01737592
+v 0.04306146 0.05396947 0.01689511
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+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_32.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..439b49a88fff45b5d66e20fce0c10e7ab74b0889
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_32.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.04522093 -0.06544042 0.01407904
+v 0.04463058 -0.06634238 0.01407904
+v 0.04356973 -0.06267282 0.00852633
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+v 0.03217109 -0.07311099 0.01407901
+v 0.04522093 -0.05590421 0.00839332
+v 0.04492354 -0.05127875 0.01407909
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+v 0.04492354 -0.00073775 0.01399356
+v 0.04219816 -0.00073775 0.01400636
+v 0.03946835 -0.00073775 0.01401582
+v 0.03674297 -0.00073775 0.01402362
+v 0.03455024 -0.00073775 0.01402974
+v 0.03182043 -0.00073775 0.01403586
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+v 0.02310722 -0.00073775 0.01405312
+v 0.01766091 -0.00073775 0.01406369
+v 0.01546374 -0.00073775 0.01406703
+v 0.01273836 -0.00073775 0.01407093
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+v 0.00948034 -0.00073775 0.01407427
+v 0.00675053 -0.00127739 0.01407594
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+v 0.02866450 -0.06946455 0.00839327
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+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_33.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eefb869a410ba25958b2113ad642cfc1615fb8a8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_33.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.05835275 -0.02377669 -0.01354820
+v 0.06138738 -0.02377675 0.00211706
+v 0.06436866 -0.02377669 -0.01354820
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+v 0.06433436 -0.02583064 -0.01354820
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+v 0.06135054 -0.04168881 0.00211700
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+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_34.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..443517e0dfc8171c50bde1397810caf213af62fb
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_34.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.03745148 -0.03623721 0.01095276
+v -0.02869716 -0.04486657 0.00890346
+v -0.03745148 -0.04486658 0.00999210
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+v -0.03136073 -0.04486659 0.01407562
+v -0.02045437 -0.04486659 0.01406615
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+f 1 14 28
+f 1 28 40
+f 1 40 30
+f 1 30 19
+f 1 19 7
+f 1 7 5
+f 1 5 2
+f 2 6 18
+f 2 18 29
+f 2 29 38
+f 2 38 44
+f 2 44 43
+f 2 43 42
+f 2 42 34
+f 2 34 24
+f 2 24 12
+f 2 12 3
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 6
+f 4 13 14
+f 6 11 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 8 21 22
+f 8 22 11
+f 8 11 10
+f 8 10 9
+f 11 22 31
+f 11 31 30
+f 11 30 40
+f 11 40 39
+f 11 39 41
+f 11 41 29
+f 11 29 18
+f 11 18 17
+f 11 17 16
+f 11 16 15
+f 12 24 23
+f 13 25 26
+f 13 26 27
+f 13 27 14
+f 14 27 28
+f 19 30 21
+f 19 21 20
+f 21 30 31
+f 21 31 22
+f 23 24 33
+f 23 33 32
+f 24 34 33
+f 25 32 26
+f 26 33 35
+f 26 35 36
+f 26 36 27
+f 26 32 33
+f 27 36 28
+f 28 36 37
+f 28 37 38
+f 28 38 39
+f 28 39 40
+f 29 41 38
+f 33 34 35
+f 34 42 35
+f 35 42 43
+f 35 43 37
+f 35 37 36
+f 37 43 44
+f 37 44 38
+f 38 41 39
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_35.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4bac3e2f9d125adb056354b4d336cc2dd9e75ce
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_35.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.04371455 -0.04486996 0.00901446
+v -0.04371455 -0.04486998 0.01274998
+v -0.04346281 -0.04486996 0.00762727
+v -0.04371455 -0.04487674 0.00762727
+v -0.04371455 -0.05141957 0.01410354
+v -0.04240891 -0.04486998 0.01335925
+v -0.04067659 -0.04486996 0.00762727
+v -0.04371455 -0.05984482 0.00762721
+v -0.03142620 -0.04486998 0.01407567
+v -0.03415268 -0.04486998 0.01406616
+v -0.03687915 -0.04486998 0.01402305
+v -0.03961843 -0.04486998 0.01389435
+v -0.03977204 -0.04486998 0.01388484
+v -0.04225104 -0.04486998 0.01340427
+v -0.04236624 -0.04486998 0.01337764
+v -0.04371455 -0.06629606 0.01410349
+v -0.04342440 -0.05148062 0.01410354
+v -0.01506734 -0.05038846 0.01409973
+v -0.02869546 -0.04803452 0.00762725
+v -0.00012506 -0.04486996 0.00947094
+v -0.04357374 -0.06099803 0.00762721
+v -0.04371455 -0.06069955 0.00792709
+v -0.03136220 -0.04486998 0.01407567
+v -0.04371455 -0.06225639 0.00881404
+v -0.04365908 -0.06242938 0.00863779
+v -0.04205050 -0.06326037 0.00762720
+v -0.03164381 -0.07283887 0.01410346
+v -0.04331774 -0.05150437 0.01410354
+v -0.00491666 -0.06779864 0.01410348
+v -0.00012506 -0.06997279 0.01410347
+v -0.00012506 -0.04486998 0.01403700
+v -0.01506734 -0.04486998 0.01406109
+v -0.01772982 -0.04486998 0.01406362
+v -0.02046056 -0.04486998 0.01406616
+v -0.02799997 -0.04824142 0.00762725
+v -0.00012506 -0.06007546 0.00762721
+v -0.02325104 -0.04978130 0.00762725
+v -0.02420680 -0.04946587 0.00762725
+v -0.02603298 -0.04887569 0.00762725
+v -0.04345854 -0.06173745 0.00762720
+v -0.04371455 -0.06137791 0.00827578
+v -0.02888320 -0.06913499 0.00762718
+v -0.02869546 -0.07398870 0.01410346
+v -0.00012506 -0.07951396 0.01410344
+v -0.00012506 -0.07508423 0.00762715
+v -0.01586523 -0.07381230 0.00762716
+v -0.01506734 -0.07797069 0.01410344
+v -0.00057734 -0.07951396 0.01410344
+v -0.00099548 -0.07507067 0.00762715
+v -0.01498627 -0.07401581 0.00762716
+v -0.00144776 -0.07506049 0.00762715
+f 1 2 6
+f 1 6 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 23
+f 1 23 34
+f 1 34 33
+f 1 33 32
+f 1 32 31
+f 1 31 20
+f 1 20 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 22
+f 1 22 41
+f 1 41 24
+f 1 24 16
+f 1 16 5
+f 1 5 2
+f 2 5 6
+f 3 7 19
+f 3 19 35
+f 3 35 39
+f 3 39 38
+f 3 38 37
+f 3 37 36
+f 3 36 45
+f 3 45 49
+f 3 49 51
+f 3 51 50
+f 3 50 46
+f 3 46 42
+f 3 42 26
+f 3 26 40
+f 3 40 21
+f 3 21 8
+f 3 8 4
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 5 16 27
+f 5 27 43
+f 5 43 47
+f 5 47 48
+f 5 48 44
+f 5 44 30
+f 5 30 29
+f 5 29 28
+f 5 28 17
+f 5 17 18
+f 5 18 9
+f 7 20 19
+f 8 21 22
+f 9 18 23
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 17 28 18
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 23
+f 18 28 29
+f 19 20 35
+f 20 31 30
+f 20 30 44
+f 20 44 45
+f 20 45 36
+f 20 36 37
+f 20 37 38
+f 20 38 39
+f 20 39 35
+f 21 40 22
+f 22 40 41
+f 24 41 25
+f 25 40 26
+f 25 41 40
+f 26 42 27
+f 27 42 43
+f 42 46 43
+f 43 46 47
+f 44 48 45
+f 45 48 49
+f 46 50 47
+f 47 50 48
+f 48 50 51
+f 48 51 49
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_36.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bd9fe335f22de6f92cd8b86c8b2493c42dbc577
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_36.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.03745148 -0.04486659 0.01399578
+v -0.03745148 -0.04219989 0.01406150
+v -0.03960701 -0.04219989 0.01402259
+v -0.03961866 -0.04486659 0.01389460
+v -0.03745148 -0.04486658 0.00999096
+v -0.03745148 -0.03947239 0.01408833
+v -0.03960701 -0.03947239 0.01407104
+v -0.04233331 -0.03674403 0.01406327
+v -0.04233331 -0.03947239 0.01401396
+v -0.04233209 -0.04218131 0.01388510
+v -0.03977561 -0.04486659 0.01388509
+v -0.04098212 -0.04486656 0.00650500
+v -0.03745148 -0.03623721 0.01095176
+v -0.03745148 -0.03674403 0.01409699
+v -0.03960701 -0.03674403 0.01409267
+v -0.04371455 -0.03674403 0.01402608
+v -0.04233331 -0.03623722 0.01406672
+v -0.04371455 -0.03945127 0.01394132
+v -0.04371455 -0.04148359 0.01383321
+v -0.04142230 -0.04404470 0.01382369
+v -0.04225300 -0.04486659 0.01340427
+v -0.04222418 -0.04486656 0.00548455
+v -0.03745148 -0.03623722 0.01409786
+v -0.04315543 -0.04319322 0.00575091
+v -0.04371455 -0.04293390 0.00570335
+v -0.04371455 -0.03623721 0.01060066
+v -0.03745148 -0.03634365 0.01409786
+v -0.03960701 -0.03623722 0.01409353
+v -0.04371455 -0.03623722 0.01402954
+v -0.04371455 -0.04284524 0.01360317
+v -0.04324003 -0.04307837 0.01368532
+v -0.04237009 -0.04486659 0.01337746
+v -0.04228304 -0.04486656 0.00546812
+v -0.04371455 -0.04356320 0.00552779
+v -0.04371455 -0.04486659 0.01275049
+v -0.04240995 -0.04486659 0.01335930
+v -0.04371455 -0.04486656 0.00526403
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 21
+f 1 21 32
+f 1 32 36
+f 1 36 35
+f 1 35 37
+f 1 37 33
+f 1 33 22
+f 1 22 12
+f 1 12 5
+f 1 5 13
+f 1 13 23
+f 1 23 27
+f 1 27 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 5 12 13
+f 6 14 15
+f 6 15 7
+f 7 15 8
+f 8 16 9
+f 8 15 17
+f 8 17 29
+f 8 29 16
+f 9 16 18
+f 9 18 10
+f 10 19 20
+f 10 20 11
+f 10 18 19
+f 11 20 21
+f 12 22 13
+f 13 22 24
+f 13 24 25
+f 13 25 26
+f 13 26 29
+f 13 29 17
+f 13 17 28
+f 13 28 23
+f 14 27 15
+f 15 27 28
+f 15 28 17
+f 16 29 26
+f 16 26 25
+f 16 25 34
+f 16 34 37
+f 16 37 35
+f 16 35 30
+f 16 30 19
+f 16 19 18
+f 19 30 31
+f 19 31 20
+f 20 31 21
+f 21 31 32
+f 22 33 24
+f 23 28 27
+f 24 33 25
+f 25 33 34
+f 30 32 31
+f 30 35 36
+f 30 36 32
+f 33 37 34
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_37.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91ac98b3e7fd3d0d5d35dee85fa752f76dddb1f8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_37.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.05782109 0.02425647 -0.01354698
+v 0.06436188 0.02425647 -0.01354698
+v 0.05813908 0.02037020 -0.01354700
+v 0.06113781 0.02045628 0.00211876
+v 0.06113227 0.02055740 0.00211876
+v 0.06127052 0.02425641 0.00211877
+v 0.06841548 0.01454517 -0.01354702
+v 0.06453055 0.02425647 -0.01263457
+v 0.07116535 0.01678848 0.00211874
+v 0.07115568 0.01678099 0.00204973
+v 0.07092617 0.01656752 0.00037980
+v 0.05846259 0.01758502 -0.01354701
+v 0.06150279 0.01783090 0.00211875
+v 0.06708825 0.02425641 0.00211877
+v 0.06841963 0.01453518 -0.01354702
+v 0.06453193 0.02425647 -0.01262691
+v 0.07194372 0.01510189 0.00211874
+v 0.05847365 0.01756255 -0.01354701
+v 0.06229360 0.01605068 0.00211874
+v 0.06153182 0.01773602 0.00211875
+v 0.06848184 0.01216821 -0.01354703
+v 0.07102157 0.01432166 -0.00261350
+v 0.07166445 0.01243656 0.00211873
+v 0.07102157 0.01322931 -0.00261350
+v 0.06194382 0.01150281 -0.01354703
+v 0.06598360 0.01150275 0.00211872
+v 0.06832977 0.01150281 -0.01354703
+v 0.07162850 0.01213444 0.00211872
+v 0.07128010 0.01268001 -0.00055101
+v 0.07130914 0.01150275 0.00211872
+v 0.07114738 0.01150276 0.00123085
+v 0.07130775 0.01150275 0.00210798
+f 1 2 7
+f 1 7 15
+f 1 15 21
+f 1 21 27
+f 1 27 25
+f 1 25 18
+f 1 18 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 16
+f 1 16 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 7
+f 3 12 4
+f 4 13 20
+f 4 20 19
+f 4 19 26
+f 4 26 30
+f 4 30 28
+f 4 28 23
+f 4 23 17
+f 4 17 9
+f 4 9 14
+f 4 14 6
+f 4 6 5
+f 4 12 13
+f 7 11 15
+f 8 16 9
+f 9 17 10
+f 9 16 14
+f 10 17 11
+f 11 17 15
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 15 17 22
+f 15 22 21
+f 17 23 24
+f 17 24 22
+f 18 25 19
+f 19 25 26
+f 21 22 24
+f 21 24 27
+f 23 28 29
+f 23 29 24
+f 24 29 27
+f 25 27 31
+f 25 31 32
+f 25 32 30
+f 25 30 26
+f 27 29 28
+f 27 28 31
+f 28 30 32
+f 28 32 31
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_38.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29c3d8df16a18ba7ef42ca25f0acc10d5c6896c6
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_38.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.07536767 0.00151667 0.00838553
+v 0.07536339 0.00005060 0.00838552
+v 0.07379315 -0.00055181 0.00249901
+v 0.07379315 0.00071423 0.00249901
+v 0.07383171 0.01479831 0.00838557
+v 0.07535267 -0.00073538 0.00838552
+v 0.07385527 -0.00073536 0.00297442
+v 0.07367104 -0.00073536 0.00234442
+v 0.07349324 -0.00073536 0.00211868
+v 0.07347396 0.00117311 0.00211868
+v 0.07194229 0.01509955 0.00211874
+v 0.07372888 0.01460535 0.00795801
+v 0.07351252 0.01627850 0.00838558
+v 0.05667909 -0.00073538 0.00838552
+v 0.06709020 -0.00073536 0.00211868
+v 0.07116467 0.01678681 0.00211874
+v 0.06690597 0.02330292 0.00211877
+v 0.06691025 0.02330292 0.00213410
+v 0.06863687 0.02330290 0.00838561
+v 0.05632563 0.00076834 0.00838552
+v 0.05920903 -0.00073537 0.00529136
+v 0.06452598 0.00462531 0.00211870
+v 0.06134481 0.02330292 0.00211877
+v 0.05348507 0.02330290 0.00838561
+v 0.05619281 0.00145784 0.00838553
+v 0.06375907 0.00691736 0.00211871
+v 0.06379121 0.00681852 0.00211871
+v 0.06113702 0.02045550 0.00211876
+v 0.06150333 0.01782930 0.00211875
+v 0.05683762 0.02330291 0.00561166
+v 0.06113273 0.02055669 0.00211876
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 19
+f 1 19 24
+f 1 24 25
+f 1 25 20
+f 1 20 14
+f 1 14 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 11
+f 5 11 13
+f 6 14 21
+f 6 21 15
+f 6 15 9
+f 6 9 8
+f 6 8 7
+f 9 15 22
+f 9 22 27
+f 9 27 26
+f 9 26 29
+f 9 29 28
+f 9 28 31
+f 9 31 23
+f 9 23 17
+f 9 17 16
+f 9 16 11
+f 9 11 10
+f 11 16 13
+f 13 16 17
+f 13 17 18
+f 13 18 19
+f 14 20 21
+f 15 21 22
+f 17 23 30
+f 17 30 24
+f 17 24 19
+f 17 19 18
+f 20 25 21
+f 21 26 27
+f 21 27 22
+f 21 25 24
+f 21 24 28
+f 21 28 29
+f 21 29 26
+f 23 31 30
+f 24 30 31
+f 24 31 28
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_39.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53b1cca3c51486caa4d3add915ca1f062274d760
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_39.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.05379716 0.04643493 0.00211758
+v -0.04806495 0.04643493 0.00211758
+v -0.05378855 0.04643493 0.00205050
+v -0.06103128 0.04196817 0.00211756
+v -0.04882021 0.04296778 0.00211757
+v -0.04538390 0.04643498 -0.01081064
+v -0.05342491 0.04643494 -0.00055059
+v -0.06101406 0.04196227 0.00205048
+v -0.06052777 0.04153332 -0.00055187
+v -0.06556067 0.02747390 -0.00725652
+v -0.06574572 0.02781037 -0.00575410
+v -0.06707118 0.02874895 0.00211752
+v -0.05320113 0.04643495 -0.00188467
+v -0.05243512 0.04643496 -0.00581731
+v -0.05137646 0.04643498 -0.01081064
+v -0.04715477 0.04238735 -0.01081065
+v -0.04939688 0.04165137 0.00211756
+v -0.05750889 0.04116932 -0.01022589
+v -0.05739055 0.04108275 -0.01081066
+v -0.06020071 0.04119487 -0.00235934
+v -0.06383068 0.02832004 -0.01081071
+v -0.06475377 0.02633460 -0.01081071
+v -0.06535410 0.02633459 -0.00849188
+v -0.06559079 0.02633459 -0.00747423
+v -0.06585976 0.02633458 -0.00608066
+v -0.06631377 0.02633457 -0.00361374
+v -0.06736597 0.02633455 0.00211751
+v -0.05818454 0.03984701 -0.01081066
+v -0.04841354 0.03965221 -0.01081066
+v -0.04847593 0.04022874 -0.00835513
+v -0.05669124 0.02940224 0.00211752
+v -0.05794785 0.04022875 -0.01081066
+v -0.05849869 0.02633460 -0.01081071
+v -0.06123139 0.02633455 0.00211751
+v -0.05575093 0.02891823 -0.01081070
+v -0.05881500 0.02633459 -0.00900197
+v -0.05850084 0.02633460 -0.01076767
+v -0.05732169 0.02737356 -0.00959814
+v -0.05836743 0.02644479 -0.01081071
+v -0.05729157 0.02735191 -0.01081071
+f 1 2 6
+f 1 6 15
+f 1 15 14
+f 1 14 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 12
+f 1 12 27
+f 1 27 34
+f 1 34 31
+f 1 31 17
+f 1 17 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 7 13
+f 4 13 14
+f 4 14 15
+f 4 15 8
+f 5 16 6
+f 5 17 16
+f 6 16 29
+f 6 29 35
+f 6 35 40
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+f 6 39 33
+f 6 33 22
+f 6 22 21
+f 6 21 28
+f 6 28 32
+f 6 32 19
+f 6 19 15
+f 8 15 18
+f 8 18 19
+f 8 19 9
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+f 9 20 10
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 12
+f 10 12 11
+f 10 20 28
+f 10 28 21
+f 15 19 18
+f 16 17 30
+f 16 30 29
+f 17 31 30
+f 19 32 20
+f 20 32 28
+f 22 33 37
+f 22 37 36
+f 22 36 34
+f 22 34 27
+f 22 27 26
+f 22 26 25
+f 22 25 24
+f 22 24 23
+f 29 30 31
+f 29 31 35
+f 31 34 36
+f 31 36 37
+f 31 37 38
+f 31 38 35
+f 33 39 38
+f 33 38 37
+f 35 38 40
+f 38 39 40
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_4.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ac5f34ddc6cab8bb275f517ac2e8e29e3956f53
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_4.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.00003496 -0.07377439 0.00211687
+v 0.00003496 -0.06666549 0.00211690
+v -0.00050942 -0.07377439 0.00211687
+v 0.00003496 -0.07361647 0.00098778
+v 0.00003496 -0.06288689 -0.01355387
+v -0.00400549 -0.06122809 -0.01355386
+v -0.00477971 -0.06475628 0.00211690
+v -0.00058684 -0.07377279 0.00211687
+v -0.00056264 -0.07376482 0.00204937
+v -0.00007634 -0.07358138 0.00074079
+v -0.00006182 -0.07358138 0.00074079
+v 0.00003496 -0.07087623 -0.00977543
+v 0.00003496 -0.06958268 -0.01355390
+v -0.01721801 -0.05822471 -0.01355385
+v -0.01779142 -0.06153598 0.00211691
+v -0.01506230 -0.07211719 0.00211688
+v -0.00016344 -0.07087783 -0.00977236
+v -0.01372193 -0.07086030 -0.00449200
+v -0.00143122 -0.06954918 -0.01355390
+v -0.02468196 -0.05747985 -0.01355385
+v -0.02051812 -0.06115159 0.00211692
+v -0.02468196 -0.06727478 0.00211689
+v -0.02468196 -0.06547399 -0.00753563
+v -0.02468196 -0.06431759 -0.01355388
+v -0.01408727 -0.06834017 -0.01355389
+v -0.02468196 -0.06104791 0.00211692
+f 1 2 7
+f 1 7 15
+f 1 15 21
+f 1 21 26
+f 1 26 22
+f 1 22 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 12
+f 1 12 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 19
+f 5 19 25
+f 5 25 24
+f 5 24 20
+f 5 20 14
+f 5 14 6
+f 6 14 15
+f 6 15 7
+f 8 16 9
+f 9 16 10
+f 10 17 11
+f 10 16 18
+f 10 18 17
+f 11 17 12
+f 12 17 13
+f 13 17 19
+f 14 20 21
+f 14 21 15
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 18
+f 17 18 25
+f 17 25 19
+f 20 24 23
+f 20 23 22
+f 20 22 26
+f 20 26 21
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_40.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d5a2568bc1d0fac27c9c38087a12e30a114b54c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_40.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.02356539 -0.05508894 0.00839278
+v 0.02356539 -0.06870516 0.00839273
+v 0.02356539 -0.05515055 0.00816185
+v -0.00012506 -0.06008149 0.00725410
+v -0.00012506 -0.06004770 0.00839276
+v 0.01606821 -0.07346517 0.00839271
+v 0.02356539 -0.06708137 0.00211843
+v 0.02356539 -0.05539501 0.00725412
+v -0.00012506 -0.06068368 0.00627819
+v 0.02356539 -0.05624167 0.00538766
+v -0.00012506 -0.07536321 0.00839270
+v 0.01581080 -0.07357050 0.00839271
+v 0.01510584 -0.07167046 0.00211842
+v 0.02356539 -0.06157207 0.00211845
+v -0.00012506 -0.06134949 0.00521752
+v 0.02038378 -0.06120837 0.00211846
+v 0.02028407 -0.06122029 0.00211846
+v -0.00012506 -0.07377321 0.00211841
+v 0.00135212 -0.07539104 0.00839270
+v 0.01463509 -0.07398788 0.00839271
+v 0.01358229 -0.07358441 0.00593605
+v 0.00047091 -0.07377321 0.00211841
+v 0.00675065 -0.06411008 0.00211844
+v 0.00665325 -0.06413592 0.00211844
+v 0.00466822 -0.06476595 0.00211844
+v -0.00012506 -0.06666598 0.00211844
+f 1 2 7
+f 1 7 14
+f 1 14 10
+f 1 10 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 19
+f 1 19 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 9 15
+f 4 15 26
+f 4 26 18
+f 4 18 11
+f 4 11 5
+f 4 8 10
+f 4 10 9
+f 6 12 13
+f 6 13 7
+f 7 13 22
+f 7 22 18
+f 7 18 26
+f 7 26 25
+f 7 25 24
+f 7 24 23
+f 7 23 17
+f 7 17 16
+f 7 16 14
+f 9 10 15
+f 10 14 16
+f 10 16 17
+f 10 17 15
+f 11 18 19
+f 12 20 21
+f 12 21 13
+f 13 21 22
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 17 23
+f 18 22 19
+f 19 22 21
+f 19 21 20
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_41.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2782cfa5c888eae60fdf1d9b3879c0518e4b232
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_41.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.04545232 0.03530602 0.00838565
+v 0.04489704 0.03515783 0.00838565
+v 0.04545232 0.03951278 0.00566448
+v 0.04545232 0.05574361 0.00838572
+v 0.04545232 0.04012577 0.00530991
+v 0.02299056 0.05115627 0.00838571
+v 0.02239240 0.05608043 0.00524311
+v 0.02239240 0.06137845 0.00211891
+v 0.04545232 0.05563919 0.00747968
+v 0.04352464 0.06225413 0.00838575
+v 0.04201003 0.04884914 0.00211886
+v 0.04207098 0.04881210 0.00211886
+v 0.04210484 0.04879189 0.00211886
+v 0.04545232 0.04799702 0.00211886
+v 0.02239240 0.05184673 0.00838571
+v 0.02239240 0.06704021 0.00211893
+v 0.04545232 0.05400232 0.00211888
+v 0.04340500 0.06253031 0.00838575
+v 0.02239240 0.06838406 0.00838577
+v 0.02239240 0.06720524 0.00272132
+v 0.02575568 0.06932712 0.00838577
+v 0.02583468 0.06753869 0.00211893
+v 0.04307319 0.05882880 0.00211890
+v 0.04190169 0.06119994 0.00211890
+v 0.04117712 0.06302543 0.00528730
+v 0.04204841 0.06345654 0.00838575
+v 0.02239240 0.06814492 0.00715216
+v 0.02239240 0.06721872 0.00277162
+v 0.02866977 0.06956289 0.00838578
+v 0.02649154 0.06850195 0.00529100
+v 0.02239240 0.06764309 0.00465180
+v 0.02857045 0.06720188 0.00211893
+v 0.02798583 0.06850195 0.00529100
+v 0.04180688 0.06124709 0.00211890
+v 0.02980290 0.06825271 0.00604736
+v 0.02973293 0.06911493 0.00838577
+f 1 2 3
+f 1 3 5
+f 1 5 14
+f 1 14 17
+f 1 17 9
+f 1 9 4
+f 1 4 10
+f 1 10 18
+f 1 18 26
+f 1 26 36
+f 1 36 29
+f 1 29 21
+f 1 21 19
+f 1 19 15
+f 1 15 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 8 11
+f 6 15 7
+f 7 15 19
+f 7 19 27
+f 7 27 31
+f 7 31 28
+f 7 28 20
+f 7 20 16
+f 7 16 8
+f 8 16 22
+f 8 22 32
+f 8 32 34
+f 8 34 24
+f 8 24 23
+f 8 23 17
+f 8 17 14
+f 8 14 13
+f 8 13 12
+f 8 12 11
+f 9 17 10
+f 10 17 18
+f 16 20 21
+f 16 21 22
+f 17 23 18
+f 18 23 24
+f 18 24 25
+f 18 25 26
+f 19 21 27
+f 20 28 21
+f 21 29 30
+f 21 30 22
+f 21 28 31
+f 21 31 27
+f 22 30 29
+f 22 29 33
+f 22 33 32
+f 24 34 25
+f 25 32 35
+f 25 35 36
+f 25 36 26
+f 25 34 32
+f 29 36 35
+f 29 35 32
+f 29 32 33
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_42.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae6743d67a8359fc9fde523cdeb491f2c4b4a663
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_42.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.02336453 0.05216413 0.00827256
+v -0.04561778 0.03913528 0.00827251
+v -0.04561996 0.03913232 0.00826950
+v -0.04335193 0.04077985 0.00575105
+v -0.02336453 0.05279049 0.00745938
+v -0.02336453 0.06874629 0.00827262
+v -0.04561996 0.03914122 0.00827251
+v -0.04561996 0.03925996 0.00783761
+v -0.04561996 0.03939948 0.00737078
+v -0.04561996 0.04006147 0.00543541
+v -0.04129306 0.04931140 0.00211886
+v -0.02336453 0.05425398 0.00562159
+v -0.02336453 0.06701270 0.00211893
+v -0.02386345 0.06890066 0.00827262
+v -0.04561996 0.05539982 0.00827257
+v -0.04561996 0.04846537 0.00211886
+v -0.04265039 0.04890471 0.00211886
+v -0.02336453 0.06155655 0.00211891
+v -0.02596808 0.06751141 0.00211893
+v -0.02595936 0.06939344 0.00827262
+v -0.04561996 0.05534045 0.00799368
+v -0.04349355 0.06223633 0.00827260
+v -0.04561996 0.05399573 0.00211888
+v -0.02605087 0.06750547 0.00211893
+v -0.02874810 0.06943796 0.00827263
+v -0.02694631 0.06945577 0.00827263
+v -0.04561996 0.05528998 0.00776779
+v -0.04300769 0.06274988 0.00827260
+v -0.04195538 0.06114987 0.00211890
+v -0.04561996 0.05517421 0.00725458
+v -0.02870235 0.06702754 0.00211893
+v -0.02795941 0.06848211 0.00535901
+v -0.04210789 0.06341483 0.00827260
+v -0.04128870 0.06301409 0.00534755
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 18
+f 1 18 13
+f 1 13 6
+f 1 6 14
+f 1 14 20
+f 1 20 26
+f 1 26 25
+f 1 25 33
+f 1 33 28
+f 1 28 22
+f 1 22 15
+f 1 15 7
+f 1 7 2
+f 2 7 3
+f 3 7 15
+f 3 15 21
+f 3 21 27
+f 3 27 30
+f 3 30 23
+f 3 23 16
+f 3 16 10
+f 3 10 9
+f 3 9 8
+f 3 8 4
+f 4 8 9
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+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 6 13 14
+f 10 16 17
+f 10 17 11
+f 11 17 16
+f 11 16 23
+f 11 23 29
+f 11 29 31
+f 11 31 24
+f 11 24 19
+f 11 19 13
+f 11 13 18
+f 11 18 12
+f 13 19 20
+f 13 20 14
+f 15 22 21
+f 19 24 25
+f 19 25 26
+f 19 26 20
+f 21 22 27
+f 22 28 29
+f 22 29 23
+f 22 23 30
+f 22 30 27
+f 24 31 32
+f 24 32 25
+f 25 32 31
+f 25 31 34
+f 25 34 33
+f 28 33 34
+f 28 34 29
+f 29 34 31
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_43.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc6580fd753251f27f1de7babf50adddd59c8b7a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_43.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.06305323 -0.01675325 0.00211862
+v -0.06198525 -0.01794664 0.00211861
+v -0.06305323 -0.02649140 0.00211858
+v -0.06305323 0.00023943 0.00473445
+v -0.06293340 0.00023943 0.00472398
+v -0.06142078 0.00023943 0.00459598
+v -0.06121580 -0.02027060 0.00211861
+v -0.05892007 0.00023943 0.00530345
+v -0.06119688 -0.02649140 0.00211858
+v -0.06305323 -0.02649142 0.00808901
+v -0.06305323 0.00023941 0.01056409
+v -0.06118742 -0.02037005 0.00211861
+v -0.05816429 0.00023943 0.00575958
+v -0.05442741 -0.02084637 0.00577463
+v -0.05393862 -0.02649141 0.00548487
+v -0.05915973 -0.02649143 0.01027076
+v -0.06305323 -0.02317036 0.00995543
+v -0.06248245 0.00023941 0.01099811
+v -0.06305323 -0.00497643 0.01077817
+v -0.05231562 0.00023942 0.00949706
+v -0.05300729 -0.02649142 0.00722794
+v -0.05612818 -0.02649143 0.01195216
+v -0.05308718 -0.02649144 0.01336244
+v -0.06305323 -0.02277256 0.01009973
+v -0.06111910 0.00023941 0.01161947
+v -0.06250138 -0.00127326 0.01100858
+v -0.06305323 -0.02036747 0.01086422
+v -0.05231562 0.00023940 0.01400601
+v -0.05231562 -0.02649142 0.00892215
+v -0.05239131 -0.02649142 0.00854398
+v -0.05233875 -0.02649144 0.01360563
+v -0.05978307 0.00023941 0.01215589
+v -0.06113802 -0.00127326 0.01162296
+v -0.05356546 -0.02309971 0.01353933
+v -0.05390393 -0.02037009 0.01365454
+v -0.05425922 -0.01764048 0.01371273
+v -0.05447366 -0.01572740 0.01374065
+v -0.05463028 -0.01390853 0.01376743
+v -0.05469230 -0.01218649 0.01378605
+v -0.05614395 -0.00945688 0.01336833
+v -0.05619546 -0.00672988 0.01340325
+v -0.05869407 -0.00127327 0.01259340
+v -0.05324170 0.00023940 0.01397460
+v -0.05231562 -0.00127327 0.01400252
+v -0.05231562 -0.02649144 0.01355560
+v -0.05231562 -0.02648620 0.01360913
+v -0.05231562 -0.02471706 0.01373830
+v -0.05869407 0.00023940 0.01258759
+v -0.05231562 -0.02291651 0.01380230
+v -0.05343511 -0.01485591 0.01385237
+v -0.05231562 -0.02218634 0.01381976
+v -0.05289587 -0.01764048 0.01385585
+v -0.05324170 -0.01218649 0.01390241
+v -0.05478060 -0.00945688 0.01381166
+v -0.05483210 -0.00672988 0.01382447
+v -0.05621648 -0.00400027 0.01341606
+v -0.05623856 -0.00127327 0.01342770
+v -0.05733702 0.00023940 0.01305535
+v -0.05396910 0.00023940 0.01391409
+v -0.05324170 -0.00127327 0.01397111
+v -0.05231562 -0.00672988 0.01398505
+v -0.05231562 -0.02037009 0.01385002
+v -0.05231562 -0.01764048 0.01389192
+v -0.05324170 -0.00945688 0.01393268
+v -0.05324170 -0.00672988 0.01395130
+v -0.05324170 -0.00400027 0.01396179
+v -0.05485313 -0.00400027 0.01383030
+v -0.05487520 -0.00127327 0.01383496
+v -0.05487940 0.00023940 0.01383729
+v -0.05624276 0.00023940 0.01342654
+v -0.05231562 -0.00945688 0.01396991
+v -0.05231562 -0.01218649 0.01394663
+f 1 2 7
+f 1 7 12
+f 1 12 9
+f 1 9 3
+f 1 3 10
+f 1 10 17
+f 1 17 24
+f 1 24 27
+f 1 27 19
+f 1 19 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 15
+f 3 15 21
+f 3 21 30
+f 3 30 29
+f 3 29 45
+f 3 45 31
+f 3 31 23
+f 3 23 22
+f 3 22 16
+f 3 16 10
+f 4 11 18
+f 4 18 25
+f 4 25 32
+f 4 32 48
+f 4 48 58
+f 4 58 70
+f 4 70 69
+f 4 69 59
+f 4 59 43
+f 4 43 28
+f 4 28 20
+f 4 20 13
+f 4 13 8
+f 4 8 6
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+f 10 16 17
+f 11 19 18
+f 13 20 14
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+f 18 19 26
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+f 20 28 44
+f 20 44 61
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+f 23 31 27
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+f 27 35 36
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+f 27 40 41
+f 27 41 42
+f 27 42 33
+f 28 43 60
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+f 31 45 46
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+f 35 47 36
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+f 40 54 41
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+f 41 55 56
+f 41 56 42
+f 42 56 57
+f 42 57 58
+f 42 58 48
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+f 50 52 53
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+f 53 64 54
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+f 59 67 60
+f 60 66 61
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+f 61 65 71
+f 63 72 64
+f 64 72 71
+f 64 71 65
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_44.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da435bbb42177d1b57d69954d4329d2cf9e29952
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_44.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.04371455 -0.02649144 0.01408841
+v -0.04404286 -0.02649144 0.01408674
+v -0.04371455 -0.02649143 0.01095251
+v -0.04371455 -0.02582670 0.01409065
+v -0.04506146 -0.02649144 0.01408062
+v -0.05231374 -0.02649142 0.00892333
+v -0.04371455 -0.00356320 0.00842406
+v -0.04371455 -0.02448152 0.01409288
+v -0.04506146 -0.02037009 0.01409234
+v -0.04506146 -0.02309971 0.01408732
+v -0.04506146 -0.02582670 0.01408230
+v -0.04778811 -0.02037009 0.01406395
+v -0.04778811 -0.02309971 0.01405336
+v -0.04778811 -0.02582670 0.01403832
+v -0.04778811 -0.02649144 0.01403386
+v -0.04778811 -0.01218649 0.01408736
+v -0.05231374 -0.02649144 0.01355621
+v -0.05231374 0.00023942 0.00949739
+v -0.04922763 0.00023942 0.00851927
+v -0.04851208 0.00023942 0.00847696
+v -0.04767699 -0.00107174 0.00846082
+v -0.04371455 -0.00251375 0.00842184
+v -0.04371455 -0.02175191 0.01409734
+v -0.04506146 -0.01764048 0.01409680
+v -0.04778811 -0.00945688 0.01409238
+v -0.05051393 -0.01491348 0.01402389
+v -0.05051393 -0.00945688 0.01404283
+v -0.05051393 -0.01218649 0.01403392
+v -0.05058969 -0.02649144 0.01387241
+v -0.05051393 -0.01764048 0.01400495
+v -0.05051393 -0.02037009 0.01397710
+v -0.05051393 -0.02309971 0.01394759
+v -0.05051393 0.00023940 0.01406569
+v -0.05051393 -0.00127327 0.01406291
+v -0.05051393 -0.00400027 0.01405677
+v -0.05051393 -0.00672988 0.01405008
+v -0.05129429 -0.02649144 0.01380115
+v -0.05231374 -0.02648620 0.01360909
+v -0.05231374 0.00023940 0.01400556
+v -0.04762480 0.00023942 0.00846861
+v -0.04621980 0.00023942 0.00845636
+v -0.04494192 -0.00111099 0.00843688
+v -0.04371455 -0.00138317 0.00845468
+v -0.04371455 -0.02037009 0.01409958
+v -0.04506146 -0.01491348 0.01410015
+v -0.04778811 -0.00672988 0.01409462
+v -0.05231374 -0.00672988 0.01398495
+v -0.05231374 -0.00945688 0.01397046
+v -0.05231374 -0.00127327 0.01400278
+v -0.05071765 -0.02594709 0.01387408
+v -0.05200647 -0.02511747 0.01378781
+v -0.05231374 -0.01764048 0.01389249
+v -0.05231374 -0.01218649 0.01394707
+v -0.05220093 -0.02309971 0.01381287
+v -0.05231374 -0.02037009 0.01385018
+v -0.05231374 -0.02218634 0.01382010
+v -0.04778811 0.00023940 0.01409965
+v -0.05231374 -0.00075771 0.01400389
+v -0.05231374 -0.02471706 0.01373826
+v -0.04494192 0.00023942 0.00850702
+v -0.04371455 0.00023942 0.00857995
+v -0.04371455 -0.01764048 0.01410293
+v -0.04506146 -0.01218649 0.01410239
+v -0.05231374 -0.02291651 0.01380229
+v -0.04506146 -0.00127327 0.01410633
+v -0.04371455 -0.00127327 0.01410911
+v -0.04506146 0.00023940 0.01410521
+v -0.04371455 -0.01491348 0.01410516
+v -0.04371455 -0.01218649 0.01410629
+v -0.04371455 -0.00945688 0.01410741
+v -0.04371455 0.00023940 0.01410633
+f 1 2 5
+f 1 5 15
+f 1 15 29
+f 1 29 37
+f 1 37 17
+f 1 17 6
+f 1 6 3
+f 1 3 7
+f 1 7 22
+f 1 22 43
+f 1 43 61
+f 1 61 71
+f 1 71 66
+f 1 66 70
+f 1 70 69
+f 1 69 68
+f 1 68 62
+f 1 62 44
+f 1 44 23
+f 1 23 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 11 16
+f 5 16 12
+f 6 17 38
+f 6 38 59
+f 6 59 64
+f 6 64 56
+f 6 56 55
+f 6 55 52
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+f 6 47 49
+f 6 49 58
+f 6 58 39
+f 6 39 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 7
+f 7 21 22
+f 8 23 24
+f 8 24 9
+f 9 24 25
+f 9 25 16
+f 9 16 10
+f 10 16 11
+f 12 26 13
+f 12 16 27
+f 12 27 28
+f 12 28 26
+f 13 26 14
+f 14 26 15
+f 15 26 30
+f 15 30 31
+f 15 31 32
+f 15 32 29
+f 16 25 33
+f 16 33 34
+f 16 34 35
+f 16 35 36
+f 16 36 27
+f 17 37 38
+f 18 39 33
+f 18 33 57
+f 18 57 67
+f 18 67 71
+f 18 71 61
+f 18 61 60
+f 18 60 41
+f 18 41 40
+f 18 40 20
+f 18 20 19
+f 20 40 21
+f 21 40 41
+f 21 41 42
+f 21 42 22
+f 22 42 43
+f 23 44 24
+f 24 44 45
+f 24 45 25
+f 25 46 33
+f 25 45 63
+f 25 63 46
+f 26 28 47
+f 26 47 48
+f 26 48 30
+f 27 36 49
+f 27 49 28
+f 28 49 47
+f 29 32 50
+f 29 50 51
+f 29 51 37
+f 30 52 31
+f 30 48 53
+f 30 53 52
+f 31 52 32
+f 32 54 50
+f 32 52 55
+f 32 55 56
+f 32 56 54
+f 33 39 58
+f 33 58 34
+f 33 46 57
+f 34 58 49
+f 34 49 35
+f 35 49 36
+f 37 51 38
+f 38 51 59
+f 41 60 43
+f 41 43 42
+f 43 60 61
+f 44 62 45
+f 45 62 68
+f 45 68 63
+f 46 63 57
+f 50 54 51
+f 51 54 64
+f 51 64 59
+f 54 56 64
+f 57 65 66
+f 57 66 67
+f 57 63 68
+f 57 68 69
+f 57 69 70
+f 57 70 65
+f 65 70 66
+f 66 71 67
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_45.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c5498cc711fe94a78c9f5ae1521b9bdfba78b86
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_45.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.02583847 -0.06748174 0.00211690
+v 0.02591960 -0.06747402 0.00211690
+v 0.02250106 -0.06704648 0.00211690
+v 0.02250106 -0.06435464 -0.01354835
+v 0.02311138 -0.06439014 -0.01354835
+v 0.02312349 -0.06439014 -0.01354835
+v 0.02583847 -0.06424197 -0.01354835
+v 0.02857039 -0.06699709 0.00211690
+v 0.02724803 -0.06542119 -0.00717337
+v 0.02250106 -0.06155951 0.00211692
+v 0.02250106 -0.05815459 -0.01354832
+v 0.02584937 -0.06423734 -0.01354835
+v 0.03025484 -0.06584568 0.00211691
+v 0.03487102 -0.05891242 -0.01354833
+v 0.02793343 -0.06327731 -0.01354834
+v 0.02929697 -0.05666676 0.00211694
+v 0.02856555 -0.05389929 -0.01354831
+v 0.03487102 -0.06182498 0.00211692
+v 0.03487102 -0.05171376 -0.01354830
+v 0.03120424 -0.05604166 0.00211694
+v 0.03487102 -0.05607099 0.00211694
+v 0.03129021 -0.05601542 0.00211694
+f 1 2 8
+f 1 8 13
+f 1 13 18
+f 1 18 21
+f 1 21 22
+f 1 22 20
+f 1 20 16
+f 1 16 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 9
+f 2 9 8
+f 3 10 11
+f 3 11 4
+f 4 11 17
+f 4 17 19
+f 4 19 14
+f 4 14 15
+f 4 15 12
+f 4 12 7
+f 4 7 6
+f 4 6 5
+f 7 12 9
+f 8 9 14
+f 8 14 13
+f 9 12 15
+f 9 15 14
+f 10 16 11
+f 11 16 17
+f 13 14 18
+f 14 19 21
+f 14 21 18
+f 16 20 19
+f 16 19 17
+f 19 22 21
+f 19 20 22
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_46.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aed97f69b46a20e42c1dafc185f11e2a2e538a7b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_46.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.05137460 0.04643498 -0.01081191
+v -0.04538506 0.04643498 -0.01081191
+v -0.05134190 0.04643498 -0.01099842
+v -0.05738930 0.04108275 -0.01081193
+v -0.04715601 0.04238735 -0.01081192
+v -0.03948357 0.04643499 -0.01333542
+v -0.05081866 0.04643499 -0.01355740
+v -0.05715535 0.04091155 -0.01196135
+v -0.05791504 0.03922915 -0.01355743
+v -0.05794775 0.04022875 -0.01081193
+v -0.04841379 0.03965221 -0.01081193
+v -0.03905593 0.04643499 -0.01355740
+v -0.05669751 0.04059476 -0.01355742
+v -0.06345681 0.02821379 -0.01355747
+v -0.05818421 0.03984701 -0.01081193
+v -0.05574915 0.02891823 -0.01081197
+v -0.05311285 0.02891627 -0.01355746
+v -0.06427437 0.02633461 -0.01355747
+v -0.06466680 0.02633460 -0.01133334
+v -0.06475232 0.02633460 -0.01081198
+v -0.06382912 0.02832004 -0.01081198
+v -0.06374107 0.02850304 -0.01081198
+v -0.05729119 0.02735191 -0.01081198
+v -0.05342730 0.02859947 -0.01355746
+v -0.05615667 0.02633461 -0.01355747
+v -0.05849865 0.02633460 -0.01081198
+v -0.05836533 0.02644479 -0.01081198
+v -0.05614158 0.02633461 -0.01355693
+f 1 2 6
+f 1 6 12
+f 1 12 7
+f 1 7 3
+f 1 3 4
+f 1 4 10
+f 1 10 15
+f 1 15 22
+f 1 22 21
+f 1 21 20
+f 1 20 26
+f 1 26 27
+f 1 27 23
+f 1 23 16
+f 1 16 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 9
+f 4 9 10
+f 4 7 8
+f 5 11 6
+f 6 11 12
+f 7 12 17
+f 7 17 24
+f 7 24 25
+f 7 25 18
+f 7 18 14
+f 7 14 9
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+f 7 13 8
+f 8 13 9
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+f 9 15 10
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+f 17 23 24
+f 18 25 28
+f 18 28 26
+f 18 26 20
+f 18 20 19
+f 23 27 24
+f 24 27 28
+f 24 28 25
+f 26 28 27
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_47.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a2b549e536ffa58ebf83a6b3e47eb15c84626f7
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_47.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.04522094 -0.00073774 0.01039509
+v 0.04522094 -0.00079625 0.01038786
+v 0.04522094 -0.00073775 0.01399133
+v 0.05666475 -0.00073773 0.00839353
+v 0.04522094 -0.00127134 0.01033275
+v 0.04522094 -0.00121519 0.01399189
+v 0.06734030 -0.00676184 0.01407926
+v 0.06796493 -0.00517742 0.01407926
+v 0.07112818 -0.00073775 0.01407928
+v 0.05446350 -0.02464687 0.00839344
+v 0.04522094 -0.00400021 0.01015407
+v 0.07535364 -0.00073773 0.00839353
+v 0.04522094 -0.00400022 0.01399244
+v 0.06475158 -0.02037105 0.01407921
+v 0.07934194 -0.00073775 0.01407928
+v 0.04522094 -0.02464688 0.01083027
+v 0.04522094 -0.00702395 0.01014904
+v 0.04522094 -0.00672907 0.01014905
+v 0.06901378 -0.02464687 0.00839344
+v 0.07534696 -0.00131814 0.00839353
+v 0.04522094 -0.00672908 0.01399020
+v 0.06495199 -0.02273481 0.01407920
+v 0.06488519 -0.02226440 0.01407920
+v 0.07802253 -0.01491332 0.01407923
+v 0.04522094 -0.02464689 0.01397399
+v 0.07363339 -0.01636667 0.00839347
+v 0.07706386 -0.01704071 0.01407922
+v 0.07268475 -0.02464689 0.01407919
+v 0.07406429 -0.01475182 0.00839348
+v 0.04522094 -0.01461844 0.01398349
+v 0.06553654 -0.02415775 0.01407919
+v 0.07790561 -0.01519651 0.01407922
+v 0.07365678 -0.01630582 0.00839347
+v 0.06578373 -0.02464689 0.01407919
+f 1 2 5
+f 1 5 11
+f 1 11 18
+f 1 18 17
+f 1 17 16
+f 1 16 25
+f 1 25 30
+f 1 30 21
+f 1 21 13
+f 1 13 6
+f 1 6 3
+f 1 3 9
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+f 1 15 12
+f 1 12 4
+f 1 4 2
+f 2 4 5
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+f 4 33 26
+f 4 26 19
+f 4 19 10
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+f 7 28 27
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+f 7 15 9
+f 7 9 8
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+f 10 19 28
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+f 10 25 16
+f 12 15 20
+f 13 21 22
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+f 13 23 14
+f 15 24 20
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+f 20 24 29
+f 21 30 22
+f 22 30 25
+f 22 25 31
+f 24 32 26
+f 24 26 33
+f 24 33 29
+f 25 34 31
+f 26 32 27
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_48.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b04505a5edd90d81e647f722e6afde3d8bdf037
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_48.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.06325591 -0.02037008 0.01125866
+v -0.06495827 -0.02037009 0.01473875
+v -0.06474264 -0.02649144 0.01249666
+v -0.06434542 -0.02649143 0.01125863
+v -0.06618019 -0.00672987 0.01125871
+v -0.06808872 -0.00760923 0.01656908
+v -0.06579810 -0.02037010 0.01603845
+v -0.06517958 -0.02309971 0.01433604
+v -0.06608939 -0.02309972 0.01563665
+v -0.06682330 -0.02649145 0.01509244
+v -0.07062334 -0.02649143 0.01125863
+v -0.06735670 -0.00441899 0.01125871
+v -0.06807737 -0.00516225 0.01420731
+v -0.06844054 -0.00579036 0.01594055
+v -0.06776527 -0.00671157 0.01506894
+v -0.06960571 -0.00669587 0.01768286
+v -0.07076899 -0.00760139 0.01909593
+v -0.06716188 -0.02037010 0.01704792
+v -0.06745128 -0.02309972 0.01689010
+v -0.06943547 -0.02649145 0.01719301
+v -0.06796766 -0.02504420 0.01656448
+v -0.07632813 -0.02649145 0.01559310
+v -0.07454444 -0.01689199 0.01125867
+v -0.06980810 0.00023941 0.01125873
+v -0.07031503 0.00023940 0.01246865
+v -0.07172798 0.00023939 0.01512247
+v -0.07315418 0.00023939 0.01678043
+v -0.07025828 -0.00467287 0.01706158
+v -0.07123808 -0.00578252 0.01879573
+v -0.07505515 -0.00672991 0.02047545
+v -0.07076899 -0.00834987 0.01909593
+v -0.07221977 -0.00670635 0.01952947
+v -0.07084465 -0.02199793 0.01901606
+v -0.06980242 -0.02298457 0.01825964
+v -0.07304636 -0.02649146 0.01930356
+v -0.07168448 -0.02649146 0.01851992
+v -0.07678399 -0.02649145 0.01596314
+v -0.07530861 -0.01491347 0.01125868
+v -0.07692396 0.00023941 0.01125873
+v -0.07403751 0.00023939 0.01736090
+v -0.07522160 0.00023938 0.01812911
+v -0.07776000 0.00023938 0.01935989
+v -0.07305393 -0.00491103 0.01924650
+v -0.08050837 0.00023938 0.01976440
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+v -0.07505515 -0.02037011 0.02018245
+v -0.07222166 -0.02298457 0.01942783
+v -0.07504002 -0.02649146 0.01951035
+v -0.07505515 -0.02309973 0.02010897
+v -0.07699394 -0.02649145 0.01764378
+v -0.08040433 -0.01764049 0.01766196
+v -0.07937157 -0.01939393 0.01616452
+v -0.07984634 -0.01764049 0.01581081
+v -0.08031354 -0.01491349 0.01549428
+v -0.07691261 -0.00071321 0.01125873
+v -0.08220505 0.00023939 0.01603671
+v -0.08224288 0.00023938 0.01932180
+v -0.08222775 -0.00127329 0.01931182
+v -0.07970258 -0.01764050 0.01935983
+v -0.07789052 -0.02035179 0.01966456
+v -0.07564151 -0.02649146 0.01938246
+v -0.07712446 -0.02309973 0.01956751
+v -0.07670643 -0.02582672 0.01924280
+v -0.07661943 -0.02649146 0.01915935
+v -0.07685775 -0.02649146 0.01822243
+v -0.07936779 -0.01942796 0.01917298
+v -0.08109284 -0.01491349 0.01766197
+v -0.08218992 -0.00127328 0.01605031
+v -0.08257768 0.00023939 0.01766202
+v -0.08243393 0.00023938 0.01839667
+v -0.08254741 -0.00127328 0.01766202
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 23
+f 1 23 38
+f 1 38 55
+f 1 55 39
+f 1 39 24
+f 1 24 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 3 10 20
+f 3 20 36
+f 3 36 35
+f 3 35 48
+f 3 48 61
+f 3 61 64
+f 3 64 65
+f 3 65 50
+f 3 50 37
+f 3 37 22
+f 3 22 11
+f 3 11 4
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 6 15 14
+f 6 14 16
+f 6 16 17
+f 6 17 7
+f 7 18 19
+f 7 19 9
+f 7 9 8
+f 7 17 18
+f 9 19 10
+f 10 19 21
+f 10 21 20
+f 11 22 23
+f 12 24 13
+f 13 24 14
+f 14 24 25
+f 14 25 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 16
+f 16 29 17
+f 17 30 31
+f 17 31 18
+f 17 29 32
+f 17 32 30
+f 18 33 19
+f 18 31 33
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 20
+f 19 20 21
+f 22 37 38
+f 22 38 23
+f 24 39 56
+f 24 56 69
+f 24 69 70
+f 24 70 57
+f 24 57 44
+f 24 44 42
+f 24 42 41
+f 24 41 40
+f 24 40 27
+f 24 27 26
+f 24 26 25
+f 27 40 29
+f 27 29 28
+f 29 40 41
+f 29 41 42
+f 29 42 43
+f 29 43 32
+f 30 32 42
+f 30 42 44
+f 30 44 45
+f 30 45 46
+f 30 46 47
+f 30 47 33
+f 30 33 31
+f 32 43 42
+f 33 47 35
+f 33 35 34
+f 35 47 49
+f 35 49 48
+f 37 50 51
+f 37 51 52
+f 37 52 53
+f 37 53 38
+f 38 53 54
+f 38 54 55
+f 39 55 56
+f 44 57 45
+f 45 57 58
+f 45 58 59
+f 45 59 60
+f 45 60 49
+f 45 49 46
+f 46 49 47
+f 48 49 61
+f 49 62 63
+f 49 63 64
+f 49 64 61
+f 49 60 62
+f 50 65 66
+f 50 66 51
+f 51 66 67
+f 51 67 53
+f 51 53 52
+f 53 67 54
+f 54 67 68
+f 54 68 55
+f 55 68 56
+f 56 68 69
+f 57 70 58
+f 58 70 69
+f 58 69 71
+f 58 71 67
+f 58 67 59
+f 59 67 66
+f 59 66 64
+f 59 64 62
+f 59 62 60
+f 62 64 63
+f 64 66 65
+f 67 71 68
+f 68 71 69
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_49.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..430aafe7885b9cff583b631ec76fba9625346c1f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_49.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.04531402 -0.04225862 -0.01354827
+v 0.03939990 -0.04632794 -0.01354828
+v 0.03994377 -0.05093270 0.00211696
+v 0.04202010 -0.04961928 0.00211697
+v 0.04345237 -0.04895101 0.00211697
+v 0.04531402 -0.04856391 0.00211697
+v 0.04531402 -0.05108479 -0.01354830
+v 0.03805044 -0.04762596 -0.01354828
+v 0.03487103 -0.05606895 0.00211694
+v 0.04531402 -0.05412191 0.00211695
+v 0.04531402 -0.05116952 -0.01318791
+v 0.04206202 -0.06083927 0.00211693
+v 0.04199966 -0.06092979 0.00211693
+v 0.04199250 -0.06091823 0.00204945
+v 0.04163469 -0.06058505 -0.00055146
+v 0.04121758 -0.06023839 -0.00315390
+v 0.04094565 -0.06002076 -0.00473960
+v 0.04083115 -0.05719745 -0.01224940
+v 0.04057454 -0.05673716 -0.01354832
+v 0.03487103 -0.05171454 -0.01354830
+v 0.03487103 -0.06182531 0.00211692
+v 0.04329391 -0.05839152 0.00211694
+v 0.03947248 -0.06193316 0.00211692
+v 0.03947248 -0.06132072 -0.00055147
+v 0.03837349 -0.06000149 -0.00739111
+v 0.03676027 -0.05881322 -0.01354833
+v 0.03921179 -0.05796007 -0.01354832
+v 0.03922406 -0.05795044 -0.01354832
+v 0.03487103 -0.05891144 -0.01354833
+v 0.03674494 -0.05881707 -0.01354833
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 11
+f 1 11 7
+f 1 7 19
+f 1 19 28
+f 1 28 27
+f 1 27 26
+f 1 26 30
+f 1 30 29
+f 1 29 20
+f 1 20 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 21
+f 3 21 23
+f 3 23 13
+f 3 13 12
+f 3 12 22
+f 3 22 10
+f 3 10 6
+f 3 6 5
+f 3 5 4
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 8 20 9
+f 9 20 29
+f 9 29 21
+f 10 22 11
+f 11 22 12
+f 13 23 15
+f 13 15 14
+f 15 23 16
+f 16 23 17
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 17 26 27
+f 17 27 18
+f 18 27 28
+f 18 28 19
+f 21 29 23
+f 23 25 24
+f 23 29 30
+f 23 30 25
+f 25 30 26
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_5.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4ad8ad5e68c71cece1b82edfc2f96b7b329ad9d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_5.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.06955498 0.00001031 -0.01355364
+v -0.07116394 0.00001029 -0.00784527
+v -0.06350729 0.00001031 -0.01355364
+v -0.06956437 -0.00127284 -0.01355364
+v -0.07116394 -0.00039897 -0.00784527
+v -0.07340364 -0.00071197 0.00211714
+v -0.07340051 0.00001025 0.00211714
+v -0.06708519 0.00001025 0.00211714
+v -0.06148514 -0.00399082 -0.01355365
+v -0.06848286 -0.01420792 -0.01355369
+v -0.07340364 -0.00097438 0.00211714
+v -0.07227518 -0.01491335 0.00211709
+v -0.06487835 -0.00462885 0.00211712
+v -0.06413648 -0.00663905 0.00211712
+v -0.06410987 -0.00673053 0.00211712
+v -0.06084970 -0.00638861 -0.01355366
+v -0.06442446 -0.02458391 -0.01355373
+v -0.07088378 -0.01608575 -0.00165986
+v -0.07116394 -0.01648539 0.00007520
+v -0.07145974 -0.01674299 0.00204958
+v -0.07146913 -0.01675022 0.00211708
+v -0.06118776 -0.02037098 0.00211707
+v -0.05825627 -0.01700053 -0.01355370
+v -0.05741579 -0.02458391 -0.01355373
+v -0.06469053 -0.02458392 -0.01214083
+v -0.06560301 -0.02458393 -0.00699854
+v -0.06718223 -0.02458397 0.00211705
+v -0.06141784 -0.02458397 0.00211705
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 9
+f 1 9 16
+f 1 16 23
+f 1 23 24
+f 1 24 17
+f 1 17 10
+f 1 10 4
+f 1 4 2
+f 2 4 5
+f 2 5 11
+f 2 11 6
+f 2 6 7
+f 3 8 9
+f 4 10 5
+f 5 10 12
+f 5 12 11
+f 6 11 12
+f 6 12 21
+f 6 21 27
+f 6 27 28
+f 6 28 22
+f 6 22 15
+f 6 15 14
+f 6 14 13
+f 6 13 8
+f 6 8 7
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 10 17 18
+f 10 18 12
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 15 22 23
+f 15 23 16
+f 17 24 28
+f 17 28 27
+f 17 27 26
+f 17 26 25
+f 17 25 21
+f 17 21 20
+f 17 20 19
+f 17 19 18
+f 21 25 26
+f 21 26 27
+f 22 28 24
+f 22 24 23
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_50.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27583b548a0196bcf76551dd55326abc31bfee89
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_50.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.05347008 0.02383650 0.00827246
+v -0.05424729 0.02383651 0.00611361
+v -0.06833279 0.02383650 0.00827246
+v -0.05559941 0.00024204 0.00827237
+v -0.05440699 0.02383651 0.00577508
+v -0.07383710 0.01662605 0.00827243
+v -0.06680819 0.02383652 0.00211877
+v -0.07517006 0.00024204 0.00827237
+v -0.05701116 0.00024205 0.00673395
+v -0.06120593 0.02055695 0.00211876
+v -0.06120806 0.02065395 0.00211876
+v -0.06145080 0.02383652 0.00211877
+v -0.05755840 0.00024205 0.00615448
+v -0.05722622 0.00496048 0.00584187
+v -0.05711123 0.00691667 0.00572683
+v -0.07381794 0.01660758 0.00814895
+v -0.07387543 0.01649903 0.00827243
+v -0.07149910 0.01695403 0.00211874
+v -0.07387755 0.00024206 0.00264574
+v -0.07522116 0.00163239 0.00827238
+v -0.05892116 0.00024205 0.00530214
+v -0.06418912 0.00691668 0.00211871
+v -0.05816525 0.00024205 0.00575873
+v -0.07152891 0.01689860 0.00211874
+v -0.07228056 0.01509945 0.00211874
+v -0.07412669 0.01509943 0.00827243
+v -0.07387755 0.00052844 0.00264574
+v -0.07376896 0.00024206 0.00252407
+v -0.06708287 0.00024206 0.00211868
+v -0.06490031 0.00482422 0.00211870
+v -0.07339420 0.00116588 0.00211868
+v -0.07339846 0.00024206 0.00211868
+f 1 2 5
+f 1 5 12
+f 1 12 7
+f 1 7 3
+f 1 3 6
+f 1 6 17
+f 1 17 26
+f 1 26 20
+f 1 20 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 7 6
+f 4 8 19
+f 4 19 28
+f 4 28 32
+f 4 32 29
+f 4 29 21
+f 4 21 23
+f 4 23 13
+f 4 13 9
+f 4 9 5
+f 5 10 11
+f 5 11 12
+f 5 9 13
+f 5 13 14
+f 5 14 15
+f 5 15 10
+f 6 16 17
+f 6 7 16
+f 7 12 11
+f 7 11 10
+f 7 10 22
+f 7 22 30
+f 7 30 29
+f 7 29 32
+f 7 32 31
+f 7 31 25
+f 7 25 24
+f 7 24 18
+f 7 18 16
+f 8 20 19
+f 10 15 21
+f 10 21 22
+f 13 23 14
+f 14 23 21
+f 14 21 15
+f 16 18 24
+f 16 24 25
+f 16 25 17
+f 17 25 26
+f 19 27 28
+f 19 20 27
+f 20 26 27
+f 21 29 30
+f 21 30 22
+f 25 31 27
+f 25 27 26
+f 27 31 28
+f 28 31 32
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_51.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d685067ca7a0fb4e589a0e9d190bb151f1c7de72
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_51.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.05449500 -0.02795835 -0.01354821
+v 0.05401516 -0.02846295 -0.01354821
+v 0.05092581 -0.04012513 0.00211700
+v 0.05301413 -0.03927474 0.00211701
+v 0.05449500 -0.03877782 0.00211701
+v 0.05449500 -0.04180279 -0.01354826
+v 0.04631786 -0.03939250 -0.01354825
+v 0.04952761 -0.04194629 0.00211700
+v 0.05449500 -0.04507634 0.00211698
+v 0.05449500 -0.04181816 -0.01348385
+v 0.05338525 -0.05038616 0.00211696
+v 0.05253159 -0.05246090 0.00211696
+v 0.05249565 -0.05251725 0.00204948
+v 0.05212812 -0.05213815 -0.00055143
+v 0.05187203 -0.05187944 -0.00230121
+v 0.04952672 -0.04954339 -0.01354829
+v 0.04531504 -0.04225616 -0.01354827
+v 0.04531504 -0.04856243 0.00211697
+v 0.05449500 -0.04232789 -0.01106084
+v 0.05250373 -0.05252494 0.00211696
+v 0.05037857 -0.05346242 0.00211695
+v 0.05037857 -0.05344961 0.00204947
+v 0.04917896 -0.05182563 -0.00739261
+v 0.04766304 -0.05055259 -0.01354830
+v 0.04531504 -0.05108280 -0.01354830
+v 0.04531504 -0.05412326 0.00211695
+v 0.04531504 -0.05116989 -0.01317718
+v 0.04765316 -0.05055771 -0.01354830
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 19
+f 1 19 10
+f 1 10 6
+f 1 6 16
+f 1 16 24
+f 1 24 28
+f 1 28 25
+f 1 25 17
+f 1 17 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 18
+f 3 18 26
+f 3 26 21
+f 3 21 20
+f 3 20 12
+f 3 12 11
+f 3 11 9
+f 3 9 5
+f 3 5 4
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 7 17 18
+f 7 18 8
+f 9 11 19
+f 10 19 11
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 14 22 15
+f 15 22 23
+f 15 23 16
+f 16 23 24
+f 17 25 27
+f 17 27 26
+f 17 26 18
+f 21 26 23
+f 21 23 22
+f 23 27 25
+f 23 25 28
+f 23 28 24
+f 23 26 27
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_52.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..348f4d4b942e6579f8885d3221bdda3bde2d1593
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_52.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.07227985 0.01510134 0.00211874
+v -0.07113936 0.01377765 -0.00260440
+v -0.07226880 0.01503128 0.00211874
+v -0.07152953 0.01690193 0.00211874
+v -0.07116621 0.01667210 -0.00055126
+v -0.07098771 0.01649144 -0.00193996
+v -0.06848716 0.01450284 -0.01355752
+v -0.06848874 0.01377769 -0.01355752
+v -0.07204449 0.01377763 0.00211873
+v -0.06736562 0.02633258 0.00211878
+v -0.06736404 0.02633258 0.00210957
+v -0.06631358 0.02633260 -0.00361404
+v -0.06585865 0.02633261 -0.00607995
+v -0.06559169 0.02633262 -0.00747326
+v -0.06441171 0.02601554 -0.01355747
+v -0.06821546 0.01642264 -0.01219489
+v -0.06112766 0.01377769 -0.01355752
+v -0.06627409 0.01377763 0.00211873
+v -0.06123349 0.02633258 0.00211878
+v -0.06427428 0.02633264 -0.01355747
+v -0.05993819 0.01506330 -0.01355751
+v -0.06270097 0.01640170 0.00102926
+v -0.06204700 0.01767624 0.00211874
+v -0.06120506 0.02055718 0.00211876
+v -0.05614392 0.02633264 -0.01355593
+v -0.05615972 0.02633264 -0.01355747
+v -0.05875821 0.01659964 -0.01355751
+v -0.05803632 0.01765786 -0.01355751
+v -0.05615340 0.02632281 -0.01355747
+f 1 2 3
+f 1 3 9
+f 1 9 18
+f 1 18 23
+f 1 23 24
+f 1 24 19
+f 1 19 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 17
+f 2 17 18
+f 2 18 9
+f 4 10 11
+f 4 11 5
+f 5 12 13
+f 5 13 6
+f 5 11 12
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 15
+f 7 15 20
+f 7 20 26
+f 7 26 29
+f 7 29 28
+f 7 28 27
+f 7 27 21
+f 7 21 17
+f 7 17 8
+f 10 19 25
+f 10 25 26
+f 10 26 20
+f 10 20 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
+f 14 20 15
+f 17 21 22
+f 17 22 18
+f 18 22 23
+f 19 24 25
+f 21 27 22
+f 22 27 23
+f 23 27 28
+f 23 28 24
+f 24 28 25
+f 25 28 29
+f 25 29 26
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_53.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f67bbab7097e3ae32a6a27591915bf182d18c35
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_53.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.06941238 0.02894628 0.00838563
+v 0.06939362 0.02718054 0.00838562
+v 0.06742352 0.02601187 0.00211878
+v 0.06741883 0.02610079 0.00211878
+v 0.06834055 0.02821904 0.00516571
+v 0.06709048 0.02875258 0.00211879
+v 0.06806615 0.03003559 0.00602575
+v 0.06287824 0.04142717 0.00516821
+v 0.06335669 0.04226557 0.00838568
+v 0.06928807 0.02599279 0.00838562
+v 0.06691693 0.02336008 0.00211877
+v 0.06102307 0.04202423 0.00211883
+v 0.05243207 0.05261233 0.00211887
+v 0.06255224 0.04331041 0.00838568
+v 0.06890109 0.02420800 0.00838561
+v 0.06690989 0.02330292 0.00213410
+v 0.06690520 0.02330292 0.00211877
+v 0.05237109 0.05263773 0.00211887
+v 0.05185746 0.05471151 0.00831027
+v 0.05187857 0.05472104 0.00838572
+v 0.05332096 0.05353011 0.00838572
+v 0.06863841 0.02330290 0.00838561
+v 0.06134204 0.02330292 0.00211877
+v 0.05037989 0.05345709 0.00211888
+v 0.04545466 0.05563884 0.00747968
+v 0.04545466 0.05574364 0.00838572
+v 0.05348513 0.02330290 0.00838561
+v 0.05683897 0.02330291 0.00561166
+v 0.05257983 0.02421753 0.00838561
+v 0.04545466 0.04012192 0.00530991
+v 0.04871704 0.04214173 0.00211883
+v 0.04545466 0.05400333 0.00211888
+v 0.04545466 0.03530422 0.00838565
+v 0.04545466 0.03951216 0.00566448
+v 0.04545466 0.04799155 0.00211886
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 14
+f 1 14 21
+f 1 21 20
+f 1 20 26
+f 1 26 33
+f 1 33 29
+f 1 29 27
+f 1 27 22
+f 1 22 15
+f 1 15 10
+f 1 10 2
+f 2 10 3
+f 3 10 11
+f 3 11 17
+f 3 17 23
+f 3 23 31
+f 3 31 35
+f 3 35 32
+f 3 32 24
+f 3 24 18
+f 3 18 13
+f 3 13 12
+f 3 12 6
+f 3 6 4
+f 4 6 5
+f 6 12 8
+f 6 8 7
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 10 15 16
+f 10 16 11
+f 11 16 17
+f 13 18 19
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 15 22 16
+f 16 22 27
+f 16 27 28
+f 16 28 23
+f 16 23 17
+f 18 24 19
+f 19 25 20
+f 19 24 25
+f 20 25 26
+f 23 28 29
+f 23 29 30
+f 23 30 31
+f 24 32 25
+f 25 32 35
+f 25 35 30
+f 25 30 34
+f 25 34 33
+f 25 33 26
+f 27 29 28
+f 29 33 34
+f 29 34 30
+f 30 35 31
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_54.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21324747f0f85cb9b6d3de23c47f9746d1368a2e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_54.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.02239240 0.05184355 0.00838571
+v -0.00012506 0.05498311 0.00838572
+v 0.02239240 0.05608243 0.00524311
+v 0.02239240 0.06838592 0.00838577
+v -0.00012506 0.05919215 0.00526888
+v -0.00012506 0.07527781 0.00838580
+v 0.02038222 0.06129898 0.00211891
+v 0.02049243 0.06129668 0.00211891
+v 0.02239240 0.06138159 0.00211891
+v 0.02239240 0.06814494 0.00715216
+v 0.01607093 0.07362770 0.00838579
+v 0.00454992 0.06489065 0.00211892
+v 0.00674964 0.06417231 0.00211892
+v -0.00012506 0.06692632 0.00211893
+v 0.00009977 0.07528010 0.00838580
+v -0.00012506 0.07390542 0.00286243
+v 0.02239240 0.06704107 0.00211893
+v 0.02239240 0.06764235 0.00465180
+v 0.01512095 0.07172287 0.00211894
+v 0.01508569 0.07174353 0.00211894
+v 0.01464045 0.07425883 0.00838579
+v 0.02239240 0.06721778 0.00277162
+v 0.02239240 0.06720631 0.00272132
+v -0.00012506 0.07335691 0.00211895
+v 0.00129882 0.07528699 0.00838580
+v 0.00032900 0.07390542 0.00286243
+v 0.00105636 0.07337527 0.00211895
+v -0.00012506 0.07379067 0.00270232
+v 0.00114893 0.07337527 0.00211895
+v 0.01357365 0.07376771 0.00594371
+v 0.01419301 0.07401785 0.00725462
+f 1 2 3
+f 1 3 9
+f 1 9 17
+f 1 17 23
+f 1 23 22
+f 1 22 18
+f 1 18 10
+f 1 10 4
+f 1 4 11
+f 1 11 21
+f 1 21 25
+f 1 25 15
+f 1 15 6
+f 1 6 2
+f 2 5 3
+f 2 6 16
+f 2 16 28
+f 2 28 24
+f 2 24 14
+f 2 14 5
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 5 12 13
+f 5 13 7
+f 5 14 12
+f 6 15 16
+f 7 13 12
+f 7 12 14
+f 7 14 24
+f 7 24 27
+f 7 27 29
+f 7 29 20
+f 7 20 19
+f 7 19 17
+f 7 17 9
+f 7 9 8
+f 10 18 11
+f 11 19 20
+f 11 20 21
+f 11 18 22
+f 11 22 23
+f 11 23 17
+f 11 17 19
+f 15 25 16
+f 16 25 26
+f 16 26 29
+f 16 29 27
+f 16 27 28
+f 20 29 26
+f 20 26 30
+f 20 30 31
+f 20 31 21
+f 21 31 30
+f 21 30 25
+f 24 28 27
+f 25 30 26
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_55.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e550961d1ad883afc8320fc65c07cee6c333f730
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_55.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.06090816 -0.00672740 -0.01354813
+v 0.06129756 -0.00406617 -0.01354812
+v 0.06091432 -0.00681262 -0.01354814
+v 0.06367956 -0.00672746 0.00211713
+v 0.06334560 0.00001032 -0.01354811
+v 0.06453229 -0.00455334 0.00211713
+v 0.06135671 -0.00917790 -0.01354814
+v 0.06371282 -0.00682534 0.00211712
+v 0.06196668 -0.01140154 -0.01354815
+v 0.06206527 -0.01175392 -0.01354815
+v 0.06950454 0.00001032 -0.01354811
+v 0.06706832 0.00001026 0.00211715
+v 0.06450765 -0.00908814 0.00211712
+v 0.06830307 -0.01175392 -0.01354815
+v 0.06625625 -0.01175398 0.00211711
+v 0.06953412 -0.00126100 -0.01354811
+v 0.07080583 0.00001031 -0.00974489
+v 0.07348234 0.00001026 0.00211715
+v 0.06953412 -0.00127021 -0.01354811
+v 0.06835236 -0.01175392 -0.01339786
+v 0.07158463 -0.01175398 0.00211711
+v 0.07085882 0.00001031 -0.00952866
+v 0.07349713 -0.00100656 0.00211715
+f 1 2 5
+f 1 5 11
+f 1 11 16
+f 1 16 19
+f 1 19 14
+f 1 14 10
+f 1 10 9
+f 1 9 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 4
+f 4 8 13
+f 4 13 15
+f 4 15 21
+f 4 21 23
+f 4 23 18
+f 4 18 12
+f 4 12 6
+f 4 7 9
+f 4 9 10
+f 4 10 8
+f 5 6 12
+f 5 12 18
+f 5 18 22
+f 5 22 17
+f 5 17 11
+f 8 10 13
+f 10 14 20
+f 10 20 21
+f 10 21 15
+f 10 15 13
+f 11 17 16
+f 14 19 20
+f 16 17 19
+f 17 22 20
+f 17 20 19
+f 18 23 22
+f 20 22 23
+f 20 23 21
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_56.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40d4df87e3cf2c18963ad8dc3a16dbc0795dafa0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_56.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.05822795 -0.01754658 -0.01354817
+v 0.05863358 -0.01689119 -0.01354817
+v 0.05828764 -0.02057058 -0.01354819
+v 0.06119624 -0.02047298 0.00211707
+v 0.06119760 -0.02037061 0.00211708
+v 0.06150556 -0.01764313 0.00211709
+v 0.06226255 -0.01583814 0.00211709
+v 0.06206584 -0.01175392 -0.01354815
+v 0.05835276 -0.02377343 -0.01354820
+v 0.06138888 -0.02377349 0.00211706
+v 0.06625511 -0.01175398 0.00211711
+v 0.06830361 -0.01175392 -0.01354815
+v 0.06437075 -0.02377343 -0.01354820
+v 0.06707858 -0.02377349 0.00211706
+v 0.07158393 -0.01175398 0.00211711
+v 0.06835245 -0.01175392 -0.01339786
+v 0.06839043 -0.01201866 -0.01354815
+v 0.06785050 -0.01575689 -0.01354817
+v 0.06805671 -0.01619815 -0.01207902
+v 0.07098295 -0.01644411 0.00018021
+v 0.07128955 -0.01665121 0.00211709
+v 0.07125834 -0.01670886 0.00211709
+v 0.07170467 -0.01198107 0.00211711
+v 0.07102229 -0.01309063 -0.00257405
+v 0.06841485 -0.01211868 -0.01354815
+v 0.06841079 -0.01439315 -0.01354816
+v 0.07208724 -0.01490858 0.00211710
+v 0.07072112 -0.01604286 -0.00155424
+v 0.07102229 -0.01422375 -0.00257405
+v 0.06841214 -0.01437903 -0.01354816
+f 1 2 8
+f 1 8 12
+f 1 12 17
+f 1 17 25
+f 1 25 30
+f 1 30 26
+f 1 26 18
+f 1 18 13
+f 1 13 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 4
+f 4 10 14
+f 4 14 22
+f 4 22 21
+f 4 21 27
+f 4 27 23
+f 4 23 15
+f 4 15 11
+f 4 11 7
+f 4 7 6
+f 4 6 5
+f 4 9 10
+f 7 11 8
+f 8 11 15
+f 8 15 16
+f 8 16 12
+f 9 13 14
+f 9 14 10
+f 12 16 17
+f 13 18 19
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 15 23 16
+f 16 23 24
+f 16 24 17
+f 17 24 25
+f 18 26 19
+f 19 26 27
+f 19 27 28
+f 19 28 20
+f 20 28 27
+f 20 27 21
+f 23 27 24
+f 24 27 29
+f 24 29 25
+f 25 29 30
+f 26 30 27
+f 27 30 29
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_57.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95ba34fc1c1e534a8e1779c8e3e34e334a62ae99
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_57.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.06708656 0.00001026 0.00211868
+v -0.06490208 0.00482221 0.00211870
+v -0.07340066 0.00001026 0.00211868
+v -0.06350640 0.00001032 -0.01355757
+v -0.06148555 0.00428327 -0.01355755
+v -0.06418898 0.00691489 0.00211871
+v -0.07339578 0.00116642 0.00211868
+v -0.07116490 0.00058568 -0.00784623
+v -0.07116490 0.00001030 -0.00784623
+v -0.06955432 0.00001032 -0.01355757
+v -0.06092630 0.00691495 -0.01355754
+v -0.06478730 0.00945899 0.00211871
+v -0.06112778 0.01377646 -0.01355752
+v -0.07204529 0.01377640 0.00211873
+v -0.07113926 0.01377642 -0.00260440
+v -0.06848833 0.01377646 -0.01355752
+v -0.06954455 0.00145889 -0.01355756
+v -0.06627577 0.01377640 0.00211873
+f 1 2 6
+f 1 6 12
+f 1 12 18
+f 1 18 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 10 17
+f 4 17 16
+f 4 16 13
+f 4 13 11
+f 4 11 5
+f 5 11 6
+f 6 11 13
+f 6 13 12
+f 7 14 15
+f 7 15 8
+f 8 16 17
+f 8 17 10
+f 8 10 9
+f 8 15 16
+f 12 13 18
+f 13 16 15
+f 13 15 14
+f 13 14 18
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_58.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f0a9e804e6747b76603101f545c43d4cb6b95a1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_58.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.04637826 -0.05517254 0.00839278
+v 0.04637826 -0.05508271 0.00789776
+v 0.04637826 -0.03888652 0.00839284
+v 0.04359364 -0.06248163 0.00839275
+v 0.04637826 -0.05375621 0.00211848
+v 0.04637826 -0.03905421 0.00787694
+v 0.04583339 -0.03920991 0.00839284
+v 0.04351772 -0.06262536 0.00839275
+v 0.04637826 -0.04808800 0.00211850
+v 0.04206177 -0.06083774 0.00211846
+v 0.04637826 -0.04017107 0.00556522
+v 0.04566815 -0.04050045 0.00570709
+v 0.02356762 -0.05508571 0.00839278
+v 0.02356762 -0.05539412 0.00725412
+v 0.04337480 -0.06270621 0.00839275
+v 0.04199924 -0.06093056 0.00211846
+v 0.04345073 -0.04895036 0.00211850
+v 0.02356762 -0.05623850 0.00538766
+v 0.04201934 -0.04961809 0.00211850
+v 0.02929764 -0.05666368 0.00211847
+v 0.02356762 -0.06870380 0.00839273
+v 0.04104573 -0.06274812 0.00562655
+v 0.02866792 -0.06946734 0.00839272
+v 0.02982017 -0.06806600 0.00604355
+v 0.02857189 -0.06699703 0.00211843
+v 0.02356762 -0.06157134 0.00211845
+v 0.02356762 -0.06708087 0.00211843
+v 0.02438715 -0.06898226 0.00839273
+v 0.02709808 -0.06947633 0.00839272
+v 0.02583864 -0.06747911 0.00211843
+v 0.02592126 -0.06747312 0.00211843
+v 0.02800247 -0.06835046 0.00522119
+v 0.02591456 -0.06936554 0.00839273
+f 1 2 5
+f 1 5 9
+f 1 9 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 13
+f 1 13 21
+f 1 21 28
+f 1 28 33
+f 1 33 29
+f 1 29 23
+f 1 23 15
+f 1 15 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 5
+f 5 8 10
+f 5 10 16
+f 5 16 25
+f 5 25 31
+f 5 31 30
+f 5 30 27
+f 5 27 26
+f 5 26 20
+f 5 20 19
+f 5 19 17
+f 5 17 9
+f 6 11 12
+f 6 12 7
+f 7 12 14
+f 7 14 13
+f 8 15 16
+f 8 16 10
+f 9 17 11
+f 11 18 12
+f 11 17 19
+f 11 19 20
+f 11 20 18
+f 12 18 14
+f 13 14 18
+f 13 18 26
+f 13 26 27
+f 13 27 21
+f 15 22 16
+f 15 23 24
+f 15 24 22
+f 16 22 24
+f 16 24 25
+f 18 20 26
+f 21 27 28
+f 23 29 30
+f 23 30 31
+f 23 31 32
+f 23 32 25
+f 23 25 24
+f 25 32 31
+f 27 30 33
+f 27 33 28
+f 29 33 30
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_59.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4792e3ca1fcfe0c19a7008133a65847f1e9a473a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_59.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00012506 0.07523332 0.00827265
+v -0.00012506 0.07390526 0.00286226
+v -0.00045035 0.07390526 0.00286226
+v -0.00064144 0.07523106 0.00827265
+v -0.00012506 0.05514732 0.00827257
+v -0.00012506 0.07379911 0.00271167
+v -0.00143080 0.07522429 0.00827265
+v -0.00127611 0.07333609 0.00211895
+v -0.01240904 0.07203512 0.00211894
+v -0.01517293 0.07171214 0.00211894
+v -0.01438130 0.07405883 0.00775160
+v -0.02336453 0.05216141 0.00827256
+v -0.02336453 0.05278931 0.00745938
+v -0.02336453 0.05425291 0.00562159
+v -0.02324396 0.05426647 0.00562762
+v -0.00012506 0.05919254 0.00526923
+v -0.00012506 0.07335642 0.00211895
+v -0.01459286 0.07416047 0.00827264
+v -0.01588040 0.07354387 0.00827264
+v -0.01523890 0.07385329 0.00827264
+v -0.02336453 0.06701192 0.00211893
+v -0.02336453 0.06874653 0.00827262
+v -0.02336453 0.06155959 0.00211891
+v -0.02051874 0.06128404 0.00211891
+v -0.00688580 0.06437836 0.00211892
+v -0.00470880 0.06490914 0.00211892
+v -0.00012506 0.06692610 0.00211893
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 18
+f 1 18 20
+f 1 20 19
+f 1 19 22
+f 1 22 12
+f 1 12 5
+f 1 5 16
+f 1 16 27
+f 1 27 17
+f 1 17 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 7
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 6 17 8
+f 7 11 18
+f 8 17 27
+f 8 27 26
+f 8 26 25
+f 8 25 24
+f 8 24 23
+f 8 23 21
+f 8 21 10
+f 8 10 9
+f 10 19 20
+f 10 20 18
+f 10 18 11
+f 10 21 19
+f 12 22 21
+f 12 21 23
+f 12 23 14
+f 12 14 13
+f 14 23 24
+f 14 24 16
+f 14 16 15
+f 16 25 26
+f 16 26 27
+f 16 24 25
+f 19 21 22
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_6.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d3bbfcf3298f20b359bec5ac0acf0f1c3a46527
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_6.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.02583354 0.06754012 0.00211893
+v 0.02583986 0.06655697 -0.00315309
+v 0.02466044 0.06563938 -0.00736855
+v 0.02466044 0.06730837 0.00211893
+v 0.02857183 0.06720303 0.00211893
+v 0.02740189 0.06568854 -0.00753723
+v 0.02583986 0.06606072 -0.00575382
+v 0.02466044 0.06445960 -0.01354683
+v 0.02466044 0.06138131 0.00211891
+v 0.04180478 0.06124553 0.00211890
+v 0.04189015 0.06119403 0.00204989
+v 0.02809120 0.06360050 -0.01354684
+v 0.02583986 0.06450174 -0.01354683
+v 0.02583986 0.06569322 -0.00759857
+v 0.04154866 0.06079142 -0.00055084
+v 0.04114076 0.06039582 -0.00315311
+v 0.04089412 0.06017111 -0.00461296
+v 0.02466044 0.05758917 -0.01354686
+v 0.02696870 0.05446646 -0.01354687
+v 0.02848645 0.05324218 -0.01354687
+v 0.04837224 0.04362586 0.00211884
+v 0.04190280 0.06120106 0.00211890
+v 0.05241960 0.05260541 0.00204986
+v 0.05205280 0.05224727 -0.00055087
+v 0.05182514 0.05202255 -0.00213033
+v 0.03915819 0.05809714 -0.01354686
+v 0.04945364 0.04963959 -0.01354689
+v 0.04080875 0.05733634 -0.01218515
+v 0.03795031 0.04633195 -0.01354690
+v 0.04120084 0.04422986 -0.01354691
+v 0.04301266 0.04362592 -0.01354691
+v 0.05686536 0.04362586 0.00211884
+v 0.05242908 0.05261477 0.00211887
+v 0.05696338 0.04362586 0.00211424
+v 0.05179352 0.04931420 -0.00728274
+v 0.05046548 0.04785819 -0.01354689
+v 0.05150894 0.04362592 -0.01354691
+v 0.05686853 0.04364692 0.00211884
+v 0.05262513 0.04362591 -0.01111025
+v 0.05047181 0.04784649 -0.01354689
+v 0.05118958 0.04511705 -0.01354690
+v 0.05118642 0.04513109 -0.01354690
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 21
+f 1 21 32
+f 1 32 38
+f 1 38 33
+f 1 33 22
+f 1 22 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 7
+f 3 7 8
+f 3 8 18
+f 3 18 9
+f 3 9 4
+f 5 10 11
+f 5 11 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 6 11 15
+f 6 15 16
+f 6 16 17
+f 6 17 12
+f 7 14 8
+f 8 14 13
+f 8 13 12
+f 8 12 26
+f 8 26 27
+f 8 27 36
+f 8 36 40
+f 8 40 42
+f 8 42 41
+f 8 41 37
+f 8 37 31
+f 8 31 30
+f 8 30 29
+f 8 29 20
+f 8 20 19
+f 8 19 18
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 10 22 11
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 15
+f 12 17 26
+f 15 25 16
+f 16 25 17
+f 17 25 27
+f 17 27 28
+f 17 28 26
+f 20 29 21
+f 21 30 31
+f 21 31 37
+f 21 37 39
+f 21 39 34
+f 21 34 32
+f 21 29 30
+f 22 33 23
+f 23 33 34
+f 23 34 24
+f 24 34 25
+f 25 34 35
+f 25 35 27
+f 26 28 27
+f 27 35 36
+f 32 34 38
+f 33 38 34
+f 34 39 40
+f 34 40 35
+f 35 40 36
+f 37 41 39
+f 39 41 42
+f 39 42 40
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_60.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c21b907ba762e964c8a6a8f15bccb2b0918b0c1a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_60.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.06095435 0.00670377 -0.01354705
+v 0.06133576 0.00932378 -0.01354704
+v 0.06096906 0.00653953 -0.01354705
+v 0.06375914 0.00691408 0.00211871
+v 0.06194406 0.01150169 -0.01354703
+v 0.06152708 0.00425476 -0.01354705
+v 0.06378980 0.00681621 0.00211871
+v 0.06459064 0.00932485 0.00211871
+v 0.06832872 0.01150169 -0.01354703
+v 0.06598507 0.01150163 0.00211872
+v 0.06334584 0.00001144 -0.01354707
+v 0.06452687 0.00462368 0.00211870
+v 0.07083795 0.00011830 -0.00969044
+v 0.06947051 0.00145700 -0.01354706
+v 0.07114823 0.01150164 0.00123085
+v 0.07347472 0.00117233 0.00211868
+v 0.07130889 0.01150163 0.00211872
+v 0.06950485 0.00001144 -0.01354707
+v 0.06706798 0.00001138 0.00211868
+v 0.07083795 0.00006655 -0.00969044
+v 0.07348331 0.00001138 0.00211868
+v 0.07130767 0.01150163 0.00210798
+v 0.07080606 0.00001143 -0.00974411
+v 0.07085880 0.00001142 -0.00952789
+f 1 2 5
+f 1 5 9
+f 1 9 14
+f 1 14 18
+f 1 18 11
+f 1 11 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 4
+f 4 7 12
+f 4 12 19
+f 4 19 21
+f 4 21 16
+f 4 16 17
+f 4 17 10
+f 4 10 8
+f 4 8 5
+f 4 6 7
+f 5 8 10
+f 5 10 17
+f 5 17 22
+f 5 22 15
+f 5 15 9
+f 6 11 12
+f 6 12 7
+f 9 13 14
+f 9 15 16
+f 9 16 13
+f 11 18 23
+f 11 23 24
+f 11 24 21
+f 11 21 19
+f 11 19 12
+f 13 20 18
+f 13 18 14
+f 13 16 21
+f 13 21 20
+f 15 22 16
+f 16 22 17
+f 18 20 23
+f 20 21 24
+f 20 24 23
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_61.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8e03d83a71cfc12a75d098d54199528b50fe47f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_61.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.04562446 0.03913418 0.00826950
+v -0.04562446 0.03926087 0.00783761
+v -0.04562446 0.03914345 0.00827251
+v -0.05347210 0.02383959 0.00827246
+v -0.04562446 0.03939991 0.00737078
+v -0.04562446 0.05540207 0.00827257
+v -0.06833154 0.02383959 0.00827246
+v -0.05424757 0.02383960 0.00611361
+v -0.04562446 0.04005805 0.00543541
+v -0.04562446 0.05529084 0.00776779
+v -0.05051646 0.05374903 0.00465360
+v -0.05051646 0.05453074 0.00827257
+v -0.06680612 0.02383961 0.00211877
+v -0.06920453 0.02607971 0.00827247
+v -0.05440545 0.02383960 0.00577508
+v -0.04939736 0.04164931 0.00211883
+v -0.04562446 0.04846236 0.00211886
+v -0.04562446 0.05517343 0.00725458
+v -0.05051646 0.05317124 0.00211888
+v -0.05172379 0.05413216 0.00827257
+v -0.06144976 0.02383961 0.00211877
+v -0.06740514 0.02601484 0.00211878
+v -0.06843369 0.02685835 0.00532814
+v -0.06934152 0.02874931 0.00827248
+v -0.05669474 0.02940128 0.00211879
+v -0.04562446 0.05399313 0.00211888
+v -0.05232977 0.05238025 0.00211887
+v -0.05335136 0.05326082 0.00827257
+v -0.06843369 0.02805102 0.00532814
+v -0.06707081 0.02874933 0.00211879
+v -0.06811329 0.02987092 0.00618169
+v -0.06340006 0.04216838 0.00827252
+v -0.06294731 0.04133723 0.00542517
+v -0.06102951 0.04196756 0.00211883
+v -0.06219737 0.04356189 0.00827253
+f 1 2 5
+f 1 5 9
+f 1 9 17
+f 1 17 26
+f 1 26 18
+f 1 18 10
+f 1 10 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 12
+f 3 12 20
+f 3 20 28
+f 3 28 35
+f 3 35 32
+f 3 32 24
+f 3 24 14
+f 3 14 7
+f 3 7 4
+f 4 7 13
+f 4 13 21
+f 4 21 15
+f 4 15 8
+f 4 8 9
+f 4 9 5
+f 6 10 11
+f 6 11 12
+f 7 14 13
+f 8 15 9
+f 9 16 17
+f 9 15 16
+f 10 18 19
+f 10 19 11
+f 11 19 20
+f 11 20 12
+f 13 14 22
+f 13 22 30
+f 13 30 34
+f 13 34 27
+f 13 27 19
+f 13 19 26
+f 13 26 17
+f 13 17 16
+f 13 16 25
+f 13 25 21
+f 14 23 22
+f 14 24 23
+f 15 21 25
+f 15 25 16
+f 18 26 19
+f 19 27 20
+f 20 27 28
+f 22 23 29
+f 22 29 30
+f 23 24 29
+f 24 31 30
+f 24 30 29
+f 24 32 33
+f 24 33 31
+f 27 34 33
+f 27 33 32
+f 27 32 35
+f 27 35 28
+f 30 31 33
+f 30 33 34
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_62.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99982af9e67acbb0b1a9626f22a38420b47c9c8c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_62.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.04371455 -0.06312829 0.01036747
+v -0.04389021 -0.06300966 0.01036747
+v -0.04371455 -0.06308468 0.01026977
+v -0.04371455 -0.04530707 0.01036753
+v -0.05413544 -0.05395861 0.01036750
+v -0.05258913 -0.05250008 0.00211849
+v -0.04371455 -0.06225597 0.00881392
+v -0.04371455 -0.04530705 0.00508108
+v -0.05635223 -0.04530707 0.01036753
+v -0.05469211 -0.05308107 0.01036751
+v -0.05494694 -0.05258385 0.01036751
+v -0.05344393 -0.05038736 0.00211849
+v -0.05252728 -0.05252800 0.00211849
+v -0.04371455 -0.05601025 0.00211847
+v -0.05051336 -0.05340554 0.00211848
+v -0.04852048 -0.04530704 0.00211851
+v -0.04371455 -0.04885384 0.00211850
+v -0.05566443 -0.04530706 0.00749862
+v -0.05464263 -0.05185983 0.00833917
+v -0.05522899 -0.04530705 0.00577227
+v -0.05491478 -0.04530705 0.00460710
+v -0.05417997 -0.04530704 0.00211851
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 17
+f 1 17 8
+f 1 8 4
+f 1 4 9
+f 1 9 11
+f 1 11 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 16
+f 4 16 22
+f 4 22 21
+f 4 21 20
+f 4 20 18
+f 4 18 9
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 22
+f 6 22 16
+f 6 16 17
+f 6 17 14
+f 6 14 15
+f 6 15 13
+f 6 13 7
+f 7 13 15
+f 7 15 14
+f 8 17 16
+f 9 18 12
+f 9 12 19
+f 9 19 11
+f 11 19 12
+f 12 18 20
+f 12 20 21
+f 12 21 22
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_63.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..049da7d1e25857165868a2c2050bd10bff0ef3ac
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_63.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.02051787 -0.06454325 0.01410349
+v -0.02233406 -0.06478759 0.01410349
+v -0.02051787 -0.06483505 0.01479365
+v -0.00692357 -0.06765637 0.01519819
+v -0.00690730 -0.06728018 0.01410348
+v -0.02274067 -0.06499853 0.01447242
+v -0.02781786 -0.06575966 0.01410349
+v -0.02051787 -0.06563135 0.01609426
+v -0.00785606 -0.06805539 0.01644989
+v -0.00603716 -0.06823645 0.01615704
+v -0.00500166 -0.06784796 0.01442229
+v -0.00491492 -0.06780226 0.01410348
+v -0.02781786 -0.07390366 0.01410346
+v -0.02781786 -0.06654366 0.01506415
+v -0.02781786 -0.06659113 0.01512091
+v -0.02781786 -0.06667902 0.01522537
+v -0.02324486 -0.06738742 0.01682064
+v -0.02051787 -0.06699718 0.01702774
+v -0.00688561 -0.07126167 0.01878966
+v -0.00692357 -0.06928236 0.01731637
+v -0.00415862 -0.07016303 0.01695648
+v -0.00012506 -0.07027903 0.01472358
+v -0.00012506 -0.06997668 0.01410347
+v -0.02781786 -0.07399507 0.01414995
+v -0.01506388 -0.07797303 0.01410344
+v -0.02781786 -0.06810110 0.01628385
+v -0.02781786 -0.06932806 0.01716360
+v -0.02781786 -0.07295621 0.01936206
+v -0.02051787 -0.06948803 0.01825468
+v -0.00688561 -0.07262750 0.01930168
+v -0.00513719 -0.07304059 0.01917790
+v -0.02051787 -0.07107534 0.01888929
+v -0.00012506 -0.07264859 0.01679646
+v -0.00012506 -0.07194897 0.01629410
+v -0.00012506 -0.07951640 0.01410344
+v -0.02781786 -0.07552439 0.01516374
+v -0.01506388 -0.08022657 0.01553628
+v -0.00057775 -0.07951640 0.01410344
+v -0.02781786 -0.07503396 0.01948644
+v -0.02324486 -0.07494432 0.02013614
+v -0.02324486 -0.07255719 0.01946109
+v -0.00688561 -0.07494432 0.01994292
+v -0.02051787 -0.07494432 0.02010776
+v -0.00012506 -0.07766543 0.01939405
+v -0.00012506 -0.07512361 0.01813752
+v -0.00012506 -0.08207228 0.01607669
+v -0.00143163 -0.08208283 0.01607065
+v -0.02781786 -0.07663182 0.01602599
+v -0.01779088 -0.07974317 0.01584000
+v -0.01506388 -0.08105802 0.01766170
+v -0.02781786 -0.07644198 0.01910241
+v -0.02597186 -0.07668456 0.01933609
+v -0.02324486 -0.07709238 0.01963739
+v -0.02053955 -0.07780605 0.01969897
+v -0.00688561 -0.07767246 0.02027139
+v -0.00415862 -0.07767246 0.02003530
+v -0.00012506 -0.08040060 0.01988977
+v -0.00012506 -0.08248362 0.01766170
+v -0.00143163 -0.08250119 0.01766170
+v -0.02781786 -0.07675486 0.01657787
+v -0.01779088 -0.08034961 0.01766170
+v -0.01779088 -0.07964298 0.01942967
+v -0.01964502 -0.07929141 0.01922317
+v -0.00143163 -0.08218304 0.01940430
+v -0.02781786 -0.07677420 0.01766111
+v -0.00143163 -0.08040060 0.01989097
+v -0.00012506 -0.08132873 0.01963556
+v -0.00012506 -0.08234300 0.01849073
+v -0.00012506 -0.08217776 0.01939826
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 23
+f 1 23 35
+f 1 35 38
+f 1 38 25
+f 1 25 13
+f 1 13 7
+f 1 7 2
+f 2 6 3
+f 2 7 6
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 6 7 8
+f 7 13 24
+f 7 24 36
+f 7 36 48
+f 7 48 60
+f 7 60 65
+f 7 65 51
+f 7 51 39
+f 7 39 28
+f 7 28 27
+f 7 27 26
+f 7 26 16
+f 7 16 15
+f 7 15 14
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 9
+f 9 20 10
+f 10 21 22
+f 10 22 11
+f 10 20 21
+f 11 22 23
+f 11 23 12
+f 13 25 24
+f 16 26 17
+f 17 26 27
+f 17 27 28
+f 17 28 18
+f 18 28 29
+f 18 29 19
+f 19 30 31
+f 19 31 21
+f 19 21 20
+f 19 29 32
+f 19 32 30
+f 21 31 33
+f 21 33 34
+f 21 34 22
+f 22 34 33
+f 22 33 45
+f 22 45 44
+f 22 44 57
+f 22 57 67
+f 22 67 69
+f 22 69 68
+f 22 68 58
+f 22 58 46
+f 22 46 35
+f 22 35 23
+f 24 25 37
+f 24 37 36
+f 25 38 37
+f 28 39 40
+f 28 40 41
+f 28 41 29
+f 29 41 32
+f 30 42 31
+f 30 32 41
+f 30 41 43
+f 30 43 42
+f 31 42 44
+f 31 44 45
+f 31 45 33
+f 35 46 47
+f 35 47 38
+f 36 37 49
+f 36 49 48
+f 37 50 49
+f 37 38 47
+f 37 47 50
+f 39 51 52
+f 39 52 53
+f 39 53 40
+f 40 43 41
+f 40 53 54
+f 40 54 55
+f 40 55 43
+f 42 55 56
+f 42 56 44
+f 42 43 55
+f 44 56 57
+f 46 58 59
+f 46 59 47
+f 47 59 50
+f 48 49 61
+f 48 61 60
+f 49 50 61
+f 50 62 63
+f 50 63 61
+f 50 59 64
+f 50 64 62
+f 51 65 61
+f 51 61 63
+f 51 63 62
+f 51 62 52
+f 52 62 53
+f 53 62 54
+f 54 62 55
+f 55 66 57
+f 55 57 56
+f 55 62 66
+f 57 66 64
+f 57 64 67
+f 58 68 59
+f 59 68 69
+f 59 69 64
+f 60 61 65
+f 62 64 66
+f 64 69 67
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_64.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c744d2e2cdab5d1c2a3cf1ebe40e01324b7dce2e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_64.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.06617895 -0.00672752 0.01125871
+v -0.06735755 -0.00441784 0.01125871
+v -0.06634053 -0.00741893 0.01125870
+v -0.06305323 -0.00672752 0.01071385
+v -0.06305323 -0.00497501 0.01077827
+v -0.06305323 0.00024128 0.01056446
+v -0.06980707 0.00024128 0.01125873
+v -0.06305323 -0.00741893 0.01053401
+v -0.07261098 -0.00741893 0.01125870
+v -0.06305323 0.00024130 0.00473472
+v -0.07692480 0.00024128 0.01125873
+v -0.06305323 -0.00741890 0.00404937
+v -0.07691258 -0.00071184 0.01125873
+v -0.07014653 -0.00741890 0.00211865
+v -0.06305323 -0.00402487 0.00428201
+v -0.06410962 -0.00672749 0.00211866
+v -0.06413542 -0.00663826 0.00211866
+v -0.06487816 -0.00462778 0.00211866
+v -0.06708462 0.00024131 0.00211868
+v -0.07668854 0.00024128 0.01053404
+v -0.07668854 -0.00037814 0.01053404
+v -0.06305323 -0.00729517 0.00402074
+v -0.06427664 -0.00741890 0.00211865
+v -0.07387783 -0.00033462 0.00264565
+v -0.07340259 -0.00097428 0.00211868
+v -0.06305323 -0.00672749 0.00402343
+v -0.07339852 0.00024131 0.00211868
+v -0.07387783 0.00024131 0.00264565
+v -0.07340259 -0.00071031 0.00211868
+v -0.07376785 0.00024131 0.00252397
+f 1 2 7
+f 1 7 11
+f 1 11 13
+f 1 13 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 3 9 14
+f 3 14 23
+f 3 23 12
+f 3 12 8
+f 4 8 12
+f 4 12 22
+f 4 22 26
+f 4 26 15
+f 4 15 10
+f 4 10 6
+f 4 6 5
+f 6 10 19
+f 6 19 27
+f 6 27 30
+f 6 30 28
+f 6 28 20
+f 6 20 11
+f 6 11 7
+f 9 13 14
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 11 20 21
+f 11 21 13
+f 12 16 22
+f 12 23 16
+f 13 21 24
+f 13 24 25
+f 13 25 14
+f 14 25 29
+f 14 29 27
+f 14 27 19
+f 14 19 18
+f 14 18 17
+f 14 17 16
+f 14 16 23
+f 15 26 16
+f 16 26 22
+f 20 28 24
+f 20 24 21
+f 24 28 29
+f 24 29 25
+f 27 29 30
+f 28 30 29
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_65.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e766b262d54d41f4b6a0e07ca4f1ba07ac2464b1
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_65.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v -0.03872522 0.00024202 0.01410876
+v -0.03960709 0.00024202 0.01410933
+v -0.03872522 0.00024204 0.00865064
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+v -0.05559919 0.00024204 0.00827237
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+v -0.03872522 0.01619985 0.00852328
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+v -0.04778835 0.00024202 0.01409962
+v -0.03960709 0.03692881 0.01401633
+v -0.04233543 0.03692881 0.01399576
+v -0.04506189 0.03420140 0.01400203
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+v -0.05051293 0.00418919 0.01406421
+v -0.04778835 0.02601200 0.01400829
+v -0.05793266 0.00024204 0.00827237
+v -0.05793266 0.03700079 0.00827251
+v -0.03872522 0.03700078 0.01086729
+v -0.03872522 0.01649850 0.00854328
+v -0.03872522 0.03700077 0.01401804
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+v -0.05051293 0.00024202 0.01406590
+v -0.03953752 0.03700077 0.01401576
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+v -0.04233543 0.03700077 0.01399404
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+v -0.04778835 0.03147040 0.01395517
+v -0.04778835 0.02874300 0.01398830
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+v -0.05051293 0.01782980 0.01400026
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+v -0.05051293 0.02328460 0.01396314
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+v -0.05478501 0.01237499 0.01381853
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+v -0.05396707 0.00024202 0.01391448
+v -0.05323939 0.00964400 0.01394823
+v -0.05475304 0.01510240 0.01380826
+v -0.05323939 0.01782980 0.01390026
+v -0.05323939 0.01510240 0.01391854
+v -0.05323939 0.01237499 0.01393338
+v -0.05733660 0.00024202 0.01305508
+v -0.05624414 0.00145819 0.01342650
+v -0.05793266 0.00062342 0.01284937
+v -0.05793266 0.03681368 0.00939076
+v -0.05051293 0.03700077 0.01274551
+v -0.04848219 0.03692881 0.01358320
+v -0.04901996 0.03535281 0.01374319
+v -0.04845774 0.03700077 0.01357120
+v -0.04931517 0.03353574 0.01379860
+v -0.05793266 0.02874661 0.01147467
+v -0.05572329 0.02073351 0.01327858
+v -0.05606550 0.01782980 0.01326828
+v -0.05464963 0.01993832 0.01377570
+v -0.05624225 0.00024202 0.01342707
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+v -0.05470227 0.01782980 0.01379227
+v -0.05793266 0.00230376 0.01283967
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+v -0.05793266 0.00145819 0.01284652
+v -0.05793266 0.03678130 0.00944847
+v -0.05793266 0.03669853 0.00959189
+v -0.05793266 0.03420141 0.01022615
+v -0.05793266 0.01857462 0.01234260
+v -0.05793266 0.01782980 0.01238203
+v -0.05793266 0.01589399 0.01246258
+v -0.05793266 0.01318098 0.01256200
+v -0.05793266 0.01046437 0.01265170
+v -0.05793266 0.00774057 0.01272997
+v -0.05793266 0.00502396 0.01279168
+v -0.05611627 0.01510240 0.01330656
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+f 1 81 80
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+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_66.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc305643af6fcdac6bff4bda1de519046b439366
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_66.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.07942786 0.00045514 0.01408287
+v 0.07729901 0.00085890 0.01200576
+v 0.07942786 0.00053314 0.01408287
+v 0.07941161 -0.00032483 0.01408287
+v 0.07728479 -0.00073774 0.01200576
+v 0.07729901 0.00120300 0.01200576
+v 0.07804045 0.01510471 0.01408293
+v 0.07934863 -0.00073775 0.01408287
+v 0.05867764 -0.00073774 0.01200576
+v 0.07547689 0.01510931 0.01200582
+v 0.07367102 0.03037826 0.01368163
+v 0.07402447 0.03066271 0.01408298
+v 0.07113184 -0.00073775 0.01408287
+v 0.05867764 -0.00073775 0.01324581
+v 0.05867764 0.04490855 0.01200592
+v 0.07173311 0.02914867 0.01200587
+v 0.06506827 0.04238513 0.01200592
+v 0.06646380 0.04490395 0.01408303
+v 0.06784309 0.00540562 0.01408289
+v 0.06720321 0.00693802 0.01408290
+v 0.05922408 0.03188772 0.01408299
+v 0.05904532 0.03395233 0.01408299
+v 0.05867764 0.03974701 0.01408302
+v 0.05867764 0.04596379 0.01408304
+v 0.06385555 0.04613354 0.01408304
+v 0.06130621 0.04488102 0.01200592
+v 0.06389009 0.04426623 0.01200592
+v 0.06583205 0.04429374 0.01336247
+v 0.06373367 0.04445434 0.01200592
+v 0.06401400 0.04611978 0.01408304
+f 1 2 6
+f 1 6 3
+f 1 3 7
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+f 1 25 24
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+f 17 27 28
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+f 18 27 29
+f 18 29 30
+f 25 30 26
+f 26 30 29
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_67.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e465e8e99a6ea55517dbe7fcefa42091d5f13fee
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_67.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.04316587 -0.00073775 0.01400175
+v 0.04219547 -0.00073775 0.01400663
+v 0.04316587 -0.00073774 0.01200576
+v 0.04316587 0.05157310 0.01408306
+v 0.03947072 -0.00073775 0.01401598
+v -0.00012506 -0.00073774 0.01200576
+v 0.04316587 0.06061790 0.01200598
+v 0.04316587 0.06061789 0.01408309
+v 0.04314892 0.05157910 0.01408306
+v 0.00947726 0.01783230 0.01407928
+v 0.00455745 -0.00073775 0.01407616
+v 0.00728644 -0.00073775 0.01407555
+v 0.01001119 -0.00073775 0.01407413
+v 0.01493100 0.00418704 0.01407313
+v 0.01765999 0.00691969 0.01407233
+v 0.01493100 0.00146039 0.01407048
+v 0.01546493 -0.00073775 0.01406722
+v 0.01765999 -0.00073775 0.01406356
+v 0.02038474 -0.00073775 0.01405847
+v 0.02091867 -0.00073775 0.01405746
+v 0.02909293 -0.00073775 0.01404140
+v 0.03182192 -0.00073775 0.01403591
+v 0.03401697 -0.00073775 0.01403103
+v 0.03454667 -0.00073775 0.01402981
+v 0.03674173 -0.00073775 0.01402391
+v -0.00012506 -0.00073775 0.01407616
+v -0.00012506 0.06055784 0.01200598
+v 0.02859713 0.06061790 0.01200598
+v 0.03033030 0.06061789 0.01408309
+v 0.03168632 0.05937468 0.01408309
+v 0.00947726 0.02055895 0.01407950
+v 0.01220625 -0.00073775 0.01407169
+v 0.01274018 -0.00073775 0.01407108
+v 0.01493100 -0.00073775 0.01406803
+v -0.00012506 0.00822296 0.01407274
+v 0.00675251 0.01783230 0.01407806
+v -0.00012506 0.06006536 0.01212533
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+v 0.00675251 0.02874491 0.01406977
+v 0.00675251 0.02601826 0.01407220
+v 0.00675251 0.02329161 0.01407442
+v 0.00675251 0.02055895 0.01407645
+v 0.00402352 0.01510565 0.01407541
+v 0.00129876 0.01237299 0.01407255
+v -0.00012506 0.01095562 0.01407092
+v 0.00129876 0.03147156 0.01405575
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+f 1 34 33
+f 1 33 32
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+f 1 26 6
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+f 59 62 60
+f 60 62 61
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_68.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3df01c0872f89c1de6d2aea6e3ca0957f05d8588
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_68.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.07019253 -0.02649589 0.01036760
+v -0.06737185 -0.02649586 0.00211858
+v -0.07020831 -0.02656402 0.01036760
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+v -0.06719030 -0.02856389 0.00211858
+v -0.07059510 -0.02862653 0.01036759
+v -0.06119638 -0.02649586 0.00211858
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+v -0.07053458 -0.02889724 0.01036759
+v -0.06107271 -0.04186155 0.00211853
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+v -0.04371455 -0.04530707 0.01036753
+v -0.04371455 -0.04356313 0.00552762
+v -0.04885332 -0.04276758 0.00211852
+v -0.04942956 -0.04140669 0.00211853
+v -0.06319348 -0.04377676 0.01036754
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+v -0.05635230 -0.04530707 0.01036753
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+v -0.05418154 -0.04530704 0.00211851
+v -0.06153581 -0.04428502 0.01036754
+v -0.05566818 -0.04530706 0.00749862
+v -0.05491829 -0.04530705 0.00460710
+v -0.05523140 -0.04530705 0.00577227
+f 1 2 3
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+f 1 13 12
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+f 1 21 20
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+f 1 23 28
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+f 1 25 16
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+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 5 14 11
+f 7 10 15
+f 8 16 24
+f 8 24 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 15
+f 11 20 21
+f 11 21 12
+f 11 14 20
+f 14 22 23
+f 14 23 20
+f 16 25 29
+f 16 29 31
+f 16 31 30
+f 16 30 27
+f 16 27 26
+f 16 26 24
+f 17 24 18
+f 18 24 26
+f 22 27 23
+f 23 27 28
+f 25 28 29
+f 27 30 28
+f 28 30 31
+f 28 31 29
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_69.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f927c694bfdb87118abbb1f164baed633f194df4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_69.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.02781787 -0.07677318 0.01766081
+v -0.02871882 -0.07660688 0.01766081
+v -0.03037291 -0.07641576 0.01679323
+v -0.03037291 -0.07641576 0.01622717
+v -0.02781787 -0.07675332 0.01657761
+v -0.02781787 -0.07644059 0.01910298
+v -0.02782098 -0.07644307 0.01910184
+v -0.02963845 -0.07607572 0.01852725
+v -0.03575843 -0.07367306 0.01905748
+v -0.03614277 -0.07384432 0.01766195
+v -0.03415413 -0.07426627 0.01567875
+v -0.03133922 -0.07506550 0.01537665
+v -0.02870015 -0.07494387 0.01478499
+v -0.02870015 -0.07657957 0.01605934
+v -0.03610854 -0.07383687 0.01609462
+v -0.02781787 -0.07663170 0.01602577
+v -0.02781787 -0.07503325 0.01948642
+v -0.03142792 -0.07439287 0.01940906
+v -0.03415413 -0.07395354 0.01925887
+v -0.03960655 -0.07147145 0.01944491
+v -0.04133223 -0.07106191 0.01916273
+v -0.03750588 -0.07320890 0.01766195
+v -0.03164577 -0.07283906 0.01410346
+v -0.04371299 -0.06629876 0.01410349
+v -0.02870015 -0.07398827 0.01410346
+v -0.02781787 -0.07552469 0.01516388
+v -0.03960655 -0.07214160 0.01766196
+v -0.04149405 -0.07114629 0.01766196
+v -0.04130577 -0.07103211 0.01623060
+v -0.02781787 -0.07295326 0.01936184
+v -0.03687879 -0.06948578 0.01991084
+v -0.03960655 -0.06948578 0.01991539
+v -0.03675119 -0.07231039 0.01950236
+v -0.04227830 -0.06954783 0.01954675
+v -0.04371299 -0.06900673 0.01942387
+v -0.04371299 -0.06978611 0.01773137
+v -0.04371299 -0.06903899 0.01595298
+v -0.04371299 -0.05141864 0.01410354
+v -0.02792990 -0.07393863 0.01410346
+v -0.02781787 -0.07399571 0.01415011
+v -0.04371299 -0.06963221 0.01703788
+v -0.02781787 -0.06932443 0.01716305
+v -0.02995277 -0.06244657 0.01650314
+v -0.03142792 -0.06403015 0.01789068
+v -0.03389116 -0.06400036 0.01883507
+v -0.03462561 -0.06488647 0.01909164
+v -0.04227830 -0.06660159 0.01953311
+v -0.04371299 -0.05579706 0.01780368
+v -0.04371299 -0.06680016 0.01953651
+v -0.04371299 -0.05165940 0.01453818
+v -0.04342668 -0.05148069 0.01410354
+v -0.02781787 -0.07390388 0.01410346
+v -0.02781787 -0.06809828 0.01628352
+v -0.02964623 -0.06184094 0.01506039
+v -0.03029355 -0.06011339 0.01410351
+v -0.03076037 -0.06047579 0.01506040
+v -0.03277391 -0.05993221 0.01637173
+v -0.03168934 -0.06144380 0.01691730
+v -0.02781787 -0.06667604 0.01522537
+v -0.04371299 -0.05436488 0.01743219
+v -0.04371299 -0.06477726 0.01922363
+v -0.04371299 -0.05367238 0.01707378
+v -0.04314659 -0.05379401 0.01694862
+v -0.04331931 -0.05150551 0.01410354
+v -0.02781787 -0.06575766 0.01410349
+v -0.02899113 -0.06266002 0.01410350
+v -0.02948596 -0.06152074 0.01410350
+v -0.02781787 -0.06658917 0.01512069
+v -0.02781787 -0.06654201 0.01506380
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 16
+f 1 16 26
+f 1 26 40
+f 1 40 52
+f 1 52 65
+f 1 65 69
+f 1 69 68
+f 1 68 59
+f 1 59 53
+f 1 53 42
+f 1 42 30
+f 1 30 17
+f 1 17 6
+f 1 6 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 4 10 15
+f 4 15 11
+f 5 14 16
+f 6 17 18
+f 6 18 7
+f 7 18 19
+f 7 19 9
+f 7 9 8
+f 9 20 21
+f 9 21 10
+f 9 19 20
+f 10 21 22
+f 10 22 15
+f 11 23 12
+f 11 15 24
+f 11 24 23
+f 12 23 25
+f 12 25 13
+f 13 25 26
+f 13 26 16
+f 13 16 14
+f 15 22 27
+f 15 27 28
+f 15 28 29
+f 15 29 24
+f 17 30 31
+f 17 31 32
+f 17 32 18
+f 18 32 33
+f 18 33 19
+f 19 33 20
+f 20 33 32
+f 20 32 34
+f 20 34 35
+f 20 35 21
+f 21 28 27
+f 21 27 22
+f 21 35 36
+f 21 36 28
+f 23 24 38
+f 23 38 51
+f 23 51 64
+f 23 64 55
+f 23 55 67
+f 23 67 66
+f 23 66 65
+f 23 65 52
+f 23 52 39
+f 23 39 25
+f 24 29 37
+f 24 37 41
+f 24 41 36
+f 24 36 35
+f 24 35 49
+f 24 49 61
+f 24 61 48
+f 24 48 60
+f 24 60 62
+f 24 62 50
+f 24 50 38
+f 25 39 26
+f 26 39 40
+f 28 36 29
+f 29 36 41
+f 29 41 37
+f 30 42 43
+f 30 43 44
+f 30 44 45
+f 30 45 46
+f 30 46 31
+f 31 47 32
+f 31 46 48
+f 31 48 47
+f 32 47 49
+f 32 49 35
+f 32 35 34
+f 38 50 51
+f 39 52 40
+f 42 53 43
+f 43 54 55
+f 43 55 56
+f 43 56 57
+f 43 57 58
+f 43 58 44
+f 43 53 59
+f 43 59 54
+f 44 58 45
+f 45 58 60
+f 45 60 48
+f 45 48 46
+f 47 48 61
+f 47 61 49
+f 50 62 63
+f 50 63 64
+f 50 64 51
+f 54 66 67
+f 54 67 55
+f 54 59 66
+f 55 64 57
+f 55 57 56
+f 57 64 63
+f 57 63 58
+f 58 63 60
+f 59 68 66
+f 60 63 62
+f 65 66 69
+f 66 68 69
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_7.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d85cab8f503453169b863181dd0fecca1ac721dd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_7.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.04371455 -0.04486656 0.00526401
+v -0.04350547 -0.04888075 0.00211850
+v -0.04371455 -0.04885413 0.00211850
+v -0.04371455 -0.04486656 0.00527587
+v -0.04228091 -0.04486656 0.00546781
+v -0.04342440 -0.04889555 0.00211850
+v -0.04371455 -0.05601285 0.00211847
+v -0.04371455 -0.04487544 0.00762663
+v -0.04346281 -0.04486657 0.00762663
+v -0.04222117 -0.04486656 0.00548399
+v -0.00012506 -0.06134640 0.00521703
+v -0.04210170 -0.04940731 0.00211850
+v -0.04345854 -0.06173393 0.00762656
+v -0.04357374 -0.06099439 0.00762657
+v -0.04371455 -0.05984663 0.00762657
+v -0.04309159 -0.05857461 0.00211846
+v -0.04067659 -0.04486657 0.00762663
+v -0.04097954 -0.04486656 0.00650463
+v -0.02869546 -0.04803475 0.00762661
+v -0.02799997 -0.04824181 0.00762661
+v -0.02603298 -0.04887486 0.00762661
+v -0.02420680 -0.04946649 0.00762661
+v -0.02325104 -0.04978005 0.00762661
+v -0.02403186 -0.05153422 0.00576217
+v -0.00012506 -0.06068082 0.00627812
+v -0.00012506 -0.06666514 0.00211844
+v -0.04306599 -0.05864560 0.00211846
+v -0.04182009 -0.06123103 0.00211846
+v -0.04176036 -0.06134935 0.00211845
+v -0.04099233 -0.06268052 0.00330138
+v -0.04205050 -0.06326033 0.00762656
+v -0.04074486 -0.04486657 0.00725461
+v -0.00012506 -0.06007145 0.00762657
+v -0.00012506 -0.06007736 0.00725455
+v -0.00012506 -0.07377357 0.00211841
+v -0.03985737 -0.06222200 0.00211845
+v -0.03974217 -0.06227229 0.00211845
+v -0.02846078 -0.06718578 0.00211843
+v -0.02734715 -0.06812647 0.00333317
+v -0.03000536 -0.06809098 0.00600527
+v -0.02888320 -0.06913522 0.00762654
+v -0.00012506 -0.07508405 0.00762651
+v -0.00059014 -0.07377357 0.00211841
+v -0.01506308 -0.07211701 0.00211842
+v -0.01581403 -0.07343339 0.00626351
+v -0.01586523 -0.07381205 0.00762652
+v -0.00099548 -0.07506926 0.00762651
+v -0.00144776 -0.07506039 0.00762651
+v -0.01498627 -0.07401616 0.00762652
+v -0.01399638 -0.07361976 0.00581008
+v -0.01496921 -0.07388009 0.00718009
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 32
+f 1 32 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 6 12
+f 2 12 26
+f 2 26 35
+f 2 35 43
+f 2 43 44
+f 2 44 38
+f 2 38 37
+f 2 37 36
+f 2 36 29
+f 2 29 28
+f 2 28 27
+f 2 27 16
+f 2 16 7
+f 2 7 3
+f 2 5 6
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 7 13 14
+f 7 14 15
+f 7 16 13
+f 8 15 14
+f 8 14 13
+f 8 13 31
+f 8 31 41
+f 8 41 46
+f 8 46 49
+f 8 49 48
+f 8 48 47
+f 8 47 42
+f 8 42 33
+f 8 33 23
+f 8 23 22
+f 8 22 21
+f 8 21 20
+f 8 20 19
+f 8 19 17
+f 8 17 9
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 11 25 34
+f 11 34 33
+f 11 33 42
+f 11 42 35
+f 11 35 26
+f 11 26 12
+f 11 24 23
+f 11 23 25
+f 13 16 27
+f 13 27 28
+f 13 28 29
+f 13 29 30
+f 13 30 31
+f 17 19 32
+f 18 32 19
+f 23 33 34
+f 23 34 25
+f 29 36 30
+f 30 36 37
+f 30 37 38
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 30 41 31
+f 35 42 43
+f 38 44 39
+f 39 41 40
+f 39 44 45
+f 39 45 41
+f 41 45 46
+f 42 47 43
+f 43 47 48
+f 43 48 49
+f 43 49 50
+f 43 50 44
+f 44 50 45
+f 45 50 51
+f 45 51 49
+f 45 49 46
+f 49 51 50
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_70.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..316a2ace4e698ea1d559bacacf3bdd62d8ca6e8c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_70.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.04522093 -0.02464688 0.01083027
+v 0.05098958 -0.03174407 0.00839341
+v 0.05013007 -0.03384594 0.00839341
+v 0.04522093 -0.03384595 0.01059869
+v 0.04522093 -0.02464689 0.01397399
+v 0.05446431 -0.02464687 0.00839344
+v 0.05369778 -0.02540063 0.00839344
+v 0.05345824 -0.02592204 0.00839343
+v 0.06378377 -0.03384594 0.00839341
+v 0.04522093 -0.03384596 0.01397173
+v 0.04522093 -0.02553303 0.01397510
+v 0.05910854 -0.03270947 0.01407916
+v 0.05940444 -0.03194311 0.01407916
+v 0.06578462 -0.02464689 0.01407919
+v 0.06901134 -0.02464687 0.00839344
+v 0.06861118 -0.03028969 0.00839342
+v 0.07138982 -0.03319217 0.01407916
+v 0.07083184 -0.03331464 0.01407916
+v 0.06865908 -0.03377932 0.01407916
+v 0.06671459 -0.03384596 0.01407916
+v 0.04522093 -0.03371808 0.01397340
+v 0.05906627 -0.03384596 0.01407916
+v 0.04522093 -0.02826168 0.01397843
+v 0.07268615 -0.02464689 0.01407919
+v 0.07329486 -0.02582931 0.01407919
+v 0.07396275 -0.02799422 0.01407918
+v 0.06933543 -0.02578336 0.00839344
+v 0.06894089 -0.02979529 0.00839342
+v 0.07279887 -0.03194401 0.01407916
+v 0.07251988 -0.03225470 0.01407916
+v 0.04522093 -0.03128571 0.01397842
+v 0.04522093 -0.03098943 0.01397898
+v 0.07401066 -0.02910549 0.01407917
+v 0.06945942 -0.02875606 0.00839342
+v 0.07388102 -0.03022667 0.01407917
+v 0.07401066 -0.02941168 0.01407917
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 21
+f 1 21 31
+f 1 31 32
+f 1 32 23
+f 1 23 11
+f 1 11 5
+f 1 5 14
+f 1 14 24
+f 1 24 15
+f 1 15 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 7
+f 2 7 6
+f 2 6 15
+f 2 15 27
+f 2 27 34
+f 2 34 28
+f 2 28 16
+f 2 16 9
+f 2 9 3
+f 3 9 20
+f 3 20 22
+f 3 22 10
+f 3 10 4
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 20
+f 10 22 21
+f 11 23 12
+f 12 22 20
+f 12 20 19
+f 12 19 18
+f 12 18 17
+f 12 17 30
+f 12 30 29
+f 12 29 35
+f 12 35 36
+f 12 36 33
+f 12 33 26
+f 12 26 25
+f 12 25 24
+f 12 24 14
+f 12 14 13
+f 12 23 22
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 16 28 29
+f 16 29 30
+f 16 30 17
+f 21 22 31
+f 22 23 32
+f 22 32 31
+f 26 33 27
+f 27 33 34
+f 28 34 35
+f 28 35 29
+f 33 36 34
+f 34 36 35
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_71.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffd59417d961e9deab09c2f36ea51b1b02fac79b
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_71.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.04371597 -0.06628643 0.01409127
+v -0.04446899 -0.06607219 0.01409127
+v -0.04371597 -0.06312749 0.01036747
+v -0.04371597 -0.05140713 0.01409132
+v -0.04479559 -0.06582291 0.01409127
+v -0.04388996 -0.06301064 0.01036747
+v -0.04371597 -0.03761457 0.01036756
+v -0.05213755 -0.04248735 0.01409135
+v -0.04371597 -0.02649406 0.01408849
+v -0.05581709 -0.05569175 0.01409131
+v -0.05413562 -0.05395452 0.01036750
+v -0.04894719 -0.02649405 0.01036760
+v -0.04371597 -0.02649405 0.01095227
+v -0.05316582 -0.04191088 0.01409136
+v -0.04404399 -0.02649406 0.01408667
+v -0.05828437 -0.03992827 0.01409136
+v -0.05590551 -0.05557879 0.01409131
+v -0.05469183 -0.05307812 0.01036751
+v -0.05828437 -0.02649405 0.01036760
+v -0.04506085 -0.02649406 0.01408047
+v -0.05828437 -0.04605137 0.01409134
+v -0.04778771 -0.02649406 0.01403382
+v -0.05059014 -0.02649406 0.01387270
+v -0.05129325 -0.02649406 0.01380126
+v -0.05233722 -0.02649406 0.01360552
+v -0.05308596 -0.02649406 0.01336276
+v -0.05612657 -0.02649405 0.01195248
+v -0.05669133 -0.02649405 0.01161057
+v -0.05828437 -0.02649405 0.01060818
+v -0.05670845 -0.05312098 0.01409131
+v -0.05828437 -0.04452448 0.01036754
+v -0.05494712 -0.05257955 0.01036751
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 9
+f 1 9 4
+f 1 4 8
+f 1 8 14
+f 1 14 16
+f 1 16 21
+f 1 21 30
+f 1 30 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 11
+f 3 11 18
+f 3 18 32
+f 3 32 31
+f 3 31 19
+f 3 19 12
+f 3 12 7
+f 4 9 8
+f 5 10 11
+f 5 11 6
+f 7 12 13
+f 8 9 14
+f 9 13 12
+f 9 12 19
+f 9 19 29
+f 9 29 28
+f 9 28 27
+f 9 27 26
+f 9 26 25
+f 9 25 24
+f 9 24 23
+f 9 23 22
+f 9 22 20
+f 9 20 15
+f 9 15 16
+f 9 16 14
+f 10 17 11
+f 11 17 18
+f 15 20 16
+f 16 20 22
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 16 29 19
+f 16 19 31
+f 16 31 21
+f 17 30 31
+f 17 31 32
+f 17 32 18
+f 21 31 30
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_72.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebbd2a497383dcb5cdad451300bf8015ac5b469f
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_72.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.05828438 -0.04604739 0.01409134
+v -0.06142293 -0.04651985 0.01409134
+v -0.05828438 -0.04452217 0.01036754
+v -0.05828438 -0.03992693 0.01409136
+v -0.06345024 -0.04635518 0.01409134
+v -0.06153941 -0.04428496 0.01036754
+v -0.05828438 -0.02649405 0.01036760
+v -0.05828438 -0.02649405 0.01060818
+v -0.05939877 -0.03285761 0.01409139
+v -0.06414909 -0.04628853 0.01409134
+v -0.06310081 -0.04384974 0.01036754
+v -0.07019325 -0.02649405 0.01036760
+v -0.06623779 -0.02649406 0.01409141
+v -0.06143710 -0.02997186 0.01409140
+v -0.06073352 -0.03055999 0.01409140
+v -0.05964116 -0.03184407 0.01409139
+v -0.06640621 -0.04456531 0.01409135
+v -0.06317479 -0.04384386 0.01040180
+v -0.06319683 -0.04377720 0.01036754
+v -0.07369697 -0.02649406 0.01409141
+v -0.07021056 -0.02656462 0.01036760
+v -0.07399445 -0.02704886 0.01409141
+v -0.06375402 -0.04293618 0.01036754
+v -0.07348763 -0.03199895 0.01409139
+v -0.07059461 -0.02862503 0.01036759
+v -0.07432185 -0.02847017 0.01409141
+v -0.07423842 -0.03062076 0.01409140
+v -0.07386381 -0.03034826 0.01364561
+v -0.06994141 -0.03032473 0.01036759
+v -0.07053481 -0.02889754 0.01036759
+v -0.07436277 -0.02887990 0.01409140
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 20
+f 1 20 22
+f 1 22 26
+f 1 26 31
+f 1 31 27
+f 1 27 24
+f 1 24 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 11
+f 3 11 19
+f 3 19 23
+f 3 23 29
+f 3 29 30
+f 3 30 25
+f 3 25 21
+f 3 21 12
+f 3 12 7
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 7 12 20
+f 7 20 13
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 12 21 22
+f 12 22 20
+f 17 23 19
+f 17 19 18
+f 17 24 23
+f 21 25 26
+f 21 26 22
+f 23 24 27
+f 23 27 28
+f 23 28 29
+f 25 30 28
+f 25 28 31
+f 25 31 26
+f 27 31 28
+f 28 30 29
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_73.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45caa6c3d02fb710d96978d394dc2f35c4140afc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_73.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.05867613 -0.00073775 0.01324581
+v 0.05855921 -0.00073775 0.01327915
+v 0.05867613 -0.00073774 0.01200576
+v 0.05867613 0.03974538 0.01408302
+v 0.05600985 -0.00073775 0.01363638
+v 0.04316588 -0.00073774 0.01200576
+v 0.05867613 0.04490526 0.01200592
+v 0.05867613 0.04595977 0.01408304
+v 0.05832690 0.03984486 0.01408302
+v 0.04316588 -0.00073775 0.01400175
+v 0.04492568 -0.00073775 0.01399402
+v 0.04765269 -0.00073775 0.01397328
+v 0.05037970 -0.00073775 0.01393018
+v 0.05315226 -0.00073775 0.01385068
+v 0.05345745 -0.00073775 0.01383747
+v 0.05469342 -0.00073775 0.01378237
+v 0.05573047 -0.00073775 0.01366932
+v 0.04316588 0.06447034 0.01200600
+v 0.05521422 0.05329503 0.01200596
+v 0.05573047 0.05560967 0.01408307
+v 0.05658836 0.05330165 0.01408307
+v 0.05449906 0.04101213 0.01408302
+v 0.05413617 0.04119783 0.01408302
+v 0.05283796 0.04202686 0.01408302
+v 0.05226553 0.04249112 0.01408303
+v 0.04316588 0.05157728 0.01408306
+v 0.04316588 0.06701711 0.01408312
+v 0.04465692 0.06653295 0.01408311
+v 0.04435325 0.06388671 0.01200599
+v 0.05487258 0.05379245 0.01200596
+v 0.04489834 0.06636052 0.01408311
+f 1 2 5
+f 1 5 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 6
+f 1 6 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 18
+f 3 18 29
+f 3 29 30
+f 3 30 19
+f 3 19 7
+f 4 8 21
+f 4 21 20
+f 4 20 31
+f 4 31 28
+f 4 28 27
+f 4 27 26
+f 4 26 25
+f 4 25 24
+f 4 24 23
+f 4 23 22
+f 4 22 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 6 10 26
+f 6 26 27
+f 6 27 18
+f 7 19 20
+f 7 20 21
+f 7 21 8
+f 9 22 10
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 18 27 28
+f 18 28 29
+f 19 30 20
+f 20 30 31
+f 28 31 29
+f 29 31 30
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_74.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e9d7c4e7dc9f738ba487100cde06baa1a7075fd
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_74.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.06143407 -0.04600923 0.01407911
+v 0.05525832 -0.04600921 0.00839336
+v 0.05120940 -0.04600923 0.01407911
+v 0.05567416 -0.05568280 0.01407908
+v 0.05459170 -0.05208849 0.00839334
+v 0.04522252 -0.04600921 0.00839336
+v 0.04522252 -0.04600922 0.01097547
+v 0.04522252 -0.05128365 0.01407909
+v 0.04522252 -0.06544770 0.01407904
+v 0.05351400 -0.05354028 0.00839333
+v 0.04522252 -0.05591111 0.00839332
+v 0.04522252 -0.06400542 0.01320349
+v 0.05208553 -0.05460202 0.00839333
+v 0.05233948 -0.05445360 0.00839333
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 14
+f 2 14 13
+f 2 13 11
+f 2 11 6
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 6 11 12
+f 6 12 9
+f 6 9 8
+f 6 8 7
+f 9 12 13
+f 9 13 14
+f 9 14 10
+f 11 13 12
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_75.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1551746117d4d45b755dd6c0eec391ae17f03dd0
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_75.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.06588721 0.00024204 0.00903943
+v -0.06732312 0.00687121 0.01411168
+v -0.06800469 0.00528257 0.01411167
+v -0.07139472 0.00024202 0.01411165
+v -0.06588721 0.00024204 0.00827237
+v -0.06588721 0.01807197 0.01411172
+v -0.07887166 0.00024202 0.01411165
+v -0.07517020 0.00024204 0.00827237
+v -0.06588721 0.02182388 0.00827245
+v -0.06588721 0.02182386 0.01411173
+v -0.07887676 0.00034976 0.01411165
+v -0.07668907 0.00024203 0.01053469
+v -0.07522253 0.00163210 0.00827238
+v -0.06799959 0.02182388 0.00827245
+v -0.07161170 0.02182386 0.01411173
+v -0.07892654 0.00145885 0.01411166
+v -0.07668907 0.00066031 0.01053469
+v -0.07810584 0.01509960 0.01411171
+v -0.07412741 0.01509962 0.00827243
+v -0.07697753 0.01757552 0.01411171
+v -0.06900536 0.02182387 0.00982887
+v -0.07383640 0.01662489 0.00827243
+v -0.07802032 0.01533410 0.01411171
+v -0.07387469 0.01649813 0.00827243
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 12
+f 1 12 8
+f 1 8 5
+f 1 5 9
+f 1 9 10
+f 1 10 6
+f 1 6 2
+f 2 6 10
+f 2 10 15
+f 2 15 20
+f 2 20 23
+f 2 23 18
+f 2 18 16
+f 2 16 11
+f 2 11 7
+f 2 7 4
+f 2 4 3
+f 5 8 13
+f 5 13 19
+f 5 19 24
+f 5 24 22
+f 5 22 14
+f 5 14 9
+f 7 11 12
+f 8 12 13
+f 9 14 21
+f 9 21 15
+f 9 15 10
+f 11 16 12
+f 12 16 17
+f 12 17 13
+f 13 17 16
+f 13 16 18
+f 13 18 19
+f 14 20 21
+f 14 22 20
+f 15 21 20
+f 18 23 22
+f 18 22 24
+f 18 24 19
+f 20 22 23
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_76.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f76ff229d0fb31f9b1a008ef8146806cdfa2f88
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_76.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.02925494 0.07424391 0.01408314
+v 0.02948763 0.07424391 0.01408314
+v 0.02862333 0.07188044 0.01200602
+v 0.02738005 0.07401183 0.01408314
+v 0.03029654 0.07412521 0.01408314
+v 0.03004168 0.07380910 0.01372977
+v 0.02052542 0.07003714 0.01200602
+v 0.04316587 0.06447522 0.01200600
+v 0.02052542 0.07177239 0.01408313
+v 0.03177251 0.07331159 0.01408314
+v 0.02052542 0.06368696 0.01200599
+v 0.04316587 0.06701742 0.01408312
+v 0.04316587 0.06061790 0.01200598
+v 0.02052542 0.06467795 0.01408311
+v 0.02859895 0.06061790 0.01200598
+v 0.02877181 0.06061789 0.01236057
+v 0.03033200 0.06061789 0.01408309
+v 0.04316587 0.06061789 0.01408309
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 17
+f 1 17 18
+f 1 18 12
+f 1 12 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 7 4
+f 3 6 8
+f 3 8 13
+f 3 13 15
+f 3 15 11
+f 3 11 7
+f 4 7 9
+f 5 10 8
+f 5 8 6
+f 7 11 14
+f 7 14 9
+f 8 10 12
+f 8 12 18
+f 8 18 13
+f 11 15 16
+f 11 16 17
+f 11 17 14
+f 13 18 17
+f 13 17 16
+f 13 16 15
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_77.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a649a33ca143986583e3431df1ee0d1902bfbdc
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_77.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00012506 0.07891857 0.01408316
+v -0.00012506 0.07723861 0.01200604
+v -0.00012506 0.07017972 0.01408313
+v 0.00129598 0.07888721 0.01408316
+v 0.00106756 0.07722218 0.01200604
+v 0.00079265 0.07722666 0.01200604
+v -0.00012506 0.06910006 0.01200601
+v -0.00012506 0.06915232 0.01228679
+v 0.00458881 0.06784567 0.01408312
+v 0.01492820 0.07858556 0.01408316
+v 0.01492820 0.07598721 0.01200604
+v 0.00695181 0.06571473 0.01200600
+v 0.00669106 0.06707064 0.01408312
+v 0.01701225 0.07726099 0.01408315
+v 0.01734982 0.07703700 0.01408315
+v 0.01677373 0.07474328 0.01200603
+v 0.02038190 0.06366441 0.01200599
+v 0.02038190 0.06465297 0.01408311
+v 0.02052542 0.07177308 0.01408313
+v 0.02052542 0.07003935 0.01200602
+v 0.02052542 0.06368681 0.01200599
+v 0.02052542 0.06467836 0.01408311
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 9
+f 1 9 13
+f 1 13 18
+f 1 18 22
+f 1 22 19
+f 1 19 15
+f 1 15 14
+f 1 14 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 5
+f 2 5 11
+f 2 11 16
+f 2 16 20
+f 2 20 21
+f 2 21 17
+f 2 17 12
+f 2 12 7
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 7 12 8
+f 8 12 9
+f 9 12 13
+f 10 14 11
+f 11 14 15
+f 11 15 16
+f 12 17 18
+f 12 18 13
+f 15 19 20
+f 15 20 16
+f 17 21 18
+f 18 21 22
+f 19 22 21
+f 19 21 20
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_78.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37d697406fd1e1118d0ad1c3b59b30801c3110e4
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_78.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.04757516 0.03700271 0.01373683
+v -0.05167862 0.04345019 0.01411181
+v -0.05324213 0.04159139 0.01411180
+v -0.05426622 0.04108002 0.01411180
+v -0.05793165 0.04000090 0.01411180
+v -0.04845831 0.03700271 0.01357165
+v -0.04757516 0.03700273 0.00881037
+v -0.04757516 0.05139288 0.01411184
+v -0.05793165 0.03700273 0.00900128
+v -0.05051460 0.03700271 0.01274571
+v -0.05793165 0.04603618 0.01411182
+v -0.04772117 0.03700273 0.00835367
+v -0.04757516 0.03725939 0.00835425
+v -0.04757516 0.05681374 0.01411186
+v -0.05793165 0.03700273 0.00827251
+v -0.05674026 0.05330223 0.01411185
+v -0.05793165 0.04442433 0.00827253
+v -0.04774753 0.03700273 0.00827251
+v -0.04757516 0.03730605 0.00827251
+v -0.04757516 0.05684291 0.01410900
+v -0.04764208 0.05683318 0.01411186
+v -0.05587130 0.05595045 0.01411186
+v -0.05460893 0.05194704 0.00853492
+v -0.05429664 0.05218620 0.00827256
+v -0.04757516 0.05450192 0.00827257
+v -0.04757516 0.05682346 0.01405413
+v -0.05321881 0.05686429 0.01411186
+v -0.05051460 0.05685068 0.01411186
+v -0.05580337 0.05601656 0.01411186
+v -0.05334961 0.05326143 0.00827257
+v -0.05383732 0.05271312 0.00827256
+v -0.04972068 0.05452720 0.00827257
+v -0.05051460 0.05453109 0.00827257
+v -0.05324112 0.05686041 0.01411186
+v -0.05172222 0.05413250 0.00827257
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 9
+f 1 9 15
+f 1 15 18
+f 1 18 12
+f 1 12 7
+f 1 7 13
+f 1 13 19
+f 1 19 25
+f 1 25 26
+f 1 26 20
+f 1 20 14
+f 1 14 8
+f 1 8 2
+f 2 8 14
+f 2 14 21
+f 2 21 28
+f 2 28 27
+f 2 27 34
+f 2 34 29
+f 2 29 22
+f 2 22 16
+f 2 16 11
+f 2 11 5
+f 2 5 4
+f 2 4 3
+f 5 9 10
+f 5 10 6
+f 5 11 17
+f 5 17 15
+f 5 15 9
+f 7 12 13
+f 11 16 17
+f 12 18 19
+f 12 19 13
+f 14 20 21
+f 15 17 24
+f 15 24 31
+f 15 31 30
+f 15 30 35
+f 15 35 33
+f 15 33 32
+f 15 32 25
+f 15 25 19
+f 15 19 18
+f 16 22 17
+f 17 22 23
+f 17 23 24
+f 20 26 27
+f 20 27 28
+f 20 28 21
+f 22 29 30
+f 22 30 31
+f 22 31 24
+f 22 24 23
+f 25 32 26
+f 26 32 33
+f 26 33 27
+f 27 33 34
+f 29 34 33
+f 29 33 35
+f 29 35 30
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_79.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d8314eb43f1bd542575e2e2216003549023f29d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_79.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.03872421 0.03700373 0.01401805
+v -0.03953686 0.03700373 0.01401577
+v -0.03872421 0.03700374 0.01086749
+v -0.03872421 0.05910361 0.01411187
+v -0.04186479 0.05305940 0.01411184
+v -0.04225379 0.05249054 0.01411184
+v -0.04314875 0.05155428 0.01411184
+v -0.04505995 0.05135577 0.01411184
+v -0.04757415 0.05139428 0.01411184
+v -0.04226332 0.03700373 0.01399519
+v -0.04757415 0.03700375 0.00881037
+v -0.04757415 0.03722596 0.00841312
+v -0.04757415 0.03730596 0.00827251
+v -0.04125487 0.04216503 0.00827252
+v -0.04018837 0.04299463 0.00827253
+v -0.03872421 0.04435161 0.00827253
+v -0.03872421 0.06598631 0.01411189
+v -0.04757415 0.03700373 0.01373683
+v -0.04709331 0.03700373 0.01383686
+v -0.04505562 0.03700373 0.01394775
+v -0.04498978 0.03700373 0.01395003
+v -0.04233436 0.03700373 0.01399405
+v -0.04757415 0.05681333 0.01411186
+v -0.04757415 0.05450233 0.00827257
+v -0.03872421 0.06358346 0.00827260
+v -0.03953166 0.06670628 0.01411190
+v -0.04757415 0.05684296 0.01410900
+v -0.04612385 0.06421452 0.01411189
+v -0.04757415 0.05682222 0.01405413
+v -0.04349442 0.06223833 0.00827260
+v -0.03960704 0.06371679 0.00827260
+v -0.04233436 0.06726922 0.01411190
+v -0.04199475 0.06721589 0.01411190
+v -0.04468568 0.06646925 0.01411189
+v -0.04300926 0.06275090 0.00827260
+v -0.04210911 0.06341458 0.00827260
+f 1 2 10
+f 1 10 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 11
+f 1 11 3
+f 1 3 16
+f 1 16 25
+f 1 25 17
+f 1 17 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 4 17 26
+f 4 26 33
+f 4 33 32
+f 4 32 34
+f 4 34 28
+f 4 28 23
+f 4 23 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 9 18 19
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 10
+f 9 23 27
+f 9 27 29
+f 9 29 24
+f 9 24 13
+f 9 13 12
+f 9 12 11
+f 9 11 18
+f 13 24 30
+f 13 30 35
+f 13 35 36
+f 13 36 31
+f 13 31 25
+f 13 25 16
+f 13 16 15
+f 13 15 14
+f 17 25 26
+f 23 28 27
+f 24 29 28
+f 24 28 30
+f 25 31 32
+f 25 32 33
+f 25 33 26
+f 27 28 29
+f 28 34 30
+f 30 34 35
+f 31 36 32
+f 32 36 34
+f 34 36 35
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_8.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fc14239aa8d52ae972bb74ee2f0876bae827e14
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_8.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v -0.02713500 0.06653877 0.01411189
+v -0.02713500 0.07361775 0.01411192
+v -0.02713500 0.06675577 0.01444588
+v -0.02918493 0.06046866 0.01411187
+v -0.02869967 0.07400101 0.01411192
+v -0.02713500 0.07513104 0.01505227
+v -0.02713500 0.06715310 0.01505284
+v -0.02981459 0.06223558 0.01664275
+v -0.03036140 0.06041793 0.01609085
+v -0.02967257 0.05972751 0.01411187
+v -0.02713500 0.06968372 0.01710584
+v -0.02713500 0.07077149 0.01793427
+v -0.02911155 0.07391647 0.01411192
+v -0.03118516 0.07523531 0.01546619
+v -0.02869967 0.07513104 0.01499069
+v -0.02713500 0.07671761 0.01613651
+v -0.03133429 0.06139298 0.01718457
+v -0.02713500 0.07299212 0.01949697
+v -0.03217936 0.05990222 0.01663149
+v -0.04311315 0.05389693 0.01692577
+v -0.04329542 0.05169040 0.01438838
+v -0.04314866 0.05155231 0.01411184
+v -0.03140294 0.07334721 0.01411192
+v -0.03011522 0.07650907 0.01634258
+v -0.02869967 0.07663025 0.01620875
+v -0.03415355 0.07442652 0.01567876
+v -0.02713500 0.07688388 0.01757011
+v -0.03275221 0.06525653 0.01898355
+v -0.03415355 0.06344452 0.01887517
+v -0.04505183 0.05589211 0.01857315
+v -0.04505893 0.05346294 0.01736693
+v -0.02713500 0.07426307 0.01967758
+v -0.03688049 0.06967244 0.02016077
+v -0.03415355 0.06480846 0.01913988
+v -0.04505893 0.05209900 0.01606654
+v -0.05131527 0.04809455 0.01411183
+v -0.03167516 0.07324577 0.01411192
+v -0.03011522 0.07650907 0.01644324
+v -0.03606146 0.07401509 0.01608853
+v -0.03608039 0.07401509 0.01766248
+v -0.04139224 0.07127029 0.01613945
+v -0.04468493 0.06647114 0.01411189
+v -0.02864049 0.07665843 0.01745109
+v -0.02769127 0.07658515 0.01906649
+v -0.02713500 0.07673733 0.01860994
+v -0.04778587 0.05876090 0.01983741
+v -0.04595608 0.05670653 0.01917715
+v -0.04778587 0.05503823 0.01876500
+v -0.05131527 0.04934857 0.01553774
+v -0.02713500 0.07517894 0.01965983
+v -0.03960506 0.06967244 0.02008438
+v -0.05051281 0.05876090 0.01997361
+v -0.05131527 0.04860743 0.01478097
+v -0.05131527 0.05254145 0.01411184
+v -0.03415355 0.07477314 0.01766248
+v -0.03572296 0.07384599 0.01904812
+v -0.02950923 0.07622444 0.01817766
+v -0.03744387 0.07337821 0.01766248
+v -0.04151060 0.07133793 0.01766247
+v -0.03960506 0.07231298 0.01766248
+v -0.04505893 0.06886367 0.01590495
+v -0.04658100 0.06842405 0.01623714
+v -0.04986659 0.06421386 0.01582914
+v -0.04933398 0.06579761 0.01616430
+v -0.04760834 0.06680084 0.01577171
+v -0.04612415 0.06421387 0.01411189
+v -0.05131527 0.05685872 0.01411601
+v -0.04778587 0.06421387 0.01480294
+v -0.02713500 0.07664433 0.01913518
+v -0.03415355 0.07411371 0.01923169
+v -0.04778587 0.05640499 0.01935302
+v -0.05131527 0.05612601 0.01918722
+v -0.05131527 0.05463243 0.01849972
+v -0.05131527 0.05232445 0.01726447
+v -0.02713500 0.07610608 0.01933059
+v -0.03673136 0.07248205 0.01953843
+v -0.03960506 0.07160563 0.01943183
+v -0.04223968 0.06972598 0.01957750
+v -0.04459734 0.06885239 0.01935365
+v -0.04778587 0.06421385 0.01974920
+v -0.05131527 0.05876090 0.01988064
+v -0.05131527 0.05808738 0.01977167
+v -0.05051281 0.05654871 0.01936368
+v -0.05051281 0.05685309 0.01411186
+v -0.04126915 0.07120265 0.01912509
+v -0.04658100 0.06842405 0.01719584
+v -0.04287407 0.07054887 0.01766247
+v -0.04641530 0.06830005 0.01893026
+v -0.05131527 0.06150852 0.01556740
+v -0.05131527 0.06283019 0.01766244
+v -0.04931978 0.06578070 0.01766245
+v -0.05131527 0.06273438 0.01741196
+v -0.05131527 0.05652617 0.01934118
+v -0.04778587 0.06629358 0.01929443
+v -0.05131527 0.06133097 0.01958576
+v -0.05060276 0.06156769 0.01967932
+v -0.05131527 0.06080963 0.01967339
+v -0.04760834 0.06737290 0.01790288
+v -0.04532642 0.06907783 0.01790288
+v -0.04919195 0.06563133 0.01900309
+f 1 2 6
+f 1 6 16
+f 1 16 27
+f 1 27 45
+f 1 45 69
+f 1 69 75
+f 1 75 50
+f 1 50 32
+f 1 32 18
+f 1 18 12
+f 1 12 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 10
+f 1 10 22
+f 1 22 36
+f 1 36 54
+f 1 54 84
+f 1 84 66
+f 1 66 42
+f 1 42 37
+f 1 37 23
+f 1 23 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 9
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+f 4 7 11
+f 4 11 12
+f 4 12 8
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 8 17 9
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+f 8 18 17
+f 9 17 19
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+f 15 25 16
+f 16 25 27
+f 17 18 28
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+f 17 29 30
+f 17 30 31
+f 17 31 19
+f 18 32 33
+f 18 33 34
+f 18 34 28
+f 19 31 20
+f 20 31 35
+f 20 35 21
+f 21 35 22
+f 22 35 36
+f 23 37 26
+f 24 38 27
+f 24 27 25
+f 24 26 39
+f 24 39 40
+f 24 40 38
+f 26 41 39
+f 26 37 42
+f 26 42 41
+f 27 43 44
+f 27 44 45
+f 27 38 43
+f 28 34 29
+f 29 46 47
+f 29 47 30
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+f 30 47 48
+f 30 48 31
+f 31 48 49
+f 31 49 35
+f 32 50 33
+f 33 50 51
+f 33 51 52
+f 33 52 46
+f 33 46 34
+f 35 49 53
+f 35 53 36
+f 36 53 49
+f 36 49 74
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+f 36 81 97
+f 36 97 95
+f 36 95 90
+f 36 90 92
+f 36 92 89
+f 36 89 67
+f 36 67 54
+f 38 40 55
+f 38 55 56
+f 38 56 57
+f 38 57 44
+f 38 44 43
+f 39 58 40
+f 39 41 59
+f 39 59 60
+f 39 60 58
+f 40 58 56
+f 40 56 55
+f 41 42 61
+f 41 61 62
+f 41 62 59
+f 42 63 64
+f 42 64 65
+f 42 65 62
+f 42 62 61
+f 42 66 67
+f 42 67 68
+f 42 68 63
+f 44 69 45
+f 44 57 56
+f 44 56 70
+f 44 70 69
+f 46 52 71
+f 46 71 47
+f 47 71 48
+f 48 71 72
+f 48 72 73
+f 48 73 74
+f 48 74 49
+f 50 75 76
+f 50 76 51
+f 51 76 77
+f 51 77 78
+f 51 78 79
+f 51 79 80
+f 51 80 52
+f 52 80 81
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+f 52 82 83
+f 52 83 71
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+f 56 77 70
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+f 59 87 88
+f 59 88 85
+f 59 85 60
+f 62 65 64
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+f 64 91 86
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+f 66 84 67
+f 67 89 68
+f 69 70 76
+f 69 76 75
+f 70 77 76
+f 71 83 72
+f 72 83 93
+f 77 85 79
+f 77 79 78
+f 79 85 88
+f 79 88 94
+f 79 94 80
+f 80 95 96
+f 80 96 97
+f 80 97 81
+f 80 94 95
+f 82 93 83
+f 86 91 98
+f 86 98 88
+f 86 88 99
+f 86 99 87
+f 87 99 88
+f 88 98 100
+f 88 100 94
+f 90 95 100
+f 90 100 91
+f 91 100 98
+f 94 100 95
+f 95 97 96
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_80.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c63b3afbd6513dd95e23a46986ca96b7fee1722c
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_80.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.07091439 -0.01953113 0.01125866
+v -0.07062121 -0.02649405 0.01125863
+v -0.06363113 -0.01953113 0.01125866
+v -0.07064045 -0.01953113 0.00995869
+v -0.06434445 -0.02649405 0.01125863
+v -0.06943542 -0.01953111 0.00620282
+v -0.06810266 -0.01953110 0.00215618
+v -0.06737164 -0.02649402 0.00211858
+v -0.06348107 -0.01985624 0.01125866
+v -0.06305323 -0.01953113 0.01067891
+v -0.06325407 -0.02037151 0.01125866
+v -0.06305323 -0.02649404 0.00808878
+v -0.06305323 -0.02317276 0.00995599
+v -0.06305323 -0.02277336 0.01009915
+v -0.06807034 -0.01953110 0.00211861
+v -0.06305323 -0.02649402 0.00211858
+v -0.06305323 -0.01953110 0.00211861
+v -0.06305323 -0.02037015 0.01086500
+f 1 2 5
+f 1 5 11
+f 1 11 9
+f 1 9 3
+f 1 3 10
+f 1 10 17
+f 1 17 15
+f 1 15 7
+f 1 7 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 16
+f 2 16 12
+f 2 12 5
+f 3 9 10
+f 5 12 13
+f 5 13 14
+f 5 14 11
+f 7 15 8
+f 8 15 17
+f 8 17 16
+f 9 11 10
+f 10 11 18
+f 10 18 14
+f 10 14 13
+f 10 13 12
+f 10 12 16
+f 10 16 17
+f 11 14 18
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_81.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1849c0149dd62455fbe76e338f5c45c48f654212
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_81.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.04522093 -0.03384685 0.01059869
+v 0.04522093 -0.03974945 0.00839338
+v 0.04522093 -0.03384686 0.01397173
+v 0.05013026 -0.03384684 0.00839341
+v 0.04522093 -0.04600921 0.00839336
+v 0.04522093 -0.03401473 0.01397006
+v 0.05120976 -0.04600923 0.01407911
+v 0.05127499 -0.04437703 0.01407912
+v 0.05156328 -0.04330913 0.01407912
+v 0.05906299 -0.03384686 0.01407916
+v 0.06378503 -0.03384684 0.00839341
+v 0.04522093 -0.04600922 0.01097547
+v 0.05526053 -0.04600921 0.00839336
+v 0.04522093 -0.03644815 0.01394278
+v 0.04522093 -0.03672912 0.01393387
+v 0.04522093 -0.03905420 0.01384814
+v 0.04522093 -0.03922683 0.01383980
+v 0.04522093 -0.03976613 0.01378413
+v 0.04522093 -0.04138524 0.01348801
+v 0.04522093 -0.04177217 0.01335498
+v 0.04522093 -0.04214242 0.01319523
+v 0.04522093 -0.04465203 0.01200297
+v 0.04522093 -0.04480798 0.01191614
+v 0.04522093 -0.04528181 0.01156491
+v 0.06143453 -0.04600923 0.01407911
+v 0.06671421 -0.03384686 0.01407916
+v 0.06671842 -0.04219956 0.01407912
+v 0.06367771 -0.03947206 0.00839339
+v 0.06237305 -0.04357578 0.00839337
+v 0.06401229 -0.04571041 0.01407911
+v 0.06399756 -0.04571517 0.01407911
+v 0.06654376 -0.04284958 0.01407912
+v 0.06335576 -0.04213406 0.00839338
+v 0.06353883 -0.04079115 0.00839338
+v 0.06255191 -0.04350911 0.00839337
+v 0.06262977 -0.04355912 0.00856592
+v 0.06582409 -0.04469966 0.01407912
+v 0.06608502 -0.04435441 0.01407912
+f 1 2 5
+f 1 5 12
+f 1 12 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 6
+f 1 6 3
+f 1 3 10
+f 1 10 26
+f 1 26 11
+f 1 11 4
+f 1 4 2
+f 2 4 11
+f 2 11 28
+f 2 28 34
+f 2 34 33
+f 2 33 35
+f 2 35 29
+f 2 29 13
+f 2 13 5
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 5 13 25
+f 5 25 7
+f 5 7 12
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 24
+f 7 24 12
+f 7 25 31
+f 7 31 30
+f 7 30 37
+f 7 37 38
+f 7 38 32
+f 7 32 27
+f 7 27 26
+f 7 26 10
+f 7 10 9
+f 7 9 8
+f 11 26 27
+f 11 27 28
+f 13 29 30
+f 13 30 31
+f 13 31 25
+f 27 32 33
+f 27 33 34
+f 27 34 28
+f 29 35 30
+f 30 35 36
+f 30 36 37
+f 32 38 33
+f 33 38 35
+f 35 38 37
+f 35 37 36
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_82.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3625e6fbb45ea86c79ec91749f7b660b2811fee3
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_82.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.06633936 -0.00741944 0.01125870
+v -0.06671539 -0.00957489 0.01125869
+v -0.06305323 -0.00741944 0.01053401
+v -0.07261173 -0.00741944 0.01125870
+v -0.06305323 -0.00945921 0.01024861
+v -0.06865085 -0.01264811 0.01125868
+v -0.06305323 -0.00741941 0.00404937
+v -0.07014685 -0.00741941 0.00211865
+v -0.07474674 -0.01226626 0.01125868
+v -0.06305323 -0.01264810 0.00948185
+v -0.07483671 -0.01264811 0.01125868
+v -0.06305323 -0.01075011 0.00455933
+v -0.06427587 -0.00741941 0.00211865
+v -0.07176512 -0.01197396 0.00211864
+v -0.06305323 -0.01264809 0.00502992
+v -0.07180433 -0.01219406 0.00211864
+v -0.07188392 -0.01264808 0.00211863
+v -0.06469803 -0.00916947 0.00211865
+v -0.06634629 -0.01264808 0.00211863
+v -0.06473033 -0.00927491 0.00211865
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 10
+f 3 10 15
+f 3 15 12
+f 3 12 7
+f 4 8 9
+f 5 6 10
+f 6 11 17
+f 6 17 19
+f 6 19 15
+f 6 15 10
+f 7 12 13
+f 8 14 9
+f 8 13 18
+f 8 18 20
+f 8 20 19
+f 8 19 17
+f 8 17 16
+f 8 16 14
+f 9 14 11
+f 11 14 16
+f 11 16 17
+f 12 15 13
+f 13 15 18
+f 15 19 20
+f 15 20 18
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_83.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efc15d07c76a5884252946a6e8ba622ab8ab537e
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_83.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.05793266 0.00024202 0.01285065
+v -0.05793266 0.00024204 0.00827282
+v -0.05793266 0.00145783 0.01284663
+v -0.05869530 0.00024202 0.01258849
+v -0.06303820 0.00024204 0.00827282
+v -0.05793266 0.02748054 0.00827292
+v -0.05793266 0.00230303 0.01283991
+v -0.05869530 0.00145783 0.01258446
+v -0.05978377 0.00024203 0.01215602
+v -0.06303820 0.00024203 0.01057630
+v -0.06303820 0.02748054 0.00827292
+v -0.05793266 0.02748053 0.01141533
+v -0.05793266 0.00502262 0.01279152
+v -0.06110413 0.00145784 0.01161646
+v -0.06303820 0.02053759 0.01064136
+v -0.06111912 0.00024203 0.01161914
+v -0.06248247 0.00024203 0.01099890
+v -0.06303820 0.00691567 0.01065431
+v -0.06303820 0.02748054 0.00877798
+v -0.05812907 0.02748053 0.01138396
+v -0.05793266 0.02044427 0.01217268
+v -0.05793266 0.00774220 0.01272968
+v -0.05793266 0.01046179 0.01265171
+v -0.05793266 0.01318137 0.01256210
+v -0.05793266 0.01589029 0.01246262
+v -0.05793266 0.01782866 0.01238196
+v -0.05793266 0.01857255 0.01234297
+v -0.06303770 0.02748054 0.00890033
+f 1 2 6
+f 1 6 12
+f 1 12 21
+f 1 21 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 11
+f 2 11 6
+f 3 7 8
+f 4 8 9
+f 5 10 18
+f 5 18 15
+f 5 15 19
+f 5 19 11
+f 6 11 19
+f 6 19 28
+f 6 28 20
+f 6 20 12
+f 7 13 8
+f 8 14 9
+f 8 13 15
+f 8 15 14
+f 9 14 16
+f 10 17 18
+f 12 20 21
+f 13 22 15
+f 14 15 16
+f 15 18 17
+f 15 17 16
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 21
+f 15 21 20
+f 15 20 28
+f 15 28 19
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_84.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b61e7ab54b7bc525e9638a633432ba606eec2a6a
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_84.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.05793266 0.04442375 0.00827253
+v -0.06088074 0.04390778 0.00827253
+v -0.06303820 0.04604065 0.01411182
+v -0.05793266 0.04603520 0.01411182
+v -0.05793266 0.02748236 0.00827247
+v -0.06162938 0.04373882 0.00827253
+v -0.06219711 0.04356260 0.00827253
+v -0.06245748 0.04364798 0.00874351
+v -0.06303820 0.04392413 0.01028050
+v -0.06303820 0.02905566 0.01411176
+v -0.05793266 0.03999807 0.01411180
+v -0.05793266 0.02748235 0.01141560
+v -0.06303820 0.02748236 0.00827247
+v -0.06303820 0.04249979 0.00827253
+v -0.06303820 0.02902659 0.01403746
+v -0.05812907 0.02748235 0.01138359
+v -0.06297923 0.02908110 0.01411176
+v -0.05960986 0.03198430 0.01411177
+v -0.06009012 0.03131391 0.01411177
+v -0.06059738 0.03067259 0.01411176
+v -0.06190375 0.02967155 0.01411176
+v -0.06303820 0.02748236 0.00877832
+v -0.06303820 0.02882311 0.01336642
+v -0.06303770 0.02748236 0.00890007
+v -0.06303820 0.02857603 0.01255076
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 12
+f 1 12 5
+f 1 5 13
+f 1 13 14
+f 1 14 7
+f 1 7 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 14
+f 3 14 13
+f 3 13 22
+f 3 22 25
+f 3 25 23
+f 3 23 15
+f 3 15 10
+f 3 10 17
+f 3 17 21
+f 3 21 20
+f 3 20 19
+f 3 19 18
+f 3 18 11
+f 3 11 4
+f 5 12 16
+f 5 16 24
+f 5 24 22
+f 5 22 13
+f 7 14 8
+f 8 14 9
+f 10 15 16
+f 10 16 12
+f 10 12 17
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 17
+f 15 23 16
+f 16 23 25
+f 16 25 24
+f 22 24 25
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_85.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27aaa4f056199f6a4ef12e7c3594b33145f93e52
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_85.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.06303821 0.00024632 0.01057660
+v -0.06588693 0.00024633 0.00903918
+v -0.06303821 0.00024633 0.00827237
+v -0.06303821 0.00691537 0.01065468
+v -0.06332350 0.02055856 0.01086126
+v -0.06588693 0.00691537 0.01084778
+v -0.06588693 0.00024633 0.00827237
+v -0.06303821 0.04249940 0.00827253
+v -0.06303821 0.02812570 0.01086128
+v -0.06423877 0.01786430 0.01086125
+v -0.06588693 0.01670409 0.01086124
+v -0.06588693 0.03180400 0.00827249
+v -0.06340130 0.04216852 0.00827252
+v -0.06303821 0.04392172 0.01028028
+v -0.06303821 0.04414087 0.01086134
+v -0.06588693 0.03229815 0.01086130
+v -0.06430710 0.04248650 0.01086134
+v -0.06329422 0.04407212 0.01086134
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 15
+f 1 15 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 16
+f 2 16 12
+f 2 12 7
+f 3 7 12
+f 3 12 13
+f 3 13 8
+f 4 9 5
+f 5 10 6
+f 5 9 15
+f 5 15 18
+f 5 18 17
+f 5 17 16
+f 5 16 11
+f 5 11 10
+f 6 10 11
+f 8 13 14
+f 12 16 17
+f 12 17 13
+f 13 17 18
+f 13 18 14
+f 14 18 15
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_86.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8d30d2d9e4c0670f8e58ce7b68e5759a3b40c66
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_86.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.06363145 -0.01953113 0.01125866
+v -0.06305443 -0.01953113 0.01067891
+v -0.06305443 -0.01667107 0.01026200
+v -0.06305443 -0.01264877 0.00948185
+v -0.06438602 -0.01789460 0.01125866
+v -0.07091323 -0.01953113 0.01125866
+v -0.06305443 -0.01953110 0.00211861
+v -0.06305443 -0.01264876 0.00502992
+v -0.06865072 -0.01264878 0.01125868
+v -0.07188733 -0.01885604 0.01125866
+v -0.07063971 -0.01953113 0.00995869
+v -0.06305443 -0.01675526 0.00211862
+v -0.06807130 -0.01953110 0.00211861
+v -0.06321398 -0.01655380 0.00211862
+v -0.06634622 -0.01264875 0.00211863
+v -0.07483603 -0.01264878 0.01125868
+v -0.07259632 -0.01834601 0.01125866
+v -0.06943528 -0.01953111 0.00620282
+v -0.07350443 -0.01768843 0.01125867
+v -0.06810369 -0.01953110 0.00215618
+v -0.07146986 -0.01675121 0.00211862
+v -0.07188373 -0.01264875 0.00211863
+v -0.07391351 -0.01313657 0.00772470
+v -0.07516833 -0.01405625 0.01125868
+v -0.07454452 -0.01689273 0.01125867
+v -0.07380795 -0.01641166 0.00816487
+v -0.07227601 -0.01491457 0.00211863
+v -0.07530868 -0.01491460 0.01125868
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 16
+f 1 16 24
+f 1 24 28
+f 1 28 25
+f 1 25 19
+f 1 19 17
+f 1 17 10
+f 1 10 6
+f 1 6 11
+f 1 11 18
+f 1 18 20
+f 1 20 13
+f 1 13 7
+f 1 7 2
+f 2 7 12
+f 2 12 8
+f 2 8 4
+f 2 4 3
+f 4 8 15
+f 4 15 22
+f 4 22 16
+f 4 16 9
+f 4 9 5
+f 6 10 11
+f 7 13 21
+f 7 21 27
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+f 7 22 15
+f 7 15 14
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+f 8 12 14
+f 8 14 15
+f 10 17 11
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+f 13 20 21
+f 16 22 23
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+f 21 25 26
+f 21 26 27
+f 22 27 23
+f 23 28 24
+f 23 27 28
+f 25 28 26
+f 26 28 27
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_87.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f56957781bdd7676e6d999660c5961e856d815c8
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_87.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.06588721 0.02182386 0.01411173
+v -0.07161058 0.02182386 0.01411173
+v -0.06588721 0.02182386 0.01294400
+v -0.06588721 0.04524343 0.01411182
+v -0.07044666 0.02182386 0.01294400
+v -0.07322800 0.02601674 0.01411175
+v -0.06588721 0.03333420 0.01294404
+v -0.06588721 0.04493166 0.01377759
+v -0.06636599 0.04503253 0.01411182
+v -0.07204777 0.02620013 0.01294402
+v -0.07402978 0.02830918 0.01411175
+v -0.07032594 0.03210316 0.01294404
+v -0.06588721 0.04238705 0.01294888
+v -0.06588721 0.04476431 0.01368408
+v -0.06654869 0.04483996 0.01411181
+v -0.06592391 0.04423475 0.01341101
+v -0.07270681 0.02845589 0.01294402
+v -0.07421982 0.02939579 0.01411176
+v -0.07182836 0.03093631 0.01294403
+v -0.06588721 0.04416828 0.01335752
+v -0.07280142 0.02923303 0.01294403
+v -0.06588721 0.04423934 0.01339352
+v -0.07411053 0.03057411 0.01411176
+v -0.07374839 0.03028067 0.01372267
+v -0.07280142 0.02907256 0.01294403
+v -0.07421982 0.02964796 0.01411176
+v -0.07374839 0.02982677 0.01372267
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 13
+f 1 13 20
+f 1 20 22
+f 1 22 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 23
+f 1 23 26
+f 1 26 18
+f 1 18 11
+f 1 11 6
+f 1 6 2
+f 2 6 5
+f 3 5 10
+f 3 10 17
+f 3 17 25
+f 3 25 21
+f 3 21 19
+f 3 19 12
+f 3 12 7
+f 4 8 9
+f 5 6 10
+f 6 11 10
+f 7 12 13
+f 8 14 9
+f 9 14 16
+f 9 16 15
+f 10 11 17
+f 11 18 17
+f 12 19 13
+f 13 19 21
+f 13 21 20
+f 14 22 16
+f 15 16 20
+f 15 20 24
+f 15 24 23
+f 16 22 20
+f 17 18 25
+f 18 26 24
+f 18 24 27
+f 18 27 25
+f 20 21 24
+f 21 25 27
+f 21 27 24
+f 23 24 26
+
diff --git a/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_9.obj b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14b6992ccfa1b841d70ecd2c5d541972316f681d
--- /dev/null
+++ b/dataset/kitchen_supplies/tableware/bdd48074d6db56de988011acb4aa6d59/mjcf/mesh/white_dish_collision_9.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
+v -0.05131776 0.04809174 0.01411183
+v -0.05131776 0.04819038 0.01424120
+v -0.05138753 0.04457803 0.01411181
+v -0.05131776 0.05253745 0.01411184
+v -0.05131776 0.04860536 0.01478080
+v -0.05209269 0.04511885 0.01587631
+v -0.05167906 0.04345215 0.01411181
+v -0.05131776 0.04934347 0.01553776
+v -0.05131776 0.05231975 0.01726438
+v -0.05131776 0.05462934 0.01849976
+v -0.05131776 0.05612258 0.01918680
+v -0.05322144 0.05686412 0.01411186
+v -0.05131776 0.05685731 0.01411594
+v -0.05345566 0.04511885 0.01744442
+v -0.05389421 0.04314601 0.01695842
+v -0.05131776 0.05652395 0.01934123
+v -0.06001389 0.03274773 0.01642810
+v -0.05961023 0.03198581 0.01411177
+v -0.05324387 0.05686072 0.01411186
+v -0.05131776 0.06150371 0.01556694
+v -0.05573559 0.04511204 0.01865940
+v -0.05131776 0.05808522 0.01977186
+v -0.06161109 0.03169328 0.01689078
+v -0.06264515 0.03002996 0.01646655
+v -0.06086357 0.03095516 0.01506102
+v -0.06059945 0.03067285 0.01411176
+v -0.06009113 0.03131572 0.01411177
+v -0.05324137 0.05875873 0.01476627
+v -0.05580536 0.05601375 0.01411186
+v -0.05596982 0.05875872 0.01512581
+v -0.05324137 0.06097307 0.01570096
+v -0.05596982 0.06042204 0.01603603
+v -0.05131776 0.06273503 0.01741185
+v -0.05648810 0.04601343 0.01914947
+v -0.06407789 0.03396885 0.01880969
+v -0.05131776 0.05875871 0.01988084
+v -0.05613676 0.04784341 0.01936334
+v -0.06414767 0.03147557 0.01783771
+v -0.06298154 0.02908096 0.01411176
+v -0.06222654 0.02978505 0.01506102
+v -0.07306805 0.02808091 0.01934461
+v -0.06986368 0.02808092 0.01747815
+v -0.06801234 0.02808092 0.01638204
+v -0.06645999 0.02808092 0.01534188
+v -0.06499485 0.02808093 0.01422655
+v -0.06190511 0.02967282 0.01411176
+v -0.05587264 0.05594912 0.01411186
+v -0.05869576 0.05602735 0.01504072
+v -0.05845407 0.05856144 0.01591657
+v -0.05738263 0.06015672 0.01631748
+v -0.05131776 0.06283027 0.01766242
+v -0.06494252 0.03472057 0.01909465
+v -0.05131776 0.06080639 0.01967339
+v -0.05869576 0.05057139 0.02006437
+v -0.05869576 0.04784341 0.01982894
+v -0.06492508 0.02808093 0.01411175
+v -0.07359878 0.02808091 0.01943319
+v -0.06636530 0.04503383 0.01411182
+v -0.06015343 0.05752059 0.01624754
+v -0.06654720 0.04484335 0.01411181
+v -0.05738263 0.06015672 0.01648997
+v -0.05683693 0.05971452 0.01822415
+v -0.05501798 0.06029277 0.01910698
+v -0.05131776 0.06132681 0.01958599
+v -0.05877052 0.05608176 0.01932899
+v -0.05869576 0.05329936 0.01978700
+v -0.06414767 0.04784341 0.01965062
+v -0.06960205 0.03965949 0.01971061
+v -0.06960205 0.03693152 0.01969720
+v -0.07394763 0.02808093 0.01411175
+v -0.07512123 0.02808091 0.01943960
+v -0.06015343 0.05752059 0.01670731
+v -0.06841849 0.04671754 0.01615543
+v -0.06892431 0.04511885 0.01577375
+v -0.07410959 0.03057420 0.01411176
+v -0.07134377 0.04166296 0.01597943
+v -0.05855623 0.05861586 0.01746545
+v -0.05972734 0.05702397 0.01844150
+v -0.05790838 0.05789474 0.01915417
+v -0.06029047 0.05520758 0.01914309
+v -0.06863776 0.04511884 0.01920541
+v -0.06153633 0.05068364 0.01969142
+v -0.06964192 0.04232624 0.01941518
+v -0.07153813 0.03965949 0.01934000
+v -0.07487954 0.02808093 0.01472361
+v -0.07402986 0.02830883 0.01411175
+v -0.07616277 0.02808091 0.01914940
+v -0.06838111 0.04666992 0.01766236
+v -0.06824905 0.04649303 0.01897407
+v -0.07139859 0.04176841 0.01766234
+v -0.07421923 0.02964901 0.01411176
+v -0.07665613 0.02874421 0.01605923
+v -0.07652905 0.03047555 0.01620199
+v -0.07498917 0.03128850 0.01505694
+v -0.07448833 0.03420355 0.01552547
+v -0.07402986 0.03639070 0.01596135
+v -0.07116437 0.04137723 0.01913022
+v -0.07379065 0.03581244 0.01904920
+v -0.07667607 0.02808092 0.01604989
+v -0.07421923 0.02939390 0.01411176
+v -0.07647673 0.02808091 0.01901654
+v -0.07246007 0.03965950 0.01766234
+v -0.07675331 0.02808092 0.01644906
+v -0.07677076 0.02808092 0.01766578
+v -0.07652905 0.03047555 0.01680336
+v -0.07401989 0.03637029 0.01766232
+v -0.07338948 0.03773427 0.01766233
+v -0.07657142 0.02808091 0.01871177
+v -0.07667607 0.02874761 0.01766696
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